Unfalsified uncertainty modeling for computing tight bounds on peak spacing errors in vehicle platoons

A joint uncertainty modeling and robust performance analysis method is proposed for describing brake/driveline actuator uncertainties in heavy vehicles and calculating tight upper bounds on peak spacing errors due to these uncertainties in autonomous vehicle platoons. Evaluation of robust performance of the platoon in terms of peak-to-peak norm is imperative in determining minimal safety gaps. The method can be characterized as a constrained nonlinear optimization problem that can be efficiently solved by pattern search algorithms. Actuator uncertainties are modeled by filtered ℓ_∞ disturbances. The set of consistent filters are determined from experimental data based on unfalsification. From this set of filters the one is selected that provides the smallest upper bounds on peak spacing errors. Calculations based on experimental data are presented.