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Tsukada, Manabu. "Communications Management in Cooperative Intelligent Transportation Systems." Paris, ENMP, 2011. http://www.theses.fr/2011ENMP0092.
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Les systèmes de transport intelligents (STI) coopératifs sont des systèmes ou les véhicules, l'infrastructure routière, les centres de contrôle de trafic et d'autres entités échangent des informations afin d'assurer une meilleure sécurité routière, l'efficacité du trafic et le confort des usagers de la route. C'est dans ce but que l'architecture de station STI a été spécifié par l'ISO et l'ETSI. Le concept de cette architecture de référence permet aux stations STI-véhicules et stations STI-infrastructures de s'organiser dans un réseau véhiculaire adhoc (VANET), tout en utilisant des protocoles de communication tels qu'GeoNetworking IP v6 et IEEE802. 11p ainsi que toute autre technologie d'accès afin de se connecter de manière transparente à internet. Plusieurs chemins peuvent donc être accessibles à une station STI véhicule pour communiquer avec d'autres stations STI. Les chemins sont de trois types: le chemin direct, le chemin optimisé, et le chemin d'ancré. L'objectif de cette étude est d'optimiser la communication entre stations STI en sélectionnant le meilleur chemin de communication disponible. . Cela exige d'abord de recueillir les informations disponibles localement dans la station STI (la position, la vitesse, les exigences des applications, les caractéristiques des supports de communication, les capacités , l'état du chemin), ainsi que les informations des stations STI voisines (position, vitesse, services, etc. . ). Ces informations sont ensuite traitées par le biais d'un algorithme de prise de décision. Premièrement, nous définissons un module réseau qui permet la combinaison d'IPv6 avec le Geo Networking. Deuxièmement, nous proposons un module de gestion inter-couche pour la sélection du meilleur chemin. Nos contributions s'intègrent dans l'architecture de station STI par la définition de la relation entre la couche réseau et transport (qui héberge la contribution Geonetworking IPv6) et l'entité verticale de gestion inter-couche (qui accueille l'algorythme de décision pour la sélection de chemin). Nous avons spécifié les fonctions permettant l'échange de paramétres par l'intermédiaire de la SAP (Service Acess Point) entre la couche réseau et l'entité de gestion (MN-SAP). Les paramètres utilisés dans l'entité de gestion inter-couche sont extraits d'une manière agnostique par rapport aux protocoles de la couche réseau et transport, ce qui permet de remplacer facilement les éléments d'une couche sans affecter les autres (par exemple, remplacer NEMO par une autre protocole de mobilité) et de permuter plusieurs piles réseau (on peut choisir d'utiliser la pile par une autre protocole de mobilité) et de permuter plusieurs piles réseau (on peut choisir d'utiliser la pile IPv6 ou bien la pile GeoNetworking, ou encore une combinaison des deux à la fois ou même une autre pile<br>Cooperative 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
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Aramrattana, Maytheewat. "Modelling and Simulation for Evaluation of Cooperative Intelligent Transport System Functions." Licentiate thesis, Högskolan i Halmstad, Centrum för forskning om inbyggda system (CERES), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:vti:diva-12683.
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Future vehicles are expected to be equipped with wireless communication technology, that enables them to be “connected” to each others and road infrastructures. Complementing current autonomous vehicles and automated driving systems, the wireless communication allows the vehicles to interact, cooperate, and be aware of its surroundings beyond their own sensors’ range. Such sys- tems are often referred to as Cooperative Intelligent Transport Systems (C-ITS), which aims to provide extra safety, efficiency, and sustainability to transporta- tion systems. Several C-ITS applications are under development and will require thorough testing and evaluation before their deployment in the real-world. C- ITS depend on several sub-systems, which increase their complexity, and makes them difficult to evaluate. Simulations are often used to evaluate many different automotive applications, including C-ITS. Although they have been used extensively, simulation tools dedicated to determine all aspects of C-ITS are rare, especially human factors aspects, which are often ignored. The majority of the simulation tools for C-ITS rely heavily on different combinations of network and traffic simulators. The human factors issues have been covered in only a few C-ITS simulation tools, that involve a driving simulator. Therefore, in this thesis, a C-ITS simulation framework that combines driving, network, and traffic simulators is presented. The simulation framework is able to evaluate C-ITS applications from three perspectives; a) human driver; b) wireless communication; and c) traffic systems. Cooperative Adaptive Cruise Control (CACC) and its applications are chosen as the first set of C-ITS functions to be evaluated. Example scenarios from CACC and platoon merging applications are presented, and used as test cases for the simulation framework, as well as to elaborate potential usages of it. Moreover, approaches, results, and challenges from composing the simulation framework are presented and discussed. The results shows the usefulness of the proposed simulation framework.
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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.
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Les systèmes de transport intelligents coopératifs (STI-C) est une technologie qui changera notre expérience de conduite. Dans ce système, les véhicules coopèrent en échangeant des messages de communication Vehicle-to-X (V2X) sur le réseau véhiculaire. Les applications de sécurité routière utilisent les données de ces messages pour détecter et éviter à temps les situations dangereuses. Par conséquent, il est crucial que les données des messages V2X soient sécurisées et précises. Dans le système STI-C actuel, les messages sont signés avec des clés digitales pour garantir leur authenticité. Cependant, l'authentification ne garantit pas l'exactitude des données. Un véhicule authentifié pourrait avoir un capteur défectueux et donc envoyer des informations inexactes. Un attaquant pourrait également obtenir des clés légitimes en piratant l'unité embarquée de son véhicule et donc transmettre des messages malveillants signés. La détection des mauvais comportements dans les STI-C est un sujet de recherche visant à garantir l'exactitude des messages V2X échangés. Il consiste à surveiller la sémantique des données des messages échangés pour détecter et identifier des entités à comportement suspect. Le processus de détection est divisé en plusieurs étapes. La détection locale consiste à effectuer d'abord des vérifications de plausibilité et de cohérence sur les messages V2X reçus. Les résultats de ces vérifications sont ensuite fusionnés à l'aide d'une application de fusion locale. L'application est capable d'identifier diverses anomalies V2X. Si une anomalie est détectée, le véhicule collectera les preuves nécessaires et créera un rapport de mauvais comportement. Ce rapport est ensuite envoyé à une autorité cloud de mauvais comportement. Cette autorité a pour objectif d'assurer le bon fonctionnement du système C-ITS et d'atténuer les effets des attaques. Elle recueillera d'abord les rapports des véhicules, puis enquêtera sur l'événement et décidera de la réaction appropriée. Dans cette thèse, nous évaluons et contribuons aux différents composants du processus de détection des comportements malveillants : la détection locale, le reporting et la détection globale<br>Cooperative 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
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Swahn, Joakim, and Christian Udin. "Cooperative Vehicle-Infrastructure System : Identification, Privacy and Security." Thesis, Linköping University, Department of Science and Technology, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-9399.
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<p>This master thesis is to highlight the importance of what needs to be identified in the CVIS system, how this could be done, how different techniques affect privacy and security and how the privacy and security mechanisms can be improved for the whole system. The report starts with a background of ERTICO – ITS Europe, followed by a description of how the CVIS project is organized, how the CVIS system will work, and a presentation of privacy, security and identification, both in general and in CVIS. After this follows the analysis and the report is finally wrapped up with conclusions and recommendations.</p><p>Why this is an important topic to highlight and discuss and the reason being for this master thesis, is because there is a clear need within the CVIS consortium to harmonise these topics. As it is today, different persons and different sub-projects have different views and opinions on what needs to be identified for example. This needs to be harmonised in order for everyone to know what is being developed, but also, and much more importantly, to in the end get acceptance for the CVIS system. If people do not feel they can trust the system, if they feel it is not secure or that it violates their privacy, they will not use it, even if it has been proved the technique works.</p><p>The key question discussed in the report is what needs to be identified. This is the most important question to solve. There must be very good reasons and consensus why a certain entity is to be identified, otherwise identification of that entity will always be questioned. This also links very tightly with privacy.</p><p>The objective of this master thesis is to bring forward this critical question about identification, to highlight different reasons for identifying or not identifying different entities and to get the discussion started.</p><p>Finally, the main conclusions and recommendations on what to actually identify is the vehicle and the different parts in the central sub-system. The best technique would be by using single sign on with a very strong encryption, for example random numbers, that will be handle by a new node Identification Management Centre or that it will be a part of the Host Management Centre. To ensure privacy in the system, the single sign on mechanism should be combined with the approach of using pseudonyms when communicating in the CVIS system.</p>
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Van, der Heijden Rens Wouter [Verfasser]. "Misbehavior detection in cooperative intelligent transport systems / Rens Wouter Van der Heijden." Ulm : Universität Ulm, 2018. http://d-nb.info/117425193X/34.
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Hernandez, Andres Eduardo Gomez. "Cooperative driver assistance system for the lane change." Universidade de São Paulo, 2018. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-24072018-161113/.
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The increase in the number of deaths due to ground traffic accidents is a global problem. In such context, the development of new vehicular technologies is considered an alternative to improve road safety. Within the field of new vehicle technologies, it is possible to find driver assistance systems. These systems interact in an active or passive way with the driver, reducing their workload by presenting information about their surroundings, which may imply the safer direction of a land vehicle. Taking into account that one of the main reasons for road traffic fatalities in the world is the lane change in a road, hereby we created a cooperative driver assistance system for the lane change, arising from the combination of a kinematic model and a probabilistic graphical one. By combining these two models, we try to improve the response in the assistance of the system, given the direct dependence of the system with a human. Due to the latter, the response of such systems cannot be deterministic in nature. One of the motivations to use probabilistic graphical models is the flexibility of this machines learning technique in modeling the problem addressed in this thesis. In addition to this contribution of applying a specific probabilistic graphical model in our assistance system, other contributions can be found in this thesis, including the development of a Driving simulation platform with a reconfigurable structure. The ability to reconfigure the structure of the driving simulator platform was of great importance for the development and evaluation of the assistance system hereby proposed in each of its stages. In addition, the decision to model a cooperative approach in our assistance system is due to the great potential of the vehicular communications with respect to improving transport safety and efficiency. The moderate cost that is being projected in vehicular communications is another relevant fact. Finally, the description and application of our assistance system model can be considered as a possibility in the area for the development of an application that needs a close response to the reality, based on the uncertainties present in the problem under consideration.<br>O aumento no número de mortes por causa de acidentes de tráfego terrestre é um problema global. No âmbito dessa problemática, o desenvolvimento de novas tecnologias veiculares é considerado uma alternativa para melhorar a segurança viária. Dentro do domínio das novas tecnologias veiculares, é possível encontrar sistemas de assistência ao motorista. Esses sistemas interagem de maneira ativa ou passiva com o motorista, conseguindo reduzir sua carga de trabalho, apresentando informações de seu entorno, o que pode implicar uma direção mais segura de um veículo terrestre. Levando em consideração que um dos principais motivos de mortes por acidentes de tráfego terrestre no mundo é a mudança de faixa em uma pista, neste trabalho, realizamos a tarefa de criar um sistema cooperativo de assistência ao motorista para a mudança de faixa, a partir da combinação de um modelo cinemático e de um modelo gráfico probabilístico. Mediante a combinação destes dois modelos, procuramos melhorar a resposta na assistência por parte do sistema, dada a dependência direta que o sistema tem dos humanos. Por essa última razão, a resposta deste tipo de sistemas não pode ser determinística por natureza. Uma das motivações para utilizar os modelos gráficos probabilísticos é a flexibilidade da técnica de machine learning em modelar o problema abordado nesta tese. Além dessa contribuição de aplicar um modelo gráfico probabilístico específico em nosso sistema de assistência, outras contribuições podem ser encontradas nesta tese, incluindo o desenvolvimento de uma plataforma de simulação para a condução, com uma estrutura reconfigurável. A capacidade de poder reconfigurar a estrutura da plataforma de simulação foi de grande importância para o desenvolvimento e avaliação do sistema de assistência proposto nesta tese, em cada uma de suas etapas. Além disso, a decisão de modelar um enfoque cooperativo, em nosso sistema de assistência, se deve ao grande potencial que tem as comunicações veiculares com respeito à melhora da segurança e da eficiência do transporte. O custo moderado que está sendo projetado nas comunicações veiculares é outro fato relevante. A descrição e aplicação de nosso modelo final podem ser considerados mais uma possibilidade na área para o desenvolvimento de uma aplicação, que precise de uma resposta próxima da realidade, a partir das incertezas presentes no problema considerado.
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Grumert, Ellen. "Cooperative Variable Speed Limit Systems : Modeling and Evaluation using Microscopic Traffic Simulation." Licentiate thesis, Linköpings universitet, Kommunikations- och transportsystem, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-106926.
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During the last decades the road traffic has increased tremendously leading to congestion, safety issues and increased environmental impacts. As a result, many countries are continuously trying to find improvements and new solutions to solve these issues. One way of improving the traffic conditions is by the use of so called intelligent transport systems, where information and communication technologies are being used for traffic management and control. One such system commonly used for traffic management purposes are variable speed limit systems. These systems are making use of signs to show speed limits adjusted to the prevailing road or traffic conditions. The rapid development in telecommunication technologies has enabled communication between vehicles, and between vehicles and the infrastructure, so called cooperative systems. This opens up for the possibility to further improve the performance of a standard variable speed limit system by adding cooperative system features. The overall aim of this thesis is to investigate the potential benefits of incorporating infrastructure to vehicle communication and autonomous control to an existing variable speed limit system. We show how such a cooperative variable speed limit system can be modeled and evaluated by the use of microscopic traffic simulation. Results from the evaluation indicate increased flow harmonization in terms of narrowing of the acceleration rate distribution and reduced exhaust emissions. Further, we compare four control algorithms for deciding on speed limits in variable speed limit systems. Differences in the resulting traffic performance between the control algorithms are quantified by the use of microscopic traffic simulation. It is concluded that the dened objective for the algorithms have a decisive influence on the effects of the variable speed limit system. The results from this thesis are useful for further development of variable speed limit systems, both with respect to incorporating cooperative features and by improving the speed setting control algorithms.
