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Papers by Nicoleta Minoiu-Enache

Research paper thumbnail of Driver Steering Assistance to Avoid Unintended Lane Departure by Lane Keeping and Steering Suggestio

Research paper thumbnail of Driver steering assistance: lane departure prevention for curvy roads using feedforward correction and BMI optimization

Research paper thumbnail of Driver steering assistance to avoid unintended lane departure by lane keeping and steering suggestions

Research paper thumbnail of Driver assistance system for lane departure avoidance by steering and differential braking

Research paper thumbnail of Composite Lyapunov based vehicle longitudinal control assistance

Research paper thumbnail of Robust H∞ static output feedback control of multimodel systems with parametric uncertainties

Research paper thumbnail of Geometric continuous-curvature path planning for automatic parallel parking

2013 10th IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL (ICNSC), 2013

ABSTRACT This paper deals with path planning for car-like vehicle in parallel parking problems. O... more ABSTRACT This paper deals with path planning for car-like vehicle in parallel parking problems. Our path planning method uses simple geometry of the vehicle kinematic model. The presented strategy consists in two parts: create a simple geometric path for the parallel parking in one or more maneuvers, formed by circle arcs and then transform it to a continuous-curvature path with the use of clothoids. Accordingly, a car-like vehicle can follow such path without reorienting its front wheels at stop. The proposed planning method is independent of the initial position and of the orientation of the vehicle. Control inputs for steering angle and longitudinal velocity are generated so that the vehicle can park by following them.

Research paper thumbnail of What a Difference Immigration Law Makes: PISA Results, Migration Background and Social Mobility in Europe and Traditional Countries of Immigration

SSRN Electronic Journal, 2000

The purpose of this article is to evaluate the importance of social class, migration background a... more The purpose of this article is to evaluate the importance of social class, migration background and command of national languages for the PISA school performance of teenagers living in European countries (France, Finland, Germany, United Kingdom, and Sweden) and traditional countries of immigration (Australia, Canada, New Zealand and the US). Econometric results show that the influence of the socioeconomic background of parents differs strongly across nations, with the highest impact found for Germany, the UK and US, whereas social mobility is more likely in Scandinavian countries and in Canada. Moreover, for all countries our estimations imply that for students with a migration background a key for catching up is the language spoken at home. We conclude that educational policy should focus on integration of immigrant children in schools and preschools, with particular emphasis on language skills at the early stage of childhood. # We are grateful to Andrea Weber for helpful comments and Philip Savage for proofreading the paper.

Research paper thumbnail of Assistance control based on a composite Lyapunov function for lane departure avoidance

2007 Mediterranean Conference on Control & Automation, 2007

This paper presents a vehicle steering assistance designed to avoid lane departure during driver ... more This paper presents a vehicle steering assistance designed to avoid lane departure during driver inattention periods. Activated for a driver loss of concentration during a lane keeping maneuver the steering assistance drives the vehicle back to the center of the lane. In order to ensure a vehicle trajectory as close as possible to the centerline, the control law has been developed based on invariant sets theory and on composite Lyapunov functions. The computation has been performed using LMI methods, which allow in addition imposing a maximum bound for the control steering angle.

Research paper thumbnail of Nicoleta Minoiu-Enache, Said Mammar, Sébastien Glaser, Lusetti Lusetti, Lydie Nouveliere, “Composite Lyapunov Based Vehicle Longitudinal Control Assistance”, European Control Conference ECC09, Budapest, Hongrie, 2009

Research paper thumbnail of Procédé de gestion du glissement d'une roue motrice d'un véhicule automobile

Research paper thumbnail of Contrôle du couple appliqué aux roues motrices d'un véhicule électrique lors d'un freinage récupératif

Research paper thumbnail of Comparison of feedback linearization and flatness control for anti-slip regulation (ASR) of an hybrid vehicle: From theory to experimental results

ABSTRACT This paper compares 3 ASR1 control laws, a PI controller, a linearizing feedback and a f... more ABSTRACT This paper compares 3 ASR1 control laws, a PI controller, a linearizing feedback and a flatness based control. First, the controllers are designed based on a two state equations vehicle model. Then, the controllers are experimentally validated on an hybrid vehicle (VELROUE) with rear electric wheels and front axle ICE2 traction. Finally, the nonlinear control laws are compared to the PI controller that is classically used in the automotive industry.

Research paper thumbnail of A new strategy for lane departure avoidance

IEEE International Symposium on Intelligent Control, 2006

ABSTRACT In this paper we present a vehicle steering assistance to avoid lane departure during dr... more ABSTRACT In this paper we present a vehicle steering assistance to avoid lane departure during driver inattention. A switching control strategy and a linear state feedback control have been developed to this end. Lyapunov and LMI methods have been used to optimize the control, confining its transient response during the assistance activation.

