M. Basset - Academia.edu (original) (raw)

Papers by M. Basset

IFAC Proceedings Volumes, 2001

Recent studies on driver behaviour have shown that perception-mainly visual but also propriocepti... more Recent studies on driver behaviour have shown that perception-mainly visual but also proprioceptive perception-plays a key role in the "driver-vehicle-road" system and so considerably affects the driver's ~ecision making. Within the framework of the Behaviour Analysis and StudIes Low-cost system (BASIL), thIS paper presents a correlative, qualitative and quantitative study, comparing the information given by visual perception ~d by the trajectory followed. This information will help to obtain a cognitive model of the Rasmussen type accordmg to different driver classes. Many experiments in real driving situations have been carried out for different driver classes and for a given trajectory profile, using a test vehicle and innovative, specially designed, real-time tools, such as the vision system or the positioning module.

Journal Européen des Systèmes Automatisés, 2013

Un interet particulier a ete porte ces dernieres annees a l'etude de l'interface pneu-sol... more Un interet particulier a ete porte ces dernieres annees a l'etude de l'interface pneu-sol afin de rendre les vehicules plus securises et plus confortables. De nombreux modeles et formalismes ont ete developpes dans la litterature. Ces modeles font generalement intervenir un certain nombre de parametres dont la structure est correlee et la distribution est arbitraire. Il est alors primordial de determiner les parametres qui ont une forte influence sur les sorties. L'objectif de cet article est l'etude de l'influence des parametres du modele de Pacejka, arbitrairement distribues, sur la force laterale pure du pneumatique. Pour ce faire, la methodologie suivie consiste, d'abord, a decorreler les variables d'entree, ensuite a construire une base orthonormale en termes de donnees caracterisant les variables d'entree du modele. Enfin, la derniere etape consiste a decomposer la sortie du modele en polynomes de chaos arbitraire (aPC), en utilisant les variables decorrelees. Les indices de sensibilite, permettant de quantifier la contribution de chaque parametre a la variance de la sortie, sont obtenus directement a partir des coefficients de la decomposition de (aPC).

2013 IEEE Intelligent Vehicles Symposium (IV), 2013

ABSTRACT This paper describes a new strategy to assess a priori driving risk. The originality lie... more ABSTRACT This paper describes a new strategy to assess a priori driving risk. The originality lies in the simultaneous consideration of the information related to the Vehicle, the Driver and the Environment (VDE). The heterogeneity and the imperfections of the information are taken into account thanks to the belief functions. A first fusion level determines the local risks related to the VDE entities, while their combination allows to determine the global a priori risk of the current driving situation. Both fusion levels are processed considering three combination rules to manage the eventual conflict. Comparative simulation results help to show the validity and the coherency of this multi-level risk assessment.

Pres de 90% des informations utilisees par un conducteur automobile sont visuelles. Nous avons de... more Pres de 90% des informations utilisees par un conducteur automobile sont visuelles. Nous avons developpe un outil portable permettant la determination des informations visuelles percues par un conducteur automobile. Le systeme est peu encombrant et s'adapte a tous les types de vehicules. Il est constitue de deux micro-cameras liees a la tete du conducteur via une paire de lunettes. La premiere camera vise la pupille de l'oeil du conducteur et permet de determiner la direction du regard. La seconde camera enregistre la scene vue par ce meme conducteur, donnant ainsi la position de la direction du regard du conducteur dans l'image de la scene vue par ce conducteur. Au cours d'une analyse posterieure, on peut alors determiner le comportement du regard du conducteur. Toutefois, si elle est possible sur de courtes sequences, une telle analyse, sur de longues sequences, s'avere fastidieuse et imprecise. Dans cette communication, nous proposons une methode permettant d'automatiser cette derniere etape d'analyse, en suivant tout au long de la sequence video des zones d'interets (ROI) choisies librement a l'interieur du vehicule. Ce suivi s'appuie sur un calcul d'homographie entre une image courante inconnue et une image de reference connue issue d'un dictionnaire construit dynamiquement. Le systeme est teste experimentalement et la qualite des resultats est discutee.

