Intelligent Vehicles and ADAS

68 Pages·2008·2.09 MB·French

by  Philippe Bonnifait

Intelligent Vehicles and ADAS
(Advanced Driving Assistance Systems)
Ph. Bonnifait
Lab Heudiasyc CNRS,
Université de Technologie de Compiègne
FRANCE
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Outline
1. Intelligent Vehicles
2. Pedestrian detection, recognition and tracking using
Lidar
3. Map-Matching integrity monitoring
4. Data fusion of Geographical Information and rough
GNSS measurements
5. Wheel ground vertical contact force
2
Outline
• Intelligent Vehicles
Research interests
–
iTrans
–
UTC interests
–
• Pedestrian detection, recognition and tracking using
Lidar
• Map-Matching integrity monitoring
• Data fusion of Geographical Information and rough
GNSS measurements
• Wheel ground vertical contact force
3
Intelligent Vehicles
• Definition (R. Bishop’s proposal – 2005)
• IV systems
Sense the driving environment
–
Provide information or vehicle control
–
To assist the driver in optimal vehicle operation
–
• IV systems operate at tactical level of driving
Throttle, brakes, steering
–
• IV systems are beyond active safety systems (ABS,
ESP)
4
Intelligent Vehicles key issues
• An IV is a vehicle able to perform
driving assistance tasks
–
autonomous navigation
–
in the presence of uncertainty and
(cid:131)
variability in its environment
• Artificial Perception and Contextual Information
Analysis are key issues
• Managing uncertainty in fusion processes is crucial for
reliable perception
5
Confidence indicators
• IV embedded systems need to
Fuse redundant information
–
Estimate unobserved parameters
–
Monitor themselves
–
Fault detection and isolation
(cid:131)
Diagnosis
(cid:131)
Integrity tests
(cid:131)
• Confidence indicators are useful for
The fusion processes (Input)
–
The use of the provided information (since often no
–
high enough reliability can be reached) (Output)
6
i-Trans competitiveness cluster
• Intelligent transportation systems
• Scope
Rail, automobiles, logistics, coastal and international
shipping, and inland waterways
7
I-Trans activities linked to IV
• Comité de Programme 4
Sécurité et Acoustique des Equipements
–
Embarqués
• Sécurité active : communication inter-véhicules et
avec l’infrastructure
• Sécurité intégrée : pilotage du passif par l’actif
Aide à l’anticipation pour la sécurité dans le
–
véhicule,
Aide à l’anticipation pour la sécurité des piétons.
–
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I-Trans activities linked to IV (in English!)
• Active and Passive Safety
• Integrated Safety Systems
• Vehicle Environment Perception
• Cooperative Vehicle-Highway Systems
• Collision Avoidance (pedestrian detection)
9
Heudiasyc scientific interests
• ADAS - Advanced Driver Assistance Systems
Techniques for Man-Machine cooperation
–
assessment
• Perception
State Observation of dynamic systems
–
Multi-sensor fusion in a dynamic context
–
Ego-localization using on-board sensors and GNSS
–
associated with GIS information
Dynamic behaviour (tire/road contact
–
characterisation)
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