Dissertations / Theses on the topic 'Systèmes de transport intelligent – Innovation'
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Chun, Jae Seung. "Efficiency of the evolution paths for space transportation system (STS) technology : a qualitative analysis." Université Louis Pasteur (Strasbourg) (1971-2008), 2005. https://publication-theses.unistra.fr/public/theses_doctorat/2005/CHUN_Jae_Seung_2005.pdf.
Full textShang, Lu. "Économie de l’Innovation : le cas du véhicule intelligent." Thesis, Lille 1, 2010. http://www.theses.fr/2010LIL12010.
Full textTitled “Economy of innovation – The case of the intelligent (smart ?) vehicle”, this thesis deals with the growing innovation in the transportation means through the growing importance of artificial intelligence in vehicles, in infrastructures, and in centralized regulation and monitoring centers. It presents new theoretical instruments applicable for the economy of innovation by defining the framework of its behavioral aspects. These new theoretical instruments are applied to the case of designers and to the case of consumers-drivers of the intelligent vehicle. Innovative topics are the following: - the impact of intelligent systems on road safety, - the conditions for accepting and spreading intelligent systems, - the evolution of the car industry towards the intelligent vehicle, - the global design of the intelligent vehicle: the artificial intelligence embedded in the vehicle as an assistant tool or the vehicle as secondary to the intelligence of the movement
Drosouli, Ifigeneia. "Multimodal machine learning methods for pattern analysis in smart cities and transportation." Electronic Thesis or Diss., Limoges, 2024. http://www.theses.fr/2024LIMO0028.
Full textIn the context of modern, densely populated urban environments, the effective management of transportation and the structure of Intelligent Transportation Systems (ITSs) are paramount. The public transportation sector is currently undergoing a significant expansion and transformation with the objective of enhancing accessibility, accommodating larger passenger volumes without compromising travel quality, and embracing environmentally conscious and sustainable practices. Technological advancements, particularly in Artificial Intelligence (AI), Big Data Analytics (BDA), and Advanced Sensors (AS), have played a pivotal role in achieving these goals and contributing to the development, enhancement, and expansion of Intelligent Transportation Systems. This thesis addresses two critical challenges within the realm of smart cities, specifically focusing on the identification of transportation modes utilized by citizens at any given moment and the estimation and prediction of transportation flow within diverse transportation systems. In the context of the first challenge, two distinct approaches have been developed for Transportation Mode Detection. Firstly, a deep learning approach for the identification of eight transportation media is proposed, utilizing multimodal sensor data collected from user smartphones. This approach is based on a Long Short-Term Memory (LSTM) network and Bayesian optimization of model’s parameters. Through extensive experimental evaluation, the proposed approach demonstrates remarkably high recognition rates compared to a variety of machine learning approaches, including state-of-the-art methods. The thesis also delves into issues related to feature correlation and the impact of dimensionality reduction. The second approach involves a transformer-based model for transportation mode detection named TMD-BERT. This model processes the entire sequence of data, comprehends the importance of each part of the input sequence, and assigns weights accordingly using attention mechanisms to grasp global dependencies in the sequence. Experimental evaluations showcase the model's exceptional performance compared to state-of-the-art methods, highlighting its high prediction accuracy. In addressing the challenge of transportation flow estimation, a Spatial-Temporal Graph Convolutional Recurrent Network is proposed. This network learns from both the spatial stations network data and time-series of historical mobility changes to predict urban metro and bike sharing flow at a future time. The model combines Graph Convolutional Networks (GCN) and Long Short-Term Memory (LSTM) Networks to enhance estimation accuracy. Extensive experiments conducted on real-world datasets from the Hangzhou metro system and the NY City bike sharing system validate the effectiveness of the proposed model, showcasing its ability to identify dynamic spatial correlations between stations and make accurate long-term forecasts
Tsukada, Manabu. "Communications Management in Cooperative Intelligent Transportation Systems." Paris, ENMP, 2011. http://www.theses.fr/2011ENMP0092.
Full textCooperative Intelligent transportation Systems (Cooperative ITS) are the systems where multiple entities share information and tasks to achieve the ITS objectives (i. E. Road safety, traffic efficiency and comfort). Today, ITS Station architecture is being specified in ISO and ETSI as a result of discussion and consensus of the researchers and developers in ITS domain. In the architecture, ITS Stations are essential entities, that are distributed in vehicles, roadside infrastructure, centers and mobiles, to achieve the ITS objectives. The vehicle and roadside ITS Stations organize Vehicular Ad-hoc Network (VANET) to adapt multi-hop and highly dynamic network topology. GeoNetworking is a great candidate for VANET because the geographic routing shows strength in dynamic topology. In addition to VANET, the ITS Station equips multiple wireless network interfaces and connects to networks with multiple paths, which is called multihoming. The objective of the study is to optimize the communication between ITS Stations by improved decision-making algorithm using inter-component information exchange in IP-based cooperative ITS. First, we develop IPv6 GeoNetworking to take the advantages of both IP and GeoNetworking. Seconds, we propose a cross-layer based path selection management by extending a Service Access Point (SAP) between the network layer and the management entity specified in the ITS Station Architecture. The extended SAP is designed as most abstracted as possible to adapt to the future development of the ITS Station architecture. The proposed system is designed and implemented as a prototype. The prototype implementation is evaluated in both ideal and realistic scenarios using up to four vehicles. The network performance measurement is processed, visualized and analyzed with web-based tools
Pottier, Géraldine. "Rôle de l’acceptabilité dans l’interaction entre un véhicule conventionnel et un véhicule automatisé." Thesis, Rennes 2, 2020. http://www.theses.fr/2020REN20005.
Full textThe central theme of the thesis concerns the role of acceptability in the interaction between a conventional vehicle driven by a human and an automated vehicle. A meta-analysis synthesizing the determinants of the acceptability of a new technology is a first study. The results showed that acceptability was predicted by six factors: behavioural intention, perceived usefulness, perceived ease of use, attitude, social influence and feeling of control. A second study was conducted to evaluate the effect of the acceptability judgment on the difference in be-haviour stated by the driver of a conventional vehicle during interaction with an automated vehicle. The results showed that low acceptability is associated with cautious behaviour towards the automated vehicle. A third study, conducted on a driving simulator, showed that conventional vehicle drivers who have a high acceptability behave in the same way towards an automated vehicle and a conventional vehicle. To conclude, this thesis questions the role of the acceptability of a technologic device in the interaction with it
Leblanc, Brice. "Analyse non supervisée de données issues de Systèmes de Transport Intelligent-Coopératif." Thesis, Reims, 2020. http://www.theses.fr/2020REIMS014.
Full textThis thesis takes place in the context of Vehicular Ad-hoc Networks (VANET), and more specifically the context of Cooperative-Intelligent Transport System (C-ITS). These systems are exchanging information to enhance road safety.The purpose of this thesis is to introduce data analysis tools that may provide road operators information on the usage/state of their infrastructures. Therefore, this information may help to improve road safety. We identify two cases we want to deal with: driving profile identification and road obstacle detection.For dealing with those issues, we propose to use unsupervised learning approaches: clustering methods for driving profile identification, and concept drift detection for obstacle detection. This thesis introduces three main contributions: a methodology allowing us to transform raw C-ITS data in, first, trajectory, and then, learning data-set; the use of classical clustering methods and Points Of Interests for driving profiles with experiments on mobile device data and network logs data; and the consideration of a crowd of vehicles providing network log data as data streams and considered as input of concept drift detection algorithms to recognize road obstacles
Gherbi, Elies. "Apprentissage automatique pour la détection d'intrusion dans les systèmes du transport intelligent." Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG037.
