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PhD thesis (H/F) : "Energy efficient control architecture of an autonomous electric vehicle, with 4 independent in-wheel motors"

This offer is available in the following languages:
Français - Anglais

Date Limite Candidature : vendredi 3 juin 2022

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General information

Reference : UMR7253-REITAL-003
Workplace : COMPIEGNE
Date of publication : Friday, May 13, 2022
Scientific Responsible name : Reine TALJ (CR CNRS HDR at Heudiasyc) / co-supervisor Moustapha DOUMIATI (EC at ESEO-Angers / IREENA)
Type of Contract : PhD Student contract / Thesis offer
Contract Period : 36 months
Start date of the thesis : 3 October 2022
Proportion of work : Full time
Remuneration : 2 135,00 € gross monthly

Description of the thesis topic

The energy transition, the reduction of energy consumption, as well as the increase in autonomy of electric vehicles remain subjects of great interest which mobilize many research works. On the other hand, road safety is a major issue for our society. According to statistics, human errors fully or partially contribute to more than 90% of road accidents. After the development of increasingly sophisticated driver assistance systems (ADAS) to support the driver, the introduction of the autonomous vehicle (AV) could improve road safety by reducing the number of serious accidents, and free the driver.
AV also has great potential for reducing energy consumption. Despite the development of automation technologies, many obstacles remain to be lifted in terms of decision-making, to replace human intelligence in any situation. Several studies are proposed for decision making and trajectory planning for AVs. However, these studies are often treated independently of the energy aspects, whereas autonomous and connected vehicles have a significant potential for reducing energy consumption. The decision layer is coupled to the control of the vehicle dynamics in order to follow the chosen trajectory while guaranteeing stability and comfort. Vehicle control can be divided into high-level and low-level, and depends on the structure of electric vehicle (EV) actuators.
This thesis will be divided into two main parts: decision making and control architecture.
The "decision-making" part consists of planning an optimal local trajectory, in a dynamic environment, in real time. The originality of the approach will consist in introducing criteria/indicators on energy saving for the selection of the best trajectory, in addition to the other criteria ensuring respect for vehicle dynamics (stability, comfort), collision avoidance and road driving code. This part will be based on previous work developed by Heudiasyc on trajectory planning.
The 2nd part aims to develop a multi-input multi-output control architecture, ensuring several control objectives by controlling several actuators. The control objectives of the autonomous electric vehicle are as follows:
• Improve stability, maneuverability and comfort on board the vehicle.
• Follow a reference trajectory.
• Optimize the distribution of torques at the level of the motorized wheels.

The considered actuators are the active steering and the 4 independent in-wheels motors.

It should be noted that this thesis considers fully electric vehicles with four independently motorized wheels. With in-wheel motors, vehicle stability and maneuverability are improved through fast and precise independent control of the traction and steering torques at each wheel. Additionally, redundant actuators can be used to achieve multiple control objectives.

Centralized and decentralized control architectures will be developed to ensure multiple control objectives through intelligent coordination of the various actuators. Coordination will be ensured according to driving situations, and will respond to the optimization of electrical energy consumption on board. Robust and adaptive control approaches will be proposed such as sliding mode and LPV/H∞.

At low level, an optimization method will be proposed for the distribution of traction/braking torques on the motorized 4-wheels, so as to ensure high-level control inputs on the chassis. A criterion for reducing energy consumption will also be considered at this level.

Scientific objectives
The purpose of the work is therefore divided into several stages:
• Bibliographic study on the different approaches of trajectory planning and vehicle control, as well as on energy saving
• Integration of an energy consumption indicator in the calculation of the planned path and speed profile
• Development of a global control architecture, taking into account certain criteria related to stability, maneuvrability, comfort and trajectory tracking
• Optimization of torque distribution on the 4 in-wheels motors, by optimizing energy consumption
• Validation of the results on the Scaner Studio vehicle simulator (Oktal), and on an experimental platform of reduced dimensions.

Work Context

This thesis will take place at the Heudiasyc laboratory, UMR CNRS/UTC 7253, and will be funded as part of the ANR V3EA project, which aims to reduce energy consumption at several decision-making and operational levels of an autonomous electric vehicle.
The thesis will be in collaboration with ESEO-Angers, IREENA and the MIS laboratory at UPJV, Amiens.
Profile and skills required:
• Engineer or master's degree
• Knowledge required in Automation / Robotics
• Knowledge of Matlab/Simulink and C language
Documents to provide to apply:
• A CV
• A motivation letter
• The master's and/or engineering transcript(s)
• Recommendation letter(s)

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