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Coopération homme-machine multi-niveau entre le conducteur et un système d'automatisation de la conduite

Abstract : The recent technological breakthroughs in the actuation, perception and artificial intelligence domains herald a new dawn for driving assistance and highly automated driving. However, in a context where the automation remains imperfect and prone to error, it is crucial to ensure that the automated driving system maintains the driver’s situation awareness in order to be able to successfully and continuously supervise the system’s actions. At the same time, the system must be able to ensure the safety of the vehicle and prevent the driver’s actions that would compromise his safety and that of other road users. Therefore, it is essential that the issue of interaction and cooperation with the driver is addressed throughout the whole system design process. This entails the issues of task allocation, authority management and levels of automation. Conducted in the scope of the projet ANR-CoCoVeA (French acronym for: "Cooperation between Driver and Automated Vehicle"), this thesis takes a closer look at the question of cooperation between the driver and automated driving systems. Our main objective is to provide the driver with a suitable assistance level that accounts for his intentions while ensuring global safety. For this matter, we propose a general framework that incorporates the necessary features for a successful cooperation at the different levels of the driving task in the form of a system architecture. The questions of task allocation and authority management are addressed under their different nuances and the identified system functionalities are studied and adapted to match the cooperation requirements. Therefore, we have developed algorithms to perform maneuver decision making, trajectory planning, and control that include the necessary mechanisms to adapt to the driver’s actions and intentions in the case of potential conflicts. In addition to the technical aspects, this thesis studies the cooperation notions from the human factor perspective. User test studies conducted on the SHERPA-LAMIH dynamic simulator allowed for the validation of the different developments while shedding light on the benefits of different cooperation forms.
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Submitted on : Thursday, August 23, 2018 - 10:09:24 AM
Last modification on : Tuesday, October 20, 2020 - 10:50:29 AM
Long-term archiving on: : Saturday, November 24, 2018 - 1:00:04 PM


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  • HAL Id : tel-01860221, version 1



Mohamed Amir Benloucif. Coopération homme-machine multi-niveau entre le conducteur et un système d'automatisation de la conduite. Interface homme-machine [cs.HC]. Université de Valenciennes et du Hainaut-Cambresis, 2018. Français. ⟨NNT : 2018VALE0012⟩. ⟨tel-01860221⟩



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