Full textDespite all the different technological innovations and advances in the automotive field, autonomous vehicles are still in the testing phase. Many actors are working on several improvements in many domains to make autonomous cars the safest option. One of the important dimensions is cybersecurity. Autonomous vehicles will be prone to cyberattacks, and criminals might be motivated to hack into the vehicles' operating systems, steal essential passenger data, or disrupt its operation and jeopardize the passenger's safety. Thus, cybersecurity remains one of the biggest obstacles to overcome to ensure vehicles safety and the contribution that this technology can bring to society. Indeed, the actual and future design and implementation of Autonomous Vehicles imply many communication interfaces, In-vehicle communication of the embedded system, Vehicle-to-X (V2X) communications between the vehicle and other connected vehicles and structures on the roads. Even though the cybersecurity aspect is incorporated by design, meaning that the system needs to satisfy security standards (anti-virus, firewall, etc.), we cannot ensure that all possible breaches are covered. The Intrusion Detection System (IDS) has been introduced in the IT world to assess the state of the network and detect if a violation occurs. Many experiences and the history of IT have inspired the cybersecurity for autonomous vehicles. Nevertheless, autonomous vehicles exhibit their own needs and constraints. The current state of vehicles evolution has been made possible through successive innovations in many industrial and research fields. Artificial Intelligence (AI) is one of them. It enables learning and implementing the most fundamental self-driving tasks. This thesis aims to develop an intelligent invehicle Intrusion detection system (IDS) using machine learning (ml) from an automotive perspective, to assess and evaluate the impact of machine learning on enhancing the security of future vehicle intrusion detection system that fits in-vehicle computational constraints. Future In-vehicle network architecture is composed of different subsystems formed of other ECUs (Electronic Controller Units). Each subsystem is vehicles. Our primary focus is on In-vehicle communication security. We conduct an empirical investigation to determine the underlying needs and constraints that in-vehicle systems require. First, we review the deep learning literature for anomaly detection and studies on autonomous vehicle intrusion detection systems using deep learning. We notice many works on in-vehicle intrusion detection systems, but not all of them consider the constraints of autonomous vehicle systems. We conduct an empirical investigation to determine the underlying needs and constraints that in-vehicle systems require. We review the deep learning literature for anomaly detection, and there is a lack of tailored study on autonomous vehicle intrusion detection systems using Deep Learning (DL). In such applications, the data is unbalanced: the rate of normal examples is much higher than the anomalous examples. The emergence of generative adversarial networks (GANs) has recently brought new algorithms for anomaly detection. We develop an adversarial approach for anomaly detection based on an Encoding adversarial network (EAN). Considering the behaviour and the lightweight nature of in-vehicle networks, we show that EAN remains robust to the increase of normal examples modalities, and only a sub-part of the neural network is used for the detection phase. Controller Area Network (CAN) is one of the mostused vehicle bus standards designed to allow microcontrollers and devices to communicate. We propose a Deep CAN intrusion detection system framework. We introduce a Multi-Variate Time Series representation for asynchronous CAN data. We show that this representation enhances the temporal modelling of deep learning architectures for anomaly detection
Raileanu, Silviu. "Proposition d’un modèle générique de pilotage pour un système à flux guidés : Application des concepts holoniques au transport intelligent (FMS/PRT)." Valenciennes, 2011. http://ged.univ-valenciennes.fr/nuxeo/site/esupversions/38191159-98bd-4bea-b774-7f2e39b5bf66.
Full textThesis addresses the problem of controlling a system based on physical flow in the field of FMS (Flexible Manufacturing System) and PRT (Personal Rapid Transit). The flow is considered as constitued of "intelligent" entities which become "intelligent products" in the case of (FMS) or “intelligent vehicles" in the case of (PRT). A model-based on decision-making entities with regard to the control (SAE: System-based Active Entities) is offered. The SAE model is tranformed into an "holonic model" and a generic holon AGH (Active Generalized Holon) is introduced as an holonic component of foundation. Then, the HSAE holonic model (Holonic System-based Active Entities) for the control of an “intelligent” physical flow is proposed. This model puts the emphasis on the "flow holon" (FH) which allos to model, for instance, an “intelligent” product or an “intelligent” vehicle. The "flow holon" is able of making decisions with regard to the process allocation and/or routing. The HSAE model includes a static part and a behaviour part. This last part is based on the concept of "open-control". It combines an explicit control of type "master-slave" with an implicit control based on “influence” of the behaviour of entities. HSAE model is then the object of an experimental study to assess its validity. Experimentation wase performed on the flexible cell of the CIMR laboratory in Bucharest (Romania) for the field of FMS and on the platform AIP-PRIMECA Nord-Pas de Calais of Valenciennes (France) for the field of PRT. HSAE model has been of great usefulness in acting as a reference frame in the elaboration of the control architectures adopted in both fields of studies
Kamel, Joseph. "Misbehavior detection for cooperative intelligent transport systems (C-ITS)." Electronic Thesis or Diss., Institut polytechnique de Paris, 2020. http://www.theses.fr/2020IPPAT024.
Full textCooperative Intelligent Transport Systems (C-ITS) is an upcoming technology that will change our driving experience in the near future. In such systems, vehicles cooperate by exchanging Vehicle-to-X communication (V2X) messages over the vehicular network. Safety applications use the data in these messages to detect and avoid dangerous situations on time. Therefore, it is crucial that the data in V2X messages is secure and accurate.In the current C-ITS system, the messages are signed with digital keys to ensure authenticity. However, authentication does not ensure the correctness of the data. A genuine vehicle could have a faulty sensor and therefore send inaccurate information. An attacker could also obtain legitimate keys by hacking into the on-board unit of his vehicle and therefore transmit signed malicious messages.Misbehavior Detection in C-ITS is an active research topic aimed at ensuring the correctness of the exchanged V2X messages. It consists of monitoring data semantics of the exchanged messages to detect and identify potential misbehaving entities. The detection process is divided into multiple steps. Local detection consists of first performing plausibility and consistency checks on the received V2X messages. The results of these checks are then fused using a local detection application. The application is able to identify various V2X anomalies. If an anomaly is detected, the vehicle will collect the needed evidence and create a misbehavior report. This report is then sent to a cloud based misbehavior authority.This authority has a goal of ensuring the correct operation of the C-ITS system and mitigating the effects of attacks. It will first collect the misbehavior reports from vehicles and would then investigate the event and decide on the suitable reaction.In this thesis, we evaluate and contribute to the local, reporting and global steps of the misbehavior detection process
Daoud, Ramez. "Wireless and wired Ethernet for intelligent transportation systems." Valenciennes, 2008. http://ged.univ-valenciennes.fr/nuxeo/site/esupversions/ace94389-4796-4b12-b00d-9d4eb917a682.
Full textThis study focuses on the wireless as well as the wired aspect of Intelligent Transportation Systems (ITS). The On-Board network of a future smart vehicle is designed using Switched Ethernet as a backbone. This architecture aims at minimizing the amount of wiring present in today’s cars. With the increasing demand of entertainment and connectivity, the proposed model provides the vehicle passengers with internet connection, video on-demand, voice over IP (VoIP) and video conference capabilities. Also, to help the driver, a smart real-time interactive communication scheme is developed to supply traffic information. A wireless communication model is built to support the moving entities in a light urban traffic area; the model is based on stigmergic algorithms running at the core of the system infrastructure. A WiFi model is used to supply wireless connectivity to mobile nodes in a given region. The Mobile IPv4 as well as Mobile IPv6 are tested. The mobile nodes always communicate with the central intelligence of the system to update the traffic information. The stigmergic algorithm processes this data and sends to all moving vehicles messages regarding the actual traffic map. This research focuses on the wireless aspect of the problem and optimizes the architecture to satisfy minimum packet loss in the path from the central correspondent node (CN) to the mobile nodes (MN). It is found that based on MIPv6 technique and using redundant packet transmission (burst communication) one can statistically reach satisfactory
Gashaw, Sosina Mengistu. "Modélisation de trafic routier hétérogène pour systèmes de transport intelligents." Thesis, Université Côte d'Azur (ComUE), 2018. http://www.theses.fr/2018AZUR4202/document.
