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    Thursday, July 13th

    Thursday, July 13th

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    On Thursday, July 13th from 1:30 pm till 6:30 pm

    in the "Manoir du Prince" and Francazal


    Predictive & Optimal Control for Hybrid Vehicles in Connected Environnement
    Sans Mariano; Idrissi Hassani Azami Hamza
    Toulouse, France
    Keywords: Modeling, supervision, control and diagnosis of automotive systems, Intelligent driver aids, General automobile/road-environment strategies
    Abstract: An innovative Connected Optimal Predictive Control is proposed in this paper for Connected Energy Management purposes applied to Hybrid Vehicles, for minimization of energy and CO2 during a given trip, according to the driving conditions that can be predicted by intelligent navigation systems with real-time connectivity to the Cloud. The theory proposed for such real-time optimal predictive algorithms is based on the mathematical Pontryagin’s Maximum Principle (“PMP”), that provides general solutions for optimization of dy-namic systems with integral criteria, under given constraints. Several technical approaches are presented to get feasible real-time solving computation for this dynamic optimization. The calculation of a “trip planning” becomes then possible in embedded controllers synchronized to more powerful servers and computers connected to the Vehicle. Significant gains of more than -10% of CO2 are demonstrated, maintaining acceptable performances and drivability. A FordFocus democar from Continental is presentetd at the IFAC Exhibition of this Conference in Toulouse. This car is connected to the eHorison, and is equipped with automated clutch, HMI haptical pedal for eco-driving functionality, and solar panels, for demonstration of improved onboard connected Energy Management.

    Adapted Human machine Cooperation for ADAS DriveSense Concept
    Boverie Serge; Cour Maurice
    Toulouse and Valenciennes, France
    Keywords: Intelligent driver aids, Man-machine interfaces, Automotive sensors and actuators
    Abstract: Deployment of Driver Assistance Systems raises new challenges in terms of user acceptance and cooperation with the driver. The DriveSense demonstrator aims at improving the usability of such systems by proposing adaptive solutions taking into account the driving context and driver situation.

    ADAS Lab on Wheel
    Dordet Yves; Hakuli Stephan; Boverie Serge
    Toulouse and Valenciennes, France and Frankfurt, Germany
    Keywords: Modeling, supervision, control and diagnosis of automotive systems, Intelligent driver aids, Automotive sensors and actuators
    Abstract: The deployment of semi-automated and autonomous vehicle is based on the development of individual Advanced Driver Assistance Systems (ADAS) functions to ensure the driving efficiency and safety. The “Lab on wheel” demonstrator is designed to ensure the development of autonomous braking functions from the system requirement to the tests on track. It includes Model In the Loop (MIL), Software In the Loop (SIL), Hardware In the Loop (HIL) and road test capability.

    Smart Access and Wireless power charger
    Foligné Hervé
    Toulouse, France
    Keywords: In-vehicle communication networks, Information displays/system, Man-machine interfaces
    Abstract: The next evolution of access system for car manufacturers is called “Continental Smart Access” and will offer hands free access and start based on Bluetooth Low Energy (BLE).

    Holistic Connectivity Democar
    Bouchard Christian; Bertrand Vianney; Tranchant Blandine; Le Gall J.-Y.; Lecocq S.
    Rambouillet, France
    Keywords: Intelligent transportation systems, Intelligent driver aids, Man-machine interface in transportation
    Abstract: Continental’s Holistic Connectivity consists of new services and intelligent functions for the connected car. Easy and secured access, safe and comfortable user interface, as well as the aggregation of an ecosystem of smart mobility services are the main folds of this system innovation that will transform the user experience.

    "Embedded Web” within Holistic Connectivity demo car
    Gourdon Jean-Philippe
    Rambouillet, France
    Keywords: In-vehicle communication networks, Automatic control, optimization, real-time operations in transportation, Man-machine interfaces
    Abstract: The Holistic Connectivity demo car is a platform allowing Continental to imagine and test new services and intelligent functions for the connected car. To support these goals, web technologies are now assessed to verify their relevance as well as the potential benefits in term of implementation speed, stability and quality they can provide.

