Safety Verification of a Cooperative Vehicle Platoon with Uncertain Inputs Using Zonotopes

Abstract

AbstractThis paper presents an approach to safety verification of a controlled cooperative platoon of vehicles. To guarantee collision free operation, spacing errors must not exceed critical bounds. Our approach is based on the reachability analysis of linear systems subject to uncertain inputs. The reachable sets are represented by zonotopes. We propose an accurate approximation of the contribution of the uncertain inputs to the whole reachable set. This approach reduces the propagation of the over-approximation error and leads to tight approximation sets.