[2603.24598] Response-Aware Risk-Constrained Control Barrier Function With Application to Vehicles

Mathematics > Optimization and Control arXiv:2603.24598 (math) [Submitted on 13 Mar 2026] Title:Response-Aware Risk-Constrained Control Barrier Function With Application to Vehicles Authors:Qijun Liao, Jue Yang View a PDF of the paper titled Response-Aware Risk-Constrained Control Barrier Function With Application to Vehicles, by Qijun Liao and 1 other authors View PDF HTML (experimental) Abstract:This paper proposes a unified control framework based on Response-Aware Risk-Constrained Control Barrier Function for dynamic safety boundary control of vehicles. Addressing the problem of physical model parameter mismatch, the framework constructs an uncertainty propagation model that fuses nominal dynamics priors with direct vehicle body responses. Utilizing simplified single-track dynamics to provide a baseline direction for control gradients and covering model deviations through statistical analysis of body response signals, the framework eliminates the dependence on accurate online estimation of road surface adhesion coefficients. By introducing Conditional Value at Risk (CVaR) theory, the framework reformulates traditional deterministic safety constraints into probabilistic constraints on the tail risk of barrier function derivatives. Combined with a Bayesian online learning mechanism based on inverse Wishart priors, it identifies environmental noise covariance in real-time, adaptively tuning safety margins to reduce performance loss under prior parameter mismatch. Finally,...