Modeling and ordering a convoy of urban vehicles by vision
type: Dataset
description: Vehicle platooning is addressed in this thesis with the aim of contributing in reducing congestion and pollution in urban areas. The researches here focus on cooperative navigation of a fleet of communicating vehicles and relies on a global control approach : each vehicle is controlled from information shared by the entire fleet, using exact linearization techniques. This manuscript presents two theoretical contributions, introducing two new navigation functionalities, and the third contribution consists in their practical implementation. As a first part, the introduction of a manual navigation mode has been investigated, in which the first vehicle, guided by an operator, defines and broadcasts the path to be followed by platoon members. In that case, the numerical representation of the trajectory must be extended without disturbing the portion previously generated, to ensure that the entire platoon can precisely and smoothly follow the leader track. To meet these requirements, the trajectory is modeled using B-Spline curves and an iterative path creating algorithm has been developed from successive positions collected by the lead vehicle during its motion. A parametric analysis has finally resulted in the design of an optimal trajectory with respect to the fidelity of the path representation and to the robustness regarding the disturbances that could arise during the creation procedure. In a second part, a localization strategy relying on monocular vision has been integrated in platoon control algorithms. The localization approach is based on a learning phase during which a video sequence is used to perform a 3D mapping of the environment. However, such a virtual vision world is slightly distorted with respect to the actual metric one. This affects the performances of the platoon control laws. An analysis of distortion has demonstrated that platooning performances can be recovered, provided if a set of local scale factors attached to the reference trajectory is ava…
identifier: NNT: 2010CLF22082
issued: 2026-05-23T05:28:05.446082
language: fr
modified: 2026-05-23T05:28:05.446088
contact point: Organization
  fn: CCSD
keyword: infoeu-reposemanticsdoctoralthesis
keyword: monocular-vision
keyword: spiotherengineering-sciences-physicsother
keyword: theses
keyword: vision-monoculaire
landing page: https://theses.hal.science/tel-00683626

Modeling and ordering a convoy of urban vehicles by vision
type: Distribution
format: HTML
issued: 2026-05-23T05:28:05.538280
modified: 2026-05-23T05:28:05.426281
access URL: https://theses.hal.science/tel-00683626

test_moissonnage_selune
type: Agent