Some remarks on wheeled autonomous vehicles and the evolution of their control design

Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering stiffness coefficients of the tires, friction coefficient of the road, ..., which are notoriously difficult to identify. Then a model-free control strategy, which exploits the flat outputs, is proposed. Those outputs also depend on physical parameters which are poorly known, i.e., the vehicle mass and inertia and the position of the center of gravity. A totally model-free control law is therefore adopted. It employs natural output variables, namely the longitudinal velocity and the lateral deviation of the vehicle. This last method, which is easily understandable and implementable, ensures a robust trajectory tracking problem in both longitudinal and lateral dynamics. Several convincing computer simulations are displayed.Comment: 9th IFAC Symposium on Intelligent Autonomous Vehicles (Leipzig, Germany, 29.06.2016 - 01.07.2016

Distance, granulometry, skeleton

In this chapter, we present a series of concepts and operators based on the notion of distance. As often with mathematical morphology, there exists more than one way to present ideas, that are simultaneously equivalent and complementary. Here, our problem is to present methods to characterize sets of points based on metric, geometry and topology considerations. An important concept is that of the skeleton, which is of fundamental importance in pattern recognition, and has many practical application

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

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. Keywords- Longitudinal and lateral vehicle control, model-free control, intelligent P controller (i-P controller), algebraic estimation, ADAS (Advanced Driving Assistance Systems).Comment: in 14th European Control Conference, Jul 2015, Linz, Austria. 201

A mathematical explanation via "intelligent" PID controllers of the strange ubiquity of PIDs

The ubiquity of PID controllers in the industry has remained mysterious until now. We provide here a mathematical explanation of this strange phenomenon by comparing their sampling with the the one of "intelligent" PID controllers, which were recently introduced. Some computer simulations nevertheless confirm the superiority of the new intelligent feedback design

Gliomes de bas grade et plasticité cérébrale : Implications fondamentales et cliniques

La plasticité cérébrale post-lésionnelle (PCPL) décrit l’ensemble des processus permettant au système nerveux central de se réorganiser après une atteinte physique. Depuis l’influent travail de Broca et la prise de pouvoir des modèles « localisationnistes », il est largement admis que la PCPL est limitée, voire impossible, au sein des aires fonctionnelles majeures, dites éloquentes. Pourtant, depuis quelques années, de nouvelles données issues de la chirurgie des gliomes infiltrants de bas-grade (GIBG) sont venues bousculer ce dogme. Il apparaît en effet de plus en plus clairement que des excisions cérébrales massives peuvent être intégralement compensées, pour ne laisser place à aucun déficit fonctionnel détectable. Des techniques d’imagerie pré- et post-chirurgicales, ainsi que des procédures de stimulation peropératoire, permettent de suivre la nature et la cinétique de ces compensations. Celles-ci débutent avant la chirurgie, en réaction à l’invasion tumorale, et se consolident pendant et après la procédure opératoire. Les mécanismes de la compensation pré- et post-lésionnelle impliquent les aires périlésionnelles, les structures cérébrales ipsilatérales distantes et les homologues controlatéraux des zones réséquées. De tels résultats ont d’évidentes implications fondamentales et cliniques, et ouvrent d’importantes perspectives pour la compréhension de la dynamique cérébrale et des phénomènes de plasticité.Post-lesional plasticity (PLP) describes the processes that reorganize cerebral connections after an injury. Since Broca’s influential contribution and the common endorsement of “localisationist” models of brain physiology, it has been widely admitted that PLP was limited, not to say impossible in the so-called “eloquent areas”. However, recent observations associated with the surgical treatments of low grade gliomas have called this dogma into question. Indeed, more and more evidence suggest that large cerebral resections can be compensated so efficiently that no functional deficits can be detected after the surgery. Pre and post surgical investigations based on imaging techniques, as well as intra-surgical investigations involving electrical stimulations, allow to track the nature and the temporal characteristics of these compensations. Compensatory reactions begin before the operation, in response to the tumoral growth. They remain active during and after the surgery. These compensations can involve the perilesional adjacent areas, the distant ipsilateral cerebral structures and the homologous contra-lateral regions. When considered together these results have obvious fundamental and clinical implications. They open new perspectives for understanding cerebral dynamics and the process of brain plasticity

Robust grey-box closed-loop stop-and-go control

International audienceThis paper presents a robust stop-and-go control law, especially well adapted to car following scenarios in urban environments. Since many vehicle/road interaction factors (road slope, rolling resistance, aerodynamic forces) are very poorly known and measurements are quite noisy, a robust strategy is proposed within an algebraic framework. On the one hand, noisy signals will be processed in order to obtain accurate derivatives, and thereafter, variable estimates. On the other hand, a grey-box closed-loop control will be implemented to compensate all kind of unmodeled dynamics or parameter uncertainties

Coupled nonlinear vehicle control: Flatness-based setting with algebraic estimation techniques

International audienceA combined nonlinear longitudinal and lateral vehicle control is investigated. Flatness-based nonlinear control and new algebraic estimation techniques for noise removal and numerical differentiation are the main theoretical tools. An accurate automatic path-tracking via vehicle steering angle and driving/braking wheel torque is thus ensured. It combines the control of the lateral and longitudinal motions in order to track straight or curved trajectories and to perform a combined lane-keeping and steering control during critical driving situations such as obstacle avoidance, stop-and-go control, lane-change maneuvers or any other maneuvers. Promising results have been obtained with noisy experimental data, which were acquired by a laboratory vehicle with high dynamic loads and high lateral accelerations

Estimation of longitudinal and lateral vehicle velocities: an algebraic approach

International audienceThis paper presents a new approach for estimating vehicle velocities at its gravity center. The proposed strategy relies on recent algebraic techniques for numerical differentiation and diagnosis. We do not use any tire model in order to obtain an estimation, which is robust with respect to model uncertainties (friction, ...). All available measurements in a mass-production car are however exploited