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Rohani, Mohsen. "Méthodes coopératives de localisation de véhicules." Thèse, Université de Sherbrooke, 2015. http://hdl.handle.net/11143/6809.
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Abstract : Embedded intelligence in vehicular applications is becoming of great interest since the last two decades. Position estimation has been one of the most crucial pieces of information for Intelligent Transportation Systems (ITS). Real time, accurate and reliable localization of vehicles has become particularly important for the automotive industry. The significant growth of sensing, communication and computing capabilities over the recent years has opened new fields of applications, such as ADAS (Advanced driver assistance systems) and active safety systems, and has brought the ability of exchanging information between vehicles. Most of these applications can benefit from more accurate and reliable localization. With the recent emergence of multi-vehicular wireless communication capabilities, cooperative architectures have become an attractive alternative to solving the localization problem. The main goal of cooperative localization is to exploit different sources of information coming from different vehicles within a short range area, in order to enhance positioning system efficiency, while keeping the cost to a reasonable level. In this Thesis, we aim to propose new and effective methods to improve vehicle localization performance by using cooperative approaches. In order to reach this goal, three new methods for cooperative vehicle localization have been proposed and the performance of these methods has been analyzed. Our first proposed cooperative method is a Cooperative Map Matching (CMM) method which aims to estimate and compensate the common error component of the GPS positioning by using cooperative approach and exploiting the communication capability of the vehicles. Then we propose the concept of Dynamic base station DGPS (DDGPS) and use it to generate GPS pseudorange corrections and broadcast them for other vehicles. Finally we introduce a cooperative method for improving the GPS positioning by incorporating the GPS measured position of the vehicles and inter-vehicle distances. This method is a decentralized cooperative positioning method based on Bayesian approach. The detailed derivation of the equations and the simulation results of each algorithm are described in the designated chapters. In addition to it, the sensitivity of the methods to different parameters is also studied and discussed. Finally in order to validate the results of the simulations, experimental validation of the CMM method based on the experimental data captured by the test vehicles is performed and studied. The simulation and experimental results show that using cooperative approaches can significantly increase the performance of the positioning methods while keeping the cost to a reasonable amount.<br>Résumé : L’intelligence embarquée dans les applications véhiculaires devient un grand intérêt depuis les deux dernières décennies. L’estimation de position a été l'une des parties les plus cruciales concernant les systèmes de transport intelligents (STI). La localisation précise et fiable en temps réel des véhicules est devenue particulièrement importante pour l'industrie automobile. Les améliorations technologiques significatives en matière de capteurs, de communication et de calcul embarqué au cours des dernières années ont ouvert de nouveaux champs d'applications, tels que les systèmes de sécurité active ou les ADAS, et a aussi apporté la possibilité d'échanger des informations entre les véhicules. Une localisation plus précise et fiable serait un bénéfice pour ces applications. Avec l'émergence récente des capacités de communication sans fil multi-véhicules, les architectures coopératives sont devenues une alternative intéressante pour résoudre le problème de localisation. L'objectif principal de la localisation coopérative est d'exploiter différentes sources d'information provenant de différents véhicules dans une zone de courte portée, afin d'améliorer l'efficacité du système de positionnement, tout en gardant le coût à un niveau raisonnable. Dans cette thèse, nous nous efforçons de proposer des méthodes nouvelles et efficaces pour améliorer les performances de localisation du véhicule en utilisant des approches coopératives. Afin d'atteindre cet objectif, trois nouvelles méthodes de localisation coopérative du véhicule ont été proposées et la performance de ces méthodes a été analysée. Notre première méthode coopérative est une méthode de correspondance cartographique coopérative (CMM, Cooperative Map Matching) qui vise à estimer et à compenser la composante d'erreur commune du positionnement GPS en utilisant une approche coopérative et en exploitant les capacités de communication des véhicules. Ensuite, nous proposons le concept de station de base Dynamique DGPS (DDGPS) et l'utilisons pour générer des corrections de pseudo-distance GPS et les diffuser aux autres véhicules. Enfin, nous présentons une méthode coopérative pour améliorer le positionnement GPS en utilisant à la fois les positions GPS des véhicules et les distances inter-véhiculaires mesurées. Ceci est une méthode de positionnement coopératif décentralisé basé sur une approche bayésienne. La description détaillée des équations et les résultats de simulation de chaque algorithme sont décrits dans les chapitres désignés. En plus de cela, la sensibilité des méthodes aux différents paramètres est également étudiée et discutée. Enfin, les résultats de simulations concernant la méthode CMM ont pu être validés à l’aide de données expérimentales enregistrées par des véhicules d'essai. La simulation et les résultats expérimentaux montrent que l'utilisation des approches coopératives peut augmenter de manière significative la performance des méthodes de positionnement tout en gardant le coût à un montant raisonnable.
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Ansari, Keyvan. "Development of an inter-vehicle communications & positioning platform for transport safety applications." Thesis, Queensland University of Technology, 2014. https://eprints.qut.edu.au/72657/1/Keyvan_Ansari_Thesis.pdf.
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This project is a breakthrough in developing new scientific approaches for the design, development and evaluation of inter-vehicle communications, networking and positioning systems as part of Cooperative Intelligent Transportation Systems ensuring the safety of both roads and rail networks. This research focused on the elicitation, specification, analysis and validation of requirements for Vehicle-to-Vehicle communications and networking, and Vehicle-to-Vehicle positioning, which are accomplished with the research platform developed for this study. A number of mathematical models for communications, networking and positioning were developed from which simulations and field experiments were conducted to evaluate the overall performance of the platform. The outcomes of this research significantly contribute to improving the performance of the communications and positioning components of Cooperative Intelligent Transportation Systems.
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Lyamin, Nikita. "Performance evaluation of safety critical ITS-G5 V2V communications for cooperative driving Applications." Doctoral thesis, Universitat Pompeu Fabra, 2019. http://hdl.handle.net/10803/665484.
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Intelligent Transport Systems (ITS) are aiming to provide innovative services related to different modes of transport and traffic management, and enable various users to be better informed and make safer, more coordinated and smarter use of transport networks. Cooperative-ITS (C-ITS) support connectivity between vehicles, vehicles and roadside infrastructure, traffic signals as well as with other road users. In order to enable vehicular communications European Telecommunication Standards Institute (ETSI) delivered ITS-G5 – a of set of C-ITS standards. Considering the goals of C-ITS, inter-vehicle communications should be reliable and efficient. The subject of this thesis is evaluation of the performance, efficiency, and depend- ability of ITS-G5 communications for cooperative driving applications support. This thesis includes eight scientific papers and extends the research area in three directions: evaluation of the performance of ITS-G5 beaconing protocols; studying the performance of ITS-G5 congestion control mechanisms; and studying the radio jamming Denial-of- Service (DoS) attacks and their detection methods. First, an overview of currently available and ongoing standardization targeting communications in C-ACC/platooning cooperative driving application is provided. Then, as part of the first research direction, we demonstrate via number of studies, that adaptive beaconing approach where message generation is coupled to the speed variation of the originating ITS-s may lead to a similar message synchronization effect in the time domain when vehicles follow mobility scenarios that involve cooperative speed variation. We ex- plain in detail the cause of this phenomenon and test it for a wide range of parameters. In relation to the second problem, we, first, study the influence of different available ITS-G5 legitimate setups on the C-ACC/platooning fuel efficiency and demonstrate that proper communication setup may enhance fuel savings. Then we thoroughly study the standardization of the congestion control mechanism for ITS-G5, which will affect the operation of all cooperative driving C-ITS applications as a mandatory component. We study the influence of congestion control on application performance and give recommendations for improvement to make the congestion control to target at optimizing the applications performance metrics. In the scope of the last research direction, we propose two real-time jamming DoS detection methods. The main advantage of our detection techniques is their short learning phase that not exceed a few seconds and low detection delay of a few hundreds of milliseconds. Under some assumptions, the proposed algorithms demonstrates the ability to detect certain types of attacks with high detection probability.<br>Els Sistemes de Transport Intel·ligents (ITS) tenen com a objectiu proporcionar serveis innovadors relacionats amb diferents modes de transport i gestió del trànsit, i permetre que els usuaris en facin un ús més segur, més coordinat i més intel·ligent. Cooperative-ITS (C-ITS) fa possible la connectivitat entre vehicles, entre vehicles i la infraestructura de la carretera, entre senyals de trànsit, i amb altres usuaris de la carretera. Per tal de permetre la comunicació entre vehicles, l'Institut Europeu de les Telecomunicacions (ETSI) va crear el ITS-G5 - un conjunt de normes C-ITS. Tenint en compte els objectius de C-ITS, les comunicacions entre vehicles han de ser fiables i eficients.Lobjectiu d'aquesta tesi és l'avaluació del rendiment i l'eficiència de les comunicacions ITS-G5 per donar suport a les aplicacions de conducció cooperativa. La tesi inclou vuit articles científics al voltant de tres àrees de recerca: avaluació del rendiment dels protocols de baliseig ITS-G5; estudi del rendiment dels mecanismes de control de la congestió ITS-G5; i estudi de d’atacs de tipus Denial-of-Service (DoS) i els seus mètodes de detecció. En primer lloc, s’inclou una descripció general dels objectius d'estandardització actuals i futurs respecte a la conducció cooperativa C-ACC / platooning. Després, com a part de la primera àrea de recerca, es demostra a través de diversos estudis, que l'enfocament de balisa adaptativa on la generació de missatges està acoblada a la variació de velocitat dels ITS-s originadors, pot portar a un efecte de sincronització de missatges similar en el domini del temps quan els vehicles adapten de manera cooperativa la seva velocitat. Així, s’explica detalladament la causa d'aquest fenomen i s’estudia per a una àmplia gamma de paràmetres. En relació amb el segon problema, primer s’estudia la influència de diferents configuracions base del ITS-G5 en el consum de combustible, demostrant que amb una configuració adequada es pot millorar l'estalvi de combustible. Després, s’estudia el mecanisme de control de congestió definit per ITS-G5, que afectarà el funcionament de totes les aplicacions de C-ITS de conducció cooperativa ja que es un component obligatori, avaluant la seva influència en el rendiment de les aplicacions, i donant recomanacions de millora. Finalment, en l’àrea de l'última direcció d'investigació, es proposen dos mètodes de detecció de DoS en temps real. El principal avantatge de les tècniques de detecció presentades és la seva curta fase d'aprenentatge, que no excedeix d’uns pocs segons, i el seu baix retard de detecció d'uns pocs centenars de milisegons. Sota alguns supòsits, els algoritmes proposats demostren la capacitat de detectar certs tipus d'atacs amb alta probabilitat de detecció.<br>Los Sistemas de Transporte Inteligentes (ITS) tienen como objetivo proporcionar servicios innovadores relacionados con diferentes modos de transporte y gestión del tráfico, y permitir que los usuarios hagan un uso más seguro, más coordinado y más inteligente. Cooperative-ITS (C-ITS) hace posible la conectividad entre vehículos, entre vehículos y la infraestructura de la carretera, entre señales de tráfico, y con otros usuarios de la carretera. Para permitir la comunicación entre vehículos, el Instituto Europeo de las Telecomunicaciones (ETSI) creó el ITS-G5 - un conjunto de normas C-ITS. Teniendo en cuenta los objetivos de C-ITS, las comunicaciones entre vehículos deben ser fiables y eficientes. El objetivo de esta tesis es la evaluación del rendimiento y la eficiencia de las comunicaciones ITS-G5 para dar soporte a las aplicaciones de conducción cooperativa. La tesis incluye ocho artículos científicos en torno a tres áreas de investigación: evaluación del rendimiento de los protocolos de baliza ITS-G5; estudio del rendimiento de los mecanismos de control de la congestión ITS-G5; y estudio de de ataques de tipo Denial-of-Service (DoS) y sus métodos de detección. En primer lugar, se incluye una descripción general de los objetivos de estandarización actuales y futuros respecto a la conducción cooperativa C-ACC / platooning. Luego, como parte de la primera área de investigación, se demuestra a través de varios estudios, que el enfoque de baliza adaptativa donde la generación de mensajes está acoplada a la variación de velocidad de los ITS-s originadores, puede llevar a un efecto de sincronización de mensajes similar en el dominio del tiempo cuando los vehículos adaptan de manera cooperativa su velocidad. Así, se explica detalladamente la causa de este fenómeno y se estudia para una amplia gama de parámetros. En relación con el segundo problema, primero se estudia la influencia de diferentes configuraciones base del ITS-G5 en el consumo de combustible, demostrando que con una configuración adecuada se puede mejorar el ahorro de combustible. Después, se estudia el mecanismo de control de congestión definido por ITS-G5, que afectará el funcionamiento de todas las aplicaciones de C-ITS de conducción cooperativa ya que es un componente obligatorio, evaluando su influencia en el rendimiento de las aplicaciones, y dando recomendaciones de mejora. Finalmente, en el área de la última dirección de investigación, se proponen dos métodos de detección de DoS en tiempo real. La principal ventaja de las técnicas de detección presentadas es su corta fase de aprendizaje, que no excede de unos pocos segundos, y su bajo retraso de detección de unos pocos cientos de milisegundos. Bajo algunos supuestos, los algoritmos propuestos demuestran la capacidad de detectar ciertos tipos de ataques con alta probabilidad de detección.
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Sulejic, David. "Optimisation of lane-changing distributions for a freeway weaving segment." Thesis, Queensland University of Technology, 2018. https://eprints.qut.edu.au/115758/1/David_Sulejic_Thesis.pdf.
