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Theses

Youla-Kucera based multi-objective controllers : Application to autonomous vehicles

Abstract : Automated vehicles are getting more and more attention because of their potential to improve drivers' lives, ensuring road safety, increasing highway capacity, or reducing carbon emissions. Proper autonomous driving requires vehicle stability, precise motion, and natural behavior guaranteeing comfort for passengers inside the vehicle. However, driving situations change depending on the road layout and potential interactions with other traffic agents. Furthermore, vehicle capabilities can be degraded because of the on-board sensors' limitations, or the complexity of the algorithm processing the perception data. This thesis proposes a multi-objective control architectures that can adapt the vehicle behavior to overcome the changes in the operating conditions and assure vehicle performance and stability. The automated control system should be able to address any circumstances ranging from a sudden change in the driving situation (i.e. lane change, obstacle avoidance) to an inaccurate measurement. This thesis uses Youla-Kucera (YK) parametrization to design control structures able to recognize the driving situation changes, adapting the controller response to satisfy the required performance level, and keeping the motion stability with a natural vehicle behavior. In this thesis we propose novel control structures based on controller reconfiguration, improving both lateral and longitudinal control state-of-the-art by solving the following problems: 1) The trade-off between precision in trajectory tracking and comfort when the driving situation changes in lateral motion; 2) The trade-off between robustness and performance when noise measurement appears in Adaptive Cruise Control (ACC) systems. The stability of the proposed controller is guaranteed thanks to YK parametrization. The validation of the proposed control structures is provided in both simulation and real-time experimentation using a Renault ZOE vehicle. The adaptability of the controllers to autonomous driving tasks is proved in different operating conditions.
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https://pastel.archives-ouvertes.fr/tel-03126748
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Submitted on : Monday, February 1, 2021 - 9:11:09 AM
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2020UPSLM044_archivage.pdf
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  • HAL Id : tel-03126748, version 1

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Imane Mahtout. Youla-Kucera based multi-objective controllers : Application to autonomous vehicles. Automatic Control Engineering. Université Paris sciences et lettres, 2020. English. ⟨NNT : 2020UPSLM044⟩. ⟨tel-03126748⟩

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