Fast prototyping of a Highly Autonomous Cooperative Driving System for public roads

Vanholme, Benoit; Gruyer, Dominique; Glaser, Sébastien; Mammar, Saïd

doi:10.1109/ivs.2010.5548004

Cited by 12 publications

(5 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this study, the simulation stage is carried out according to the diagram block of Fig. 4 and uses two levels of simulation and three different platforms: firstly a Matlab platform is used with a full nonlinear model of the instrumented Peugeot 406 car as in [32], and secondly thanks to the pro-SiVIC 1 platform [26], [25], [40], [24] interconnected with RTMaps platform 2 , we will simulate complex vehicle dynamical modeling [35], environment, infrastructure, and realistic embedded sensors. Moreover pro-SiVIC will provide mechanisms allowing to generate very accurate ground truth for the evaluation and validation stages.…”

Section: Simulation Resultsmentioning

confidence: 99%

An Efficient Model-Free Setting for Longitudinal and Lateral Vehicle Control: Validation Through the Interconnected Pro-SiVIC/RTMaps Prototyping Platform

Menhour

d’Andréa-Novel

Fliess

et al. 2018

IEEE Trans. Intell. Transport. Syst.

Self Cite

View full text Add to dashboard Cite

Abstract-In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even impossible to obtain. It is due for example to parametric uncertainties, for the vehicle mass, inertia or for the interaction forces between the wheels and the road pavement. To overcome this type of difficulties, we consider a model-free control approach leading to "intelligent" controllers. The longitudinal and the lateral motions, on one hand, and the driving/braking torques and the steering wheel angle, on the other hand, are respectively the output and the input variables. An important part of this work is dedicated to present simulation results with actual data. Actual data, used in Matlab as reference trajectories, have been previously recorded with an instrumented Peugeot 406 experimental car. The simulation results show the efficiency of our approach. Some comparisons with a nonlinear flatnessbased control in one hand, and with a classical PID control in another hand confirm this analysis. Other virtual data have been generated through the interconnected platform SiVIC/RTMaps, which is a virtual simulation platform for prototyping and validation of advanced driving assistance systems.

show abstract

Section: Simulation Resultsmentioning

confidence: 99%

An Efficient Model-Free Setting for Longitudinal and Lateral Vehicle Control: Validation Through the Interconnected Pro-SiVIC/RTMaps Prototyping Platform

Menhour

d’Andréa-Novel

Fliess

et al. 2018

IEEE Trans. Intell. Transport. Syst.

Self Cite

View full text Add to dashboard Cite

show abstract

“…Among the ones that are free, Racer [63] is probably the most known. Other proprietary options include SiVIC [64] and PreScan [65]. A more detailed review of simulators for testing ADAS can be found in [66].…”

Section: Validation and Verificationmentioning

confidence: 99%

Embedding vision‐based advanced driver assistance systems: a survey

Vélez

Otaegui

2016

IET Intelligent Transport Systems

View full text Add to dashboard Cite

“…The simulations are carried out firstly with Matlab using a 10DoF instrumented Peugeot 406 car as in [17], and secondly thanks to the SiVIC 2 simulator [12], [11], [22], [10] interfaced with RTMaps platform 3 .…”

Section: Simulations With Actual Datamentioning

confidence: 99%

A new model-free design for vehicle control and its validation through an advanced simulation platform

Menhour

d’Andréa-Novel

Fliess

et al. 2015

2015 European Control Conference (ECC)

Self Cite

View full text Add to dashboard Cite

A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best profile tracking for the longitudinal and lateral behaviors. The longitudinal speed and the derivative of the lateral deviation, on one hand, the driving/braking torque and the steering angle, on the other hand, are respectively the output and the input variables. Let us emphasize that a "good" mathematical modeling, which is quite difficult, if not impossible to obtain, is not needed for such a design. An important part of this publication is focused on the presentation of simulation results with actual and virtual data. The actual data, used in Matlab as reference trajectories, have been obtained from a properly instrumented car (Peugeot 406). Other virtual sets of data have been generated through the interconnected platform SiVIC/RTMaps. It is a dedicated virtual simulation platform for prototyping and validation of advanced driving assistance systems.

show abstract

Fast prototyping of a Highly Autonomous Cooperative Driving System for public roads

Cited by 12 publications

References 5 publications

An Efficient Model-Free Setting for Longitudinal and Lateral Vehicle Control: Validation Through the Interconnected Pro-SiVIC/RTMaps Prototyping Platform

An Efficient Model-Free Setting for Longitudinal and Lateral Vehicle Control: Validation Through the Interconnected Pro-SiVIC/RTMaps Prototyping Platform

Embedding vision‐based advanced driver assistance systems: a survey

A new model-free design for vehicle control and its validation through an advanced simulation platform

Contact Info

Product

Resources

About