Automotive Advanced Control Demonstrators Session
On Wednesday 12 July and Thursday 13 July, from 13:30 till 18:00 at Le Manoir du Prince and Francazal Air Base
Access to the site
- On Wednesday 12, access takes the format of a Technical Visit. Buses will leave the Congress Center at 13:30 and bring the participants back at 18:00. This visit is for delegates eager to participate actively to the demonstrations (being in the cars as passengers). Registration is strongly recommended (using the registration system). A small fee is asked to cover the expenses of transportation by bus to Le Manoir du Prince venue.
- On Thursday 13, bus departures from the Congress Center are as follows
Access to demonstrations
An on site booking system shall be organized to enable access to the demonstrations. In some cases delegates are invited to be onboard the vehicles. The number of onboard seats being limited not all delegates shall have the opportunity to take part of all the demonstrations.
Program of the demonstrator session
The session is composed of the following 13 demonstrations.
Predictive & Optimal Control for Hybrid Vehicles in Connected Environment
Authors: Sans Mariano; Idrissi Hassani Azami Hamza
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 dynamic 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 presented 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.
Demonstrator type: Road vehicle, urban circuit + interactive presentation
Adapted Human machine Cooperation for ADAS DriveSense Concept
Authors: Boverie Serge; Cour Maurice
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.
Demonstrator type: Road vehicle, urban circuit + interactive presentation
ADAS Lab on Wheel
Authors: Dordet Yves; Hakuli Stephan; Boverie Serge
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.
Demonstrator type: Road vehicle, urban circuit + interactive presentation
Smart Access and Wireless power charger
Author: Foligné Hervé
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).
Demonstrator type: Road vehicle, urban circuit + interactive presentation
Holistic Connectivity Democar
Authors: Bouchard Christian; Bertrand Vianney; Tranchant Blandine; Le Gall J.-Y.; Lecocq S.
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.
Demonstrator type: Static actuator exhibition + interactive presentation
"Embedded Web” within Holistic Connectivity demo car
Author: Gourdon Jean-Philippe
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.
Demonstrator type: Static vehicle + interactive presentation
Estimation of tire forces, road grade, and road bank angle using tire model-less approaches and Fuzzy Logic
Authors: Acosta M.; Alatorre A.; Kanarachos S.; Victorino A.; Charara A.
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.
Demonstrator type: Road vehicle, closed test area at nearby Francazal air base + interactive presentation
An autonomous vehicle experience: from research to education
Authors: Sentouh C., Delprat S., Popieul J.-C., Paganelli S., Floris J.
Keywords: Autonomous vehicle, vehicle cooperation
Abstract: The LAMIH research center in Valenciennes conducts research on the issue of control and monitoring of the autonomous vehicle, and is particularly interested in systems that can adapt their behavior and can be characterized in accordance with level of automation and interaction with human driver in the context of automated driving. Several studies have already emerged in this context: the ANR CoCoVeA (Driver-Automated Vehicle Cooperation) project (2013-2017), coordinated by the LAMIH, which focuses on the problem to integrate the lateral and longitudinal control functions of the automated vehicle considering the driver-in-the-loop (levels 1 and 2), and the ANR AutoConduct (2016-2020) project aiming the adaptation of the automation strategy of the autonomous vehicles (levels 3 and 4) to needs and states of the drivers in real conditions. In addition to scientific developments of automation (perception of the environment, the path planning, the vehicle control), these projects focus on the interaction between driver and automated vehicle with continuous sharing of driving and the development of human-machine cooperation (HMC) with a dynamic authority management. With regard to the integration in vehicles and validation, the autonomous vehicle of the ENSIAME, is made available to these projects to validate control algorithms developed and already validated on the LAMIH-SHERPA dynamic simulator.
Demonstrator type: Road vehicle, closed test area at nearby Francazal air base + interactive presentation
HIL simulator
Authors: Sentouh C.; Djemai M.; Paganelli S.; Floris J.; Pudlo P.
