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148 results on '"Popieul, Jean-Christophe"'

2. Shared lateral control with on-line adaptation of the automation degree for driver steering assist system: A weighting design approach

Author

Nguyen, Anh-Tu, Sentouh, Chouki, Popieul, Jean-Christophe, and Soualmi, Boussaad

Subjects
Electrical Engineering and Systems Science - Systems and Control, Computer Science - Robotics
Abstract

This paper addresses the shared lateral control for both lane-keeping and obstacle avoidance tasks of a driver steering assist system (DSAS). In this work, we propose a novel approach to deal with the interactions between the human (driver) and the machine (DSAS) by introducing into the vehicle system a fictive nonlinear term representing the driver activity. In this way, the actions of the DSAS are computed according to the driver behaviors (actions and intentions). Based on Takagi-Sugeno control technique together with Lyapunov stability tools, the designed controller is able to handle a large range of variation of vehicle longitudinal speed. In particular, this controller can deal with the system state constraints and also the control input saturation. As will be discussed later, the consideration of these constraints into the control design improves significantly the closed-loop performance under various driving situations. The interests of the proposed method are validated by simulations.

Published
2020
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3. A User-Centered Approach to Adapt the Human-Machine Cooperation Strategy in Autonomous Driving

Author

Coeugnet, Stéphanie, Mars, Franck, Bueno, Mercedes, Sentouh, Chouki, Popieul, Jean-Christophe, Koustanaï, Arnaud, Pauzié, Annie, Tattegrain, Hélène, Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, Black, Nancy L., editor, Neumann, W. Patrick, editor, and Noy, Ian, editor

Published
2021
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8. Low Speed Automation, a French Initiative

Author

Glaser, Sébastien, Cour, Maurice, Nouveliere, Lydie, Lambert, Alain, Nashashibi, Fawzi, Popieul, Jean-Christophe, and Mourllion, Benjamin

Subjects
Computer Science - Robotics
Abstract

Nowadays, vehicle safety is constantly increasing thanks to the improvement of vehicle passive and active safety. However, on a daily usage of the car, traffic jams remains a problem. With limited space for road infrastructure, automation of the driving task on specific situation seems to be a possible solution. The French project ABV, which stands for low speed automation, tries to demonstrate the feasibility of the concept and to prove the benefits. In this article, we describe the scientific background of the project and expected outputs., Comment: TRA (2012)

Published
2012

18. Adaptive Cost Function-Based Shared Driving Control for Cooperative Lane-Keeping Systems With User-Test Experiments

Author

Oudainia, Mohamed Radjeb, Sentouh, Chouki, Nguyen, Anh-Tu, and Popieul, Jean-Christophe

Abstract

This article presents a new shared control method with a dynamic driver-automation conflict management for cooperative lane keeping systems (LKS) of automated vehicles. Based on a human-centered control approach, the proposed shared control design takes into account the driver's activity and availability, as well as the surrounding risk to dynamically adapt the driving assistance level via an adaptive cost function. To this end, we propose a method to characterize in real-time the driver's activity, which allows for an appropriate assistance level according to the driving conditions. Linear parameter-varying (LPV) control technique is leveraged to deal with the time-varying nature of the vehicle speed and the level of assistance. The uncertainties of the lateral tires forces are taken into account in the control design via a norm-bounded representation. Using Lyapunov stability theory, the control design conditions are derived in terms of linear matrix inequality (LMI) constraints, which can be effectively solved by semidefinite programming techniques. User-test experiments are performed with the SHERPA dynamic car simulator to demonstrate the effectiveness of the proposed shared control method from both objective and subjective viewpoints.

Published
2024
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24. Model-based shared control approach for a power wheelchair driving assistance system using a force feedback joystick.