Full textThis dissertation models and analyzes heterogeneous traffic flow, with a particular focus on mixed traffic flow consisting of cars and two-wheelers. The increase in traffic congestion induces commuters to switch to powered two wheelers (PTWs), i.e. motorcycle, mopeds and scooters, because of their high maneuverability and space efficiency. The growth in number of PTWs, combined with their unique mobility features, results in complex traffic characteristics which are difficult to recreate with the existing modeling approaches. We develop an analytical model that can accurately reproduce the traffic features in a mixed flow of cars and PTWs. The traffic stream is decomposed into two vehicle classes, PTWs and cars. The fundamental properties are derived by employing a porous flow approach. It is assumed that the speed of a vehicle class is dictated by the physical and motion properties of the vehicle class, and the distribution of free spaces on the road. We propose an approximation method to derive the free-space distribution. In order to explore broader aspects of the traffic flow characteristics, notably required by intelligent transport system (ITS) applications, we formulate the model in the Lagrangian and the Eulerian frameworks. Further, we provide a numerical method for the discretization of the mathematical model. We analyze the flow characteristics of mixed PTWs and cars traffic and identify important properties, which give insights for future ITS solutions and traffic policy makers. The applicability of the model for different ITS applications is illustrated. Finally, the developed model is validated using a microsimulation tool
Bonnefoi, Fabien. "Vérification formelle des spécifications de systèmes complexes par réseaux de Petri : application aux systèmes de transport intelligents." Paris 6, 2010. http://www.theses.fr/2010PA066616.
Full textDumortier, Yann. "Perception monoculaire de l'environnement pour les systèmes de transport intelligents." Phd thesis, École Nationale Supérieure des Mines de Paris, 2009. http://pastel.archives-ouvertes.fr/pastel-00005607.
Full textGomez, Garcia Arturo. "Architecture VPAIR : agents de police virtuels pour la gestion par ITS du trafic routier." Paris 13, 2012. http://scbd-sto.univ-paris13.fr/intranet/edgalilee_th_2012_gomez_garcia.pdf.
Full textProblem of vehicular traffic congestion. Our research aims to provide an alternative architecture in complement to the Intelligent Transportation System (ITS) with the following objectives: i) design of an affordable architecture based on traffic information systems, ii) the inclusion of this architecture in the standards of current ITS architectures, iii) the traffic route assignment problem, and iv) the traffic data dissemination. To overcome the complexity of traffic congestion in urban settlements we propose an alternative architecture called VPAIR (Virtual Police Agents for ITS Traffic Routing) ori- ented to complement the actual ITS frameworks. Here, the principal actor is the Inter- vehicle communications built upon a design of light infrastructure and cost affordable. Our architecture responds mostly to the demands of related ITS services dealing with the traffic congestion. Especially in cities unable to deploy current solutions because of budget constraints. However, another important aspect is the breach in implementing such IVC-based proposals into running ITS implementations. In order to close this gap, we examine the existent ITS architectures and propose an integration process to conform our architecture proposal into ITS standards based on a case study. Notwithstanding the several approaches to deal with traffic congestion, the traffic information systems aims are improving the fluidness of transport while dodging new congestion sources that might degrade the transportation mobility. This can be delimited to the traffic route assignment problem. We propose a simulation-based dynamic traffic assignment to tackle the traffic congestion in order to improve greatly the global travel time of the drivers. Finally, we review an important player in the proposed architecture: the traffic data dissemination. We propose a composite solution to provide a pervasive dissemination of the traffic information. Moreover, we assess our solutions by simulation-based evaluations under a city-size scenario in order to study more faithfully the impact of our solution
Laumônier, Julien. "Méthodes d'apprentissage de la coordination multiagent : application au transport intelligent." Doctoral thesis, Université Laval, 2008. http://hdl.handle.net/20.500.11794/20000.
Full textCenerario, Nicolas. "Partage d’informations dans les réseaux de communication inter-véhiculaire." Valenciennes, 2010. http://ged.univ-valenciennes.fr/nuxeo/site/esupversions/b15fc5ca-0eb6-4394-bba7-f843d69afc90.
Full textThis thesis is interested in the information sharing in inter-vehicle communication networks. Today, thanks to the positioning systems and to the wireless communication capacities, vehicles can exchange data relating different kind of events (emergency brake, traffic jam, available parking spot, etc. ) in order to provide new assistance systems for the drivers. In this work, we focused on vehicle-to-vehicle communication (V2V). The absence of any fixed communication infrastructure and the high nodes' mobility (i. E. Vehicles) in the network raise particularly interesting problems in term of data management, for example, in term of relevance estimation in these particularly dynamic environments. In this context, our main contributions concern : the proposal of mechanisms, based on the computation of an encounter probability, allowing to estimate the relevance of information exchanged between vehicles ; mechanisms of continuous query processing in decentralized environments allowing to keep information updated ; a dissemination protocol, exploiting our encounter probability, allowing to route data to vehicles potentially interested. Our proposals were evaluated in the VESPA (Vehicular Event Sharing with a mobile Peer-to-peer Architecture) system as well as through numerous simulations
Sobieraj, Jérémy. "Méthodes et outils pour la conception de systèmes de transport intelligents coopératifs." Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLE038/document.
Full textThe car is the most used mode of transport in Europe and North America. Today, it is increasingly secure thanks to driver assistance systems. However, it is still the largest share of road accidents in France, 90 % of which are caused by humans. From 2020, new types of vehicles will appear on the road: they are vehicles whose decision will no longer depend only on the human driver, commonly called autonomous vehicles.To design such systems, three main requirements must be respected at the same time: the safety (respect of traffic laws), the efficiency (go as fast as possible) and the comfort (not to feel in danger in the vehicle). In addition to imagine a vehicle where only on-board sensors provide the necessary information to drive, one can add the ability to communicate with other vehicles or the road infrastructure. This last point have to take into account a fourth requirement, courtesy (does not have a negative impact on surrounding vehicles). It can also help to manage a similar situation where vehicles driven by human beings and autonomous vehicles will be in the same environment.To study these behaviors, computer simulation can be a good solution to set up a range of possible scenarios in different environments. However, this imposes a level of abstraction that can affect the level of realism of the model.In this PhD thesis, we defined methods and tools to define a methodology for designing Cooperative Intelligent Transport Systems. From a vehicle model, we have shown that we can simulate it and then formally check it. From the model obtained, compatibility with a more realistic simulator is ensured. In addition, based on a simulation tool, we have implemented a cooperation protocol that allows vehicles to adapt more easily to current road environments
Thomas, Kévin. "Communications Bluetooth pour les Systèmes de Transport Intelligents Coopératifs." Thesis, Reims, 2020. http://www.theses.fr/2020REIMS016.