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This thesis is a quantitative study that provides a proof-of-concept for a lane-changing advisory that uses a vehicle-to-infrastructure communication approach. Specifically, the thesis proposes a particle swarm optimisation algorithm to optimise the lane-changing distributions for a freeway weaving segment. The research applies a microscopic simulation, using the Aimsun software, to evaluate the optimised lane-changing distribution. The proposed individual driver advisory, using the optimised lane-changing distributions, effectively distributes lane changes along the freeway weaving segment to improve the traffic performance.
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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.
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Cette thèse est consacrée à étudier les applications potentielles de véhicules autonomes et communications V2X pour construire les systèmes de transport intelligents. Premièrement, le comportement de caravane dans un environnement de véhicule connecté est étudié. Un algorithme de commande de caravane est conçu pour obtenir l'espacement sécuritaire ainsi que la conformité de la vitesse et de l'accélération. Deuxièmement, à plus grande échelle, les caravanes autour d'une intersection sont considérées. Le débit pendant une période de signal de trafic peut être amélioré en tirant profit de la capacité redondante de la route. Dans diverses contraintes, les véhicules peuvent choisir d'accélérer et rejoindre la caravane précédente ou à décélérer de déroger à l'actuel. Troisièmement, une intersection sans signalisation en VANET est considérée. Dans des conditions de faible trafic, les véhicules peuvent réguler leur vitesse avant d'arriver à l'intersection en fonction du temps d'occupation de la zone de conflit (TOZC) stocké au niveau du gestionnaire, afin qu'ils puissent traverser l'intersection sans collision ni arrêt. Le délai peut être réduit en conséquence. Enfin, un algorithme de gestion d'intersection autonome universelle, qui peut fonctionner même avec le trafic lourd, est développé. Le véhicule cherche à sécuriser les fenêtres entrant dans le TOZC. Ensuite, sur la base des fenêtres trouvées et le mouvement du véhicule qui précède, les trajectoires des véhicules peuvent être planifiées en utilisant une méthode de programmation dynamique segmentée. Tous les algorithmes conçus sont testés et vérifiés avec succès par des simulations dans scénarios différents<br>This 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
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Haidar, Farah. "Validation platform for vehicle secure and highly trusted communications in the context of the cooperative ITS systems." Electronic Thesis or Diss., Institut polytechnique de Paris, 2020. http://www.theses.fr/2020IPPAT011.
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Le système de transport coopératif intelligent (C-ITS) a attiré beaucoup d'attention ces dernières années en raison du grand nombre d'applications / cas d'usage qui peuvent améliorer l'expérience de conduite future.Les futurs véhicules seront connectés grâce aux plusieurs technologies de communication qui ouvriront la porte aux nouvelles menaces et vulnérabilités qui doivent être prises en compte. La protection de la vie privée et la sécurité est un sujet clé à aborder avant le déploiement de C-ITS. De plus, la grande variété de cas d'utilisation / applications C-ITS qui nécessitent des exigences de sécurité différentes fait de la sécurité un grand défi.La confidentialité et la protection des données des utilisateurs constituent également un défi. L'industrie automobile et les opérateurs doivent se conformer à la législation nationale et internationale pour la protection des données dans C-ITS. Afin de faire face aux problèmes de confidentialité, la solution existante consiste à disposer d'un pool d'identités pseudonymes valides, par le véhicule, et à les modifier lors de la communication.L'une des motivations de cette thèse est d'étudier les performances de rechargement de certificats pseudonymes. En d'autres termes, il est important de s'assurer que la latence du rechargement des certificats de pseudonyme à partir de l'ICP tout en conduisant à des vitesses différentes est acceptable. La deuxième motivation est l'analyse des menaces et des vulnérabilités, en particulier sur celles qui proviennent de l'utilisation du certificat pseudonyme. L'objectif est de mettre en œuvre ces attaques et de proposer de nouvelles solutions ou de trouver des améliorations à la solution existante pour détecter et prévenir les attaques de sécurité. La sécurité et la confidentialité dans C-ITS sont considérées comme de grands défis. Beaucoup de travail a été fait et de bonnes solutions existent dans le domaine de la sécurité et de la confidentialité. Nous remarquons que les systèmes ne peuvent pas être sécurisés à 100%, mais la sécurité du conducteur est liée à la sécurité du système. Pour cela, le but de cette thèse est de faire du hack blanc du C-ITS afin d'améliorer la solution existante. Une évaluation des risques est nécessaire pour identifier notre objectif d'évaluation et analyser les risques potentiels. L'objectif final de cette thèse est de proposer une plaque de validation de sécurité et de performance pour la communication véhiculaire dans le cadre des C-ITS<br>Cooperative Intelligent Transportation System (C-ITS) has gained much attention in the recent years due to the large number of applications/use cases that can improve future driving experience. Future vehicles will be connected through several communication technologies which will open the door to new threats and vulnerabilities that must be taken into account. The security protection is a key subject to address before C-ITS deployment. Moreover, the wide variety of C-ITS use cases/application with different security requirements makes the security a big challenge. User's privacy and data protection are also a challenge. Automotive industry and operators should comply with the national and international legislation for the data protection in C-ITS. In order to deal with privacy issues, existing solution consists of having a pool of valid pseudonym identities, by the vehicle, and changing them during the communication. One of the motivations of this thesis is to study the performance of pseudonym certificate reloading. In other words, it is important to ensure that the latency of reloading pseudonym certificates from the PKI while driving at different speeds is acceptable. The second motivation is the investigation on threats and vulnerabilities, especially on those that come from the pseudonym certificate's use. The objective is to implement those attacks and propose new solutions or find improvements to the existing solution for detecting and preventing security attacks. Security and privacy in C-ITS are considered as big challenges. A Lot of work has been done and good solutions exist in the security and privacy domain. We notice that systems cannot be secure at 100% but driver's safety is related to system's security. For this, the aim of this thesis is to do white hack of the C-ITS in order to improve the existing solution. A risk assessment is needed to identify our target of evaluation and analyse potential risks. The final goal of this thesis is to propose a security and performance validation plate-form for vehicular communication in the context of C-ITS
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Bergh, Fredrik, and Johan Andersson. "Channel measurement and communication module for the Grand Cooperative Driving Challenge." Thesis, Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE), 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-15329.
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Vehicular ad hoc networks (VANETs) are a hot topic in the intelligent transport system (ITS) area. The introduction of wireless communications between vehicles will enable many useful applications to enhance road traffic safety as well to increase efficiency. The standardization of IEEE 802.11p, being an amendment to IEEE 802.11 intended for VANETS, faces many challenges. In Europe a 30 MHz spectrum at 5.9 GHz have been dedicated for ITS and this spectrum has to be used to its full potential. For this reason this thesis compares a 20 MHz wide frequency channel with a 10 MHz wide through measurements using 802.11p hardware. The measurements were conducted on a highway with relative speeds of up to 240 km/h. The results from these initial measurements show that a 20 MHz channel does not perform worse than a 10 MHz channel despite the high relative speeds and large metal signs scattering the signals. What enabled this thesis to do the measurements was Halmstad University‟s participation in the Grand Cooperative Driving Challenge (GCDC) 2011. In GCDC nine teams mostly from Europe competed in having the vehicle that had the best behaviour in a platoon of vehicles using cooperative adaptive cruise control (CACC), the CACC algorithm controlled the vehicles‟ acceleration and breaking autonomously based on in-vehicle sensors and communicated messages between the vehicles in the platoon using 802.11p. This thesis implemented the communication part of Halmstad University‟s vehicle. The challenge was held in Helmond, Holland, May 14-15, 2011. Halmstad University‟s team finished in second place.<br>CoAct
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Wilhelm, Geoffrey. "Etude des interactions réseaux véhiculaires et Cloud." Thesis, Reims, 2018. http://www.theses.fr/2018REIMS032/document.
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Les réseaux véhiculaires sont des réseaux émergents qui permettent de connecter des véhicules entre eux et avec les infrastructures routières. Ils permettent de mettre en œuvre des applications de sécurité (évitement des collisions, prévention des travaux, etc.), des applications temps-réel (aide à la conduite automatisée), des applications des systèmes de transport intelligents (gestion du trafic, proposition de détours, etc.), des applications de confort (péage automatique des autoroutes, connexion à du contenu multimédia en ligne, etc.). Pour fonctionner pleinement, le véhicule a besoin d’une puissance de calcul de plus en plus grande et d’une connexion quasi-continue. Afin de garantir cette contrainte, les réseaux véhiculaires font de plus en plus appel au Cloud. Cette thèse vise à explorer les différentes interactions entre les réseaux véhiculaire et Cloud<br>Vehicular Ad-hoc Networks (VANETs) are a new kind of networks which allow to connect vehicles between them and with the road infrastructures. It make possible to deploy safety applications (colision avoidance, roadworks advertisement, etc.), real time application (driver assistance, automated driving, etc.), comfort application (automatic toll payment, access to multimedia contents via internet, etc.). In order to be functioning completely, the vehicle needs more and more computing power and a connection with almost no interruption. To guarantee this constraints, VANETs are using more and more often the Cloud Computing. This thesis aims to explore the differents intereactions between VANETs and the Cloud
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Luo, Minzhi. "Conception & développement d'une plateforme en réalité virtuelle de pilotage de véhicules intelligents." Phd thesis, Ecole Centrale de Lille, 2012. http://tel.archives-ouvertes.fr/tel-00741938.
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Cette thèse est consacrée au domaine interdisciplinaire des Systèmes de Transport Intelligents et des technologies de Réalité Virtuelle. Elle se concentre sur l'amélioration des stratégies de commande des véhicules intelligents en tenant compte des impacts de l'environnement naturel ainsi que sur l'analyse de performance, la visualisation et la vérification de la validité des algorithmes de commande sur la plateforme de véhicules intelligents réalité virtuelle (IVVR).La plateforme IVVR comprend trois sous-systèmes : un sous-système de commande de véhicules intelligents, un sous-système de visualisation et un sous-système virtuel sans fil. Le synthétique environnement naturel a été modélisé et simulé pour la simulation et l'analyse de performance des stratégies de commande sous conditions environnementales complexes. Ensuite, les expérimentations concernant le trafic équipé du régulateur de vitesses adaptatives (ou coopérative) sont exécutés et ils montrent que les systèmes existants ont échoué à maintenir une espace inter-véhiculaire de sécurité lorsque les conditions d'environnement naturel sont défavorables. Dans ce cas, nous proposons un nouvel algorithme de commande appelé NECACC pour le contrôle longitudinal du véhicule en maintenant une espace inter-véhiculaire de sécurité et garantissant une capacité de circulation optimisée même dans des conditions environnementales complexes. Cet algorithme est ensuite simulé, vérifié et validé sur la plateforme IVVR. Enfin, les démonstrations de trafic virtuel effectuant des manœuvres communes de circulation contrôlés par les systèmes de commande intégrés proposées sont présentées sous diverse conditions environnementales
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Chen, Bofei. "A multi-agent based cooperative control model applied to the management of vehicles-trains." Thesis, Bourgogne Franche-Comté, 2017. http://www.theses.fr/2017UBFCA002/document.
