Chouki Sentouh

LAMIH UMR CNRS 8201 Hauts-de-France Polytechnic University · Automatic Control

This paper presents a new shared control method with a dynamic driver-automation conflict management for cooperative lane keeping systems (LKS) of automated vehicles. Based on a human-centered control approach, the proposed shared control design takes into account the driver's activity and availability, as well as the surrounding risk to dynamicall...

Wheelchair accessibility is still not assured for many manual wheelchair (MWC) users, due to inadequate urban construction, but also due to the biomechanical capacities issue of MWC users. Therefore, there is a great potential in the development of technologies to address this problem, one of them is the wheelchair mobility simulator. This work is...

This paper deals with the design of a new haptic interface to drive a wheelchair locomotion simulator in real-time. The proposed haptic interface considers a reference model of a manual wheelchair (MWC) with a coupled straight line, turn and slope/cross-slope dynamics. This model allows both to reproduce the wheel-ground contact resistances in real...

The PhD thesis is set in the application context of autonomous navigation of a road vehicle and aims at making autonomous navigation and the control sharing between an autonomous driving system and the driver safe. The objective is to propose methodologies from diagnostics to improve the robustness of human-machine interaction and shared control st...

This paper proposes a new observer approach used to simultaneously estimate both vehicle lateral and longitudinal nonlinear dynamics, as well as their unknown inputs. Based on cascade observers, this robust virtual sensor is able to more precisely estimate not only the vehicle state but also human driver external inputs and road attributes, includi...

Dear Colleagues, Today, recent technological breakthroughs in actuation, perception and artificial intelligence herald a new era for driver assistance and highly automated vehicles. These technologies bring the promise of improving safety, in particular, by reducing human error, which is the main cause of road accidents. However, experience has sho...

The new journal of Mechatronics Technology is an international interdisciplinary, peer-reviewed, and gold open-access journal, which covers the application of more recent techniques, innovations, and technologies used in sensing, signal processing, modeling, and actuation of a wide range of applications that includes electro-mechanical systems, hyd...

This paper presents a haptic-based assistance system (AS) for power wheelchair users designed using the model-based shared control approach. The idea is to combine robust control with a high-level driving supervisor in order to successfully share control authority between the wheelchair user and the assistance system. This shared control strategy i...

Quite recently, considerable attention has been paid to the concept of prediction of manual wheelchair locomotion by a predictive model simulation, with the aim of facilitating the synthesis of the biomechanics of propulsion movement and improving the wheelchair ergonomics. Generally, the biomechanical modeling of wheelchair propulsion is a highly...

Lane-keeping assistance design for road vehicles is a multi-objective design problem that needs to simultaneously maintain lane tracking, ensure driver comfort, provide vehicle stability, and minimize conflict between the driver and the autonomous controller. In this work, a cooperative control strategy is proposed for lane-keeping keeping by integ...

This paper proposes a control algorithm for controlling the position and attitude of a coaxial rotor drone without knowing the model dynamics. To overcome the major drawback of model-dependent approaches, an optimal model-free fuzzy controller (OMFFC) based on the estimation of the unknown dynamic function of the system is proposed. A time-delay es...

The work described in this paper proposes a new conflict minimisation strategy in shared driving control for lane keeping systems (LKS) in intelligent vehicles. This strategy takes into account a dynamic driver model, where the driver’s parameters are identified online using the Lyapunov approach. The design of an adaptive shared controller is base...

Research on mainline railway automation has advanced significantly in recent years regarding the technical and safety challenges linked to the deployment of open-world automated trains. However, similarly to other transport domains, early industrial concerts are mainly focused on fully automated systems that can operate without the help of human op...

A wheelchair locomotion simulator (WCS) is an innovative solution to assess the biomechanical cost of wheelchairs (WC) accessibility in a controlled and safe virtual environment. In this context, this paper presents a haptic feedback control architecture based on a direct model reference adaptive control (MRAC) with intelligent tuning of its adapta...

The work described in this paper proposes a new strategy for personalizing lane change assistance systems (LCAS) in intelligent vehicles. This strategy takes into account the driver's behavior and characteristics for decision-making and path planning in a manual driving mode based on the driver's lane change intention, in order to adapt and persona...

This paper presents a new nonlinear observer-based method to detect the faults of both steering and torque actuators of autonomous ground vehicles. To this end, the nonlinear vehicle system is reformulated in a Takagi-Sugeno (TS) fuzzy model with both measured and unmeasured nonlinear consequents, called N-TS fuzzy model. Differently from the class...

Haptic shared control has proven to be an effective method to assist a driver in controlling a vehicle. This method is now being considered for use in developing strategies for smooth transitions between manual and autonomous driving modes. This article has two objectives. First, it proposes to adapt an existing haptic shared control strategy to ac...