Full textThis thesis proposes a solution to transmit traffic information via Wireless Personal Area Networks (WPAN).Through this thesis, we propose a communication architecture that fits within the Cooperative Intelligent Transport Systems (C-ITS). This architecture will use Bluetooth Low Energy (BLE) to transmit traffic information. In addition, we have adapted the Decentralized Event Notification Message (DENM) message known from the C-ITS world to be sent in a BLE network. This adaptation provides sufficient vital information to ensure the characterization of an event. This architecture is validated by road tests.Then, we will present solutions to identify the path on which the event takes place. They must allow vehicles to know if the event is on the lane on which they are travelling. These solutions are the subject of experiments. We have selected those that give the best performance.We shall present an extended architecture proposing the extension of the coverage of our network by installing intermediate stations. These stations make it possible to consider different functionalities to be added to the architecture
Lebre, Marie-Ange. "De l'impact d'une décision locale et autonome sur les systèmes de transport intelligent à différentes échelles." Thesis, Lyon, 2016. http://www.theses.fr/2016LYSEI007/document.
Full textIn this thesis we present vehicular applications across different scales: from small scale that allows real tests of communication and services; to larger scales that include more constraints but allowing simulations on the entire network. In this context, we highlight the importance of real data and real urban topology in order to properly interpret the results of simulations. We describe different services using V2V and V2I communication. In each of them we do not pretend to take control of the vehicle, the driver is present in his vehicle, our goal is to show the potential of communication through services taking into account the difficulties outlined above. In the small scale, we focus on a service with a traffic light that improves travel times, waiting times and CO2 and fuel consumption. The medium scale is a roundabout, it allows, through a decentralized algorithm, to improve the same parameters. It also shows that with a simple and decentralized decision-making process, the system is robust to packet loss, density, human behavior or equipment rate. Finally on the scale of a city, we show that local and decentralized decisions, with only a partial access to information in the network, lead to results close to centralized solutions. The amount of data in the network is greatly reduced. We also test the response of these systems in case of significant disruption in the network such as roadworks, terrorist attack or natural disaster. Models, allowing local decision thanks to information delivered around the vehicle, show their potential whatsoever with the V2I communication or V2V
Liu, Bing. "Contrôle et optimisation des systèmes de transport intelligents dans le voisinage des intersections." Thesis, Ecole centrale de Lille, 2016. http://www.theses.fr/2016ECLI0008/document.
Full textThis thesis is devoted to study the potential applications of autonomous vehicles and V2X communications to construct the intelligent transportation systems. Firstly, the behavior of platoon in connected vehicle environment is studied. A platoon control algorithm is designed to obtain safe spacing as well as accordance of velocity and acceleration for vehicles in the same lane. Secondly, in larger scale, the platoons around an intersection are considered. The throughput in a traffic signal period can be improved by taking advantage of the redundant road capacity. Within diverse constraints, vehicles can choose to accelerate to join in the preceding platoon or to decelerate to depart from the current one. Thirdly, an unsignalized intersection in VANET is considered. In light traffic conditions, vehicles can regulate their velocities before arriving at the intersection according to the conflict zone occupancy time (CZOT) stored at the manager, so that they could get through the intersection without collision or stop. The delay can be reduced accordingly. Finally, an universal autonomous intersection management algorithm, which can work even with heavy traffic, is developed. The vehicle searches for safe entering windows in the CZOT. Then based on the found windows and the motion of preceding vehicle, the trajectories of vehicles can be planned using a segmented dynamic programming method. All the designed algorithms are successfully tested and verified by simulations in various scenarios
Gate, Gwennaël. "Systèmes de perception robustes pour environnements dynamiques : applications aux systèmes d'évitement de piétons." Phd thesis, École Nationale Supérieure des Mines de Paris, 2009. http://pastel.archives-ouvertes.fr/pastel-00006057.
Full textKumar, Pushpendra. "Towards Bond Graph modeling of a class of system of systems : application to an intelligent transportation system." Thesis, Lille 1, 2014. http://www.theses.fr/2014LIL10158/document.
Full textLarge-scale integrated systems working collectively for a common mission are known as Systems of Systems (SoS). In the present work, we propose a modeling method for a class of SoS, namely mechatronic systems, based on the Bond graph modeling approach. The proposed approach is applied to an Intelligent Transportation System (ITS) by modeling the traffic dynamic of Intelligent Autonomous Vehicles (IAVs); where Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communications are considered. Such set of autonomous vehicles describe the organization of a SoS. The traffic dynamic is modeled at three abstraction levels namely: submicroscopic, microscopic, and macroscopic levels. Subsequently, the three levels are combined to develop a multilevel model of the traffic dynamic using the same Bond graph approach. The model is simulated for normal and faulty scenarios. Then, the model is validated on a real-time simulator of vehicle dynamics. In addition, real experiments on IAVs are performed to validate the model. Finally, the model is used to develop a supervision strategy for the traffic SoS based on the behavioral and structural analysis of the Bond graph model
Somda, Flavien Hervé. "Développement de stratégies de commande et de perception pour une régulation de vitesse intelligente." Rennes 1, 2009. https://tel.archives-ouvertes.fr/tel-00449772.
Full textMonitoring and Perception Strategies Design for Intelligent Cruise Control Today's trac conditions call for the event of Intelligent Transportation Systems for road safety improvement. In Intelligent vehicles driven by such technologies, at least, part of the driving task is managed by embeded systems. In this thesis report, we oer a new longitudinal control strategy based on a nonlinear, second order, and exponential prole model. The approach is safe, robust, comfortable and consistent with Intelligent Cruise Control as well as Stop&Go applications. We also propose a detection approach based on an antenna beam scanning strategy that drastically improves distance of detection and enables identication of traffic scenarios. Such results are essential for an efficient longitudinal control strategy design
Hautière, Nicolas. "Détection des conditions de visibilité et estimation de la distance de visibilité par vision embarquée." Saint-Etienne, 2005. http://www.theses.fr/2005STET4006.
Full textThe adverse weather conditions, in particular the fog, pose a problem for the drivers, who tend to overestimate distances, but also to the exteroceptive sensors which work less well. The detection and the quantification of the visibility conditions thus constitute a strong stake in terms of road safety. We propose two complementary methods onboard a vehicle aiming to estimate the visibility distance by using real time image analyses techniques. Both are based on the definition of the meteorological visibility distance, which is the greatest distance at which a black object of suitable dimensions can be recognized by day against the horizon sky. The first technique, using a model of atmospheric diffusion, detects and estimates the density of daytime fog by using a single camera. The second technique, using a generic property of the atmosphere, is able to estimate day and night the visibility distance under all meteorological conditions by using a stereoscopic sensor. On one hand, we evaluate our methods, thanks to several video sequences grabbed under different meteorological conditions, what constitutes a qualitative evaluation of the work done. On the other hand, we evaluate the methods, thanks to actual images of a specific site equipped with reference targets, which has been conceived and realized on the test facilities of Satory, what constitutes a quantitative evaluation
Majid, Hirsh. "Contribution à l'estimation et à la commande des systèmes de transport intelligents." Thesis, Artois, 2014. http://www.theses.fr/2014ARTO0203/document.
