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Abstract This paper proposes a robust switching control for vehicle steering input. This control is constructed from a robust switching two-PID control to correct the lateral displacement and yaw angle of the vehicle. The controllers are... more
Abstract This paper proposes a robust switching control for vehicle steering input. This control is constructed from a robust switching two-PID control to correct the lateral displacement and yaw angle of the vehicle. The controllers are based on LMI-theory stabilizing optimal and ...
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AbstractIn this article we study a two-level driver model composed of one anticipatory and one compensatory control. The anticipatory control, executed in an open loop, is based mainly on the standard linear equations for the lateral... more
AbstractIn this article we study a two-level driver model composed of one anticipatory and one compensatory control. The anticipatory control, executed in an open loop, is based mainly on the standard linear equations for the lateral dynamics of the vehicle. The ...
Research Interests: Engineering, Computer Science, Vehicle Dynamics, Robust control, Model validation, and 12 moreTime Delay, Robustness (evolution), Pid Controller, Linear Parameter Varying Systems, Linear Systems, Delays, Nonlinear system, Experimental Validation, Experimental Data, Linear Equations, Switches, and Nonlinear Equations
This paper proposes a mathematical driver model based on PID multi-controllers having two degrees of freedom. Each PID controller making up this model is synthesised by the ZieglerNichols oscillation method, using the linear time... more
This paper proposes a mathematical driver model based on PID multi-controllers having two degrees of freedom. Each PID controller making up this model is synthesised by the ZieglerNichols oscillation method, using the linear time invariant models which are ...
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The aim of this paper is to present an accident reconstruction software tool, developed by INRETS (France), to make the best possible use of an In-deth Accident Survey, which includes high quality data collection for each driving system... more
The aim of this paper is to present an accident reconstruction software tool, developed by INRETS (France), to make the best possible use of an In-deth Accident Survey, which includes high quality data collection for each driving system component. The accident scenario is recreated in both space and time, starting from the final vehicle positions, and then analyzing in turn post-crash, crash and pre-crash phases. It is then possible to carry out investigative work on the emergency manoeuvres which should have been performed. The basic version of ANAC works on PC and enables graphic animation of accident reconstructions and simulations seen from above. An extended version developed on workstations enables three-dimensional digital images. (A) For the covering abstract see IRRD 880121.
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L'objectif de cette communication est de presenter une synthese de nos connaissances sur le comportement des conducteurs en situation d'accident, a partir d'une part des enseignements de Etudes Detaillees d'Accidents et... more
L'objectif de cette communication est de presenter une synthese de nos connaissances sur le comportement des conducteurs en situation d'accident, a partir d'une part des enseignements de Etudes Detaillees d'Accidents et d'autre part des resultats de diverses experimentations realisees sur routes, pistes et simulateur de conduite. Le premier point concerne les mecanismes qui expliquent le basculement d'une situation en marche normale vers une situation en marche degradee. On y etudie les defaillances qui caracterisent le fonctionnement du conducteur face aux difficultes rencontrees, ainsi que les scenarios-types dans lesquels ces defaillances se produisent. L'etude du comportement du conducteur en manoeuvre d'urgence aborde ensuite les questions des temps de reaction des conducteurs, des choix de manoeuvres d'urgence en fonction des parametres de la situation rencontree, et des modes de realisation de ces manoeuvres. L'identification des defaillances et des limitations dans les performances realisables en manoeuvre d'urgence permet de cerner les besoins en formation et en assistance securitaire des conducteurs.(A)
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This research was carried out by INRETS (France) using the Daimler-Benz driving simulator (RFA), in order to analyse the behaviour of 49 drivers, when faced with an unexpected emergency situation at a junction. ... This experiment enables... more
This research was carried out by INRETS (France) using the Daimler-Benz driving simulator (RFA), in order to analyse the behaviour of 49 drivers, when faced with an unexpected emergency situation at a junction. ... This experiment enables us to collect driver reaction times, and ...
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In-depth analyses of real accidents carried out at Salon de Provence have shown that lateral avoidance is under-used, considering the gains to be derived if performed properly. The results of two accident studies dealing with emergency... more
In-depth analyses of real accidents carried out at Salon de Provence have shown that lateral avoidance is under-used, considering the gains to be derived if performed properly. The results of two accident studies dealing with emergency situations, and two experimental research projects which try to give light on the excessive use of braking are described. For the covering abstract of the conference see IRRD 809367. (TRRL)
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When installed on-board vehicles, Event Data Recorders (EDR) are expected to improve road safety "indirectly", although their impact on driver behaviour is not well established. This paper presents the initial results of an... more
When installed on-board vehicles, Event Data Recorders (EDR) are expected to improve road safety "indirectly", although their impact on driver behaviour is not well established. This paper presents the initial results of an experiment launched by the French DoT, in order to assess driver acceptance of EDR in a "professional" context, as well as the potential contribution of EDR to accident and pre-accident analysis and reconstruction, and to infrastructure improvement. The ultimate objective of the project is to produce national specifications for EDR to be installed in new cars, and recommendations for their use by a Ministry. For the covering abstract see E134653.
