Discrete-time Control Barrier Functions for Guaranteed Recursive Feasibility in Nonlinear MPC: An Application to Lane Merging

Abstract

In this paper, we present conditions under which the terminal ingredients, defined by discrete-time control barrier function (DTCBF) certificates, guarantee recursive feasibility in nonlinear MPC. Further, we introduce the notion of quasi-DTCBF (qDTCBF) certificates. Compared to DTCBFs, qDTCBF conditions can be satisfied with tighter control input bounds, which is highly advantageous if only limited actuation is possible. Both certificates encourage an earlier reaction of the control system and result in a lower cumulative MPC cost. The methodology is applied to a lane merging problem in automated driving, in which DTCBF and qDTCBF certificates subject to input constraints form the terminal ingredients to guarantee recursive feasibility of the nonlinear MPC scheme. A simulation study demonstrates the efficacy of the concept.