Full textThe works presented in this PhD dissertation fit into the framework of Intelligent TransportationSystems. Although the beginnings of these systems have started since the 60s, their development, basedon information and communication technologies, has reached maturity during the early 80s. The ITS usesthe intelligence of different systems (embedded systems, intelligents sensors, intelligents highways, etc.)in order to optimize road infrastructures performances and respond to the daily problems of congestions.The dissertation presents four contributions into the framework of road traffic flow and tackles theestimation and control problems in order to eliminate or at least reduce the “recurrent" congestionsphenomena. The first point treats the problem of traffic state estimation which is of most importance inthe field of ITS. Indeed, the implementation and performance of any control strategy is closely relatedto the ability to have all needed information about the traffic state describing the dynamic behavior ofthe studied system. Two estimation algorithms are then proposed. The first one uses the “metanet"model and high order sliding mode techniques. The second is based on the so-called Cell TransmissionModels. Several comparative studies with the Kalman filters, which are the most used in road traffic flowengineering, are established in order to demonstrate the effectiveness of the proposed approaches. Thethree other contributions concern the problem of traffic flow control. At first, the focus is on the isolatedramp metering using an algorithm based on the high order sliding mode control. The second contributiondeals with the dynamic traffic routing problem based on the high order sliding mode control. Such controlstrategy is enriched by introducing the concept of integration, in the third contribution. Indeed, integratedcontrol consists of a combination of several traffic control algorithms. In this thesis the proposed approachcombines an algorithm of on-ramp control with a dynamic traffic routing control. The obtained results arevalidated via numerical simulations. The validated results of the proposed isolated ramp metering controlare compared with the most used ramp metering strategy : ALINEA. Finally, the last contributiontreats the coordination problems. The objective is to coordinate several ramps which cooperate andchange information in order to optimize the highway traffic flow and reduce the total travel time in theapplied area. All these contributions were validated using real data mostly from French freeways. Theobtained results show substantial gains in term of performances such as travel time, energetic consumptiondecreasing, as well as the increasing in the mean speed. These results allow to consider several furtherworks in order to provide more interesting and efficient solutions in the ITS field
Boussard, Clément. "Estimations embarquées de conditions de risque : adhérence et visibilité." Paris, ENMP, 2007. http://www.theses.fr/2007ENMP1524.
Full textIn the past our cars were moving. In the future, they will converse through V2V communication (Vehicle to Vehicle): the cars exchange data such as position and speed. The onboard computer can also record information from the car - rain sensors, brightness, but also ESP, ABS -, and give birth to an information network where that information is collected by an infrastructure able to analyse it. This is the V2I communication (Vehicle to Infrastructure). The greater the number of vehicles that detect information - such as the presence of fog-, the higher the probability of fog, and the faster the infrastructure can inform drivers approaching the area where is the fog. In this context, we are interested in onboard risky condition estimation caused by climatic factors. Climate can create conditions of hazards such as snow, Rain, fog. . . These conditions change pavement conditions and the sight offered to the driverGiven that there is no sensor reflecting the road conditions which can be used on vehicles with standard sensors, we present in the first part of the thesis a new maximum road’s friction estimator. In addition, there are already some visibility distance estimators that use an onboard camera, but they have some limitations that we tried to circumvent. The presentation of this estimator constitutes the second part of the thesis
González, Bautista David. "Architecture fonctionnelle pour la planification des trajectoires des véhicules automatisés dans des environnements complexes." Thesis, Paris Sciences et Lettres (ComUE), 2017. http://www.theses.fr/2017PSLEM002/document.
Full textDevelopments in the Intelligent Transportation Systems (ITS) field show promising results at increasing passengers comfort and safety, while decreasing energy consumption, emissions and travel time. In road transportation, the appearance of automated vehicles is significantly aiding drivers by reducing some driving-associated tedious tasks. However, there is still a long way to go before making the transition between automated vehicles (i.e. vehicles with some automated features) and autonomous vehicles on public roads (i.e. fully autonomous driving), specially from the motion planning point of view. With this in mind, the present PhD thesis proposes the design of a generic modular architecture for automated vehicles motion planning. It implements and improves curve interpolation techniques in the motion planning literature by including comfort as the main design parameter, addressing complex environments such as turns, intersections and roundabouts. It will be able to generate suitable trajectories that consider measurements' incertitude from the perception system, vehicle’s physical limits, the road layout and traffic rules. In case future collision states are detected, the proposed approach is able to change---in real-time---the current trajectory and avoid the obstacle in front. It permits to avoid obstacles in conflict with the current trajectory of the ego-vehicle, considering comfort limits and developing a new trajectory that keeps lateral accelerations at its minimum. The proposed approach is tested in simulated and real urban environments, including turns and two-lane roundabouts with different radii. Static and dynamic obstacles are considered as to face and interact with other road actors, avoiding collisions when detected. The functional architecture is also tested in shared control and arbitration applications, focusing in keeping the driver in the control loop to addition the system's supervision over drivers’ knowledge and skills in the driving task. The control sharing advanced driver assistance system (ADAS) is proposed in two steps: 1) risk assessment of the situation in hand, based on the optimal trajectory and driving boundaries identified by the motion planning architecture and; 2) control sharing via haptic signals sent to the driver through the steering wheel. The approach demonstrates the modularity of the functional architecture as it proposes a general solution for some of today's unsolved challenges in the automated driving field
Faye, Sébastien. "Contrôle et gestion du trafic routier urbain par un réseau de capteurs sans fil." Electronic Thesis or Diss., Paris, ENST, 2014. http://www.theses.fr/2014ENST0061.
Full textRoad traffic has a significant effect on metropolitan activities, especially during peak hours when it impacts on areas such as the economy and the environment. Road infrastructure is typically coordinated from a control centre that is responsible for maintaining not only its equipment but also their initial settings and incident management (both material and human). During the past few years, new technologies in the fields of information and communication have led to the introduction of intelligent transportation systems. Using multiple measurement points distributed across a country, an operator can count road users and calculate the network load. However, the centralization of information has a number of drawbacks. The aim of this thesis is to study the use of distributed systems in order to implement intelligent transportation systems via a wireless sensor network. Coupled to a detection unit (e.g., a magnetometer), the interconnected sensors can respond to the passage of a vehicle when deployed, for example, along the road. They can also work together without recourse to a central entity - rendering all or part of an urban area totally independent. Furthermore, these networks can operate autonomously and are less susceptible to breadown, because the overall running of the system is not affected by the failure of individual components. Finally, components are small and cheap, and they operate wirelessly, which means they can be deployed and redeployed both rapidly and densely
Xu, Jin. "Un modèle multi-agent distribué et hybride pour la planification du transport à la demande temps réel." Phd thesis, INSA de Rouen, 2008. http://tel.archives-ouvertes.fr/tel-00558769.
Full textBoutahala, Ramzi. "Mécanismes de sécurisation des communications véhiculaires." Electronic Thesis or Diss., Reims, 2023. http://www.theses.fr/2023REIMS047.
Full textIn this thesis, we consider the problem of communication channel overload in the context of cooperative intelligent transport systems (C-ITS). We aim to improve the communication mechanism between vehicles and focus on the security part of communication, which is the most costly in terms of resources. In Europe and the USA, adapted communication protocols have been proposed to ensure communication and cooperation among all relevant actors (vehicles, road infrastructure, pedestrians, etc). These protocols enable vehicles to communicate with each other by exchanging specific messages. Each vehicle periodically sends application beacons denoted CAM (Cooperative Awareness Message). This CAM contains information about the vehicle status (speed, location, heading, etc). In order to guarantee the integrity and the authentication of the exchanged messages, signatures that are computed using various Pseudonym Certificates (PC) are included in all sent messages. We propose a different approach that enables vehicles to send CAMs, without having to send security information, with each transmission, as required by current standards. Instead of exhaustive authentication, our approach enables vehicles to reduce data security and build trust by creating trusted environments. This reduces the need for frequent exchanges of signed CAMs and eliminates the need for an extensive verification and signature process, effectively conserving bandwidth. In addition, we propose a trust verification process that checks this trust to avoid malicious activities. Our strategy incorporates a two-fold mechanism: an extrapolation method that sets thresholds for the detection of inconsistent behavior, followed by an unsupervised deep learning model trained on calibrated data, consistently evaluating variations in neighbor behavior. The effectiveness of our approach is supported using traffic data from the A4 Reims-Paris highway in France, with simulations performed in OMNeT++, SUMO and Artery environments. The performance of all considered methods was comparatively assessed under identical testing conditions
Khalil, Wissam. "Contribution à la modélisation graphique de système de systèmes." Thesis, Lille 1, 2012. http://www.theses.fr/2012LIL10021/document.