The work described in this paper proposes a new dynamic conflict attenuation strategy in driving shared control for intelligent vehicles lane keeping systems (LKS). This strategy takes into account the activity and availability of the driver as well as the external risk and conflict between the driver and the control system in order to manage and a...

The twin rotor multi-input multi-output system (TRMS) is an aerodynamic device with 2 degrees of freedom (DOFs) having striking similarity to a helicopter. It is characterized by highly nonlinearities, and it requires designing robust control algorithms that can deal with these problems. In this chapter, an optimal direct adaptive model-free contro...

Quite recently, considerable attention has been paid to the concept of prediction of manual wheelchair locomotion by a predictive model simulation, with the aim of facilitating the synthesis of the biomechanics of propulsion movement and improving the wheelchair ergonomics. Generally, the biomechanical modeling of wheelchair propulsion is a highly...

The lane-keeping assistance design for steer-by-wire road vehicles is a multi-objective control problem that addresses lane tracking, improvement of driver comfort and ensuring vehicle stability. The designed architecture must be sensitive to various driver behaviors, provide assistance to drivers whenever required and ensure a smooth transition of...

Safety systems claim an in-depth study of vehicle motion and tire–ground interaction for the design of a partially automated driving vehicle. This article addresses the quasi-linear parameter-varying Luenberger interconnected fuzzy observer to estimate both longitudinal and lateral vehicle dynamics simultaneously. In a different manner from the com...

This article deals with the issue of designing a flight tracking controller for an unmanned aerial vehicle type of quadrotor based on an optimal model-free fuzzy logic control approach. The main design objective is to perform an automatic flight trajectory tracking under multiple model uncertainties related to the knowledge of the nonlinear dynamic...

Using an integrative user-centered approach, the research project aimed at designing and assessing an adaptive HMI to improve the safety and the quality of the take-over in a level-3 automated vehicle. Future autonomous driving users confirmed the need for the monitoring systems to improve safety as long as they are simple and not intrusive. They r...

This paper concerns both vehicle lateral and longitudinal nonlinear dynamics estimation. Consequently, the interlinked vehicle models dependency and the hurdle coupling features will be overcome here thanks to the NONLINEAR INTERCONNECTED UNKNOWN INPUTS OBSERVER (NI-UIO) framework. This interconnection scheme extends the estimation of the lateral m...

This paper provides a new solution for path following control of autonomous ground vehicles. H₂ control problem is considered to attenuate the effect of the road curvature disturbance. To this end, we formulate a standard model from the road-vehicle dynamics, the a priori knowledge on the road curvature, and the path following specifications. This...

This paper proposes a design of a direct optimal control for a class of multi-input–multi-output (MIMO) nonlinear systems. This work focuses on the design of optimal model-free backstepping controller for a MIMO quadrotor helicopter perturbed by unknown external disturbances. The proposed method consists of using a model-free-based backstepping con...

This paper presents a model-free controller based on particle swarm optimization algorithm (PSO-MFC) for the altitude systems of a Mini-Drone. A model-free control (MFC) is applied to improve both trajectory tracking and robustness of quadrotor in the presence of external uncertainties and disturbance. The problem of Tuning MFC parameters designed...

The nonlinear active suspension control design can be analyzed as a multi-objective control problem that caters to the enhancement in ride comfort levels while ensuring that road holding is maintained with the constrained suspension displacement movement. In this paper, a robust constrained output feedback approach employing sliding mode controller...

This paper addresses the shared lateral control for both lane-keeping and obstacle avoidance tasks of a driver steering assist system (DSAS). In this work, we propose a novel approach to deal with the interactions between the human (driver) and the machine (DSAS) by introducing into the vehicle system a fictive nonlinear term representing the drive...

This paper proposes a study of the optimal control problem with state constraint, using two types of a power-assist wheelchair propulsion. The cost function is given by the metabolic function, which represented by acompromise between the work exerted by the joints muscles (mechanical effect) and an efficiency functionthat converts chemical into mec...

This paper deals with the design of a lane keeping system in steer-by-wire road four-wheeled vehicles using a nonlinear controller. The controller is designed to take into account the driver’s behavior and availability and to control the wheels’ angle of the steer system. A high order sliding mode control is chosen as feedback controller, having ti...

This paper addresses the driver-automation shared driving control for lane keeping and obstacle avoidance of automated vehicles in highway traffic. The proposed shared control framework is established from a novel cooperative trajectory planning algorithm and a fuzzy steering controller. Based on polynomial functions, the cooperative trajectory pla...