Author

Viet Thuan Nguyen, Chouki Sentouh, Pudlo, Philippe, and Popieul, Jean-Christophe

Subjects
ELECTRIC wheelchairs, JOYSTICKS, ROBUST control, CONFLICT management, TORQUE, WHEELCHAIRS
Abstract

This paper presents a haptic-based assistance system(AS) for powerwheelchair users designed using the model-based shared control approach. The idea is to combine robust control with a high-level driving supervisor in order to successfully share control authority between thewheelchair user and the assistance system. This shared control strategy is composed of two parts, namely an operational part and a tactical part. Through the haptic joystick interface, this assistance system aims to reduce user's effort when manipulating the joystick, guide the user to avoid any potential collisions, and maintain the active participation of the user in driving the wheelchair. In the operational part, an optimal Takagi-Sugeno fuzzy control approach is proposed to deal with the time-varying user's intention represented by his desired longitudinal and angular position errors and velocities and hand torques. The control design is formulated as an LMI optimization problemwhich can be easily solved with numerical solvers. Two unknown input observers for Takagi-Sugeno fuzzy model have been designed to estimate the user's intention in order to generate an assistance torque via a haptic force feedback joystick. The control supervisor in the tactical part, aims to provide a decision-making signal which allows for the conflict management based on the user hand torque estimation. A specific algorithm has been developed to solve the conflict between the user's desired actions and the suggestions fromthe assistance system to ensure the user remains the final decision-maker. Experimental results show the effectiveness and the validity of the proposed assistance system. [ABSTRACT FROM AUTHOR]

Published
2023
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25. Driver Assisted Lane Keeping with Conflict Management Using Robust Sliding Mode Controller.

Author

Perozzi, Gabriele, Oudainia, Mohamed Radjeb, Sentouh, Chouki, Popieul, Jean-Christophe, and Rath, Jagat Jyoti

Subjects
CONFLICT management, ROAD construction, AUTOMOTIVE transportation, AUTONOMOUS vehicles, TORQUE
Abstract

Lane-keeping assistance design for road vehicles is a multi-objective design problem that needs to simultaneously maintain lane tracking, ensure driver comfort, provide vehicle stability, and minimize conflict between the driver and the autonomous controller. In this work, a cooperative control strategy is proposed for lane-keeping keeping by integrating driving monitoring, variable level of assistance allocation, and human-in-the-loop control. In the first stage, a time-varying physical driver loading pattern is identified based on a relationship between lateral acceleration, road curvature, and the measured maximum driver torque. Together with the monitored driver state that indicates driver mental loading, an adaptive driver activity function is then formulated that replicates the levels of assistance required for the driver in the next stage. To smoothly transition authority between various modes (from manual to autonomous and vice versa) based on the generated levels of assistance, a novel higher-order sliding mode controller is proposed and closed-loop stability is established. Further, a novel sharing parameter (which is proportional to the torques coming from the driver and from the autonomous controller) is used to minimize the conflict. Experimental results on the SHERPA high-fidelity vehicle simulator show the real-time implementation feasibility. Extensive experimental results provided on the Satory test track show improvement in cooperative driving quality by 9.4%, reduction in steering workload by 86.13%, and reduced conflict by 65.38% when compared with the existing design (no sharing parameter). These results on the cooperative performance highlight the significance of the proposed controller for various road transportation challenges. [ABSTRACT FROM AUTHOR]

Published
2023
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27. Design of Quasi-LPV Observers for Interconnected Vehicle Dynamics Estimation With Experimental Validation

Author

Fouka, Majda, Sentouh, Chouki, Popieul, Jean-Christophe, Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), and Centre National de la Recherche Scientifique (CNRS)-Université Polytechnique Hauts-de-France (UPHF)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France)

Subjects
ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience

Published
2021

29. Livrable 5.5 : Rapport d'évaluation et recommandations

Author

Sahaï, Aïsha, BUENO, Mercedes, Barre, Jessy, Mars, Franck, Sentouh, Chouki, Floris, Jérôme, Simon, Philippe, Popieul, Jean-Christophe, Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Centre National de la Recherche Scientifique (CNRS)-Université Polytechnique Hauts-de-France (UPHF)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), LAMIH, Université Polytechnique des Hauts-de-France, and ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016)

Subjects
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

Le projet AutoConduct vise, à partir d’une analyse des besoins, à concevoir une nouvelle stratégie de Coopération Homme-Machine (CHM) adaptée à l’état du conducteur. Pour cela, ce projet a pour ambition de proposer un monitoring avancé de l’état du conducteur en combinant différents diagnostics de manière à adapter en temps réel la gestion des interactions entre le conducteur et les automatismes du véhicule.