Full textThis work has been realized in the framework of the European project InTraDE (Intelligent Transportation for Dynamic Environment). The main scientific contribution focuses on graphical modeling of System of Systems (SoS) in the engineering field. To model such systems, a graphical method based on hypergraph approach is proposed. Hypergraphs are used to describe the multiple hierarchical levels of a SoS and to describe its associated fundamental properties such as: the independence, cooperation, dispersion and the evolution of the component systems. Through this graphical modeling, online supervision strategies can be directly deduced. To manage the global operating of the component systems at a specific level, a dynamic graphical model is extracted from the hypergraph. This later allows the elaboration of an online optimization strategy. As a case study, an intelligent transportation system is considered. An online optimization algorithm currently updates, the time used for each intelligent autonomous vehicle to reach its target, in a permanently evolving environment
Faye, Sébastien. "Contrôle et gestion du trafic routier urbain par un réseau de capteurs sans fil." Thesis, Paris, ENST, 2014. http://www.theses.fr/2014ENST0061/document.
Full textRoad traffic has a significant effect on metropolitan activities, especially during peak hours when it impacts on areas such as the economy and the environment. Road infrastructure is typically coordinated from a control centre that is responsible for maintaining not only its equipment but also their initial settings and incident management (both material and human). During the past few years, new technologies in the fields of information and communication have led to the introduction of intelligent transportation systems. Using multiple measurement points distributed across a country, an operator can count road users and calculate the network load. However, the centralization of information has a number of drawbacks. The aim of this thesis is to study the use of distributed systems in order to implement intelligent transportation systems via a wireless sensor network. Coupled to a detection unit (e.g., a magnetometer), the interconnected sensors can respond to the passage of a vehicle when deployed, for example, along the road. They can also work together without recourse to a central entity - rendering all or part of an urban area totally independent. Furthermore, these networks can operate autonomously and are less susceptible to breadown, because the overall running of the system is not affected by the failure of individual components. Finally, components are small and cheap, and they operate wirelessly, which means they can be deployed and redeployed both rapidly and densely
Garrido, Carpio Fernando José. "Planification locale de trajectoires à deux étapes basée sur l’interpolation des courbes optimales pré-planifiées pour une conduite humaine en milieu urbain." Thesis, Paris Sciences et Lettres (ComUE), 2018. http://www.theses.fr/2018PSLEM065/document.
Full textIntelligent Transportation Systems (ITS) developments are conceived to improve transportation reducing accidents, transport time and fuel consumption, while increasing driving security, comfort and efficiency. The final goal of ITS is the development of ADAS for assisting in the driving tasks, up to the development of the fully automated vehicle. Despite last ADAS developments achieved a partial-automation level, current systems are not robust enough to achieve fully-automated level in short term. Urban environments pose a special challenge, since the dynamism of the scene forces the navigation algorithms to react in real-time to the eventual changes, respecting at the same time traffic regulation and avoiding collisions with other road users. On this basis, this PhD thesis proposes a two-staged local planning approach to provide a solution to the navigation problem on urban environments. First, static information of both road and vehicle constraints is considered to generate the optimal curve for each feasible turn configuration, where several databases are generated taking into account different position of the vehicle at the beginning and ending points of the curves, allowing the real-time planner to analyze concavity changes making use of the full lane width.Then, actual road layout is contemplated in the real-time process, where both the available distance and the sharpness of upcoming and consecutive turns are studied to provide a human-like driving style optimizing two curves concurrently, offering that way an extended planning horizon. Therefore, the real-time planning process searches the optimal junction point between curves. Optimality criteria minimizes both curvature peaks and abrupt changes on it, seeking the generation of continuous and smooth paths. Quartic Béziers are the interpolating-based curve algorithm used due to their properties, allowing compliance with road limits and kinematic restrictions, while allowing an easy manipulation of curves. This planner works both for static and dynamic environments. Obstacle avoidance features are presented based on the generation of a virtual lane which modifies the static path to perform each of the two lane change maneuvers as two curves, converting the problem into a static-path following. Thus, a fast solution can be found benefiting from the static local planner. It uses a grid discretization of the scene to identify the free space to build the virtual road, where the dynamic planning criteria is to reduce the slope for the lane changes. Both simulation and experimental test have been carried out to validate the approach, where vehicles performs path following on static and dynamic environments adapting the path in function of the scenario and the vehicle, testing both with low-speed cybercars and medium-speed electic platforms, showing the modularity of the system
Khamari, Sabri. "Architectures et protocoles pour les véhicules connectés." Electronic Thesis or Diss., Bordeaux, 2023. http://www.theses.fr/2023BORD0483.
Full textThe advent of Intelligent Transportation Systems (ITS) marks a paradigm shift in the approach to managing and optimizing transportation infrastructures. Rooted in the integration of state-of-the-art communication technologies, ITS encompass a variety of applications aimed at enhancing road safety, traffic efficiency, and driving comfort. However, the execution of these increasingly computation-intensive applications raises inherent challenges related to latency, data processing, and service continuity. The emergence of Edge Computing stands as a transformative advancement poised to redefine the efficacy of vehicular applications in Intelligent Transportation Systems (ITS). Contrasting with conventional cloud computing paradigms, which frequently encounter latency issues attributable to the remote nature of data processing, Edge Computing decentralizes computational tasks to be nearer to the point of data generation. This proximity drastically diminishes latency, optimizes data aggregation, and enhances overall resource utilization. Consequently, Edge Computing is uniquely positioned to address and potentially mitigate the limitations that have previously impeded the optimization of ITS functionalities. Nevertheless, the incorporation of Edge Computing into vehicular networks unveils a unique array of complexities, ranging from the strategic placement of edge servers and efficient data offloading techniques to the implementation of robust service migration protocols and safeguarding privacy and security measures.This thesis investigates the problems of edge server placement and service migration in vehicular networks. Our contributions in this thesis are threefold. First, we introduce "ESIAS," an Edge-based Safety Intersection Assistance System, specifically designed to improve safety intersections. The system aims to proactively distribute precise warning messages to drivers, mitigating the risk of common intersection-related accidents. Second, we tackle the challenge of optimal Edge server placement in vehicular networks, employing integer linear programming to find the most effective solutions. The methodology considers latency, cost, and server capacity in real-world traffic conditions. The proposed framework aims not only to minimize the overall deployment cost but also to balance the computational workloads among Edge servers, all while maintaining latency within acceptable thresholds. Finally, we delve into the complex issue of service migration in MEC-enabled vehicular networks, addressing the quandary of maintaining quality of service (QoS) while minimizing migration costs. As vehicles move through different regions, maintaining service quality requires strategic service migration, which poses challenges in terms of timing and location. To resolve this problem, we formulate it as a Markov Decision Process (MDP) and apply deep reinforcement learning techniques, specifically Deep Q-Networks (DQN), to discover optimal migration strategies tailored to each service's requirements. The resulting framework ensures seamless service continuity even within high-mobility constraints, achieving an optimal balance between latency and migration costs
Masri, Ali. "Multi-Network integration for an Intelligent Mobility." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLV091/document.
