Post-Doctoral project
Robust estimation of dynamics behavior, stability control applied to intelligent electric vehicles

Context

The Heudiasyc Laboratory (Heuristique et Diagnostic de Systems Complexes), a joint research laboratory between the CNRS and the Université de Technologie de Compiègne (UTC), in Compiègne-France, develops researches at the field of automobile robotics, with the aim to develop on-boarded intelligent systems applied to advanced drive assistance systems, autonomous navigation systems and road security systems. The development of new diagnostic systems driving behavior and driving assistance remains an important issue for the automotive industry. In fact, equip new cars (or in the near future CyberCarsautonomous vehicles -) intelligent systems capable of automatically detecting a driving malfunction, anticipate an imminent crash and acting on the system in order to avoid the accident will constitute a great evolution.

We work in the laboratory HEUDIASYC on the development of intelligent systems to be loaded on cars or CyberCars able to detect a loss of tire-road friction, a risk of skidding or overturning of the vehicle and warn the driver or a system of automatic control of this dysfunction. These algorithms are based on dynamic parameters, such as the forces of tire-road interaction, the sideslip angle. The majority of these variables cannot be measured directly and must be estimated by state observers on board on the vehicle. In general, probabilistic methods, such as the extended Kalman filter are used to estimate these parameters based on predefined state models. These methods have important limitations in situations of non-linearity or lack of knowledge models. In these situations non linear robust estimation methods must be used. Based on the description of the vehicle dynamics, we developed methods of trajectory rupture (lateral skidding or rollover) diagnosis in an anticipated way. These methods are based on the tire charges and tire-road friction coefficient estimation.

In the context of the ROBOTEX program, on the mobile robotics section, Heudiasyc Lab made the acquisition of three electric vehicles, a Fluence ZE Renault and two Renault Zoe, that will be used as experimental platforms to this project, besides the existing PACPUS platform (3 thermal engine vehicles, 4 dynamometric wheels, corevit, and many other sensor). This post-doc project of 12 months (to start imperatively the 1rs January 2014) will be realized, in the Automation, Embedded Systems and Robotics (ASER) team, in the context of the VERVE project "Novel Vehicle Dynamics Control Technique for Enhancing Active Safety and Performance of Intelligent Electric Vehicles (IEV)". VERVE is a joint project proposed by the HEUDIASYC Lab in France and the TU Ilmenau in Germany, where the principal objective is the development of an intelligent electric vehicle, equipped of control and observation systems able to detect a driving malfunction and avoiding it. This IEV must be equipped of some essential functionalities enabling it to interact to : the driver, its neighbor environment and others IEV. These functionalities can be resumed at the following points :

  • Vehicle dynamics observation and control, and driving diagnosis
  • Perception of the environment and localization (and minimal description of the near
  • environment) ;
  • Semi-autonomous mode ;
  • V2V and V2I communication ;

Subject of the project

This project concerns two problematic axes : (i) driving behavior estimation and diagnosis ; (ii) dynamic vehicle control and stabilization. In (i), the problem concerns the development of our existent estimation methods of the vehicle dynamics and their implantation in the context of the VERVE project, considering the perception of the environment and the objective related to a embedded energy optimization process. In (ii), the problem concerns the development and implantation on the experimental vehicle of the control techniques providing control inputs to actuators (steering wheel, acceleration, brake) in order to stabilize the vehicle dynamics.

Beyond the theoretical developments, the post-doc researcher will develop and validate, in simulation and in real-time, algorithms developed in the context of the VERVE project. This will require writing C/C++ codes, implementing these programs on the on boarded real-time system of the experimental HEUDIASYC vehicles (figure above), supervise the acquisition trials, the experimentations and demonstrations. The following knowledge is required from the candidate :

  • State observer ;
  • Non-linear control (robust techniques),
  • Robotic perception ;
  • Embedded and real-time systems.


This project will be realized in straight relation to the works developed at the TU Imenau around the VERVE project, with joint meetings and works in Ilmenau, Thuringia, Germany or in Compiègne, France.

Contact : Alessandro.Victorino@hds.utc.fr

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FR SHIC 3272

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