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
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.
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
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.
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
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.
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
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).
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
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.
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
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.
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
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.
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
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.
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
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.
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