# Safety-Critical Control With Nonaffine Control Inputs Via a Relaxed Control Barrier Function for an Autonomous Vehicle

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 49× · AI/ML

**Wikidata**: [openalex:W4206095388](https://www.wikidata.org/wiki/openalex:W4206095388)  
**Source**: https://4ort.xyz/entity/safety-critical-control-with-nonaffine-control-inputs-via-a-relaxed-control-barrier-function-for-an-autonomous-vehicle