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Contribution to cooperative intersection : longitudinal and lateral controls

Abstract : In this thesis, we are interested in the cooperative intersection management by synchronizing the velocities of conflict vehicles. Thanks to the wireless communication, the synchronization of velocities has several advantages. But, for the purpose of full exploiting them, it is necessary to address at first the problems of the longitudinal and lateral control of vehicles. For the longitudinal control, the delay of wireless communication with the vehicles on other routes must be taken into account. The adopted longitudinal control is non-linear function that considers a maximum communication time and a deceleration boundary.The simulation results in extreme cases have concluded that the thesis addresses the problem of traffic fluidity. Indeed, the behavior of the traffic flow depends on the choice of the place where the synchronization of the speeds begins. The thesis discusses the two classical approaches and proposes a smoothing solution that significantly reduces the use of braking contrary to the two existing approaches. For the lateral control of vehicle at intersection, the thesis proposes a control based on the calculation of Frenet curvature coupled with correction of deviation from tracking path. Both the curve tracking and the correction are deduced from the circular motion induced by the steering wheel angle. The advantages of this approach compared to traditional approaches are to be not greedy in terms of the necessary field of vision and to have more flexible real-time constraints.
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Submitted on : Monday, October 15, 2018 - 2:40:05 PM
Last modification on : Thursday, September 17, 2020 - 9:02:02 AM
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  • HAL Id : tel-01895754, version 1



Xuguang Hao. Contribution to cooperative intersection : longitudinal and lateral controls. Automatic Control Engineering. Université Bourgogne Franche-Comté, 2017. English. ⟨NNT : 2017UBFCA007⟩. ⟨tel-01895754⟩



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