SHIFT
The Nissan LEAF "SHIFT" - is a demonstrator featuring a Steer-by-Wire system, used to study human-machine interactions in shared driving and tele-driving.
Integrated into LAMIH's Autonomous Mobility platform, it is promoted within the AV LAB as part of the regional CPER RITMEA program.
General presentation
The SHIFT prototype vehicle - Steer-by-wire Human Interface For co-driving Technology - is an experimental platform dedicated to prototyping and evaluating technological solutions for autonomous mobility, shared driving and tele-driving.
This platform enables:
- Experiment with teleoperation and remote vehicle control,
- Develop and test innovative driving interfaces,
- Design and evaluate fault-tolerant control strategies in shared driving situations,
- Study cooperation between the human driver and the autonomous vehicle,
- Develop and test solutions adapted to the mobility of people with reduced mobility (PMR).
The SHIFT vehicle is based on a hardware and software architecture similar to that of the PRIVAC vehicle and the SHERPA driving simulator, thus facilitating interconnection and interoperability between the various experimental platforms.
Tests are carried out on the Gyrovia test track, located on the Mont Houy campus and operated by the IMTD: Institut des Mobilités et Transports Durables.
Keywords
Autonomous vehicle, automated driving, telecontrol, decoupled steering, authority management, fault-tolerant control, human-machine cooperation, cooperative assistance system, shared direct/indirect control, mobility assistance for PRM.
Platform features
- Complete vehicle re-boosting (longitudinal and lateral control)
- Decoupled steering with 100% electric wire control
- Interaction with the driver and direct or indirect "shared control" possibilities
- Possibility of telecontrol interaction with a remote driver station (telecontroller)
- V2V and V2I communication
- Energy management, eco-driving and battery pack health optimization
Skills
- Prototyping and testing of advanced driver assistance systems on real vehicles
- Design and validation of advanced control laws for steer-by-wire architecture vehicles
- Development of robust and fault-tolerant control strategies
- Development and testing of shared driving scenarios in normal and degraded conditions
- Experimentation with teleoperation and remote control
- Management of control transitions between driver, teleoperator and autonomous system
- Development of adapted driving solutions for PRMs (adapted driving solutions, personalized assistance)
Examples of work
- Fault tolerance of Human Machine cooperation for autonomous driving
- Cooperation between driver, automated vehicle and infrastructure for complex situation management: application to the traffic circle case
- Haptic shared control for safe and collaborative telecontrol of autonomous vehicles in complex urban environments
Representative research projects carried out on the platform
- CPER RITMEA (Automated driver-vehicle cooperation)
- ANR Battl-EU (Personalized energy management for battery health optimization)
- ANR VolHand
Representative collaborations
Platform equipment
| Equipment name | Model | Make | Specific information |
|---|---|---|---|
| 100% electric robotic vehicle, with Steer-By-Wire specificity |
LEAF (ZE0) |
Nissan |
Series vehicle robotized and instrumented by LAMIH UMR CNRS 8201 Dual control: local/remote control |
| Telematic box for CAN network decoding, car-sharing and fleet management | DCar-S (customized Nissan LEAF ZE0) | DUNASYS | Remote vehicle data collection, from another platform |
| Vehicle Control Unit (VCU) | Nissan Leaf ZE0 Controller | RESOLVE-EV | ECU for powertrain control (motor + inverter + charger + BMS) |
| Power Steering Controller | QG6-A01-20 | Mitsubishi JTEKT Corp. Japan | Open calculator for steering rack actuator management |
| Steer-By-Wire Controller | Engineering Sample | Mitsubishi JTEKT Corp. Japan |
Open calculator for Steer-By-Wire controller Adaptable human-machine interface (steering wheel haptic feedback, Joystic, HMI) |
| Inline torque meter (behind steering wheel) | SM2300 (+/- 50Nm) | Sensel Measurement | Wheel instrumentation for driver torque acquisition and detection of hands on steering wheel |
| Customizable motorized steering column | Engineering Sample | Nissan - Infiniti | Cutaway force feedback steering column (LAMIH realization) |
| Motorized steering rack | Q50 / 4HK 1AGE | Infiniti | Steer-By-Wire dual-actuator specific rack |
| Real-time system + on-board PC | Micro Autobox III + embedded PC (Ethernet, CAN, CAN FD, I/O) | dSPACE | Control/command of the entire vehicle via Matlab-Simulink |
| IMU/GPS-RTK | Ellipse 2G | SBG | Centimeter GNSS RTK position Dual antenna for 0.2° heading Extended Kalmann filter |
| Lidar | XT32 | Hensai |
+15° / -16° vertical 120 m range 640000 points per second |
Financing
The platform was developed and financed under a Collaboration Contract with Nexteer Automotive. It also falls within the scope of the Contrat de Plan État-Région (CPER) RITMEA, co-financed by the European Union under the European Regional Development Fund (ERDF), as well as by the State and the Région Hauts-de-France.
Contact
Scientific manager : Chouki Sentouh
Platform manager : Sébastien Paganelli