Research paper thumbnail of Vehicle Yaw Motion Control Using Takagi-Sugeno Modeling and Quadratic Boundedness via Dynamic Output Feedback

ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 2010

ABSTRACT This paper presents the design and the simulation test of a Takagi-Sugeno (TS) fuzzy out... more ABSTRACT This paper presents the design and the simulation test of a Takagi-Sugeno (TS) fuzzy output feedback for yaw motion control. An integrated steering and differential braking controller based on invariant sets, quadratic boundedness theory and a common Lyapunov function has been developed. The TS fuzzy model is able to handle elegantly the nonlinear behavior the vehicle lateral dynamics. The computation of the control law has been achieved using Linear and Bilinear Matrix Inequalities (LMI-BMI) methods. Simulation test shows the controlled car is able to achieve the ISO3888-2 transient maneuver. Some design parameters can be adjusted to handle the tradeoff between safety constraints and comfort specifications.

Research paper thumbnail of Vehicle assistance for lane keeping, lane departure avoidance and yaw stability. Approach by simultaneous steering and differential braking

Journal Européen des Systèmes Automatisés, 2010

Research paper thumbnail of Automatic Parallel Parking in Tiny Spots: Path Planning and Control

IEEE Transactions on Intelligent Transportation Systems, 2015

Research paper thumbnail of Driver's influence on the performance of an integrated lane departure avoidance and lane keeping assistance system

2009 IEEE International Conference on Control Applications, 2009

... avoidance and lane keeping assistance system Nicoleta Minoiu Enache, Yazid Sebsadji, Saıd Mam... more ... avoidance and lane keeping assistance system Nicoleta Minoiu Enache, Yazid Sebsadji, Saıd Mammar, Benoit Lusetti and Sébastien Glaser ... In [12], the driver's actions on the steering wheel has been considered to be bounded to a small value (|Td| ≤ Tmin d ) ...

Research paper thumbnail of Automatic parallel parking with geometric continuous-curvature path planning

2014 IEEE Intelligent Vehicles Symposium Proceedings, 2014

Research paper thumbnail of Lane keeping and lane departure avoidance by rear wheels steering

2012 IEEE Intelligent Vehicles Symposium, 2012

ABSTRACT The driver active assistances have gained recently in importance and become usual featur... more ABSTRACT The driver active assistances have gained recently in importance and become usual features in commercialized vehicles. Nevertheless, the sharing of the vehicle control with the driver, especially for the steering assistances, is an open issue. The rear wheels steering could be an answer to this question. This study contains the development of a control law for the rear steering able to provide lane departure avoidance and lane keeping. The design of the control law is casted as a LMI (Linear Matrix Inequality) optimization problem in order to take into account constraints, as the rear steering actuator limitation. A modulation factor is added to allow a flexible activation strategy of the rear steering assistance. Preliminary simulation results are presented to explain the concept.

Research paper thumbnail of Driver Steering Assistance to Avoid Unintended Lane Departure by Lane Keeping and Steering Suggestio

Research paper thumbnail of Driver steering assistance: lane departure prevention for curvy roads using feedforward correction and BMI optimization

Research paper thumbnail of Driver steering assistance to avoid unintended lane departure by lane keeping and steering suggestions

Research paper thumbnail of Driver assistance system for lane departure avoidance by steering and differential braking

Research paper thumbnail of Composite Lyapunov based vehicle longitudinal control assistance

Research paper thumbnail of Robust H∞ static output feedback control of multimodel systems with parametric uncertainties

Research paper thumbnail of Geometric continuous-curvature path planning for automatic parallel parking

2013 10th IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL (ICNSC), 2013

ABSTRACT This paper deals with path planning for car-like vehicle in parallel parking problems. O... more ABSTRACT This paper deals with path planning for car-like vehicle in parallel parking problems. Our path planning method uses simple geometry of the vehicle kinematic model. The presented strategy consists in two parts: create a simple geometric path for the parallel parking in one or more maneuvers, formed by circle arcs and then transform it to a continuous-curvature path with the use of clothoids. Accordingly, a car-like vehicle can follow such path without reorienting its front wheels at stop. The proposed planning method is independent of the initial position and of the orientation of the vehicle. Control inputs for steering angle and longitudinal velocity are generated so that the vehicle can park by following them.

Research paper thumbnail of What a Difference Immigration Law Makes: PISA Results, Migration Background and Social Mobility in Europe and Traditional Countries of Immigration

SSRN Electronic Journal, 2000

The purpose of this article is to evaluate the importance of social class, migration background a... more The purpose of this article is to evaluate the importance of social class, migration background and command of national languages for the PISA school performance of teenagers living in European countries (France, Finland, Germany, United Kingdom, and Sweden) and traditional countries of immigration (Australia, Canada, New Zealand and the US). Econometric results show that the influence of the socioeconomic background of parents differs strongly across nations, with the highest impact found for Germany, the UK and US, whereas social mobility is more likely in Scandinavian countries and in Canada. Moreover, for all countries our estimations imply that for students with a migration background a key for catching up is the language spoken at home. We conclude that educational policy should focus on integration of immigrant children in schools and preschools, with particular emphasis on language skills at the early stage of childhood. # We are grateful to Andrea Weber for helpful comments and Philip Savage for proofreading the paper.

