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Theses

Commande robuste pour l'assistance au contrôle latéral d'un véhicule routier

Abstract : Lateral control finds many applications in the field of driving assistance. A large number of vehicle accidents results from unexpected excessive yaw motion such as spin-out and lane departure. In addition, such type of accidents generally occurs on rural road, and about 30 % of fatalities in France are due to accidents with vehicle alone. The thesis aims at synthesizing a controller which assists the driver in the situations of lane keeping and disturbance rejections. The vehicle is subject to lateral wind and road banking and the control strategy must ensure driving comfort criteria and must respect the physical limitations of the actuator. The assistance strategy adopted consists in adding a supplementary torque using a motorized direction system to that of the driver. It takes into account three components which are the vehicle, the steering column and the driver. The developments focus on the Hinfinity and Hinfinity-LPV robust control theory. The implementation of controllers whose the degree is high is not practically acceptable. Consequently, a controller whose the order is reduced is proved to be a suitable solution. First, in the context of an Hinfinity synthesis at fixed longitudinal velocity, the specifications are satisfied. The active assistance system ensures good closed loop robustness properties as shown by the mu-analysis. Secondly, in order to increase the stability of the controlled system, a controller scheduled by the longitudinal velocity is synthesized. The performances are better and the results obtained in the same driving conditions as the fixed Hinfinity controller are promising.
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Contributor : Thibaut Raharijaona <>
Submitted on : Tuesday, July 31, 2012 - 11:35:58 AM
Last modification on : Friday, July 27, 2018 - 2:32:02 PM
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  • HAL Id : tel-00721986, version 1

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Thibaut Raharijaoana. Commande robuste pour l'assistance au contrôle latéral d'un véhicule routier. Automatique. Université Paris Sud - Paris XI, 2004. Français. ⟨tel-00721986⟩

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