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The S_VRAI project, sponsored by the DSCR, consisted in implementing 50 data loggers on public fleet vehicles, for a 12-month data collection. The purpose is to detect road incidents (potentially dangerous driving situations) from the... more
The S_VRAI project, sponsored by the DSCR, consisted in implementing 50 data loggers on public fleet vehicles, for a 12-month data collection. The purpose is to detect road incidents (potentially dangerous driving situations) from the main parameters characterizing vehicle dynamics. This research project allowed to: Develop a whole package to collect and analyze road incidents: industrialized material, database, data processing tools; Create an appropriate 'legal toolkit', including solutions to protect the personal data of drivers and obtain the CNIL authorization; Collect 3500 itineraries / 100000 km traveled, 1500 events, including 350 incidents; Identify risky areas on a road network; Show that road infrastructure played a part in 56 % of incidents in rural areas. S_VRAI benefited from the implication of the Departmental Council of Seine-Maritime. The relevant and operational character of this approach for a road manager is thus validated. Partnerships with new local aut...
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French government decided to support the SVRAI project (Saving Lives through Road Incident Analysis Feedback) to answer the question "Can incident data analysis help to avoid accidents?" Thus a 12 months data collection... more
French government decided to support the SVRAI project (Saving Lives through Road Incident Analysis Feedback) to answer the question "Can incident data analysis help to avoid accidents?" Thus a 12 months data collection involving 50 public vehicles, fitted with a dedicated EDR named EMMA, was carried out. This paper focuses on results concerning vehicle dynamics: 339 incidents were collected, among which 70 % concern the lateral direction, with 70 % in right hand turns vs 30 % in left ones. Based on additional data synthesizing complete travels, 3D representations of dynamic parameters are also shown interesting to characterize driver performance.
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The accident number has decreased considerably since 2003 in most of the countries. So, it becomes difficult from only accidents data to obtain ‘black spot’. Consequently, it can be interesting to work on incidents instead of accidents in... more
The accident number has decreased considerably since 2003 in most of the countries. So, it becomes difficult from only accidents data to obtain ‘black spot’. Consequently, it can be interesting to work on incidents instead of accidents in order to prevent them. In order to acquire incidents, about 50 EDR (Event data recorded) have been implemented in different public fleets of company vehicles. After 6 months of acquisition, approximatively 700 events have been recorded. This paper illustrates the different types of events:’simple’ events in urban, interurban and highway area, lateral and longitudinal ‘incidents’ and finally accidents. It is highlighted in particular that the event acquisition can be used to improve road infrastructure or to improve knowledge in the accident/incident mechanisms analysis. Finally, it is proposed a classification of these events in ‘safety relevant’ or not in order to set up methods which allow automatic processing during the data exploitation.
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In recent years, IFSTTAR has developed some tools and methods for the monitoring and the diagnosis of transport infrastructures using probe vehicles with embedded measurement systems. This scientific and technological approach has been... more
In recent years, IFSTTAR has developed some tools and methods for the monitoring and the diagnosis of transport infrastructures using probe vehicles with embedded measurement systems. This scientific and technological approach has been treated into two projects which have different primary goals. The first project, whose French acronym is MIRANDA (Measurement of Road Indicators by Nomadic devices), has provided a demonstrator aimed at road managers in order to give them an automatical update map of road surface defects and thus improving the management of the network. For this purpose, the road data collection has been performed by smartphones, since they have the advantage of being both a measurement system (via internal sensors like accelerometer and GPS) and a connected object (e.g. with a road server unit). The second project deals with the problematic of near miss accidents. Event Data Recorder (EDR) are usually used to collect safety-relevant events related to driver's beh...
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A reliable model for road/vehicle/driver interaction is very often needed for car design and development, and also for accidents causation and reconstruction analysis. For both uses, validity is a critical point. SERA-CD has developed a... more
A reliable model for road/vehicle/driver interaction is very often needed for car design and development, and also for accidents causation and reconstruction analysis. For both uses, validity is a critical point. SERA-CD has developed a package called CALLAS for 3D road vehicles dynamics simulation. A working group was built to establish the validity of this package. This group selected 4 very different cars fitted with full data collection systems. More than 200 tests of pure longitudinal, lateral, vertical dynamics and various combination of them with progressive difficulties, up to and beyond the limit of adhesion were defined and carried out on two test tracks. Comparison between measured and computed responses were done by the group. The general conclusion is that CALLAS provides an open loop 3D dynamics response valid within the confidence interval of measured values. The results precision depends on solicitation level and car parameters relevance. For the covering abstract se...
