标题： 带控制屏障函数的激活反步法用于自动驾驶车辆的安全导航 显示英文标题

标题： Activated Backstepping with Control Barrier Functions for the Safe Navigation of Automated Vehicles

摘要： 本文介绍了一种通过控制屏障函数（CBFs）的综合来实现安全关键控制的新方法，适用于具有高相对阶安全约束的系统。 通过扩展CBF反步法的流程，我们提出了激活反步法——一种构造有效CBFs的方法。 我们方法的创新之处在于将激活函数引入CBF，这在状态空间中提供了比标准CBF反步法更不保守的安全集合。 我们在倒立摆示例中展示了所提出的方法，其中我们解释了状态空间中的基本几何意义，并与现有的CBF综合技术进行了比较。 最后，我们实现了该方法，在仿真中使用运动学自行车模型，实现了自动驾驶车辆的无碰撞导航。 显示英文摘要

摘要： This paper introduces a novel safety-critical control method through the synthesis of control barrier functions (CBFs) for systems with high-relative-degree safety constraints. By extending the procedure of CBF backstepping, we propose activated backstepping - a constructive method to synthesize valid CBFs. The novelty of our method is the incorporation of an activation function into the CBF, which offers less conservative safe sets in the state space than standard CBF backstepping. We demonstrate the proposed method on an inverted pendulum example, where we explain the underlying geometric meaning in the state space and provide comparisons with existing CBF synthesis techniques. Finally, we implement our method to achieve collision-free navigation for automated vehicles using a kinematic bicycle model in simulation.