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L'utilisation de véhicules individuels est de plus en plus importante dans les centres-villes. Ceci entraîne de nombreux effets secondaires tels que la pollution, l'embouteillage et une augmentation des accidents. Les technologies liées au développement des véhicules intelligents ont pour but de surmonter ces problèmes. Certaines des solutions proposées sont déjà accessibles au grand public, telles que les systèmes de préventions des collisions ou les aides aux maintient dans les files de circulation... Actuellement, de nombreux travaux se concentrent sur la recherche de solutions adaptées et acceptables à ces problèmes et notamment sur la gestion des embouteillages. Les solutions proposées permettent de résoudre le problème du trafic, que ce soit au niveau du système, en se concentrant sur la gestion de feux de circulation ou au niveau individuel en offrant aux véhicules de meilleurs systèmes de contrôle et de perception visant à réduire le temps de réponse et / ou à accroître la capacité des routes.Du point de vue des véhicules, l'une des solutions les plus prometteuses est de regrouper les véhicules en convoi (trains de véhicules ou platoon). Deux principales tendances peuvent être trouvées dans la littérature. D'un côté, les approches globales sont basées sur un référentiel commun, généralement lié au lieu d'évolution des véhicules, et partagé par tous les véhicules du train. Ensuite, chaque véhicule se comporte en prenant en compte cette référence partagée qui peut être soit la trajectoire du premier véhicule du train, soit une trajectoire de référence construite au préalable. La seconde catégorie dite de type approche locale est basée sur les capacités de perception locales des véhicules. Dans ce cadre, certaines méthodes, basées sur des algorithmes de contrôle classiques ou sur des liaisons d'interaction physiques et inter-véhicules, sont développées.Malgré de nombreux travaux sur ce sujet, qui se concentrent principalement sur le contrôle des véhicules individuels, peu d'entre eux considèrent le contrôle de convoi d'un point de vue système de transport. Or, ce point de vue système est particulièrement important lorsque plusieurs convoi doivent partager le réseau routier et se rencontrer à des nœuds critiques tels que carrefours et ronds-points. Cette problématique introduit de nouveaux défis tels que: 1) l'organisation des véhicules en trains de véhicules, 2) les interactions entre les trains de véhicules et 3) les stratégies de partage de l'infrastructure routière efficaces, fiables et sûres. Résoudre ces problèmes permettra alors d'envisager la solution train de véhicules comme un bon candidat pour résoudre les problèmes de flux de trafic au niveau du système de transport.Le but de cette thèse est de proposer une approche basée sur le paradigme multi-agent se focalisant sur les problématiques liées aux intersections entre des trains de véhicules. Ainsi, nous proposons un modèle de contrôle coopératif reposant sur des processus décisionnels multi-niveaux. Ce contrôle permet à la fois de préserver la cohérence et la sécurité de chaque train de véhicule et d'adapter leur comportement de manière à rendre efficace le partage de l'infrastructure. le modèle proposé est divisé en trois niveaux différents: au niveau du train, au niveau véhicule et au niveau composant de la chaîne de contrôle/commande. Cette thèse se focalise principalement sur les deux premiers niveaux. Ainsi, le processus décisionnel du train prend ses informations au niveau des autres trains et de ses constituants et envoi des requêtes au niveau véhicule. Le processus décisionnel au niveau véhicule fusionne les informations locales de sa perception propre et celles fournies par le train et produit des consignes appliquées par le niveau contrôle/commande. Cette thèse étudie également les possibilités de reconfiguration dynamique des trains en utilisant les intersections<br>The use of individual vehicles is becoming more and more important in inner cities, leading to many side problems such as traffic jam, air pollution and accidents. Intelligent vehicles have been studied so as to overcome these problems. Some solutions provided by these works are already available to the general public market such as city safety systems, lane assists,... Many research works are focusing on finding suitable and acceptable solutions to these problems and dealing with traffic jam management. The proposal can tackle the traffic jam problem whether on system level or on individual vehicle providing better control and perception systems aimed at reducing time response and/or at increasing the road capacity.On the vehicle side, one promising solutions is vehicles platoons (vehicles-train) making possible a huge reduction of the longitudinal distance between vehicles and thus allowing an increase of roads capacity. Basically, two main trends can be found literature. On one side, global approaches are based on a common reference frame, generally tied to the vehicles playground, shared by all vehicles of the train. Then, each vehicle behaves according to this shared reference which can be either the trajectory of the first vehicle of the train or a reference trajectory built offline. On the other side, local approaches are based on vehicle local perception abilities. Some methods, based on classical control algorithms or physical-inspired and inter-vehicular interaction link, are developed.Despite numerous research works on this subject, which are focusing on individual vehicle control, few of them consider the platoon control solution on the system point of view. However, this system point of view is particularly important when several platoons have to share the road network and meet at critical nodes such as crossroads and roundabouts. This introduces new issues such as (1) how to organize vehicles and trains of vehicle, (2) the interactions between trains of vehicles and (3) the strategies of sharing the road infrastructure efficient, reliable and safe. Solving these problems will then allow considering vehicles-train solution as a good candidate for solving traffic flow issues at transportation system level.The goal of this thesis is to propose an approach, based on multi-agent paradigm, which aims at dealing with systems level issues focusing mainly on intersections between vehicles-trains of vehicles. Thus, we propose a cooperative control system which relies on multi-level decision processes aimed at dealing with the interaction of platoons at road network nodes. This cooperative control system allows both to maintain the coherence and the safety condition of each involved train of vehicles and to adapt each train components behavior so as to make train shared the road, and especially roundabouts and crossroads, efficiently (i.e. without stopping any vehicle). This cooperative control system is divided into three different levels. The global train state is managed at the train-level decision process based on the train level perceptions. The vehicle-level process makes the decision concerning each individual vehicle according to data provided by the train-level and to the interaction between vehicles. Finally, the motor-level process makes the link between the vehicle-level command and hardware level of vehicles. In this thesis, we focus on the train-level and vehicle-level. When encountering, trains exchange information such as one part of their perceptions.Besides the goal of having an efficient approach so as to enable several vehicles-trains to share the road infrastructure, we also strategies to transform the meetings of vehicles-trains at road nodes into reconfiguration spots where trains can reconfigure and recombine.The developed algorithm are tested in simulation so as to obtain proper evaluation of our proposal using suitable indicators
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Patel, Raj Haresh. "Autonomous cars' coordination among legacy vehicles applied to safe braking." Electronic Thesis or Diss., Sorbonne université, 2018. http://www.theses.fr/2018SORUS468.
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Le comportement d'un véhicule autonome peut être affecté par divers facteurs internes tels que défaillance du système de bord, capteur, etc., ou par des facteurs externes tels que manœuvres risquées de la part de voisins immédiats menaçant une collision, des changements brusques de l'état des routes, etc. Cela peut entraîner une défaillance de la manœuvre de coordination, telle que le croisement de plusieurs véhicules à une intersection. Dans de telles situations, lorsque les conditions changent de manière dynamique et que la condition de fonctionnement nominale est violée par des influences internes ou externes, un véhicule autonome doit avoir la capacité d'atteindre la condition de risque minimal. Arrêter le véhicule est l’un des moyens d’atteindre un niveau de risque minimal. La thèse introduit un algorithme d'arrêt sécurisé qui génère des commandes pour véhicules autonomes en tenant compte de la présence de véhicules traditionnels. Un algorithme basé sur un modèle de contrôle prédictif est proposé, qui résiste aux erreurs provenant de la communication, la localisation, la mise en œuvre du contrôle et à la disparité des modèles. Les collisions évitées et la gêne ressentie par le conducteur sont deux paramètres d'évaluation. Les simulations montrent que le contrôleur robuste sous l'influence d'erreurs peut fonctionner aussi bien que le contrôleur non-robuste en l'absence d'erreurs<br>The behaviour of an autonomous vehicle can be impacted by various internal factors like onboard system failure, sensor failure, etc. or by external factors like risky maneuvers by immediate neighbors threatening a collision, sudden change in road conditions, etc. This can result in a failure of coordination maneuver like multi-vehicle intersection clearance. In such situations when conditions dynamically change and the nominal operational condition is violated by internal or external influences, an autonomous vehicle must have the capability to reach the minimal risk condition. Bringing the vehicle to a halt is one of the ways to achieve minimal risk condition. This thesis introduces a safe stop algorithm which generates controls for multiple autonomous vehicles considering the presence of legacy manually driven vehicles on the road. A Model Predictive Control based algorithm is proposed which is robust to errors in communication, localization, control implementation, and model mismatch. Collisions avoided and discomfort faced by the driver are two evaluation parameters. Simulations show that the robust controller under the influence of errors can perform as well as the non-robust controller in the absence of these errors
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Berg, Morten. "Evaluation of Intelligent Transport System Applications." Thesis, Norwegian University of Science and Technology, Department of Computer and Information Science, 2005. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9234.
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<p>Most people in the developed world depend on transportation, both privately and in business. Overpopulated roads lead to problems like traffic inefficiency, e.g. congestion, and traffic accidents. Intelligent Transport Systems (ITS) deals with the integration of information technology into the transport system. Through this, applications for improving traffic efficiency, traffic safety and the driving experience are introduced. This report is going to look at ITS systems in general, explore an international standard under development for communication systems designed for these kinds of applications (CALM), look at a project aimed to use this standard to create a international system for ITS applications (CVIS), and explore some of the proposed applications for this system. A few applications have been thoroughly described and analysed through the use of use cases. This has resulted in a set of test cases from which the applications can be evaluated. Through the execution of these test cases it would be possible to draw conclusions on whether or not the applications proposed will be viable in a real world situation.</p>
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Cheung, Suk-ling. "The potential of intelligent transport system (ITS) development in road transport of Hong Kong." Click to view the E-thesis via HKUTO, 2001. http://sunzi.lib.hku.hk/hkuto/record/B42575680.
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Lo, Man-ki Christina, and 勞敏琪. "The application of intelligent transport system in Hong Kong." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1999. http://hub.hku.hk/bib/B31260032.
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Lo, Man-ki Christina. "The application of intelligent transport system in Hong Kong /." Hong Kong : University of Hong Kong, 1999. http://sunzi.lib.hku.hk/hkuto/record.jsp?B21042573.
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Cheung, Suk-ling, and 張淑玲. "The potential of intelligent transport system (ITS) development in road transport of Hong Kong." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2001. http://hub.hku.hk/bib/B42575680.
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Fang, Hsiao-jung Belinda. "The environmental economic & social implications of the intelligent transport system in Hong Kong." Click to view the E-thesis via HKUTO, 2002. http://sunzi.lib.hku.hk/hkuto/record/B42576593.
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BENVENUTI, FILIPPO. "Intelligent Decision Support Systems in Public Transport." Doctoral thesis, Università Politecnica delle Marche, 2018. http://hdl.handle.net/11566/252967.
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Nelle ultime decadi, l'incremento dell'efficienza di un Sistema di Trasporto Pubblico urbano (STP) sta assumendo un ruolo chiave nello sviluppo della società moderna. Ciononostante, la realtà è piuttosto lontana da un "mondo STP ideale", in cui i Trasporti Pubblici urbani non hanno particolari problemi nel fornire servizi efficaci ed efficienti nelle grandi citta. La realtà ci racconta che i gestori dei sistemi di trasporto urbano, nella maggior parte delle grandi città, stanno incontrando difficoltà sempre crescenti a mantenere alti livelli di efficienza. Per rispondere a questi problemi, in questo lavoro, vengono presentate tre proposte differenti. Innanzitutto è stato realizzato un framework volto a facilitare la progettazione di un sistema di monitoraggio nel settore dei trasporti pubblici, adottando lo standard europeo Transmodel come modello di riferimento. Il sistema proposto viene realizzato partendo dalla definizione di una "Knowledge Base" rappresentante una concettualizzazione del dominio del trasporto pubblico, al si sopra della quale vengono sviluppate una serie di funzionalità "logic-based".
La seconda soluzione proposta consiste nell'implementazione di un algoritmo di previsione utilizzato per predire il tempo di arrivo alla fermate dell'autobus nelle aree urbane, permettendo di migliorare la percezione dei viaggiatori sulla qualità del servizio offerto. Negli ultimi anni, oltre ai modelli formati da un singolo algoritmo (chiamati "Modelli semplici"), sono emersi modelli formati dalla composizione di più algoritmi (chiamati "Modelli ibridi"). In questo lavoro viene fornita una panoramica di "Modelli ibridi" confrontandone, allo stesso tempo, le prestazioni con "Modelli semplici" applicandoli ad un caso di studio reale. Da tale studio emerge che i "Modelli ibridi" superano le prestazioni "Modelli semplici" in ogni esperimento eseguito.
Il terzo modello proposto si focalizza sullo studio di una metodologia "umbalanced" applicabile a sistemi di visione per risolvere le problematiche legate alla gestione del traffico, come, ad esempio, la ricerca di parcheggi. A tale scopo viene sviluppata un'applicazione software per ottimizzare la fruizione dei parcheggi minimizzando, allo stesso tempo, il traffico causato dalla ricerca degli stessi. A causa della mancanza di dati utilizzabili, al fine di valutare comunque la qualità della metodologia proposta, tale modello è stato testato con il problema di rilevamento automatico di edifici a partire da dati aerei LIDAR.
Il problema della Building Detection automatica a partire da dati aerei, in letteratura, rappresenta un dominio applicativo notoriamente "difficile" da affrontare, a causa lo squilibrio che caratterizza i set di dati utilizzati. Il metodo proposto sfrutta l'algoritmo di Baesyan Vector Quantizer (BVQ) ed, al fine di verificarne l'efficienza in domini applicativi fortemente "umbalanced", è stato confrontato con altre metodologie note, come Adaboost o Metacost, in un vero e proprio caso di studio reale. I set di dati utilizzati sono formati da quattro classi fortemente sbilanciate (edificio, vegetazione alta, vegetazione bassa e strade) ed i risultati ottenuti hanno dimostrato che BVQ supera le prestazioni delle altre metodologie nella totalità degli esperimenti eseguiti.<br>In the last years, the significance of improving efficiency of urban Public Transport Systems (PTSs) is taking a key role in the development of modern society. In an ideal world, urban PTSs have no particular problems in providing effective and efficient services that improve the Quality of Life (QoL) of people living in big urban areas. An efficient service would also help to solve some additional problems, such as air pollution and traffic congestions that often afflict high density urban areas. The reality, however, is that urban transportation systems in most big cities are far from ideal. Managers of PTSs services are experiencing ever greater difficulties in maintaining high levels of efficiency due to the ever-increasing congestion affecting the major urban centers. In order to face these issues and, at the same time, improve the efficiency of PTSs services, three different proposals are introduced. First, a framework, aimed to ease the design of a monitoring system in the public transport domain, has been realized by adopting the European standard Transmodel as reference model for a generic PTS system. The proposed framework is built around the definition of a knowledge base that includes a conceptualization of the public transportation domain, on the top of which a set of logic-based functionalities are developed. The second improvement proposed, consists in the implementation of a forecasting algorithm in order to predict arrival time at bus stop in urban areas that allows to improve the travelers' perception of the Quality of Service offered. In literature, several type of algorithms have been tested in order to predict arrival time at bus stops. However, in recent years, in addition to models formed by a single algorithm (called Simple Models), models formed by the composition of more algorithms (called Hybrid Models) have emerged. An overview of Hybrid Models has been performed by comparing them with Simple Models in a real-world case study from which resulted that the Hybrid Models outperform Simple Models in every experiment performed.
The third improvement proposed regards the study of the impact of an "umbalanced" methodology in vision systems able to solve various issues related to traffic management such as parking discovery and occupational turnaround in order to develop a software application to optimize their employment and, in the same time, minimize traffic caused by parking lot search. Unfortunately PluService company, which provided the data to develop the entire work, had no dataset that can be used for the proposed purpose, and, for this reason, in order to assess the quality of the proposed methodology, it has been tested with building detection problem from LIDAR aerial data.
Building Detection from aerial data, in literature, represents a notoriously "difficult" application domain to face, cause the imbalance that characterizes the datasets used. The proposed method takes advantage of the Baesyan Vector Quantizer (BVQ) algorithm and, in order to verify its efficiency in strongly umbalanced application domains, it has been compared with other well known methodologies, like Adaboost or Metacost, in a real-world case study. The datasets used are formed by four strongly imbalanced classes (building, high vegetation, low vegetation and streets) and the obtained results demonstrated that BVQ outperform the other methodologies applied in the totality of experiments performed.
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Randriamasy, Malalatiana. "Localisation et transmissions sécurisées pour la communication Véhicule à Infrastructure (V2I) : Application au service de télépéage ITS-G5." Thesis, Normandie, 2019. http://www.theses.fr/2019NORMR011/document.
