Team : imara
Section: Scientific Foundations
The task is to develop a command system designed to execute at best the orders given by either the driver (aided by the system) or the automated driving system. The command system sends orders to the mechanical parts of the vehicles using all the information raised by the sensors. For example, one can imagine a steering system that acts not only on the wheels angle through the steering wheel but also on the brakes of each wheel. This would yield a much more secure behavior of the vehicle.
The real difficulty with this kind of control comes from the complexity of the dynamic behavior of the vehicle: response are highly non linear, particularly the response to forces of the tires on various soils. INRIA has a great expertise in these control problems and IMARA already demonstrated solutions for automatic driving of platoons of electrical cars. These research is still an active field. We want to enhance the system concerning the speed, the variety of wheel-soil contact. The lateral control problem is also studied, particularly in view of drivers assistance.
Another aspect of command systems is to generate correct trajectories which is another field of expertise for INRIA. These problems deal with obstacle avoidance or with generating complex trajectories in constraint environment (e.g. the parking problem).
Sharp, Icare, Sosso.