Published
2021

31. Lateral Shared Sliding Mode Control for Lane Keeping Assist System in Steer-by-Wire Vehicles: Theory and Experiments

Author

Perozzi, Gabriele, Rath, Jagat Jyoti, Sentouh, Chouki, Floris, Jerome, and Popieul, Jean-Christophe

Abstract

The lane-keeping assistance design for steer-by-wire road vehicles is a multi-objective control problem that addresses lane tracking, improvement of driver comfort and ensuring vehicle stability. The designed architecture must be sensitive to various driver behaviors, provide assistance to drivers whenever required and ensure a smooth transition of authority between manual and automated driving modes. In this work, we propose a novel shared lane-keeping controller-based on quasi-continuous high-order sliding mode control dealing with the above challenges. The parameters of the controller are characterized by an upper bound estimate of the lateral wind’s force and the road curvature which acts as disturbances. Using the sharing parameter dependent on the monitored driver attribute, the authority is smoothly transitioned between various modes while accounting for driver behaviors. Experimental results on the SHERPA vehicle simulator shows the real-time implementation feasibility. Extensive results and discussions are provided to demonstrate the effectiveness and the applicability of the proposed controller.

Published
2023
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38. Evaluation of a level 2 automated driving system prototyped in a dynamic simulator

Author

Simon, Philippe, Floris, Jérôme, Benloucif, Mohamed Amir, Sentouh, Chouki, Debernard, Serge, Popieul, Jean-Christophe, Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), and Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France)

Subjects
ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience

Published
2019

39. Spécifications de l'IHM

Author

Floris, Jérôme, Simon, Philippe, Sentouh, Chouki, Popieul, Jean-Christophe, Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), LAMIH, Valenciennes, and ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016)

Subjects
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

Le projet AutoConduct vise, à partir d’une analyse des besoins, à concevoir une nouvelle stratégie de Coopération Homme-Machine (CHM) adaptée à l’état du conducteur. Pour cela, ce projet a pour ambition de proposer un monitoring avancé de l’état du conducteur en combinant différents diagnostics de manière à adapter en temps réel la gestion des interactions entre le conducteur et les automatismes du véhicule.

Published
2019

40. Driver-vehicle cooperation

Author

Guo, Chunshi, Sentouh, Chouki, Haué, jean-baptiste, Popieul, Jean-Christophe, Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), and Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France)

Subjects
ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience

Published
2019

41. Livrable D4.3 : Modèles de manœuvres

Author

Sentouh, Chouki, Floris, Jérôme, Simon, Philippe, Popieul, Jean-Christophe, Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), Université de valenciennes et du Hainaut-Cambrésis, and ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016)

Subjects
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Published
2018

42. Prototyping and evaluation of an automated driving system in the SHERPA simulator

Author

Benloucif, Mohamed Amir, Floris, Jérôme, Simon, Philippe, Sentouh, Chouki, Debernard, Serge, Popieul, Jean-Christophe, Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), and Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France)

Subjects
ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience

Published
2018

43. Livrable D4.1 : Spécifications des stratégies de coopération Homme-machine

Author

Sentouh, Chouki, Simon, Philippe, Floris, Jérôme, Popieul, Jean-Christophe, Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), LAMIH, Université Polytechnique des Hauts-de-France, and ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016)

Subjects
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Published
2018

44. Compte-rendu de fin de projet

Author

Popieul, Jean-Christophe, Bauda, Marie-Anne, Davenne, Damien, Boverie, Serge, Nashashibi, Fawzi, Marteau, Julie, Hoibian, Jérôme, Tissot, Jean-Marc, Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), LAMIH, Université Polytechnique des Hauts-de-France, ANR-13-TDMO-0005,CoCoVeA,Cooperation Conducteur - Vehicule Automatisé(2013), TORCK, Kathleen, and Transports Durables et Mobilité - Cooperation Conducteur - Vehicule Automatisé - - CoCoVeA2013 - ANR-13-TDMO-0005 - TDM - VALID

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Published
2018

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