Safety Verification of Autonomous Vehicles for Coordinated Evasive Maneuvers

The verification of evasive maneuvers for autonomous vehicles driving with constant velocity is considered. Modeling uncertainties, uncertain measurements, and disturbances can cause substantial deviations from an initially planned evasive maneuver. From this follows that the maneuver, which is safe under perfect conditions, might become unsafe. In this work, the possible set of deviations is computed with methods from reachability analysis, which allows to verify evasive maneuvers under consideration of the mentioned uncertainties. Since the presented approach has a short response time, it can be applied for real time safety decisions. The methods are presented for a numerical example where two autonomous cars plan a coordinated evasive maneuver in order to prevent a collision with a wrong-way driver.