Bruno Monsuez - Academia.edu (original) (raw)

Papers by Bruno Monsuez

2017 European Conference on Mobile Robots (ECMR)

Most of the chassis systems are developed by automotive suppliers to improve a specific vehicle p... more Most of the chassis systems are developed by automotive suppliers to improve a specific vehicle performance. Drivers, and consequently vehicle manufacturers, are more concerned by the overall behaviour of the Vehicle. Many coordination architectures have been proposed in the literature in order to integrate different chassis systems in a single vehicle. In this paper, these architectures are compared and discussed. Two major classes are proposed: Downstream and Upstream Coordination. The purpose of this classification is to help car manufacturers and suppliers standardize an Integrated Vehicle Dynamics Control architecture for faster and more flexible designs.

2018 IEEE Intelligent Vehicles Symposium (IV)

Most of automotive researches focus on autonomous vehicles. Studies regarding trajectory planning... more Most of automotive researches focus on autonomous vehicles. Studies regarding trajectory planning and trajectory tracking became preponderant. As in case of commercial ground vehicles there is a driver in the loop, one should raise the important question of how the trajectory should be tracked. In this paper, we investigate the influence of controlling integrated chassis systems on the vehicle's behavior. A fixed Model Predictive Control is used to track the trajectory. Tunable vehicle motion control is however used to provide different motion feelings. Results show that a specific trajectory could be followed in different manners. Therefore, vehicle dynamics can be and should be controlled in such a way to generate adaptive trust feelings to passengers in case of autonomous driving.

In this paper, we highlight the usage of AI in software devel-opment process for Robotic systems,... more In this paper, we highlight the usage of AI in software devel-opment process for Robotic systems, in general and HRI sys-tems, in particular. The software as well as the software de-velopment methodology and associated tools are knowledge-based systems. The key challenge is to represent domain knowledge that enables the process and model evolution to built complex software intensive HRI systems. 1

International Static Analysis Symposium, 1991

Lecture Notes in Computer Science

2018 21st International Conference on Intelligent Transportation Systems (ITSC)

2019 IEEE Intelligent Transportation Systems Conference (ITSC)

Several systems are integrated in passenger cars. Some of them are just redundant systems due to ... more Several systems are integrated in passenger cars. Some of them are just redundant systems due to safety requirements. Others, are completely different and can interact with each other as long as they are operating inside the same vehicle. Control allocation methods have been successfully implemented in advanced aircrafts to avoid conflicts, especially in the context of redundant systems. In this paper, we will rather focus on coordinating non-redundant advanced chassis systems with different dynamics. This difference in dynamics can be especially problematic when systems exhibit different communication delays. Model Predictive Control Allocation (MPCA) methods are therefore investigated in order to activate the right system at the right moment. Results show that particularly when the most effective system is saturated, another system with a different time delay can be activated few steps before saturation to instantly take over the maneuver. With good knowledge of actuator dynamics and higher computation power, MPCA methods are able to solve complex problems in severe situations.

2020 American Control Conference (ACC)

Most of recent researches on the automotive field focus on autonomous vehicles. These vehicles ar... more Most of recent researches on the automotive field focus on autonomous vehicles. These vehicles are equipped with conventional chassis systems. The goal is to control the vehicle's traction, brakes, and front steering. This paper discusses the importance of advanced chassis systems, as driving/braking torque vectoring, for both autonomous and non-autonomous vehicles, especially in a race mode. Reliable co-simulation results show that expanding the vehicle's potential leads to high performances and safety with respect to severe situations when optimal control allocation is ensured. Therefore, future passenger cars shall not only be equipped with additional sensors, but also by advanced systems along with adequate control algorithms.

SAE Technical Paper Series

As we are heading towards autonomous vehicles, additional driver assistance systems are being add... more As we are heading towards autonomous vehicles, additional driver assistance systems are being added. The vehicle motion is automated step by step to ensure passengers' safety and comfort, while still preserving vehicle performance. However, simultaneous activations of concurrent systems may conflict, and non-suitable behavior may emerge. Our research work consists in proving that with the right coordination approach, simultaneous operation of different systems improve the vehicle's performance and avoid the emergence of unwanted conflicts. To prove this, we gathered different control architectures implemented in commercial passenger cars, and we compared them with our control architecture using a unified reference vehicle model. The high-fidelity vehicle model is developed in Simcenter Amesim in a modular and extensible manner. This enables adding systems in a plug-and-play way. Not only different control architectures can be tested on the same vehicle, but also different systems combinations can be evaluated. In this research, the vehicle can steer at the front and at the rear, and each wheel can be braked independently. Each of the actuators concerned can influence the vehicle's yaw rate leading in some cases in system conflicts. More complex control strategies are then implemented in Matlab/Simulink, and co-simulations are carried between both softwares in order to provide realistic results. It has been shown that optimal control allocation algorithms are more suitable to coordinate systems in an over-actuated vehicle. Moreover, if the optimization objectives are well formalized, performance, safety and comfort can be improved since the vehicle can benefit from the systems' synergies.