Full textMultimodality requires the integration of heterogeneous transportation data and services to construct a broad view of the transportation network. Many new transportation services (e.g. ridesharing, car-sharing, bike-sharing) are emerging and gaining a lot of popularity since in some cases they provide better trip solutions.However, these services are still isolated from the existing multimodal solutions and are proposed as alternative plans without being really integrated in the suggested plans. The concept of open data is raising and being adopted by many companies where they publish their data sources to the web in order to gain visibility. The goal of this thesis is to use these data to enable multimodality by constructing an extended transportation network that links these new services to existing ones.The challenges we face mainly arise from the integration problem in both transportation services and transportation data
Hrizi, Fatma. "Mécanismes de contrôle pour les applications coopératives de sécurité routière dans les systèmes de transport intelligents." Electronic Thesis or Diss., Paris, ENST, 2012. http://www.theses.fr/2012ENST0081.
Full textIn the last decades, Intelligent Transportation Systems (ITS) have been considered as one of the most emerging research area due to their promising role in promoting traffic efficiency and enhancing road safety. ITS cooperative safety applications, being the most vital and critical, have gained a lot of attention. The effectiveness of these applications depends widely on the efficient exchange of two main types of information. The periodic awareness corresponding to the one-hop location information of surrounding environment and the multi-hop event-driven information generated at the detection of a safety situation. Due to the large scale characteristic of ITS, this information is expected to be subject to severe congestion which might impact its reliable reception. The goal of this thesis is to focus on the reliable and robust control of safety-related information by reducing the channel congestion and at the same time taking into account the requirements of safety applications. We address first the event-driven safety information. We proposed a multi-hop policy showed to improve the dissemination of the event-driven information. However, it remains strongly sensitive to the channel load resulting from periodic awareness transmissions. On the other hand, the effective transmission of event-driven information depends primarily on the accurate detection of safety events and accordingly on the accuracy of awareness. Thus, we provide an efficient awareness control mechanism in order to provide better accuracy and limit the channel congestion. The approaches proposed in this thesis have deeply investigated the trade-off between ensuring the requirements of cooperative safety and the efficient management of congestion in vehicular network
Ammoun, Samer. "Contribution des communications intervéhiculaires pour la conception de systèmes avancés d'aide à la conduite." Phd thesis, École Nationale Supérieure des Mines de Paris, 2007. http://pastel.archives-ouvertes.fr/pastel-00003671.
Full textThoraval, Pascal. "Systèmes intelligents d'aide à la conception : archix & archipel." Compiègne, 1991. http://www.theses.fr/1991COMPD417.
Full textEl, Bahhar Fouzia. "Conception d'un système de communication ultra large bande appliqué aux transports." Valenciennes, 2003. http://ged.univ-valenciennes.fr/nuxeo/site/esupversions/1c685f1d-c16a-44f6-8e31-0ca9a89472c1.
Full textThe aim of this thesis is to investigate one major part of intelligent transportation systems, namely inter vehicles communication. In this framework, several theoretical studies have been performed to evaluate the performances of a communication system based upon the new Ultra Wide Band (UWB) technology. Further theoretical studies have been conducted to address the ability of designing multiuser access UWB systems using orthogonal function waveforms. After the simulation stage, a prototype of our system has been built in order to proceed to first tests for evaluation of performances against used waveform, modulation kind, distance between emitter and receiver and the type of antenna. In order to comfort our theoretical study, supplementary tests have been performed on our mackup for pulsed monocycle waveforms and antipodal modulation, which demonstrate the feasibility of establishing an inter vehicles communication link
Ammoun, Samer. "Contribution des communications intervéhiculaires pour la conception de systèmes avancés d’aide à la conduite." Paris, ENMP, 2007. http://pastel.paristech.org/3671/01/These_Ammoun.pdf.
Full textThe advanced driver assistance systems aim to introduce intelligence into the. The classic approach is to provide the vehicle with the ability to perceive its environment. The recent developments in the field of wireless telecommunications has made possible to re-think the driving model by introducing the concept of cooperatio. The standardization of a communication protocol for the automotive domain is being preparedbut the successful introduction of this technology is strongly correlated to the implementation of realistic services. To bridge this gap, we wanted to focus in this thesis on the design of new cooperative driver assistance systems for the improvement of road safety. The aim of the thesis is thus to demonstrate the feasibility of cooperative applications with existing communications equipments and to study the contribution of this technology in the prevention of collisions. We propose architecture for wireless communication based on the 802. 11 standard, and we explore theperformance of our system through campaigns to test the adequacy with the requirements of the cooperative applications. Based on this architecture, we exploited our system in two types of applications:- The risk assessment on intersection approach- The assistance during a lane changeFor each of these two scenarios we have implemented a system of collision risk prediction and prevention between vehicles and performed real tests on the experimental prototyping platform LaRA
Loureiro, Rui. "Bond graph model based on structural diagnosability and recoverability analysis : application to intelligent autonomous vehicles." Thesis, Lille 1, 2012. http://www.theses.fr/2012LIL10079/document.
Full textThis work deals with structural fault recoverability analysis using the bond graph model. The objective is to exploit the structural and causal properties of the bond graph tool in order to perform both diagnosis and control analysis in the presence of faults. Indeed, the bond graph tool enables to verify the structural conditions of fault recoverability not only from a control perspective but also from a diagnosis one. In this way, the set of faults that can be recovered is obtained previous to industrial implementation. In addition, a novel way to estimate the fault by a disturbing power furnished to the system, enabled to extend the results of structural fault recoverability by performing a local adaptive compensation directly from the bond graph model. Finally, the obtained structural results are validated on a redundant intelligent autonomous vehicle
Challita, Georges. "Contribution au positionnement des véhicules communicants fondé sur les récepteurs GPS et les systèmes de vision." Thesis, Rouen, INSA, 2009. http://www.theses.fr/2009ISAM0004.
Full textThis thesis work realised at the STI team of the LITIS Laboratory, in collaboration with the Center of Robotics CAOR at the Ecole des Mines of Paris and the INRIA Rocquencourt, and tested on the prototype LARA. The aim is to better positionning of intelligent vehicles equipped with GPS, vision systems and communication devices used for cooperation between vehicles. In urban areas, The usage of GPS is not always ideal because of the poorness of the satellite coverage. Sometimes, the GPS signal may be also corrupted by multipath reflections due to tunnels, high buildings, electronic interferences etc. So, in order to accurate the vehicle positioning in the navigation application, the GPS data will be enhanced with vision data using communication between vehicles. The vision system is based on a monocular real-time vision-based vehicle detection. We can calculate the distance between vehicles using the pinhole model. We developped a rain detection system using the same camera. The inter-vehicle cooperation is made possible thanks to the revolution in the wireless mobile ad hoc network. Localization information can be exchanged between the vehicles through a wireless communication devices. The creation of the system will adopt the Monte Carlo Method or what we call a particle filter for the treatment of the GPS data and vision data. An experimental study of this system is performed on our fleet of experimental communicating vehicles LARA
Chtourou, Ameni. "Contextual communication for intelligent transportation systems in hybrid networks." Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG116.