This paper investigates a new observer design method to estimate simultaneously both the vehicle dynamics and the unknown driver's torque. To take into account the time-varying nature of the longitudinal speed, the vehicle system is transformed into a polytopic linear parameter-varying (LPV) model with a reduced level of numerical complexity. Based...

The concept of automated driving changes the way humans interact with their cars. However, how humans should interact with automated driving systems remains an open question. Cooperation between a driver and an automated driving system—they exert control jointly to facilitate a common driving task for each other—is expected to be a promising intera...

This paper describes a real-time multi-objective predictive control strategy for the wheelchair ergometer platform, which allows simulating the manual wheelchair (MWC) propulsion in virtual reality (VR). A nonlinear least-square method is used to build the predictive wheelchair ergometer model, where the trust-region-reflective algorithm is adopted...

This paper presents a novel shared control concept for lane keeping assist (LKA) systems of intelligent vehicles. The core idea is to combine system perception with robust control so that the proposed strategy can successfully share the control authority between human drivers and the LKA system. This shared control strategy is composed of two parts...

For the suspension system equipped with nonlinear hydraulic actuators and excited by external road conditions, a road adaptive intelligent suspension control strategy is developed. In this work, (1) a multi-phase intelligent road adaptive control architecture is developed to enhance the ride comfort in the presence of varying road excitations; (2)...

The research in advanced driver assistance systems (ADAS) has progressed to design architectures for driver specific performance. Personalised ADASs in this aspect have been developed with adaptation to driver attributes, state, style, behaviour, skill and so on. For the lane keeping task, the driver driving style while navigating a high/low curvat...

This paper presents a new control method for autonomous vehicles. The design goal is to perform the automatic lane keeping under multiple system constraints, namely actuator saturation of the steering system, roads with unknown curvature and uncertain lateral wind force. Such system constraints are explicitly taken into account in the control desig...

In this work, a human-centred steering assist controller based on dynamic allocation of control authority between driver and automatic e-copilot has been proposed for lane keeping systems. Cooperative control between driver and steering assist controller is addressed taking into consideration human driving behaviour. The vehicle steering controller...

This paper is concerned with a new control method which can share the control authority between a human driver and a lane keeping assist system. Based on the concept of multiple controller switching, this shared control method is composed of two levels: operational and tactical. At the operational level, two local optimal-based controllers are desi...

This paper presents a new method to estimate simultaneously both the vehicle state and the driver torque. To take into account the time-varying nature of the longitudinal speed, the vehicle system is transformed into a polytopic LPV model with a reasonable level of numerical complexity. The design of the LPV unknown input observer is reformulated a...

We discuss a new control method for path following of autonomous ground vehicles. First, the nonlinear vehicle system is transformed into a polytopic LPV model allowing to handle a large variation range of vehicle speed with a reasonable numerical complexity. Second, based on an LPV static output feedback scheme, the proposed controller can achieve...

This paper presents a new shared control method for lane keeping assist (LKA) systems of intelligent vehicles. The proposed method allows the LKA system to effectively share the control authority with a human driver by avoiding or minimizing the conflict situations between these two driving actors. To realize the shared control scheme, the unpredic...

Recent research efforts on automated driving reveal the need to address driver's interaction with vehicle automation. This paper focuses on the design of an override mode for automated driving systems, a topic little studied in literature. In this paper, a shared control framework for driver's override of automatic steering control is proposed. Thi...

This paper presents a new method to estimate simultaneously both the vehicle state and the driver torque. To take into account the time-varying nature of the longitudinal speed, the vehicle system is transformed into a polytopic LPV model with a reasonable level of numerical complexity. The design of the LPV unknown input observer is reformulated a...

In this paper an intelligent robust feedback control approach is proposed for the control of the nonlinear suspension system. Employing higher order integral sliding mode approach, robust controllers with parameters optimized using PSO for various road classes are designed. A novel classifier invariant to changes in control parameters is then devel...

Driver distraction is an important factor of accidents. Not only in manual driving, the driver state information is also interesting to consider in automated driving systems in order to provide the driver with a suitable assistance level in respect to his evolving needs. The concepts of adaptive automation and human machine cooperation suggest that...

Conflicts between the driver and systems for automated steering are important issues that affect the safety of the driver and the acceptability of the system. This paper presents a new framework for shared lateral control on highway driving using trajectory planning. The core idea of this work is to account for the driver’s steering torque in the t...

This paper addresses the shared lateral control between a human driver and a lane keeping assist system of intelligent vehicles for both lane keeping and obstacle avoidance. This control issue is very challenging in today’s automotive industry due to the human-machine interaction involved in the control design. In this work, we propose a new approa...