{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/rule-based-safety-critical-control-design","title":"Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change","arxiv_id":"2103.12382","date":"2021-03-23","proceeding":null,"authors":["Suiyi He","Jun Zeng","Bike Zhang","Koushil Sreenath"],"abstract":"This paper develops a new control design for guaranteeing a vehicle's safety during lane change maneuvers in a complex traffic environment. The proposed method uses a finite state machine (FSM), where a quadratic program based optimization problem using control Lyapunov functions and control barrier functions (CLF-CBF-QP) is used to calculate the system's optimal inputs via rule-based control strategies. The FSM can make switches between different states automatically according to the command of driver and traffic environment, which makes the ego vehicle find a safe opportunity to do a collision-free lane change maneuver. By using a convex quadratic program, the controller can guarantee the system's safety at a high update frequency. A set of pre-designed typical lane change scenarios as well as randomly generated driving scenarios are simulated to show the performance of our controller.","url_abs":"https://arxiv.org/abs/2103.12382v1","url_pdf":"https://arxiv.org/pdf/2103.12382v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"rule-based-safety-critical-control-design","repo_url":"https://github.com/HybridRobotics/Lane-Change-CBF","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2103.12382","atlas_url":"https://app.syntology.ai/?focus=2103.12382","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}