    Estimation of tire forces, road grade, and road bank angle using tire model-less approaches and Fuzzy Logic
    Acosta M.; Alatorre A.; Kanarachos S.; Victorino A.; Charara A.
    Coventry, United Kingdom and Compiègne, France
    Keywords: Vehicle dynamic systems, Automotive system identification and modelling, Kalman filtering techniques in automotive control
    Abstract: This paper presents a modular observer structure to estimate the tire-road forces robustly, avoiding the use of any particular tire model, and using standard signals available in current passenger vehicles. The observer consists of a feedforward longitudinal force estimation block and a hybrid lateral force estimation module formed by an Extended Kalman Filter and a Static Neural Network Structure. Road grade and bank angle are estimated using sensor fusion, where a Fuzzy Logic controller combines the outputs from a Euler Kinematic model and a Recursive Least Squares block. The proposed observer is tested and verified using the simulation software IPG CarMaker under realistic driving situations. Lastly, the feasibility of the longitudinal force block is proved with real-time experiments.

    An autonomous vehicle experience: from research to education
    Sentouh C., Delprat S., Popieul J.-C., Paganelli S., Floris J.
    Valenciennes, France

    HIL simulator
    Sentouh C.; Djemai M.; Paganelli S.; Floris J.; Pudlo P.
    Valenciennes, France

    PSCHITT platform
    Popieul J.-C.
    Valenciennes, France

    The IRT-Buggy - Vehicle Platform for Research and Education
    Reiter Matthias; Wehr Matthias; Sehr Florian Felix; Trzuskowsky Andreas; Abel Dirk
    Aachen, Germany
    Keywords: Autonomous Vehicles, Multi-vehicle systems, Navigation, Guidance and Control
    Abstract: This paper presents the "IRT-Buggy", a model vehicle that is designed as a platform for research and education and that is developed at RWTH Aachen University. With two steered front wheels and two powered rear wheels, it can reach speeds of approx. 45 km/h at a weight of slightly over 60 kg. The vehicle's non-holonomous 2D kinematics are very comparable to the ones of a typical passenger vehicle. It is equipped with sensors that in similar for are also found in passenger vehicles, such as wheel speed sensors, inertial sensors and a GNSS sensor. Throughout the development of the model vehicle, special attention is paid to making the vehicle as useful as possible for control engineering tasks. For example, the electronic interfaces are designed in such a way that easy and intuitive access to all essential vehicle functions is granted while at the same time flexibility is not compromised due to oversimplification. The vehicle's operational concept allows new users to quickly operate the vehicle safely and to begin experimenting. Mechanisms are implemented that provide certain protection from maloperation. At the same time, experienced users can have full access to the actuation capabilities of the vehicle at different levels. The IRT-Buggy is intended to be usable by students in an educational context, but also to serve as a serious experimental platform for control engineering research, with no conceptual drawbacks compared to a "real" passenger vehicle other than the obvious limitations due to size, power or achievable speed.

    Air-Cobot: Aircraft Enhanced Inspection by Smart and Collaborative Robot
    Futterlieb Marcus; Frejaville Jérémy; Donadio, Frédéric; Devy Michel; Larnier Stanislas
    Boulder (Colorado), USA and Blagnac, France

    Vehicular platooning experiments using autonomous slot cars
    Lád Martin; Herman Ivo; Hurák Zdeněk
    Prague, Czech Republic
    Keywords: Multi-vehicle systems, Autonomous Vehicles, Decentralized Control and Systems
    Abstract: The paper reports on an affordable experimental platform for vehicular platooning. The experimental platoon consists of several autonomous slot cars (typical experiments take 5 to 20 slot cars), hence it fits into an indoor laboratory. Each car is equipped with an onboard controller and it can measure its own velocity, acceleration, and distances to its nearest neighbors. Furthermore, each car can communicate with other vehicles including the leader of the platoon. A convenient user interface allows to store, analyze and visualize the experimental data in Matlab. The platform can be used for demonstrating various decentralized and distributed control strategies for vehicular platoons, such as predecessor following, (a)symmetric bidirectional control or cooperative adaptive cruise control. Moreover, the phenomenon of string instability can be observed in experiments due to the fast dynamics of slot cars. The technical design details including the source codes and electronic schematics are shared with the public.

    Comparison of a backstepping and sliding mode controller for a high performance active suspension system control
    Nkomo Lihle Immaculate; Nyandoro Otis Tichatonga; Dove Albert
    Johannesburg, South Africa