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La localisation précise des véhicules et la sécurité des échanges sont deux grands axes qui font la fiabilité des services fournis dans les systèmes de transport intelligent. Ces dernières années, elles font l’objet de nombreux projets de recherche pour des champs d’application divers. Dans cette thèse, le contexte d’application est la réalisation d’un service de télépéage utilisant la technologie ITS-G5. Cette technologie de communication sans-fil permet dans un premier temps le partage des informations de sécurité routière entre les véhicules (V2V), le véhicule et l’infrastructure (V2I). Dans cette thèse, on propose une architecture permettant d’échanger des transactions de télépéage utilisant les équipements communicants en ITS-G5 embarqués dans les véhicules connectés et les unités bord de route (UBR) de l’infrastructure. Les problématiques de nos travaux de recherche se concentrent sur la méthode de localisation des véhicules ayant effectué la transaction afin de pouvoir la valider et sur la sécurité de l’architecture proposée pour assurer l’échange de cette transaction. Afin de bien localiser les véhicules lors du passage au péage, notre approche propose la compréhension de la cinématique du véhicule par une modélisation adéquate à partir des données recueillies dans les messages coopératifs (CAM : Cooperative Awareness Message) en approche du péage. Cela améliorera les informations de géolocalisation déjà présentes. Notre objectif est d’arriver à une précision de moins d’un mètre pour distinguer 2 véhicules adjacents. D’autre part, le protocole de sécurité proposé permet d’assurer l’authentification des équipements participant à l’échange et à la validation de la transaction, l’intégrité des données échangées ainsi que la confidentialité des échanges compte tenu du contexte de communication sans-fil et de la sensibilité des données échangées. Une preuve de concept de la solution de télépéage utilisant la technologie ITS-G5 est développée et intègre nos deux contributions<br>The precise localization of vehicles and the security of communication are requirements that make almost of the services provided in intelligent transport systems (ITS) more reliable. In recent years, they have been the subject of numerous research projects for various fields of application. In this thesis, the context is the development of an electronic toll service using the ITS-G5 technology. This wireless communication technology initially allows the sharing of traffic safety information between vehicles (V2V), vehicle and infrastructure (V2I). In our work, we propose a tolling application using equipment operating in ITS-G5 embedded in the connected vehicles and roadside units. For this, ensuring both precise geolocation of the vehicles and security of communication are required to validate the transaction.In order to properly locate the vehicles during the toll crossing, our approach is based on the understanding of the kinematics of the vehicle through a suitable modeling from the data collected in the cooperative messages (called CAM: Cooperative Awareness Message). This approach aims to improve the geolocation information already present in the message. Our goal is to achieve vehicle localization with an accuracy lower than one meter to distinguish two adjacent vehicles. On the other hand, the proposed tolling protocol ensures the authentication of the equipment or entities involved in the exchange and the validation of the transaction, the integrity of the transmitted data as well as the confidentiality of the communication. In this way, we take into account the context of the wireless communication and the sensitivity of the exchanged data. Our two contributions are integrated in the implemented Proof of Concept of the tolling application using the ITS-G5 technology
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Binjammaz, Tareq. "Context-aware GPS integrity monitoring for Intelligent Transport Systems (ITS)." Thesis, De Montfort University, 2015. http://hdl.handle.net/2086/11397.
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The integrity of positioning systems has become an increasingly important requirement for location-based Intelligent Transports Systems (ITS). The navigation systems, such as Global Positioning System (GPS), used in ITS cannot provide the high quality positioning information required by most services, due to the various type of errors from GPS sensor, such as signal outage, and atmospheric effects, all of which are difficult to measure, or from the map matching process. Consequently, an error in the positioning information or map matching process may lead to inaccurate determination of a vehicle’s location. Thus, the integrity is require when measuring both vehicle’s positioning and other related information such as speed, to locate the vehicle in the correct road segment, and avoid errors. The integrity algorithm for the navigation system should include a guarantee that the systems do not produce misleading or faulty information; as this may lead to a significant error arising in the ITS services. Hence, to achieve the integrity requirement a navigation system should have a robust mechanism, to notify the user of any potential errors in the navigation information. The main aim of this research is to develop a robust and reliable mechanism to support the positioning requirement of ITS services. This can be achieved by developing a high integrity GPS monitoring algorithm with the consideration of speed, based on the concept of context-awareness which can be applied with real time ITS services to adapt changes in the integrity status of the navigation system. Context-aware architecture is designed to collect contextual information about the vehicle, including location, speed and heading, reasoning about its integrity and reactions based on the information acquired. In this research, three phases of integrity checks are developed. These are, (i) positioning integrity, (ii) speed integrity, and (iii) map matching integrity. Each phase uses different techniques to examine the consistency of the GPS information. A receiver autonomous integrity monitoring (RAIM) algorithm is used to measure the quality of the GPS positioning data. GPS Doppler information is used to check the integrity of vehicle’s speed, adding a new layer of integrity and improving the performance of the map matching process. The final phase in the integrity algorithm is intended to verify the integrity of the map matching process. In this phase, fuzzy logic is also used to measure the integrity level, which guarantees the validity and integrity of the map matching results. This algorithm is implemented successfully, examined using real field data. In addition, a true reference vehicle is used to determine the reliability and validity of the output. The results show that the new integrity algorithm has the capability to support a various types of location-based ITS services.
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Yamben, Jean-Yves. "Intelligent decision support system for transport infrastructure investment with emphasis on joint logistic." Thesis, Blekinge Tekniska Högskola, Avdelningen för för interaktion och systemdesign, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-1306.
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The aim of this thesis is to provide to the governmental decision-maker/user, an instrument that can assist him/her in improving the infrastructure investment decision in the economical, environmental and sustainable aspects. This means that, the Return on Investment (ROI) of the concerned transport infrastructure, satisfying environmental and sustainable constraints must be positive, and corresponding to an optimal investment cost. The decision support system can be applied in two dimensions. One dimension is where the real negotiation process is occurring between private and public stakeholders, called “real time negotiation process”. The second dimension is where the negotiation process is impelled by the user (public part) without private stakeholders interaction (but with interaction through simulation), called “virtual negotiation process”. The simulation and local optimization techniques, in phase with agent technology, used in the “virtual negotiation process” enable us to achieve a certain amount of alternative decisions to the primary/suggested decision to be evaluated. The CommonKADS methodology with mathematical modeling, and agent technology have been the support respectively for extracting and implementing the knowledge in the domain, monitoring, automating and updating the decision process. The principle of “Joint logistic” [1] in my effort concerns by the means of sharing financial and information resources; This leads to the empowerment of the supply chain feedbacks (roles), involved in the earlier stages of public transport decision making-process. It appears that within the decision-making process, the government is often dealing with the conflicting objectives, while interacting with the business stakeholders. For instance, the estimated investment cost of a specific transport infrastructure can exceed the income generated by this infrastructure, thus the ROI of the concerned transport infrastructure (TI) will be negative. From this perspective the government faces three choices: a) increase the rate of the taxes applied on that transport infrastructure or any other taxes, in order to make ROI positive, this can be matter of discussion/disagreement for the business community b) reduce the investment cost which means suggest a different TI with a lower quality standard compared to the previous; this can also be a matter of disagreement between the two concerned stakeholders. c) delay of the investment in the specific transport infrastructure. In fact in the most situations the government uses the first approach, which effects might be consequently unpredictable and disastrous in the economical and environmental sense for the government. From this point of view my attempt is to propose an intelligent decision support system for governments or project groups (e.g. East West project group), involving conceptually as components web portal, database, simulator and knowledge base, that bases on an approach, that enables this negotiation/information exchange at the earlier steps of decision-making situation. This is concretized by gathering in real time accurate and relevant information from the private sector; furthermore the knowledgebase of the designed system is conceived via the experience and historical knowledge of the concerned experts in the domain.<br>Please contact me via email : yjeanyv@hotmail.com or phone: +224 64 97 43 79
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方曉蓉 and Hsiao-jung Belinda Fang. "The environmental economic & social implications of the intelligent transport system in Hong Kong." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2002. http://hub.hku.hk/bib/B42576593.
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Ghorasi, Rahim. "An intelligent data management system for computational modelling of pollutants transport in river networks." Thesis, Loughborough University, 2007. https://dspace.lboro.ac.uk/2134/13342.
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Utilization of sophisticated hydroinformatic systems depends on the optimum use of appropriate input data. The main focus of the present project has been the development of a number of auxiliary data handling modules for a previously constructed IPT system. This system is an elaborate software capable of modelling a wide range of hydro-environmental phenomena. Data required for the implementation of the IPT system consist of hydro graphic and physical data regarding the geometry of hydro-environmental system and boundary and initial conditions. Due to inevitable high cost of these surveys in most cases the available data are scarce which reduces the efficiency of computer models. In this respect development of more sophisticated computer modelling schemes is in effective and techniques for enhancing the quality of the input data must be employed. The aim of this project has been to eliminate such difficulties by the use of modern IT techniques such as the optimization of physical data by genetic algorithms, fuzzy logic procedures, intelligent data bases and case based reasoning. To demonstrate the efficiency of the developed data handling modules a number of hydro-environmental problems in tidal river networks have been solved. It is shown that the modules developed in this project have general applicability and can be used to assist computer aided design and systems management in a wide variety of cases.
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Simon, Mathilde. "Safety requirements for monitoring and communicating operational data for vehicles in Intelligent Transport System." Thesis, KTH, Maskinkonstruktion (Inst.), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-157147.
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In the past few years, wireless technologies performances have been greatly improved to address various kinds of communications. However, in applications requiring the transmission of safety-critical data such as in industrial systems, wired solutions are still preferred to wireless networks. The challenge is then to develop safety-critical wireless applications in order to take advantage of the low cost and reduced installation complexity of wireless networks. In this Master Thesis, a remote-controlled road vehicle has been studied as an example of safety-critical wireless application. The purpose of the project has been to design and implement an embedded system and a user interface that enable the remote control of the vehicle. As the functional safety of a road vehicle is highly important, appropriate safety requirements need to be elicited and considered in the design of the wireless communication protocol. By following the ISO 26262 standard steps, safety requirements have been defined for the system. A communication protocol has then been established considering the safety requirements and the expected functionalities of the system. Finally, a prototype has been built for verification and validation purpose. The prototype consisted of a model car equipped with a microcontroller and an off-the-shelf (OTS) Wi-Fi module. A user interface running on any Android device has also been developed. The final achievements of the project were that the model car could be controlled in speed and direction by the user thanks to the interface. In addition, the model car could react automatically to some hazardous situations by reaching a safe state. The conclusion of this project is that the design of a communication protocol is highly dependent on the system expected performances and characteristics, including the functional safety. When these parameters lead to heterogeneous protocol requirements, concessions have to be made. When dealing with a safety-critical application, the functional safety of the system must be the priority. Finally, when off-the-shelf (OTS) hardware is used to implement the wireless communication, it must be chosen carefully as it constitutes the main limitation of the protocol performances.<br>Under de senaste åren har trådlösa tekniker förbättrats till den grad att de kan användas för många olika typer av kommunikation. I domäner som kräver överföring av säkerhetskritiska data, såsom i industrisystem, är trådbundna lösningar dock fortfarande vanligare än trådlösa lösningar. För att dra fördel av låga kostnader och minskad installationskomplexitet i dessa domäner krävs att trådlösa lösningar för säkerhetskritiska tillämpningar utvecklas. I detta examensarbete har ett fjärrstyrt vägfordon studerats som ett exempel på en säkerhetskritisk trådlös applikation. Syftet med projektet har varit att utforma och implementera ett inbyggt system och ett användargränssnitt som möjliggör fjärrstyrning av fordonet. Eftersom den funktionella säkerheten hos ett vägfordon är mycket viktig har lämpliga säkerhetskrav för systemet definierats, vilket har skett med säkerhetstandarden ISO 26262 som stöd. Ett kommunikationsprotokoll som beaktar säkerhetskraven och de förväntade funktionerna hos systemet har därefter upprättats. Slutligen har en prototyp byggts för att verifiera och validera protokollet. Prototypen bestod av en modellbil utrustad med en mikrokontroller och en off-the-shelf (OTS) Wi-Fi-modul. Ett användargränssnitt som körs på en Android-enhet har också utvecklats. De slutliga resultaten av projektet var att modellbilens acceleration och styrning kan styras av användaren tack vare gränssnittet. Modellbilen kan också automatiskt reagera på vissa farliga situationer genom att stanna. Slutsatsen från detta projekt är att utformningen av ett kommunikationsprotokoll i hög grad beror på systemets förväntade prestanda och egenskaper, inklusive dess funktionella säkerhet. När dessa parametrar leder till heterogena protokollkrav, måste kompromisser göras. Vid arbete med en säkerhetskritisk applikation måste den funktionella säkerheten av systemet prioriteras. Dessutom, när off-the-shelf (OTS) hårdvara används för att implementera den trådlösa kommunikationen måste den väljas med omsorg. Den utgör nämligen den största begränsningen för protokollets prestanda.
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Meyer, Pierre-Jean. "Invariance and symbolic control of cooperative systems for temperature regulation in intelligent buildings." Thesis, Université Grenoble Alpes (ComUE), 2015. http://www.theses.fr/2015GREAT076/document.
