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This paper proposes a Robust Safe Control Architecture (RSCA) forsafe-decision making. The system to be controlled is a vehicle in the presenceof bounded disturbances. The RSCA consists of two parts: a Supervisor MPC and aController MPC. Both the Supervisor and the Controller are tube MPCs (TMPCs).The Supervisor MPC provides a safety certificate for an operating controllerand a backup control input in every step. After an unsafe action by theoperating controller is predicted, the Controller MPC takes over the system. Inthis paper, a method for the computation of a terminal set is proposed, whichis robust against changes in road curvature and forces the vehicle to reach asafe reference. Moreover, two important proofs are provided in this paper.First, it is shown that the backup control input is safe to be applied to thesystem to lead the vehicle to a safe state. Next, the recursive feasibility ofthe RSCA is proven. By simulating some obstacle avoidance scenarios, theeffectiveness of the proposed RSCA is confirmed.

A Safe Control Architecture Based on Robust Model Predictive Control for Autonomous Driving