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Commande de l'inter-distance entre deux véhicules

Abstract : This document reports the work done in the context of a Ph.D. Thesis in Automatic Control of the Institut National Polytechnique de Grenoble INPG, at the Laboratoire d'Automatique de GrenobleLAG(LAG is a Mixed Unit of Research UMR 5528 of the INPG,
the Joseph Fourier University and the CNRS); This thesis was partially supported by the ARCOSFrench Program (ARCOS is a French program on safety vehicle and secure roads. For details, see .

The contributions of this work concerns principally the
development of a new safe inter-distance reference model, the design of the associated longitudinal controller, and its useful in different driver's assistance systems as a warning safe distance, collision avoidance system and collision mitigationsystem. The safe inter-distance reference model can be used in cruise control and in stop-and-go scenarios. The proposed model is nonlinear and provides dynamic solutions which a priori verify comfort (maximum values for accelerations and jerks) and safety criteria (i.e. avoidance of collisions) simultaneously. It is based on physical laws of compliant contact, and has a particularity that its solutions can be described by explicit integral curves. This allows to explicitly characterize the set of initial condition for which the safety and comfort specificationsare met.

The longitudinal control and the inter-distance reference model have been tested as in simulation as in experimentation. This allows to evaluate the performance and the useful of thisapproach.
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Contributor : John Jairo Martinez Molina Connect in order to contact the contributor
Submitted on : Saturday, March 24, 2007 - 3:03:00 PM
Last modification on : Tuesday, July 27, 2021 - 11:20:10 AM
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  • HAL Id : tel-00138250, version 1



John Jairo Martinez Molina. Commande de l'inter-distance entre deux véhicules. Automatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2005. Français. ⟨tel-00138250⟩



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