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The number of accidents has considerably decreased these last years in most countries. Consequently, it can be interesting to work on driving hazardous situations instead of accidents in order to prevent them. But it appears important to... more
The number of accidents has considerably decreased these last years in most countries. Consequently, it can be interesting to work on driving hazardous situations instead of accidents in order to prevent them. But it appears important to identify if these events are due to the infrastructure, the driver or the vehicle (or a combination of these components). Based on the implementation of 50 Event Data Recorder in different public fleets of company vehicles, about 340 driving hazardous situations were collected during one year on the French territory. This paper provides a descriptive analysis of the database of this kind of incident in order to investigate on their different causes. A qualitative and quantitative description of the collected data is given in function of the level of the vehicle accelerations reached during the hazardous situations, the location of the incident (road configuration), the speed, etc.
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The advantages of using simulation in research into the driver-vehicle-environment system has long been known. Over the last ten years there have been several projects which enable the potential contribution of these multi-disciplinary... more
The advantages of using simulation in research into the driver-vehicle-environment system has long been known. Over the last ten years there have been several projects which enable the potential contribution of these multi-disciplinary test techniques as well as their limitations to be understood even more fully. The particular nature of the driving activity means that it is necessary to adopt solutions which are innovative compared to those normally used in aeronautical simulation. Several major projects are currently in progress with this end in view.
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Le projet S_VRAI, subventionne par la DSCR3, a consiste a deployer sur 50 voitures de flottes professionnelles publiques, des enregistreurs de donnees en mode automatise pendant 12 mois. Le but ? Detecter des incidents (situations de... more
Le projet S_VRAI, subventionne par la DSCR3, a consiste a deployer sur 50 voitures de flottes professionnelles publiques, des enregistreurs de donnees en mode automatise pendant 12 mois. Le but ? Detecter des incidents (situations de conduite jugees dangereuses) a partir de la mesure de parametres dynamiques des Ihicule (accelerations, vitesses, trajectoire GPS... ). Les resultats du projets sont exposes de maniere synthetique.
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Research Interests: Philosophy and Humanities
This research was carried out by INRETS (France) using the Daimler-Benz driving simulator (RFA), in order to analyse the behaviour of 49 drivers, when faced with an unexpected emergency situation at a junction. ... This experiment enables... more
This research was carried out by INRETS (France) using the Daimler-Benz driving simulator (RFA), in order to analyse the behaviour of 49 drivers, when faced with an unexpected emergency situation at a junction. ... This experiment enables us to collect driver reaction times, and ...
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Résumé/Abstract Cette communication a pour objectif de montrer comment la connaissance du comportement dynamique des véhicules routiers peut contribuer à une meilleure compréhension du fonctionnement du système... more
Résumé/Abstract Cette communication a pour objectif de montrer comment la connaissance du comportement dynamique des véhicules routiers peut contribuer à une meilleure compréhension du fonctionnement du système conducteur-véhicule-environnement en ...
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... Sixième Conférence Internationale Francophone d'Automatique, Nancy : France (2010). Synthèse et validation d'une loi de commande linéaire robuste de braquage d'une automobile. Lghani Menhour, Daniel Lechner 1 , Ali... more
... Sixième Conférence Internationale Francophone d'Automatique, Nancy : France (2010). Synthèse et validation d'une loi de commande linéaire robuste de braquage d'une automobile. Lghani Menhour, Daniel Lechner 1 , Ali Charara 2. (02/06/2010). ...
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The aim of the SARI project is to better inform drivers about losses of control on the open road, which is where two thirds of fatal accidents occur in France. One of the assumptions is that drivers perceive road difficulties poorly and... more
The aim of the SARI project is to better inform drivers about losses of control on the open road, which is where two thirds of fatal accidents occur in France. One of the assumptions is that drivers perceive road difficulties poorly and are then surprised or react inappropriately. ...
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Embedded estimation of the tire/road forces ... Moustapha DOUMIATI*(Corresponding author), Guillaume BAFFET*, Daniel LECHNER**, Alessandro VICTORINO*, Ali CHARARA*, ... * HEUDIASYC, UMR 6599 CNRS-UTC Centre de recherches de ...
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This paper presents in summary form a body of research dealing with emergency manoeuvres. Seveial complementary research projects are still in progress at INRETS. The typological approach is based on kinematic reconstruction of actual... more
This paper presents in summary form a body of research dealing with emergency manoeuvres. Seveial complementary research projects are still in progress at INRETS. The typological approach is based on kinematic reconstruction of actual accidcnts and tries to establish ...