Control-sharing Control Barrier Functions for Intersection Automation under Input Constraints

Understand

This contribution introduces a centralized input constrained optimal control framework based on multiple control barrier functions (CBFs) to coordinate connected and automated agents at intersections.

• For collision avoidance, we propose a novel CBF which is safe by construction.
• The given control scheme provides provable guarantees that collision avoidance CBFs and CBFs to constrain the agents' velocity are jointly feasible (referred to as control-sharing property) subject to input constraints.
• A simulation study finally provides evidence that the proposed control scheme is safe.