IFAC Proceedings Volumes, 2011

This paper deals with a Speed Limit determination Advanced Driver Assistance System (ADAS) perfor... more This paper deals with a Speed Limit determination Advanced Driver Assistance System (ADAS) performing the combination of information given by a navigation system and a Speed Limit Sign Recognition system. The present strategy is based on a multi-level data fusion using the Evidence theory (also called Dempster-Shafer theory or Belief Theory) and the sensors respective confidence values. This paper focuses on the first fusion level dedicated to the determination of reliable navigation information through a multi-criterion approach. Indeed, criteria are referring to digital map database attributes describing the road context. Their fusion then allows to detect the Geographical Information Systems (GIS) errors while taking its inaccuracies (resolution of the digital map, positioning and localization errors) into account. The benefits of the proposed solution are shown through simulations and real experiments result comparisons of this multi-level Speed Limit Assistant (SLA) to a conventional SLA.

International Journal of Vehicle Autonomous Systems, 2011

This paper presents a new approach to constrained trajectory generation dedicated to Advanced Dri... more This paper presents a new approach to constrained trajectory generation dedicated to Advanced Driver Assistance Systems. Based on the information provided by the digital map database of a navigation system, the proposed solution is devoted to a control-oriented trajectory generation approach taking account of constraints which limit the behaviour of a common car, relative to the road to be followed and finally linked to the driver. Characteristically, these trajectories stay within the traffic lane borders; at the same time, they minimize the energy along the path, and finally, they are curvature continuous. The present trajectory generation has been tested on a specific test track and the results show the efficiency of the proposed solution.

Ce papier presente une commande pour la navigation autonome d'un vehicule automobile. L'a... more Ce papier presente une commande pour la navigation autonome d'un vehicule automobile. L'architecture de commande developpee comporte un module pour le suivi de trajectoire base sur une commande predictive non lineaire (NLMPC) et un module pour la regulation de la vitesse. Un generateur de vitesse permet de calculer la vitesse de reference de facon a garantir la stabilite laterale du vehicule compte tenu de criteres de securite et de stabilite laterale. La prise en compte des deux dynamiques longitudinale et laterale ainsi que la reactualisation du profil de vitesse garantit une securite active et constitue l'interet de l'approche proposee. La strategie de commande proposee est testee en simulation et montre de bonnes performances en poursuite a des vitesses pouvant etre elevees.

A new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground ... more A new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles is val- idated via experiments with an actual passenger vehicle. Contrary to common static friction/slip maps, this new dynamic friction model is able to accurately capture the transient behavior of the friction force observed during transitions between braking and acceleration. A velocity- dependent, steady-state expression of the friction force vs. the slip coefficient also allows easy tuning of the model parameters by comparison with steady-state experimental data. Our experimental results validate the accuracy of this new tire friction model in predicting the friction force dur- ing transient vehicle motion.

Vehicle System Dynamics, 2003

HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific re... more HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511), 2000

In the field of intelligent driver assistance systems, a deep ana(vsis of human driver behavior i... more In the field of intelligent driver assistance systems, a deep ana(vsis of human driver behavior in real driving situations is imperative to understand and process an eficient model of driver behavior. In order to pe$orm a persistent analysis of driver behavior, a new low-cost tool has been developed: the Behavior Analysis and StudIes Low-cost system (B,A.SI.L) project. This paper presents the B.A.SI.L instrumented laboratory car, which is essentially dependent on an advanced real time data acquisition system, a very precise positioning module based on sensor &ion and trajectory reconstruction algorithms, and above all, a new innovative real time vision system whose main characteristics are its low cost, its original concept, its accuracy andfinally its low disturbance for the driver in real driving situations. The first real experiments were validated on the instrumented laboratory car, and this paper shows the first results and the globalperformance of the system.

IFAC-PapersOnLine, 2019

In this paper acoustic transmitters that were developed for use in underwater neutrino telescopes... more In this paper acoustic transmitters that were developed for use in underwater neutrino telescopes are presented. Firstly, an acoustic transceiver has been developed as part of the acoustic positioning system of neutrino telescopes. These infrastructures are not completely rigid and require a positioning system in order to monitor the position of the optical sensors which move due to sea currents. To guarantee a reliable and versatile system, the transceiver has the requirements of reduced cost, low power consumption, high pressure withstanding (up to 500 bars), high intensity for emission, low intrinsic noise, arbitrary signals for emission and the capacity of acquiring and processing received signals. Secondly, a compact acoustic transmitter array has been developed for the calibration of acoustic neutrino detection systems. The array is able to mimic the signature of ultra-high-energy neutrino interaction in emission directivity and signal shape. The technique of parametric acoustic sources has been used to achieve the proposed aim. The developed compact array has practical features such as easy manageability and operation. The prototype designs and the results of different tests are described. The techniques applied for these two acoustic systems are so powerful and versatile that may be of interest in other marine applications using acoustic transmitters.

