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Contrôle Latéral Partagé d'un Véhicule Automobile

Louay Saleh 1, 2
1 Commande
IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 PsyCoTec
IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
Abstract : In order to facilitate driving and prevent accidents due to lane departure, this thesis focuses on the development of an assistance device for lane keeping of a passenger vehicle. The review of the literature on this subject has highlighted the need for a better understanding of the interactions between the driver and the vehicle-road system. The goal is to develop a shared control mode based on the anticipation of risk and the prediction of the most probable actions of the driver. The thesis was mainly articulated around two axes: the cybernetic modeling of the driver in his task of lateral control of the vehicle, and the design of a shared steering control using a Driver-Vehicle-Road model (DVR). The proposed driver model is consistent with what is known about sensorimotor and cognitive control in humans. It represents the anticipatory and compensatory visual control of steering, as well as the execution of steering actions by the neuromuscular system. It has been identified from experimental data collected on a fixed-base driving Simulator SCANeRTM. The model showed a good fit to the driver behavior, supporting later the development of the global model DVR. Concerning the shared control, two experimental studies were performed. The first (socalled CoLat1) is similar to already existing LKS systems. CoLat1 is primarily designed as an "electronic pilot" that has to drive alone the vehicle. Without using a driver model, it results from applying the H2-preview control synthesis to a vehicle-road model. Shared steering is performed only in the implementation phase: the control that it provides is partially applied to the steering wheel leaving the complementary control part to be applied by the driver. The second (so-called CoLat2) addresses a shared control resulting from applying the H2-preview control synthesis to the global model (DVR). The H2/LQ-Preview control law has been used in the both cases (CoLat1 & 2) because it allows to include knowledge of the future road curvature and to consider relevant performance criterions. A generalization of the H2-Preview solution was accomplished in the case where the disturbance signal is predicted beyond the preview horizon on the basis of a generator model. Innovative criterions were proposed for assessing the risk of lane departure, the sharing level between the driver and the lateral assistance, as well as its cooperative or conflicting behavior. They have been formalized through the criteria supporting the synthesis of CoLat2, enabling therefore a precise management of trade-off between the quality of lane keeping and the quality of driver-assistance interaction. CoLat2 has shown better performance compared to CoLat1 in terms of driver-assistance cooperation thanks to "online" feedback of the estimated driver state. The μ-Analysis of the overall system robustness with respect to the driver model uncertainties has shown that the stability is guaranteed for a wide range of parametric variations.
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Contributor : Fabien Claveau <>
Submitted on : Thursday, September 13, 2012 - 6:30:16 PM
Last modification on : Monday, December 14, 2020 - 3:30:12 PM
Long-term archiving on: : Friday, December 14, 2012 - 3:58:39 AM


  • HAL Id : tel-00732087, version 1



Louay Saleh. Contrôle Latéral Partagé d'un Véhicule Automobile. Automatique / Robotique. Ecole Centrale de Nantes (ECN), 2012. Français. ⟨tel-00732087⟩



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