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Cette thèse fournit de nouvelles stratégies de contrôle pouvant s'attaquer aux phénomènes hétérogènes et non-linéaires qui décrivent la régulation de la température dans les bâtiments afin d'obtenir un compromis entre le confort et l'efficacité énergétique. Nous nous intéressons donc au contrôle robuste de systèmes coopératifs avec perturbations bornées. Nous résolvons d'abord ce problème grâce à la notion d'intervalle invariant contrôlé robuste, décrivant un ensemble dans lequel l'état peut être maintenu quelle que soit la valeur des perturbations. Une seconde approche décrit des méthodes symboliques pour la synthèse d'un contrôleur discret sur une abstraction finie du système, réalisant une spécification de sûreté associée à l'optimisation des performances. Nous présentons d'abord une méthode symbolique centralisée utilisant les dynamiques du système correspondant au modèle physique. Pour résoudre ses limitations en termes de passage à l'échelle, nous considérons une approche compositionnelle où les méthodes symboliques d'abstraction et de synthèse sont appliquées à des descriptions partielles du système, sous des obligations de type assume-guarantee supposant que la sûreté est satisfaite pour tous les états non-contrôlés. Dans la dernière partie, les contrôleurs présentés sont combinés et évalués dans le cadre d'une régulation de température pour un bâtiment expérimental équipé de la solution UnderFloor Air Distribution<br>This thesis provides new control strategies that deal with the heterogeneous and nonlinear dynamics describing the temperature regulation in buildings to obtain a tradeoff between comfort and energy efficiency. We thus focus on the robust control of cooperative systems with bounded disturbances. We first solve this problem with the notion of robust controlled invariant interval, which describes a set where the state can be maintained for any value of the disturbances. A second approach provides dedicated symbolic methods to synthesize a discrete controller on a finite abstraction of the system, realizing safety specifications combined with a performance optimization. We first present a centralized symbolic method using the system dynamics provided by the physical model. To address its limitation in terms of scalability, a compositional approach is considered, where the symbolic abstraction and synthesis methods are applied to partial descriptions of the system under the assume-guarantee obligation that the safety specification is realized for all uncontrolled states. In the final part, the proposed controllers are combined and evaluated on the temperature regulation for an experimental building equipped with UnderFloor Air Distribution
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Nasim, Robayet. "Architectural Evolution of Intelligent Transport Systems (ITS) using Cloud Computing." Licentiate thesis, Karlstads universitet, Institutionen för matematik och datavetenskap (from 2013), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-35719.
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With the advent of Smart Cities, Intelligent Transport System (ITS) has become an efficient way of offering an accessible, safe, and sustainable transportation system. Utilizing advances in Information and Communication Technology (ICT), ITS can maximize the capacity of existing transportation system without building new infrastructure. However, in spite of these technical feasibilities and significant performance-cost ratios, the deployment of ITS is limited in the real world because of several challenges associated with its architectural design. This thesis studies how to design a highly flexible and deployable architecture for ITS, which can utilize the recent technologies such as - cloud computing and the publish/subscribe communication model. In particular, our aim is to offer an ITS infrastructure which provides the opportunity for transport authorities to allocate on-demand computing resources through virtualization technology, and supports a wide range of ITS applications. We propose to use an Infrastructure as a Service (IaaS) model to host large-scale ITS applications for transport authorities in the cloud, which reduces infrastructure cost, improves management flexibility and also ensures better resource utilization. Moreover, we use a publish/subscribe system as a building block for developing a low latency ITS application, which is a promising technology for designing scalable and distributed applications within the ITS domain. Although cloud-based architectures provide the flexibility of adding, removing or moving ITS services within the underlying physical infrastructure, it may be difficult to provide the required quality of service (QoS) which decrease application productivity and customer satisfaction, leading to revenue losses. Therefore, we investigate the impact of service mobility on related QoS in the cloud-based infrastructure. We investigate different strategies to improve performance of a low latency ITS application during service mobility such as utilizing multiple paths to spread network traffic, or deploying recent queue management schemes. Evaluation results from a private cloud testbed using OpenStack show that our proposed architecture is suitable for hosting ITS applications which have stringent performance requirements in terms of scalability, QoS and latency.<br>Baksidestext: Intelligent Transport System (ITS) can utilize advances in Information and Communication Technology (ICT) and maximize the capacity of existing transportation systems without building new infrastructure. However, in spite of these technical feasibilities and significant performance-cost ratios, the deployment of ITS is limited in the real world because of several challenges associated with its architectural design. This thesis studies how to design an efficient deployable architecture for ITS, which can utilize the advantages of cloud computing and the publish/subscribe communication model. In particular, our aim is to offer an ITS infrastructure which provides the opportunity for transport authorities to allocate on-demand computing resources through virtualization technology, and supports a wide range of ITS applications. We propose to use an Infrastructure as a Service (IaaS) model to host large-scale ITS applications, and to use a publish/subscribe system as a building block for developing a low latency ITS application. We investigate different strategies to improve performance of an ITS application during service mobility such as utilizing multiple paths to spread network traffic, or deploying recent queue management schemes.<br><p>Artikel 4 Network Centric Performance Improvement for Live VM Migration finns i avhandlingen som manuskript. Nu publicerat konferenspaper. </p>
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Mahmoud, Abdallah Abdelrahman Hassan. "Cooperative Automated Vehicle Movement Optimization at Uncontrolled Intersections using Distributed Multi-Agent System Modeling." Diss., Virginia Tech, 2017. http://hdl.handle.net/10919/84896.
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Optimizing connected automated vehicle movements through roadway intersections is a challenging problem. Traditional traffic control strategies, such as traffic signals are not optimal, especially for heavy traffic. Alternatively, centralized automated vehicle control strategies are costly and not scalable given that the ability of a central controller to track and schedule the movement of hundreds of vehicles in real-time is highly questionable. In this research, a series of fully distributed heuristic algorithms are proposed where vehicles in the vicinity of an intersection continuously cooperate with each other to develop a schedule that allows them to safely proceed through the intersection while incurring minimum delays. An algorithm is proposed for the case of an isolated intersection then a number of algorithms are proposed for a network of intersections where neighboring intersections communicate directly or indirectly to help the distributed control at each intersection makes a better estimation of traffic in the whole network. An algorithm based on the Godunov scheme outperformed optimized signalized control. The simulated experiments show significant reductions in the average delay.
The base algorithm is successfully added to the INTEGRATION micro-simulation model and the results demonstrate improvements in delay, fuel consumption, and emissions when compared to roundabout, signalized, and stop sign controlled intersections. The study also shows the capability of the proposed technique to favor emergency vehicles, producing significant increases in mobility with minimum delays to the other vehicles in the network.<br>Ph. D.
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Bakhtyar, Shoaib. "Designing Electronic Waybill Solutions for Road Freight Transport." Doctoral thesis, Blekinge Tekniska Högskola, Institutionen för datalogi och datorsystemteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-11775.
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In freight transportation, a waybill is an important document that contains essential information about a consignment. The focus of this thesis is on a multi-purpose electronic waybill (e-Waybill) service, which can provide the functions of a paper waybill, and which is capable of storing, at least, the information present in a paper waybill. In addition, the service can be used to support other existing Intelligent Transportation System (ITS) services by utilizing on synergies with the existing services. Additionally, information entities from the e-Waybill service are investigated for the purpose of knowledge-building concerning freight flows. A systematic review on state-of-the-art of the e-Waybill service reveals several limitations, such as limited focus on supporting ITS services. Five different conceptual e-Waybill solutions (that can be seen as abstract system designs for implementing the e-Waybill service) are proposed. The solutions are investigated for functional and technical requirements (non-functional requirements), which can potentially impose constraints on a potential system for implementing the e-Waybill service. Further, the service is investigated for information and functional synergies with other ITS services. For information synergy analysis, the required input information entities for different ITS services are identified; and if at least one information entity can be provided by an e-Waybill at the right location we regard it to be a synergy. Additionally, a service design method has been proposed for supporting the process of designing new ITS services, which primarily utilizes on functional synergies between the e-Waybill and different existing ITS services. The suggested method is applied for designing a new ITS service, i.e., the Liability Intelligent Transport System (LITS) service. The purpose of the LITS service isto support the process of identifying when and where a consignment has been damaged and who was responsible when the damage occurred. Furthermore, information entities from e-Waybills are utilized for building improved knowledge concerning freight flows. A freight and route estimation method has been proposed for building improved knowledge, e.g., in national road administrations, on the movement of trucks and freight. The results from this thesis can be used to support the choice of practical e-Waybill service implementation, which has the possibility to provide high synergy with ITS services. This may lead to a higher utilization of ITS services and more sustainable transport, e.g., in terms of reduced congestion and emissions. Furthermore, the implemented e-Waybill service can be an enabler for collecting consignment and traffic data and converting the data into useful traffic information. In particular, the service can lead to increasing amounts of digitally stored data about consignments, which can lead to improved knowledge on the movement of freight and trucks. The knowledge may be helpful when making decisions concerning road taxes, fees, and infrastructure investments.
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Li, Shi. "Hyper-heuristic cooperation based approach for bus driver scheduling." Phd thesis, Université de Technologie de Belfort-Montbeliard, 2013. http://tel.archives-ouvertes.fr/tel-00976554.
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The design of public transport system must take into account different dimensions to solve two main problems of optimization: the vehicles scheduling and driver scheduling. In our work, we focused on bus driver scheduling. Its objective is to minimize the number of drivers in accordance with social and environmental constraints. By its combinatorial nature, bus driver scheduling is considered a complex task in the design process of network transport. We have proposed an approach based on hyper-heuristics whose main advantage lies in their ability to adapt to different problems. We are particularly interested in a cooperative approach, which is able to take into account changes in the resolution process. We have extended the functionality and improved performance of the traditional framework of hyper- heuristics by proposing a pattern based on an organizational model. The proposed algorithm consists of a combination of several phases and several levels. The metaphor of the coalition is used to make cooperate several hyper-heuristics. The coalition is intended to favor diversified solutions and expand search capacity with decentralized control where each hyper-heuristic has certain autonomy. It is thus possible to consider different ways of cooperation between the hyper-heuristics: sharing solutions, learning by mimetism or carrying out different competitive search strategies. The experiment was carried out both on real-world instances and benchmarks. It gave good results on both quality of solution and execution time
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Dongkai, Yang, Bai Xin, and Zhang Qishan. "VEHICLE MONITORING SYSTEM FOR PUBLIC TRAFFIC IN BEIJING." International Foundation for Telemetering, 1999. http://hdl.handle.net/10150/607294.
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International Telemetering Conference Proceedings / October 25-28, 1999 / Riviera Hotel and Convention Center, Las Vegas, Nevada<br>With the rapid development of urban economy, there are bus increasing, route extending,
and shuttle frequency increasing etc. At the same time, road construction is subject to
land surface, so traffic jam often occurs. It is a big trouble for life of citizens and problem
for economy development. So it needs to be improved as fast as possible. Vehicle
monitoring system for public traffic in Beijing can expediently monitor the state of each
controlled bus, thereby making perfect management. With the integration of GPS, analog
trunked communication and digital map, the old, blinding manage system of public traffic
would be changed into advanced, visualized management mode, and several routes are
dispatched in one dispatch center at the same time. The system frame and its components
are introduced in this paper.
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Whittington, William Grant. "Cooperative control of systems with variable network topologies." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/49107.
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Automation has become increasingly prevalent in all forms of society. Activities that are too difficult for a human or to dangerous can be done by machines which do not share those downsides. In addition, tasks can be scheduled more precisely and accurately. Increases in the autonomy have allowed for a new level of tasks which are completed by teams of automated agents rather than a single one, called cooperative control. This has many benefits; but comes at the cost of increased complexity and coordination. The main thrust of research in this field is problem based, considering communication issues as a secondary feature. There is a gap considering problems in which many changes occur as rapidly as communication and the issues that arise as a result. This is the main motivation.
This research presents an approach to cooperative control in highly variable systems and tackles some of the issues present in such a system. One of the most important issues is the communication network itself, which is used as an indicator for how healthy the system is an how well it may react to future changes. Therefore using the network as an input to control allows the system to navigate between conservative and aggressive techniques to improve performance while still maintaining robustness.
Results are based on a test bed designed to simulate a wide variety of problem types based on: network type; numbers of actors; frequency of changes; impact of changes and method of change. The developed control method is compared to the baseline case ignoring cooperation as well as an idealized case assuming perfect system knowledge. The baseline represents sacrifices coordination to achieve a high level of robustness at reduced performance while the idealized case represents the best possible performance. The control techniques developed give a performance at least as good as the baseline case if not better for all simulations.
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Pingfang, Zheng, Zhang Qishan, and Cheng Lee Lung. "VEHICLE NAVIGATION & LOCATION SYSTEM BASED ON DGPS/INS/GIS INTEGRATED TECHNOLOGY." International Foundation for Telemetering, 1998. http://hdl.handle.net/10150/607350.
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International Telemetering Conference Proceedings / October 26-29, 1998 / Town & Country Resort Hotel and Convention Center, San Diego, California<br>With the rapid development of intelligent transport system in the world during the past
few years, it promotes some navigation & location technology to a wide application
especially in the car application. This paper firstly introduces some kinds of navigation &
location systems and then analyzes the advantage and disadvantage of each system. On
the basis of integrating every system and considering the high accuracy which can be
achieved by adopting the technology based on DGPS (Differential Global Position
System) at present, vehicle navigation & location system based on DGPS/INS/GIS
integrated technology is put forward. The propound of this system shortens the distance
between academic plan and real application greatly, and it provides a high accuracy and
high reliability navigation & location system for traffic department and some car
manufacturing Inc. In addition, this system is also provided with a friendly interface that
makes it very easy to the manipulator or the user. The emphasis of this paper is put on the
hardware and software of this system through introducing the system performance, the
system component and the system software, and the characteristic of each module that
makes up the whole system. The propound of the vehicle navigation & location system
based on DGPS/INS/GIS integrated technology is a new attempt for development of
intelligent transport system in our country, it will be sure to accelerate the process of our
intelligent transport system.
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Kumar, 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.