Full textAn important role of C-ITS is to extend perception of individual road users so that traffic accidents are avoided. Such an extended perception is built by information exchange among vehicles, pedestrians, and infrastructure using different types of messages including cooperative awareness message (CAM) and Collective Perception Message (CPM). While data carried by these messages are critical, they are resource-consuming. Currently, CAMs and CPMs are broadcasted periodically with a minimum frequency of 1Hz. In addition, their frequencies can be adapted based on vehicle dynamics (speed, acceleration,...) and further with wireless channel condition when a distributed congestion control (DCC) functionality is enabled. However, it might be vital for a vehicle to transmit its beacons at a high rate in critical areas, such as intersections, even if this may result in higher channel busy ratio (CBR). On the contrary, vehicles with a low risk of collision may reduce their transmission frequency to avoid unnecessary load on the channel. Hence, dissemination of such messages must be made in an efficient way so that road safety application requirement is ensured and resource utilization is optimized.This requires the communication be context-aware, being able to control communication parameters by taking into account application requirements, availability of communication technologies and radio resources as well as environmental condition (road layout, traffic density, presence of roadside infrastructure, and etc.). Hence, establishing contexts that characterize environmental and non-environmental collected information is a key challenge for context-aware communication.The thesis targets at studying and developing context aware communication for road safety applications. The main goal is to design algorithms that are able to optimize V2X communication based on a recognition of the contexts particularly radio resource availability, environmental condition and application requirements. The work consists of two phases. In the first phase, we present context aware communication architecture and study/model contexts in terms of application requirement (context1) and environmental context (context2). The first context aims to define application requirement and evaluate performances of Cooperative Awareness Service strategies against requirements. Environmental context consists on infrastructure availability allowing I2V communication that may replace V2V communication in that local area resulting in improved collective perception and reduced channel load thanks to its larger communication coverage and sensor field of view. The second phase intends to design and develop algorithms that control/select message data contents taking into account contexts previously modeled while ensuring a high level of collective perception/awareness
Melki, Asma. "Système d'aide à la régulation et évaluation des transports multimodaux intégrant les cybercar." Ecole centrale de Lille, 2008. http://www.theses.fr/2008ECLI0012.
Full textDe, Miranda Neto Arthur. "Embedded visual perception system applied to safe navigation of vehicles." Compiègne, 2011. http://www.theses.fr/2011COMP1987.
Full textThis thesis addresses the problem of obstacle avoidance for semi- and autonomous terrestrial platforms in dynamic and unknown environments. Based on monocular vision, it proposes a set of tools that continuously monitors the way forward, proving appropriate road informations in real time. A horizon finding algorithm was developed to sky removal. This algorithm generates the region of interest from a dynamic threshold search method, allowing to dynamically investigate only a small portion of the image ahead of the vehicle, in order to road and obstacle detection. A free-navigable area is therefore represented from a multimodal 2D drivability road image. This multimodal result enables that a level of safety can be selected according to the environment and operational context. In order to reduce processing time, this thesis also proposes an automatic image discarding criteria. Taking into account the temporal coherence between consecutive frames, a new Dynamic Power Management methodology is proposed and applied to a robotic visual machine perception, which included a new environment observer method to optimize energy consumption used by a visual machine. This proposal was tested in different types of image texture (road surfaces), which includes free-area detection, reactive navigation and time-to-collision estimation. A remarkable characteristic of these methodologies is its independence of the image acquiring system and of the robot itself. This real-time perception system has been evaluated from different test-banks and also from real data obtained by two intelligent platforms. In semi-autonomous tasks, tests were conducted at speeds above 100 Km/h. Autonomous displacements were also carried out successfully. The algorithms presented here showed an interesting robustness
Ghorayeb, Hicham. "Conception et mise en oeuvre d'algorithmes de vision temps réel pour la vidéo surveillance intelligente." Paris, ENMP, 2007. http://www.theses.fr/2007ENMP1463.
Full textIn this dissertation, we present our research work held at the Center of Robotics (CAOR) of the Ecole des Mines de Paris which tackles the problem of intelligent video analysis. The primary objective of our research is to prototype a generic framework for intelligent video analysis. We optimized this framework and configured it to cope with specific application requirements. We consider a people tracker application extracted from the PUVAME project. This application aims to improve people security in urban zones near to bus stations. Then, we have improved the generic framework for video analysis mainly for background subtraction and visual object detection. We have developed a library for machine learning specialized in boosting for visual object detection called LibAdaBoost. To the best of our knowledge LibAdaBoost is the first library in its kind. We make LibAdaBoost available for the machine learning community under the LGPL license. Finally we wanted to adapt the visual object detection algorithm based on boosting so that it could run on the graphics hardware. To the best of our knowledge we were the first to implement visual object detection with sliding technique on the graphics hardware. The results were promising and the prototype performed three to nine times better than the CPU. The framework was successfully implemented and integrated to the RTMaps environment. It was evaluated at the final session of the project PUVAME and demonstrated its fiability over various test scenarios elaborated specifically for the PUVAME project
Maatougui, Lamyae. "Développement d'un récepteur intelligent dédié aux systèmes sans fil basés sur les modulations M-OAM." Thesis, Valenciennes, 2017. http://www.theses.fr/2017VALE0015.
Full textIn this work of thesis, we propose an original communication system allowing to reach high data rate and to fulfill the requirements of quality of service necessary for the communications short range dedicated to intelligent transport. This system is based on the Ultra Wide Band Impulse (IR-ULB) technology and on new modulation scheme named M-OAM (M-states Orthogonal Amplitude Modulation). M-OAM modulations are based on the principle of modulations M-QAM by replacingthe carriers used for QAM modulation with orthogonal waveforms ULB type MGF (Modified Gegenbauer Function). These modulations were evaluated under the conditions of AWGN channel and IEEE 802.15 channels which take account of the real parameters of the road. Besides the high speed required by inter-vehicular communications, it is necessary to ensure simultaneous information exchange between several users of the road. Accordingly, new adaptive multiple access system is proposed. Each user has the possibility to use the adequate modulation OAM according to the desired speed. The receiver of this system is characterized by an intelligent aspect thanks to the integration of the principle of Cognitive Radio (RC) which makes it able to detect the signal arrival and to identify the parameters of the used modulation in order to adapt the demodulation in an autonomous way. A good quality of service is ensured by the proposed novel demodulation method based on the Higher Orders Statistics (HOS) to eliminate the Gaussian noise. The good performances of M-OAM communication system M-OAM as well as the whole of the suggested aspects are validated in experiments within IEMN-DOAE laboratory. In the last part of this document we presented the realization of prototype using real time processing developed on FPGA plateform and exploiting parallelisable algorithms on reconfigurable architectures
Yang, Rong. "Localisation latérale d'un véhicule sur une route structurée par analyse de séquences d'images de rétrovision." Lille 1, 2002. https://pepite-depot.univ-lille.fr/LIBRE/Th_Num/2002/50376-2002-305-306.pdf.
Full textNguyen, Quoc Tuan. "Plate-forme de simulation pour l'aide à la décision : application à la régulation des systèmes de transport urbain." Thesis, La Rochelle, 2015. http://www.theses.fr/2015LAROS003/document.
Full textTransport systems are becoming more complex and must incorporate not only technological components, but also sociological and political ones. In particular, they should be easy to adapt in order to incorporate the goals set by decision makers, such as the integration of sustainable development settings. The main objective of our research is to propose software architecture of a simulation tool to help a decision maker, responsible for the regulation of an urban transportation system to analyze and evaluate the impacts of regulatory strategies. We propose a system to assist in the definition of an urban transportation policy. Our system is based on an agent-based simulation integrating spatial and temporal information to evaluate regulatory scenarios. In terms of system architecture, we adopted a “system of systems” approach, mainly structured in layers, in order to model the main elements of the system. The validation of our simulation tool could be done from a case study of significant size and complexity because we have travel surveys, census, and traffic measurements. We made a prototype for the movement of people in the city of La Rochelle from statistical data of INSEE and the BD TOPO 2 of IGN using the GAMA platform
Coffin, Florent. "Méthodologie de conception coopérative de produit complexe : application au développement d'un prototype d'un système intelligent de copilotage automobile." Compiègne, 1995. http://www.theses.fr/1995COMPD838.
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