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Theses

Système d'Assistance à la Conduite pour Véhicules à Deux-Roues Motorisés

Abstract : Nowadays, the use of Powered Two Wheeled (PTW) vehicles is constantly growing, upsetting driving practices and road traffic. Unfortunately, this expansion is also inflected by an important increase of motorcycle's fatalities (20 times higher when driving a car). Recent statistics confirm this observation and consider riders as the most vulnerable road users. In 2010, the French Agency of Road Safety made a finding of around 1000 deaths (25% of traffic fatalities), while the traffic proportion of motorcycles does not exceed 1%. Several research programs are launched to answer this issue and to find solutions in term of preventive and / or active security systems. At first sight, the development of active driving assistance could solve the problem of motorcycle's controllability. The safety systems are not enough or efficient when situations are irreversible. Example of poor cornering which is responsible for most bike accidents involving single-vehicle motorcycle crashes. Indeed, this type of system occurs while the vehicle is still in a degraded situation. In addition, the adaptability of active assistance of PTW vehicles remains dangerous. Currently, the focus is on the development of safety systems warning riders sufficiently before hazardous situations. The present PhD thesis aims into this framework and gives several contributions in terms of: modeling, identification, state estimation and study of dynamic limit applied to an experimental benchmark. Thus, several points were studied: * Modeling of System Driver-Vehicle-Infrastructure (D-V-I). * Development of observers to estimate the state variables and unknown inputs. * Establishment of a model of limit speed, as a reference for the unity of warning, which takes into account several criteria (vehicle dynamics, driver behavior, road geometry). * Identification of a mathematical model specific to the prototype vehicle (Scooter). * Establishment of an experimental platform which is based on the instrumentation of a Scooter with a set of sensors and central registration.
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Submitted on : Thursday, May 10, 2012 - 2:56:57 PM
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Hamid Slimi. Système d'Assistance à la Conduite pour Véhicules à Deux-Roues Motorisés. Automatique / Robotique. Université d'Evry-Val d'Essonne, 2012. Français. ⟨tel-00695715v2⟩

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