2020 IEEE Intelligent Vehicles Symposium (IV), 2020

Many Advanced Driver Assistance Systems (ADAS) and chassis systems can be found within the same p... more Many Advanced Driver Assistance Systems (ADAS) and chassis systems can be found within the same passenger car. Most of these systems are controlled separately using standalone controllers. Several studies show the benefits of coordinating several systems especially in simultaneous operations. However, most of the studies tend to ignore the time-delays that exist in the control loop. This time-delays can destabilize the vehicle in severe situations. This paper provides a solution to face time-delays in the context of integrated ADAS and chassis systems. Results show the benefits of the control logic proposed in terms of stability and performance. This brings one step closer towards standardization of global vehicle motion control.

Standardization, benchmarking, and formalization activities are being undertaken by many technica... more Standardization, benchmarking, and formalization activities are being undertaken by many technical working groups and independent agencies such as, IEEE, ISO, and OMG, to promote Model-Based Software Development in robotics. Absence of integrated tools is the real barrier that exists between early adopters of such efforts and early majority of research and industrial community. The process of developing software frameworks and tools for designing robotic architectures is expensive both in terms of time and effort, and absence of systematic approach may result in ad-hoc designs that are not flexible and reusable. Therefore, within the context of architecture design, software development, and their supporting tools, a coherent practice is required for developing architecture frameworks. We believe that by making architecture meta-framework a point of conformance opens new possibilities for interoperability and knowledge sharing in the architecture and framework communities. In this pa...

The Abstract State Machines have been around for a while, earning their place in the embedded sys... more The Abstract State Machines have been around for a while, earning their place in the embedded system world. Their formal background makes them suited for proofs, their refinement design method eases the system engineering and their apparent simplicity steepens the end user's learning curve. The numerous extensions that followed have adapted the ASMs to most of the real-time system needs. Our aim is to provide a safe, precise and adaptable worst-case execution time (WCET) estimation for processors featuring modern components. The safety property implies that among all the possible processor states, generated by the binary for all possible inputs, the ones that cause the maximal execution time must be considered. However, complex architectural components, designed to speedup the average case, make it impossible to infer local timing decisions to the global systems as the monotony is broken by the timing anomalies. Therefore, a large number of states must be analysed, generating a ...

Motivated from the experience of developing a lidar based vehicle tracking system, a model-based ... more Motivated from the experience of developing a lidar based vehicle tracking system, a model-based approach for specifying the solution space of robotic system is proposed in this paper. Solution space modeling can expand the design space, help finding the best possible solution, identify variation points, and also permit to perform context based run-time adaptation of the system. Models based on the proposed Solution Space Modeling Language (SSML) can help in system level reasoning, making tradeoffs, documenting decisions, and comparing them based on functional and non-functional properties, and can act as an artifact for formally proving and validating the final implementation.

Detecting functional errors on generic hardware components is often a complex task. This task bec... more Detecting functional errors on generic hardware components is often a complex task. This task becomes more complex in a componentwise approach when analyzing components without their embedded context that is the entire system description. In this paper, we propose a methodology that successfully detects just from the component's description a pure functional error that neither extensive tests nor formal methods could find.

Hard real time systems are evolving in order to respond to the increasing demand in complex funct... more Hard real time systems are evolving in order to respond to the increasing demand in complex functionalities while taking advantage of newer hardware. Software development for safety critical systems has to comply with strict requirements that will facilitate the certification process. During this process, each part of the system is evaluated, requiring a certain level of assurance in order to provide confidence in the product. In particular there must be a level of confidence that the system behaves deterministically that may be based on functionality, resources and time. The success of system verification depends greatly on the capacity to determine its exact behavior. Nonetheless, hardware evolved in order to maximize the average computation power throughput with little to no regard to the deterministic aspect. Therefore modern architectural features of processors, like pipelines, cache memories and co-processors, make it hard to verify that all the needed properties are respected...

2020 AIAA/IEEE 39th Digital Avionics Systems Conference (DASC)

With the rise of artificial intelligence, it is time to shape the systems engineering tooling env... more With the rise of artificial intelligence, it is time to shape the systems engineering tooling environment for the future. In the last decade, we have seen several emerging technologies that will potentially have a great impact in complex systems. These new technologies are expected to cause a disruptive impact not only in the products but also in to the tools used across the whole product life cycle. For this reason, is imperative to perform a critical review of the current systems engineering tooling ecosystem. This assessment should also map the open research problems that could prevent the complete integration of the new technologies into the systems engineering framework. This paper proposes a new architecture for a system engineering environment to operate in large scale projects. The objective of this research is twofold: it will first identify the capabilities for the next generation platform, and secondly, it will evaluate how artificial intelligence applications can be integrated in compliance with DO-330. The concept developed by this research will drive tool design recommendations enabling the use of artificial intelligence driven applications in a systems engineering tooling ecosystem.

2017 2nd IEEE International Conference on Intelligent Transportation Engineering (ICITE)

2021 IEEE International Systems Conference (SysCon)

The use of artificial intelligence capabilities for developing airborne safety-critical systems h... more The use of artificial intelligence capabilities for developing airborne safety-critical systems has been troublesome to the aerospace industry. This technology inserts new sources of non-determinism on process execution, increasing difficulty to ensure safety requirements. In this work, we evaluate the artificial intelligence capabilities for improving systems engineering methodology. From this analysis, we present design strategies to support the tool qualification process. The design strategies are a sound basis for applying artificial intelligence into the tools employed during the whole airborne systems life cycle.

Transportation Research Procedia