Human operational errors, especially those that result in car crashes, are recognized as a significant issue in modern society. Recently, assistance with control systems operated by humans has generated interest in its detailed investigation. Previously, to avoid collisions with obstacles as a result of arbitrary human input, control barrier function-based collision avoidance methods have been utilized. However, safety can only be guaranteed in the condition that a target system is a point. In this paper, we propose a new control barrier function that can guarantee the safety of the entire shape of the control target. We design a lane-keeping assistance system that considers the shape of a target system for a rear-wheel-drive car with a control barrier function. The effectiveness of the proposed method is confirmed by computer simulation.

中文翻译：

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考虑目标系统形状的人工辅助控制

人为操作错误，尤其是那些导致车祸的错误，被认为是现代社会的一个重大问题。最近，对人类操作的控制系统的协助引起了对其详细调查的兴趣。以前，为了避免由于任意人为输入而与障碍物发生碰撞，已经使用了基于控制屏障功能的碰撞避免方法。但是，只有在目标系统是一个点的情况下才能保证安全。在本文中，我们提出了一种新的控制屏障功能，可以保证控制目标整个形状的安全性。我们设计了一个车道保持辅助系统，该系统考虑了具有控制屏障功能的后轮驱动汽车的目标系统的形状。计算机仿真验证了所提出方法的有效性。