Keywords: Simulator, vehicle, HIL, SCANer, 3D driving environment
Abstract : The LAMIH research center in Valenciennes has a Hardware-In-the-Loop (HIL) simulator which enables to perform tests in interaction with the human driver. The developed HIL is composed by the EPAS system, the reaction force system, and the SCANeR studio software. The EPAS system is the real existing system in market vehicles equipped with EPAS provided by JTEKT Corporation. The reaction force system generates the road reaction force on the rack using the target road reaction force received from the SCANeR studio component (e.g., vehicle model). Then a control algorithm is applied to generate this force on the rack. The SCANeR module generates also the 3D driving environment (e.g., road, decoration, traffic). The assistance motor and road reaction motor are controlled by MicroAutoBox 1401/1505 via the CAN bus and driven by a computer with Matlab/Simulink software. The assist motor angle, the steering wheel angle, the steering torque and the reaction force applied on the rack are measured.
Demonstrator type: Road vehicle, static exhibition, 3D SCANer + interactive presentation
PSCHITT platform
Author: Popieul J.-C.
Keywords: Simulator, immersion, transport, vehicle, rail, intermodal
Abstract: PSCHITT-Rail modality :In the field of railways, a great deal of research is being carried out to evaluate the integration of new equipment in the train, or to study the behaviour of drivers faced with situations at risk of accidents for example. The PSCHITT-Rail Simulator is a tool to conduct such studies in safely condition. The PSCHITT-Rail simulator has been operational since April 2016 and has been used in the ECOVIGIDRIV project during experiments involving 80 professional drivers. (Functionality: Immersion sound and visual (driving view and rear view of the docks during stops in station), Integration of real components in the simulated environment (hardware-in-the-loop), Scripting, Capture of environment and driver information (actions, direction of gaze, behavior).
PSCHITT-PMR modality: The displacement of People with Reduced Mobility (PMR) appears to be highly dependent on the environment in which they operate. The urban environment often proves to be poorly adapted to this type of population and has characteristics that are defined in a generic way, while the handicaps can be very varied. The PSCHITT-PMR platform is a means of studying and improving the mobility and safety of PMR. (Functionality: Visual and sound immersion, Haptic return according to the context (displacement, slope, climb, ...), Real-time calculation of the kinematics of the wheelchair (function of the PMR actions and of the environment).
PSCHITT is a dynamic platform (6 degrees of freedom motion system, 2t7capacity) and provide a set of means of measurements, such as a system of capture of the movement, eyes trackers, physiological measurement sensors, and so on. Financed by the Contract Plan State Region « Haut de France », PSCHITT LAMIH platform (French acronym for: Collaborative Simulation Platform, Hybrid, Intermodal in Land Transport) is a versatile simulator that can be fitted with different cabins (PMR, Rail ...) according to the scientific objectives and experimental needs.
Demonstrator type: Simulator, static exhibition + interactive presentation
The IRT-Buggy - Vehicle Platform for Research and Education
Authors: Reiter Matthias; Wehr Matthias; Sehr Florian Felix; Trzuskowsky Andreas; Abel Dirk
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.
Demonstrator type: Buggy vehicle, closed test area at nearby Francazal air base + interactive presentation
Vehicular platooning experiments using autonomous slot cars
Authors: Lád Martin; Herman Ivo; Hurák Zdeněk
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 on-board controller and it can measure its own velocity, acceleration, and distances to its nearest neighbours. 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.
Demonstrator type: Static exhibition + interactive presentation
Comparison of a backstepping and sliding mode controller for a high performance active suspension system control
Authors: Nkomo Lihle Immaculate; Nyandoro Otis Tichatonga; Dove Albert
Keywords: Adaptive controller, back stepping controller, ride comfort, robustness, sliding mode, uncertainties
Abstract: The objective of this paper is to present the design and implementation of an active vehicle suspension system that aims at reducing vibrations experienced by the driver. Cost effectiveness, ride comfort and robustness are major design parameters in developing the solution. A half car suspension system test rig is constructed for testing the three implemented controllers. Back stepping is used as the primary controller due to its ability to handle non linear systems. The adaptive sliding mode controller is implemented to improve robustness and to deal with non parametric actuation related uncertainties of the controller. A comprehensive comparison of the performance of a back stepping controller was experimented and tested against the proportional integral derivative (PID) and the adaptive sliding back stepping (ASB) controllers in a progressive incremental manner. The experimental results showed that the back stepping, ASB and the PID controllers reduced the sprung mass displacement up to 76.8 %, 71.3 % and 60.9 % respectively when compared to the passive system. The adaptive sliding mode controller performance shows adaptive properties as its performance improves with time. Although ride comfort has been improved, the quality of the suspension travel has been compromised. Matlab, Simulink and DSpace are used for the programming environment.
Demonstrator type: Static exhibition + interactive presentation