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Les systèmes à grande échelle intégrées qui travaillent ensemble pour une mission commune sont connus sous le nom de Systèmes de Systèmes (SdS). Ce travail propose une méthode de modélisation pour une classe de SdS, à savoir, les systèmes mécatronique, en utilisant l’approche de Bond graph. Cette approche est appliquée à un Système de Transport Intelligent par la modélisation de la dynamique du trafic de véhicules autonomes intelligent; où les communications de véhicule à véhicule et de véhicule à infrastructure sont considérées. Un tel ensemble de véhicules autonomes décrit l'organisation d'un SdS. La dynamique du trafic est modélisée sur trois niveaux d'abstraction, à savoir: sous-microscopique, microscopique, et macroscopique. Par la suite, les trois niveaux sont combinés pour développer un modèle multi-niveaux de la dynamique du trafic en utilisant la même approche du Bond graph. Le modèle est simulé dans des scénarios normaux et défectueux. Ensuite, le modèle est validé sur un simulateur en temps réel de la dynamique du véhicule. En plus, des expériences réelles sur véhicules autonomes intelligent sont effectuées pour valider le modèle. Enfin, le modèle est utilisé pour développer une stratégie de supervision du SdS de trafic basé sur l'analyse comportementale et structurelle du modèle bond graph<br>Large-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
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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.
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Cette dissertation modélise et analyse les flux de trafic hétérogènes, avec une attention particulière portée à la circulation de voitures et de deux-roues. L'augmentation du nombre de congestions de trafic a forcé les personnes désirant se déplacer à se diriger vers les le deux-roues (appelé ici PTWs = powered two wheelers), comme les motos, les mopeds et les scooters, du fait de leur facilité de manoeuvre et leur efficacité dans l'espace. L'augmentation du nombre de PTWs combinée au caractère unique de certaines de leurs fonctionnalités a résulté en un trafic complexe, donc les particularités sont difficiles à recréer avec les approches de modélisation existantes. Nous développerons ici un modele analytique permettant de reproduire de manière pertinente les particularités d'un flux de véhicules mêlant à la fois les voitures et les deux-roues. Le trafic se décompose en deux classes de véhicules : les PTWs et les voitures. Les propriétés fondamentales sont déduites en employant une approche "porous flow". On suppose que la vitesse d'un véhicule d’une certaine classe est dictée par les propriétés physiques et motrices du véhicule, ainsi que la distribution d'espace vide sur la route. Nous proposons une méthode d'approximation pour dériver la distribution d'espace vide. Dans le but d'explorer plus largement les caractéristiques du flux de trafic notamment requis par les applications de système de transport intelligent (ITS), nous formulons le modèle dans les cadres lagrangien et eulérien. Puis, nous feront appel à une méthode numérique pour la discrétisation du modèle mathématique. Se basant sur le modèle développé nous analyserons les caractéristiques du flux de trafic pour en identifier les propriétés les plus importantes qui nous permettrons de prédire de futures ITS applications et d'organisations du trafic. La possibilité d'appliquer le modèle pour les différentes ITS applications est illustrée par des exemples. Finalement, le modèle développé est validé à l'aide de l'outil de microsimulation<br>This 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
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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.
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Cette étude vise à analyser les facteurs à l'origine des problèmes rencontrés par les programmes américains de développement de lanceurs réutilisables (Reusable Launch Vehicles – RLV), en évaluant la plausibilité des sentiers d'évolution technologique. Afin d'arbitrer entre les sentiers, nous construisons dans un premier temps l'ensemble des sentiers évolutionnaires physiquement possibles, tels que déterminés par les facteurs purement endogènes. Nous avons dans un deuxième temps analysé leur plausibilité. Pour mener à bien la première étape nous avons élaboré une nouvelle méthodologie, ' l'Arbre Hiérarchique d'Evolution Hors Facteurs Exogènes ' (AHEHFE). A l'aide de cette méthodologie, nous avons tout d'abord développé un répertoire des options technologiques des lanceurs puis construit l'arbre hiérarchique évolutionnaire à partir des lanceurs répertoriés, en appliquant les règles d'évolution suivantes: le classement d'hérédité des éléments technologiques et le degré de complexification. Pour la deuxième étape, nous avons trié les sentiers évolutionnaires soutenables en appliquant les facteurs exogènes à l'AHEHFE, puis analysé leur plausibilité en fonction de deux critères d'évaluation: le degré de difficulté de l'apprentissage et l'efficience de la création de connaissances et de leur consolidation. Ces deux critères découlent de la nature du domaine des Systèmes de Transport Spatial (STS), domaine intensif en connaissances où la création de connaissances joue un rôle crucial dans le développement de l'industrie tout comme dans la technologie du produit. Notre analyse démontre que l'approche 'bottom up' offre un sentier plus plausible que l'approche 'top down'. Le cas des programmes de développement américains de RLV montre par ailleurs que les programmes orientés mission initiés par le gouvernement sont basés sur l'approche 'top down' alors que deux initiatives privées, le lanceur Pégase et le véhicule suborbital SpaceShipOne relèvent de l'approche ' bottom up'. Cette étude de cas a partiellement confirmé que l'approche 'top down' est moins plausible, au vu de l'échec du développement du X-33 et des coûts d'opération extrêmement élevés de la navette spatiale. En ce qui concerne l'approche 'bottom up', le nombre de programmes de RLV en cours est insuffisant pour fournir les données nécessaires à une analyse satisfaisante permettant de conclure sur la plausibilité de cette approche.
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Jugade, Shriram. "Shared control authority between human and autonomous driving system for intelligent vehicles." Thesis, Compiègne, 2019. http://www.theses.fr/2019COMP2507.
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Ce travail aborde le problème de l’autorité de contrôle partagée entre les conducteurs et système de conduite autonome sans retour haptique utilisant la fusion des entrées de conduite. Le développement d’une autorité de contrôle partagée est divisé en différentes étapes : cadre de contrôle partagé, évaluation des facteurs de conduite, prévision du comportement de conduite, processus de fusion, etc. La résolution des conflits est la stratégie de haut niveau introduite dans le cadre permettant de réaliser la fusion. Les entrées de conduite sont évaluées en fonction de différents facteurs tels que le risque de collision, la limitation de vitesse, la prévention de voie / départ, etc., sous la forme d’un degré de confiance dans l’admissibilité d’une entrée de conduite à l’aide de données de capteur. La résolution de conflit est ciblée pour un horizon temporel particulier dans le futur en utilisant une prédiction d’entrée de conduite basée sur un capteur utilisant des réseaux de neurones. Un jeu non coopératif à deux joueurs (comprenant l’admissibilité et l’intention de conduite) est défini comme représentant la résolution du conflit comme un problème de négociation. L’entrée motrice finale est calculée en utilisant l’équilibre de Nash. La stratégie de contrôle partagé est validée à l’aide d’un banc d’essai intégré aux logiciels Simulink et IPG CarMaker. Divers aspects de la stratégie de contrôle partagé, tels que l’accent mis sur l’homme, la prévention des collisions, l’absence de toute information sur la conduite, l’affinement de la conduite manuelle, etc., ont été inclus dans le processus de validation<br>Road traffic accidents have always been a concern to the driving community which has led to various research developments for improving the way we drive the vehicles. Since human error causes most of the road accidents, introducing automation in the vehicle is an efficient way to address this issue thus making the vehicles intelligent. This approach has led to the development of ADAS (Advanced Driver Assistance Systems) functionalities. The process of introducing automation in the vehicle is continuously evolving. Currently the research in this field has targeted full autonomy of the vehicle with the aim to tackle the road safety to its fullest potential. The gap between ADAS and full autonomy is not narrow. One of the approach to bridge this gap is to introduce collaboration between human driver and autonomous system. There have been different methodologies such as haptic feedback, cooperative driving where the autonomous system adapts according to the human driving inputs/intention for the corrective action each having their own limitations. This work addresses the problem of shared control authority between human driver and autonomous driving system without haptic feedback using the fusion of driving inputs. The development of shared control authority is broadly divided into different stages i.e. shared control framework, driving input assessment, driving behavior prediction, fusion process etc. Conflict resolution is the high level strategy introduced in the framework for achieving the fusion. The driving inputs are assessed with respect to different factors such as collision risk, speed limitation,lane/road departure prevention etc in the form of degree of belief in the driving input admissibility using sensor data. The conflict resolution is targeted for a particular time horizon in the future using a sensor based driving input prediction using neural networks. A two player non-cooperative game (incorporating admissibility and driving intention) is defined to represent the conflict resolution as a bargaining problem. The final driving input is computed using the Nash equilibrium. The shared control strategy is validated using a test rig integrated with the software Simulink and IPG CarMaker. Various aspects of shared control strategy such as human-centered, collision avoidance, absence of any driving input, manual driving refinement etc were included in the validation process
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Marouane, Hela. "Contribution à la modélisation des applications temps réel d'aide à la conduite." Thesis, Le Havre, 2015. http://www.theses.fr/2015LEHA0017/document.
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Les systèmes d'aide à la conduite gèrent un grand volume de données qui doivent être mises à jour régulièrement. Cependant, ces systèmes ne permettent, ni de les stocker, ni de les gérer d'une manière efficace. Pour ces raisons, nous proposons l'intégration d'un système de bases de données temps réel (TR) dans les systèmes d'aide à la conduite. Cela permet d'améliorer la tolérance aux fautes, de réduire le nombre de transactions et de réduire leur temps de réponse. La gestion d'un grand volume de données et leurs contraintes TR rend ces systèmes plus complexes, ce qui rend leur modélisation plus difficile. Pour remédier à cette complexité, nous avons proposé trois patrons de conception en nous basant sur un processus de création de patrons. Ce processus permet de définir les étapes à suivre pour déterminer les fonctionnalités et les exigences du domaine d'aide à la conduite, d'une part, et de définir les règles d'unification pour générer les diagrammes UML de classes et de séquence, d'autre part. Pour représenter ces patrons, nous avons proposé le profil UML-RTDB2, pour tenir compte : (i) de l'expression de la variabilité des patrons, (ii) de la représentation des contraintes TR et des aspects non fonctionnels et (iii) des éléments instanciés à partir des patrons lors de la modélisation d'une application cible. Une fois les patrons créés, ils peuvent être réutilisés par les concepteurs pour modéliser des systèmes spécifiques. Pour cela, nous avons proposé un processus de réutilisation pour guider les concepteurs d'applications lors de la réutilisation des solutions de patrons. Enfin, nous avons procédé à l'évaluation de ces patrons en utilisant deux catégories de métriques<br>Advanced Driver Assistance Systems (ADAS) manage an important volume of data that must be updated regularly. However, ADAS don't store, nor manage efficiently these data. For these reasons, we propose to integrate a real-time (RT) database system into ADAS. The integration of the RT database system allows improving the fault tolerance, reducing the number of transactions and minimizing their response time. The management of a lot of data makes these systems complex, thus, their design is highly difficult. To tackle this problem, we have proposed three patterns based on the pattern development process. This process allows defining the steps to follow in order to determine the functionalities and the requirements of the driver assistance domain on one hand, and defining the unification rules for the generation of the UML class and sequence diagrams, on the other hand. In order to represent these patterns, we have proposed UML-RTDB2 profile, which allows (i) expressing the variability of patterns, (ii) representing the real time constraints and the non functional properties and (iii) identifying the role played by each pattern element in a pattern instance. Once the proposed patterns are created, they can be reused by designers to model a specific application. For this reason, we have proposed a process to assist the applications designers when instantiating the patterns solutions. Finally, we have evaluated these patterns based on two categories of metrics
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Guo, Amy Weihong. "Use of a New Methodology to Investigate the Effectiveness of a Pervasive and Intelligent Future Traveller Information System in Encouraging Public Transport Use." Thesis, University of Newcastle Upon Tyne, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.506612.
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De, Miranda Neto Arthur. "Embedded visual perception system applied to safe navigation of vehicles." Compiègne, 2011. http://www.theses.fr/2011COMP1987.
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Les études développées dans ce projet doctoral ont concerné deux problématiques actuelles dans le domaine des systèmes robotiques pour la mobilité terrestre: premièrement, le problème associé à la navigation autonome et (semi)-autonome des véhicules terrestres dans un environnement inconnu ou partiellement connu. Cela constitue un enjeu qui prend de l'importance sur plusieurs fronts, notamment dans le domaine militaire. Récemment, l'agence DARPA1 aux États-Unis a soutenu plusieurs challenges sur cette problématique robotique; deuxièmement, le développement de systèmes d'assistance à la conduite basés sur la vision par ordinateur. Les acteurs de l'industrie automobile s'intéressent de plus en plus au développement de tels systèmes afin de rendre leurs produits plus sûrs et plus confortables à toutes conditions climatiques ou de terrain. De plus, grâce à l'électronique embarquée et à l’utilisation des systèmes visuels, une interaction avec l'environnement est possible, rendant les routes et les villes plus sûres pour les conducteurs et les piétons. 1) Defense Advanced Research Projects Agency (DARPA): est une agence du département de la Défense des États- Unis chargée de la recherche et développement des nouvelles technologies destinées à un usage militaire. 2) L'objectif principal de ce projet doctoral a été le développement de méthodologies qui permettent à des systèmes mobiles robotisés de naviguer de manière autonome dans un environnement inconnu ou partiellement connu, basées sur la perception visuelle fournie par un système de vision monoculaire embarqué. Un véhicule robotisé qui doit effectuer des tâches précises dans un environnement inconnu, doit avoir la faculté de percevoir son environnement proche et avoir un degré minimum d'interaction avec celui-ci. Nous avons proposé un système de vision embarquée préliminaire, où le temps de traitement de l'information (point critique dans des systèmes de vision utilisés en temps-réel) est optimisé par une méthode d'identification et de rejet d'informations redondantes. Suite à ces résultats, on a proposé une étude innovante par rapport à l´état de l´art en ce qui concerne la gestion énergétique du système de vision embarqué, également pour le calcul du temps de collision à partir d'images monoculaires. Ainsi, nous proposons le développement des travaux en étudiant une méthodologie robuste et efficace (utile en temps-réel) pour la détection de la route et l'extraction de primitives d'intérêts appliquée à la navigation autonome des véhicules terrestres. Nous présentons des résultats dans un environnement réel, dynamique et inconnu. Afin d'évaluer la performance de l'algorithme proposé, nous avons utilisé un banc d’essai urbain et réel. Pour la détection de la route et afin d'éviter les obstacles, les résultats sont présents en utilisant un véhicule réel afin d'évaluer la performance de l'algorithme dans un déplacement autonome<br>This 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
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Kang, Yue. "Sensor-based navigation for robotic vehicles by interaction of human driver and embedded intelligent system." Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2291.
