Hosseinnajad, Alireza (Deakin University), Mohajer, Navid (Deakin University), Pappu, Mohammad Rokonuzzaman (Deakin University)

Barrier Lyapunov Function-Based Geometric Lateral Controller for Autonomous Vehicles

Scheduled for presentation during the Regular Session "S11b-Motion Planning, Trajectory Optimization, and Control for Autonomous Vehicles" (WE-EA-T11), Wednesday, November 19, 2025, 14:30−14:50, Broadbeach 1&2

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on October 19, 2025

Abstract

Robust control of autonomous vehicle (AV) requires accurate vehicle dynamics modelling and boundedness of lateral error. This work introduces a geometric barrier Lyapunov function-based nonlinear lateral controller to guarantee boundedness of lateral error irrespective of vehicle dynamics. Extensive stability analyses are carried out to ensure exponential and finite-time convergence of lateral error. The proposed controller is based on a novel combination of Pure Pursuit and Stanley controllers and offers advantages in terms of (1) applicability to a wide range of driving speeds and scenarios, (2) maintaining stability and accuracy in emergency manoeuvres, and (3) eliminating the well-known corner cutting issue of preview-based controllers. Comparative simulations demonstrate the superior performance of the proposed controller compared to the existing controller designs.