IFAC Proceedings Volumes, 1999

Abstract This paper presents a new approach applied to a knowledge based predictive driver aid sy... more Abstract This paper presents a new approach applied to a knowledge based predictive driver aid system. The aim of this copilot is to avoid accident due to excessive speed taking into account the profile of the road with weather conditions given. More generally, this intelligent driver aid system improves the active safety by adapting the speed according to the profile of the road, and can be applied to many other applications. The developed monitor capabilities are essentially depending on a DGPS sensor, a digital map database and a real time total velocity vector estimator. A fuzzy-logic-based map matching algorithm allows the trajectory reconstruction with a good accuracy. Real experiments were validated on a FWD test car.

IFAC Proceedings Volumes, 2004

Abstract In the framework of on-board active systems to control vehicle dynamics, a new approach ... more Abstract In the framework of on-board active systems to control vehicle dynamics, a new approach is presented here. The study and developed application are dedicated to Electronic Stability Program field. This paper gives a feasibility study of the detection and quantification of the trajectory stability via stresses generated in the wheel-road interface. The approach chosen is based on fault diagnosis tools and fuzzy logic due to strong non-linear and coupling aspects. Finally a "detector" of stability (potential dangerous situation), essentially based on the measurement of lateral stresses, is given and tested on real measurements.

IFAC Proceedings Volumes, 2005

In the field of driver modelling, this paper proposes a new approach to simulation and control ap... more In the field of driver modelling, this paper proposes a new approach to simulation and control applications. The driver is considered as a controller of the closed loop defined by the Driver-Vehicle-Environment system. More precisely, the behaviour model developed describes the driver's activity from the trajectory vector taken, associating the speed and the trajectory itself. The advantage of this model is a unique structure which helps to characterize different drivers' classes. This structure is based on a polar polynomial description and a finite state machine. Two classesnovice drivers and very experienced drivers-were studied to define and validate drivers' models. Results for novice drivers are presented here. In order to validate models with respect to different driver profiles, real experiments were carried out with the instrumented laboratory test car and drivers of different types.

18th Mediterranean Conference on Control and Automation, MED'10, 2010

ABSTRACT This paper describes the problem of model orderreduction for a class of hybrid discrete-... more ABSTRACT This paper describes the problem of model orderreduction for a class of hybrid discrete-time switched linear systems composed of linear discrete-time invariant subsystems with a switching rule. The paper investigates a novel method to model reduction. The approach presents the reachability and observability Gramians of the switched systems, which allows a balanced truncation model reduction procedure. The error limit depends on the truncated singular values and balanced truncation procedure helps to keep the biggest singular values of the system. A numerical example shows the effectiveness of the proposed approach.

Control and Intelligent Systems, 2011

ABSTRACT This paper describes the problem of model order-reduction for a class of hybrid switched... more ABSTRACT This paper describes the problem of model order-reduction for a class of hybrid switched linear time-delay systems composed of linear discrete-time delayed invariant subsystems with a switching rule. The paper investigates a novel delay term-dependent approach to model reduction. It consists of evaluating the error approximation performance between the original system and the order-reduced system; the stability problem is solved under arbitrary switching rule. The model order-reduction conditions are given in the form of linear matrix inequalities with a term-independent delay. A numerical example shows the effectiveness of the proposed approach.

International Journal of Applied Mathematics and Computer Science, 2011

Extracting second-order structures from single-input state-space models: Application to model ord... more Extracting second-order structures from single-input state-space models: Application to model order reductionThis paper focuses on the model order reduction problem of second-order form models. The aim is to provide a reduction procedure which guarantees the preservation of the physical structural conditions of second-order form models. To solve this problem, a new approach has been developed to transform a second-order form model from a state-space realization which ensures the preservation of the structural conditions. This new approach is designed for controllable single-input state-space realizations with real matrices and has been applied to reduce a single-input second-order form model by balanced truncation and modal truncation.