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Cette thèse présente une méthode de navigation autonome d’un véhicule routier robotisé dans un contexte de l’interaction conducteur - véhicule, dans lequel le conducteur humain et le système de navigation autonome coopèrent dans le but d’associer les avantages du contrôle manuel et automatique. La navigation du véhicule est réalisée en parallèle par le conducteur humain et le système de conduite automatique, basée sur la perception de l’environnement. La navigation coopérative est basée sur l’analyse et correction des gestes du conducteur humain par le système intelligent, dans le but d’exécuter une tâche de navigation locale qui concerne le suivie de voie avec évitement d’obstacles. L’algorithme d’interaction humain-véhicule est basé sur des composants de navigation référencée capteurs formés par des contrôleurs d’asservissement visuel (VS) et la méthode d’évitement d’obstacle « Dynamic Window Approach (DWA) » basée sur la grilles d’occupation. Ces méthodes prennent en entrée la perception de l’environnement fournie par des capteurs embarqués comprenant un système monovision et un LIDAR. Dû à des impossibilités techniques/légales, nous n’avons pas pu valider nos méthodes sur notre véhicule robotisé (une Renault Zoé robotisée), ainsi nous avons construit des structures « driver-in-theloop » dans des environnements de simulation Matlab et SCANeRTM Studio. En Matlab, le conducteur humain est modélisé par un algorithme appelé « Human Driver Behaviour controller (HDB) », lequel génère des gestes de conduite dangereux dans la partie manuelle de l’entrée de commande du système coopératif. En SCANeR Studio, la sortie de l’HDB est remplacée par des commandes manuelles générées directement par un conducteur humain dans l’interface utilisateur du simulateur. Des résultats de validation dans les deux environnements de simulation montrent la faisabilité et la performance du système de navigation coopérative par rapport aux tâches de suivie de voie, l’évitement d’obstacles et le maintien d’une distance de sécurité<br>This thesis presents an approach of cooperative navigation control pattern for intelligent vehicles in the context of human-vehicle interaction, in which human driver and autonomous servoing system cooperate for the purpose of benefiting from mutual advantages of manual and auto control. The navigation of the vehicle is performed in parallel by the driver and the embedded intelligent system, based on the perception of the environment. The cooperative framework we specify concerns the analysis and correction of the human navigation gestures by the intelligent system for the purpose of performing local navigation tasks of road lane following with obstacle avoidance. The human-vehicle interaction algorithm is based on autonomous servoing components as Visual Servoing (VS) controllers and obstacle avoidance method Dynamic Window Approach (DWA) based on Occupancy Grid, which are supported by the environment perception performed carried out by on-boarded sensors including a monovision camera and a LIDAR sensor. Given the technical/legal impossibility of validating our interaction method on our robotic vehicle (a robotic Renault Zoé), the driver-in-the-loop structures of system are designed for simulative environment of both Matlab and SCANeRTM Studio. In Matlab environment human driver is modeled by a code-based Human Driver Behaviour (HDB) Controller, which generates potential dangerous behaviors on purpose as manual control of the cooperative system. In SCANeR Studio environment the HDB is replaced by real-time manual command (a real human driver) via driving interface of this simulator. Results of simulative validation show the feasibility and performance of the cooperative navigation system with respect to tasks of driving security including road lane following, obstacle avoidance and safe distance maintenance
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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 textAbstract:
Durant ces dernières années, la congestion du trafic urbain et la pollution de l'air sont devenus d'énormes problèmes dans de nombreuses villes dans le monde. Afin de réduire cette congestion, nous pouvons investir dans l'amélioration des infrastructures de la ville. Toutefois, cette solution reste très coûteuse à entreprendre et de ne permet pas de réduire la pollution de l'air. C'est pourquoi nous travaillons sur la mobilité intelligente afin de disposer d'une meilleure utilisation de la voiture. L'application de nouvelles technologies de l'information, tels que les systèmes multi-agents appliqués au contrôle de l'information de la circulation urbaine, a permis de créer et de déployer une gestion plus intelligente du trafic comme le système DRT (transport à la demande). L'objectif des systèmes multi-agents basés sur le DRT est de gérer les taxis de manière intelligente, afin d'accroître le nombre de passagers dans chaque véhicule, et en même temps à réduire le nombre de véhicules dans les rues. Cela permettra de réduire les émissions de CO2 et la pollution de l'air causée par les véhicules, ainsi que la congestion du trafic et les coûts financiers associés. La simulation multi-agents est considérée comme un outil efficace pour les services dynamiques urbains de la circulation. Toutefois, le principal problème est de savoir comment construire un agent à base de modèle pour cette problématique. Ces travaux de recherche présente une solution basée sur les systèmes multi-agents réactifs pour la problématique du transport à la demande (DRT), qui adopte une approche multi-agent de planification urbaine en utilisant des services de contrôle qui satisfont aux principales contraintes : réduction de la période totale creuse, demandes spéciales du client, augmentation du nombre de places utilisées dans un même taxi, utilisation du nombre minimal de véhicules, etc. Dans cette thèse, nous proposons un modèle multi-agents multicouche hybride distribué pour des problématiques en temps réel. Dans la méthode proposée, un agent pour chaque véhicule trouve un ensemble de routes pour sa recherche locale, et choisit un itinéraire en coopérant avec d'autres agents se trouvant dans son domaine de planification. Nous avons examiné expérimentalement, l'efficacité de la méthode proposée.
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Alodadi, Khaled. "Detecting non-line of sight to prevent accidents in Vehicular Ad hoc Networks." Thesis, De Montfort University, 2015. http://hdl.handle.net/2086/12268.
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There are still many challenges in the field of VANETs that encouraged researchers to conduct further investigation in this field to meet these challenges. The issue pertaining to routing protocols such as delivering the warning messages to the vehicles facing Non-Line of Sight (NLOS) situations without causing the storm problem and channel contention, is regarded as a serious dilemma which is required to be tackled in VANET, especially in congested environments. This requires the designing of an efficient mechanism of routing protocol that can broadcast the warning messages from the emergency vehicles to the vehicles under NLOS, reducing the overhead and increasing the packet delivery ratio with a reduced time delay and channel utilisation. The main aim of this work is to develop the novel routing protocol for a high-density environment in VANET through utilisation of its high mobility features, aid of the sensors such as Global Positioning System (GPS) and Navigation System (NS). In this work, the cooperative approach has been used to develop the routing protocol called the Co-operative Volunteer Protocol (CVP), which uses volunteer vehicles to disseminate the warning message from the source to the target vehicle under NLOS issue; this also increases the packet delivery ratio, detection of NLOS and resolution of NLOS by delivering the warning message successfully to the vehicle under NLOS, thereby causing a direct impact on the reduction of collisions between vehicles in normal mode and emergency mode on the road near intersections or on highways. The cooperative approach adopted for warning message dissemination reduced the rebroadcast rate of messages, thereby decreasing significantly the storm issue and the channel contention. A novel architecture has been developed by utilising the concept of a Context-Aware System (CAS), which clarifies the OBU components and their interaction with each other in order to collect data and take the decisions based on the sensed circumstances. The proposed architecture has been divided into three main phases: sensing, processing and acting. The results obtained from the validation of the proposed CVP protocol using the simulator EstiNet under specific conditions and parameters showed that performance of the proposed protocol is better than that of the GRANT protocol with regard to several metrics such as packet delivery ratio, neighbourhood awareness, channel utilisation, overhead and latency. It is also successfully shown that the proposed CVP could detect the NLOS situation and solves it effectively and efficiently for both the intersection scenario in urban areas and the highway scenario.
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Nguyen-Minh, Huong. "Contribution to the Intelligent Transportation System : security of Safety Applications in Vehicle Ad hoc Networks." Thesis, Avignon, 2016. http://www.theses.fr/2016AVIG0212/document.
Full textAbstract:
Le développement du transport partout dans le monde a fourni un grand nombre d'avantages pour de nombreux aspects de la vie humaine. Les systèmes de transport intelligents (ITS) sont des applications avancées qui visent à rendre les réseaux de transport plus sûrs, plus pratiques et plus intelligents. Selon leurs usages, ils peuvent être classés en deux types d'applications ITS, qui sont des applications de sûreté et des applications non-sûreté. Le réseau de véhicules ad hoc (VANET) est un élément clé des systèmes ITS, car il permet la communication entre les unités de transport. Ces communications prennent en charge différentes applications ITS avec différentes propriétés. Parmi les deux types d'applications, nous nous intéressons aux applications de sûreté qui ont des contraintes de qualité de service et des contraintes de sécurité plus strictes. Selon le scénario considéré et l'application de sûreté donnée, les informations échangées entre les véhicules doivent être diffusé localement dans une communication à un seul saut et / ou également notifiées aux véhicules à large dimension. L'objectif principal de cette thèse est d'améliorer les performances des applications de sûreté en termes de qualité de service et de sécurité, à la fois dans une communication à un saut et dans une communication multi-sauts. Nous nous intéressons à la fiabilité, la connectivité et le déni de service (DoS). Nous étudions et proposons des solutions techniques provenant de couches inférieures (Physique, Liaison et Réseaux) qui jouent un rôle fondamental dans l'atténuation des défis créés par la nature de l'environnement des véhicules. Tout d'abord, nous introduisons une nouvelle méthode efficace pour fiabiliser la radiodiffusion. Dans notre système, les messages de sécurité sont rediffusés lorsque l'expéditeur est sollicité. Cela augmente le pourcentage de véhicules qui reçoivent les messages alors que le nombre de messages dupliqués reste limité. En second lieu, en tenant compte de la fragmentation du réseau, nous étudions des solutions qui permettent de pallier la déconnexion temporaire du réseau pour apporter l'information de sécurité aux destinataires. Basé sur les propriétés sociales des réseaux de véhicules, nous proposons un protocole de transfert basé sur des relations sociales pour relayer la communication entre les véhicules et des points d'intérêt qui fournissent des services de sécurité avec des contraintes de temps plus souples, telles que la recherche et le sauvetage. Troisièmement, nous étudions l'attaque de brouillage, une sorte d'attaques DoS, qui est cruciale pour les applications de sûreté et qui et facilement réalisable au niveau des couches inférieures. Nous modélisons l'attaque de brouillage afin d'étudier la dégradation causée par l'attaque sur les performances du réseau. La dégradation à un certain niveau dans les performances du réseau est une indication de présence d'attaques de brouillage dans le réseau; donc les résultats de cette analyse nous permettent de déterminer les seuils de performance du réseau pour distinguer entre les scénarios normaux et les scénarios attaqués. Toutefois, selon cette analyse, le procédé utilisant la dégradation comme une indication pour détecter une attaque de brouillage est impossible pour des applications temps réel. Par conséquent, nous proposons des nouvelles méthodes afin de détecter les attaques de brouillage temps réel. Nos méthodes permettent la détection en temps réel avec une grande précision, non seulement chez le moniteur central mais aussi au niveau de chaque véhicule. Par conséquent, les véhicules sont avertis sur l'attaque assez tôt pour récupérer la communication et réagir à ces attaques<br>The development of transportation all over the world has been providing a lot of benefits for many aspects of human life. Intelligent Transportation Systems (ITS) are advanced applications that aim to make the transport networks safer, more convenient and smarter. According to their usages, they can be classified into two types of ITS applications, which are safety applications and non-safety applications. Vehicular ad hoc network (VANET) is a key component of ITS since it enables communications among transportation units. These communications support different ITS applications with various properties. Between two types of applications, we are interested in safety applications which have tighter quality and security constraints. Depending on an applied scenario of a given safety application, the exchanged information among vehicles must be broadcast locally within one-hop communication and/or also be notified to vehicles in large range. The main objective of this thesis is to improve the performance of safety applications in term of the quality of service and security, in both one-hop communication and multi-hop communication. We focus on reliability, connectivity and Denial of Services (DoS) attack. We study and propose technical solutions coming from lower layers (Physical, MAC and network layers) which play a fundamental role in mitigation to challenges created by the nature of the vehicular environment. Firstly, we introduce a reliable scheme to achieve the reliability for broadcasting. In our scheme, the safety messages are rebroadcast when the sender is solicited. This increases the percentage of vehicles receiving the messages while duplicated messages are limited. Secondly, with consideration of the fragmentation of the network, we study solutions that overcome the temporary disconnection in the network to bring the safety information to the recipients. Based on the social properties of vehicular networks, we propose a social-based forwarding protocol to support the communication between vehicles to points of interest that provide safety services with looser time constraints, such as search and rescue. Thirdly, we investigate jamming attack, a kind of DoS attacks, which is crucial for safety applications because of the adequate condition of the attack at the lower layers. We model jamming attack on broadcasting in order to study the degradation caused by the attack on network performance. The degradation at a certain level in network performance is an indication of a jamming attack presence in the network; therefore results from this analysis will allow us to determine network performance thresholds to distinguish between normal and attacked scenarios. However, according to our analysis, the method using the degradation as an indication to detect a jamming attack is not feasible for real-time applications. Hence, we propose methods to detect jamming attacks in real-time. Our methods allow real-time detection with high accuracy, not only at the central monitor but also at each vehicle. Therefore, vehicles are noticed about the attack soon enough to recover the communication and react to these attacks