Research paper thumbnail of Assistance control based on a composite Lyapunov function for lane departure avoidance

2007 Mediterranean Conference on Control & Automation, 2007

This paper presents a vehicle steering assistance designed to avoid lane departure during driver ... more This paper presents a vehicle steering assistance designed to avoid lane departure during driver inattention periods. Activated for a driver loss of concentration during a lane keeping maneuver the steering assistance drives the vehicle back to the center of the lane. In order to ensure a vehicle trajectory as close as possible to the centerline, the control law has been developed based on invariant sets theory and on composite Lyapunov functions. The computation has been performed using LMI methods, which allow in addition imposing a maximum bound for the control steering angle.

Research paper thumbnail of Nicoleta Minoiu-Enache, Said Mammar, Sébastien Glaser, Lusetti Lusetti, Lydie Nouveliere, “Composite Lyapunov Based Vehicle Longitudinal Control Assistance”, European Control Conference ECC09, Budapest, Hongrie, 2009

Research paper thumbnail of Procédé de gestion du glissement d'une roue motrice d'un véhicule automobile

Research paper thumbnail of Contrôle du couple appliqué aux roues motrices d'un véhicule électrique lors d'un freinage récupératif

Research paper thumbnail of Comparison of feedback linearization and flatness control for anti-slip regulation (ASR) of an hybrid vehicle: From theory to experimental results

ABSTRACT This paper compares 3 ASR1 control laws, a PI controller, a linearizing feedback and a f... more ABSTRACT This paper compares 3 ASR1 control laws, a PI controller, a linearizing feedback and a flatness based control. First, the controllers are designed based on a two state equations vehicle model. Then, the controllers are experimentally validated on an hybrid vehicle (VELROUE) with rear electric wheels and front axle ICE2 traction. Finally, the nonlinear control laws are compared to the PI controller that is classically used in the automotive industry.

Research paper thumbnail of A new strategy for lane departure avoidance

IEEE International Symposium on Intelligent Control, 2006

ABSTRACT In this paper we present a vehicle steering assistance to avoid lane departure during dr... more ABSTRACT In this paper we present a vehicle steering assistance to avoid lane departure during driver inattention. A switching control strategy and a linear state feedback control have been developed to this end. Lyapunov and LMI methods have been used to optimize the control, confining its transient response during the assistance activation.

Research paper thumbnail of Vehicle Yaw Motion Control Using Takagi-Sugeno Modeling and Quadratic Boundedness via Dynamic Output Feedback

ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 2010

ABSTRACT This paper presents the design and the simulation test of a Takagi-Sugeno (TS) fuzzy out... more ABSTRACT This paper presents the design and the simulation test of a Takagi-Sugeno (TS) fuzzy output feedback for yaw motion control. An integrated steering and differential braking controller based on invariant sets, quadratic boundedness theory and a common Lyapunov function has been developed. The TS fuzzy model is able to handle elegantly the nonlinear behavior the vehicle lateral dynamics. The computation of the control law has been achieved using Linear and Bilinear Matrix Inequalities (LMI-BMI) methods. Simulation test shows the controlled car is able to achieve the ISO3888-2 transient maneuver. Some design parameters can be adjusted to handle the tradeoff between safety constraints and comfort specifications.

Research paper thumbnail of Vehicle assistance for lane keeping, lane departure avoidance and yaw stability. Approach by simultaneous steering and differential braking

Journal Européen des Systèmes Automatisés, 2010

Research paper thumbnail of Automatic Parallel Parking in Tiny Spots: Path Planning and Control

IEEE Transactions on Intelligent Transportation Systems, 2015

Research paper thumbnail of Driver's influence on the performance of an integrated lane departure avoidance and lane keeping assistance system

2009 IEEE International Conference on Control Applications, 2009

... avoidance and lane keeping assistance system Nicoleta Minoiu Enache, Yazid Sebsadji, Saıd Mam... more ... avoidance and lane keeping assistance system Nicoleta Minoiu Enache, Yazid Sebsadji, Saıd Mammar, Benoit Lusetti and Sébastien Glaser ... In [12], the driver's actions on the steering wheel has been considered to be bounded to a small value (|Td| ≤ Tmin d ) ...

Research paper thumbnail of Automatic parallel parking with geometric continuous-curvature path planning

2014 IEEE Intelligent Vehicles Symposium Proceedings, 2014

Research paper thumbnail of Lane keeping and lane departure avoidance by rear wheels steering

2012 IEEE Intelligent Vehicles Symposium, 2012

ABSTRACT The driver active assistances have gained recently in importance and become usual featur... more ABSTRACT The driver active assistances have gained recently in importance and become usual features in commercialized vehicles. Nevertheless, the sharing of the vehicle control with the driver, especially for the steering assistances, is an open issue. The rear wheels steering could be an answer to this question. This study contains the development of a control law for the rear steering able to provide lane departure avoidance and lane keeping. The design of the control law is casted as a LMI (Linear Matrix Inequality) optimization problem in order to take into account constraints, as the rear steering actuator limitation. A modulation factor is added to allow a flexible activation strategy of the rear steering assistance. Preliminary simulation results are presented to explain the concept.