INtegrated approach of Observation and control and VEhicle dynamics – INOVE

The objective of this basic research project concerns the development of an integrated approach to design new methodologies for the improvement of the vehicle dynamical behaviour. The long-term goal is to equip vehicles with automatic functions for detection and correction of the vehicle dynamics in case of critical situations, in order to decrease the number and the graveness of the accidents, and then to improve road safety.

Nowadays, in spite of of an abundant literature on the subject, few studies propose a global approach, mixing modelling, estimation, observation and control aspects, which are, in general, tackled separately. Moreover, the aspects concerning the bias and the uncertainties, that can be linked to the lack of knowledge of some phenomena, to the limit of validity of the models, to measurement errors, are handled in a specific way, due to the increasing complexity of the systems.

The aim of the project is then to elaborate new approaches and innovative solutions, for the identification of the vehicles behaviour, for the observation in view of critical situations detection, and for the robust and fault tolerant control of the vehicle dynamics, in view of improving vehicles and passengers safety. The provided methodologies will be based on recent results in linear and non linear automatic control.
The project will lead to some results and scientific breaks on these themes.

(1) Modelling:
- Development, reduction and validation of generic models, easily reusable
- Elaboration of a model library for Matlab/Simulink to be used by all the partners for control validation purpose

(2) Observation:
-Classification of driving situations, of trajectories types, of uncertainties sources to characterize their criticity.
-Development of new observers (reliable, robust, efficient, and easily implementable) to detect critical situations and phenomena such as loss of adherence, too important lateral accelerations and yaw rates, too small inter vehicles distances, roll over, fast variations of driving and road conditions, actuators and/or sensors failures.

(3) Control:
-Design of integrated control laws, requiring the cooperation of several sub-systems and actuators (breaking, suspension, steering, differentials …) that guaranty the safety, while maintaining the comfort of the passengers.
- Reconfiguration and adaptation of the controllers to potential critical situations (trajectories sensors, actuators failures, driving conditions variations).

(4) Iintegration of methodologies, validation and tests
- Integration and validation on test-benches (as quarter-car or 4 posters bench) for preliminary validation of observers and controllers efficiency on some specific critical situations.
- Integration and test on vehicle for validation of unified procedures for detection and correction of critical situations

At the national and international levels, this project is at the heart of the major concerns in vehicle dynamics, for the industrial world and for the academic one as well. Many reserach deparments in France and abroad are involved in such a field. As illustration the French research group “Automatique et Automobile” of the GDR MACS considers this topic as a major issue in automotive control.

Apart from the technical and scientific breakthrough, this project is at stake of the current politics and society concerns in term of road safety to reach the ideal objective: zero accident. Indeed it is worth noting that 90% of the road accidents accidents are due to a faulty driver, and the remaining being induced by the vehicle, road or/and weather conditions. According to some study the generalization of vehicle dynamics management system may allow for a reducing of 27% of road accidents and 15% of deceased people.