SHERPA

SHERPA - Simulateur Hybride d'Etude et de Recherche Pour l'Automobile - is a "full-scale" automotive driving simulator. It is used for research projects concerning:

• The design, prototyping and evaluation of advanced driver assistance systems (ADAS);
• The study and modeling of driving behavior in potentially accident-prone situations: hypovigilance on freeways, impending collision, infrastructure problem, etc;
• Analysis of the driver's state in terms of vigilance, distraction, ...

It enables complete prototyping of the driver HMI: dashboard and central touchscreen displays, steering wheel force feedback, accelerator pedal with haptic feedback, etc. The simulator is based on a hardware and software architecture compatible with that of the PRIVAC prototype vehicle, facilitating the transition from simulation to the real world.

Autonomous vehicles, automated vehicles, trajectory planning and control, human-machine cooperation, cooperative assistance systems, shared control, artificial intelligence, learning, driver monitoring.

• Complete vehicle reboosting (steering, GMP, braking)
• Shared control
• Environment perception
• IHM (display, amenities, haptic feedback, sounds)
• Driver monitoring
.

• Prototyping and testing advanced driver assistance systems
• Analysis of driving behavior
• Usability testing

• Development of a level 2+ automated driving system including shared lateral control
• Development of a system to identify driver preferences while driving

• CoCoVéA : "Cooperation Driver - Automated Vehicle" (ANR project, 2013-2017)
• AutoConduct : "Adaptation of the autonomous vehicle automation strategy to the needs and state of the driver" (ANR project, 2016-2020)
• CoCoCoVéIA : "Cooperation Driver - Autonomous Intelligent Vehicle" (ANR project, 2019-2024)
• HM-Science : "Human-Machine Shared Control" (ANR project, 2022-2026)

• Stellantis
• Valeo
• Continental

• Peugeot 208 vehicle fully instrumented :
  • SensoWheel steering wheel force feedback, SensoShift configurable gearbox (mechanical or automatic), brake pedal force feedback, "haptic"
  accelerator pedal.
  • Glass cockpit (dashboard and central touchscreen)
  • CAN bus for hardware-in-the-loop prototyping
  .
  • SmartEyePro driver monitoring system, SMI-ETG eye tracking scope
• 6-axis dynamic platform eMotion 2700 Van Halteren Technologies
• Front 240° visuals via 5 Epson 3LCD laser video projectors (WUXGA, 6000 lumens) and rear on the three mirrors (mini LCD screens)
• Cluster of around fifteen PCs for all functions
• ScaneR Studio software environment (AVSimulation): editing of road databases and vehicle characteristics, creation of traffic scenarios, simulation of weather conditions, special effects (rolling noise, rough stripes on the road, impacts, ...)
• Software prototyping performed in Matlab/Simulink, RTMaps (Intempora), C++, ...

The platform is part of the Contrat de Plan État-Région (CPER) RITMEA, co-financed by the Union Européenne with the Fonds Européen de Développement Régional (FEDER), by the État and by the Région Hauts-de-France.

Scientific manager : Chouki Sentouh
Platform manager : Jérôme Floris

• ANR CoCoVéIA project
• ANR AutoConduct project
• ANR CoCoVéA project
• Co-simulation Car/Tram