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Theses

Estimation et contrôle pour le pilotage automatique de véhicule : Stop&Go et parking automatique

Abstract : The purpose of my thesis, realized in collaboration with VALEO, is to develop advanced driver assistance systems to increase safety and comfor t in vehicles. To summarize, it is to develop algorithms of a longitudinal control such as Adaptive Cruise Control (ACC) allowing to follow in real time with a safety a leading vehicle and more generally strategies to lower Speed (Stop&Go) for the evolution of vehicle in urban environments. At low speed, it should also consider the problem of parallel parking assistance. First of all, the longitudinal control algorithms (ACC and Stop &Go) were studied. In order to increase system robustness against measurement noise, neglected external dynamics such as the slope of the road, rolling resistance and aerodynamic forces, etc., as well as uncer tainties related to the engine/brake model, an unfied algebraic approach for estimation and model-free control is applied. Regarding the low-speed automation of parallel parking, we proposed a general solution based on a geometric approach. Our local planner can generate a geometric path consisting of circular arcs of minimum radius and straight lines for a parking space whose length is greater than the diagonal of the vehicle. It should be noted that our method is independent of the initial position of the vehicle if its initial position is parallel to the parking lot. An algorithm for geometric path planning of the parallel parking problem according to the length of the parking space was also developed. A theoretical study of the complexity of our method in terms of the number of maneuvers shows that it requires less maneuvers than classical methods in practical cases.
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  • HAL Id : tel-03224911, version 1

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Sungwoo Choi. Estimation et contrôle pour le pilotage automatique de véhicule : Stop&Go et parking automatique. Sciences de l'ingénieur [physics]. Ecole Nationale Supérieure des Mines de Paris, 2010. Français. ⟨NNT : 2010ENMP0025⟩. ⟨tel-03224911⟩

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