Mishra, Siddhanta (2026) Control Barrier Functions and Application in Vehicle Control. Master's Thesis / Essay, Applied Mathematics.
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Abstract
This thesis looks to understand the concept of Control Barrier Functions (CBFs) and the application of such functions in Adaptive Cruise Control (ACC) and Lane Keeping (LK). The thesis will begin with certain basic definitions, followed by a brief overview at Control Lyapunov Functions (CLFs). Then the concept of safety will be defined and formalised, followed by Nagumo's Theorem. We will then utilise Nagumo's theorem to prove how CBFs can ensure that the system remains safe. We will then use the CBFs in regard to the ACC and LK problems to achieve different goals with the assistance of different CLFs and additional CBFs. These goals will include the prevention of crashes, remaining within the lane, even under changing lane widths. The final goal would be to ensure a formation shape within the safe space.
| Item Type: | Thesis (Master's Thesis / Essay) |
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| Supervisor name: | Besselink, B. and Trenn, S. |
| Degree programme: | Applied Mathematics |
| Thesis type: | Master's Thesis / Essay |
| Language: | English |
| Date Deposited: | 27 Mar 2026 07:49 |
| Last Modified: | 27 Mar 2026 07:49 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/37262 |
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