Perception pour véhicule urbain sans conducteur : conception et implémentation.

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Benenson, Rodrigo (2008) Perception pour véhicule urbain sans conducteur : conception et implémentation. Doctorat Informatique temps réel, robotique et automatique, CAOR- Centre de robotique, ENSMP p.206.

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Résumé

Le développement de véhicules sans conducteur capables de se déplacer sur des routes urbaines pourrait offrir des avantages importants dans la réduction des accidents, le confort et la réduction des coûts des déplacements. Dans ce document, nous discutons la manière de créer un système de perception permettant à un robot de conduire sur des routes sans devoir adapter l'infrastructure, sans avoir besoin de visites précédentes, et en prenant en compte la présence de piétons et d'autres voitures. Nous affirmons que le processus de perception est spécifique à l'application visée et que, par nature, il doit être capable de gérer les incertitudes dans la connaissance du monde. Nous analysons le problème de perception pour une conduite sûre dans les environnements urbains et proposons une solution où le processus de perception est formulé comme un processus d'optimisation. Nous pensons aussi que le processus de perception pourrait bénéficier de la collaboration entre véhicules à proximité. Nous examinons ce problème et proposons une solution adaptée aux contraintes rencontrés dans les zones urbaines. Ici la question centrale est formulée comme un problème d'association de données. La conception théorique du nouveau système de perception est validé par des expérimentations à pleine échelle sur notre véhicule électrique automatisé, le Cycab.

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