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Michel ParentINRIA-IMARA
www.lara.prd.fr
CybercarsCybercars in La Rochelle:in La Rochelle: SomeSome lessonslessons learnedlearned
• Urban road vehicle with fully autonomous driving capabilities
• Integrated in a complete urban transport• Managed by an operator
CybercarsCybercars
• Small Public Urban Vehicles• Assisted driving• Platooning• Automated Parking• Automated tracks• Complement to
other modes
Concept INRIA/INRETS (1991)Concept INRIA/INRETS (1991)
WitkarWitkar, Amsterdam (1970, Amsterdam (1970’’s)s)
PraxitelePraxitele (1993(1993--1999)1999)
LiselecLiselec -- La Rochelle (1998)La Rochelle (1998)
• Rueil-Malmaison• Nice (Autobleue)• La Rochelle (Liselec)
VUVU--Log Log –– Antibes (2007)Antibes (2007)
PlatooningPlatooning (INRIA(INRIA--1994)1994)
• Premiers concepts en 1990’s (Serpentine, RUF, Dedale, Frog, ULTra,…)
• Premiers prototypes en 1990’s • Première exploitation en 1997• CyberCars/CyberMove en 2001• Demonstrations Antibes en 2004• MobiVIP (2004)• CyberC3 (2005)• CyberCars2 (2006)• CityMobil (2006)• Cristal (2007)• CityNetMobil (2008)• CityMobil2 (2012?)
CybercarsCybercars StoryStory
First cybercarsFirst cybercars
La Rochelle: siteLa Rochelle: site
Electric boat harbour
Museums area
Technoforum(Universityarea) /BRT line
CyberGoCyberGo (Induct(Induct--INRIA)INRIA)
FloriadesFloriades (Amsterdam)(Amsterdam)
• Navigation• Communications• Obstacle avoidance• Topology and vehicle synchronization• Precision docking
TechnicalTechnical ProblemsProblems
LocalisationLocalisation
• Laser range finder (IBEO)
Obstacle Sensor (1999)Obstacle Sensor (1999)
LidarLidar
TopologyTopology and and SynchronizationSynchronization
01/10/2011 CityMobilCityMobil PresentationPresentation 24
• Authorization• Insurances• Pedestrian behavior• Vehicles behavior• Degradations
NonNon--TechnicalTechnical ProblemsProblems
SafetySafety AnalysisAnalysis
AccidentAccident
VandalismVandalism
• DATA COLLECTED MAI 20 TO JULY 30
• NB OF PASSENGERS 899
• NB OF INTERVIEWS 200
CityMobilCityMobil PresentationPresentation
01/10/2011 CityMobilCityMobil PresentationPresentation 30
LES USAGERSLES USAGERS
01/10/2011 CityMobilCityMobil PresentationPresentation 31
CE SYSTEME DE TRANSPORT PEUT CE SYSTEME DE TRANSPORT PEUT ÊTREÊTRE::
01/10/2011 CityMobilCityMobil PresentationPresentation 32
• Well adapted to car-sharing• Strong Drivers’ assistance• Full automation for:
– Relocalisation (platooning or automated tracks)– Parking– Dedicated track network– Fleet Management
New New GenerationGeneration UrbanUrban VehiclesVehicles
Cristal Cristal -- LohrLohr
ENEN--V de V de GMGM--SegwaySegway (2010)(2010)
B2 Prototype (2001)B2 Prototype (2001)
PICAV CONCEPT PICAV CONCEPT
Serpentine (Lausanne)Serpentine (Lausanne)
380
200 9090
230
115
Capacity: a) 10 standing persons
b) 4 sitting + 4 standing
Current weight: 600 kg
Maximum weight: 1’000 kg
Nominal speed: 10 km/h
Top speed: 15 km/h
Guidance: automatic
Stop time: 10 seconds
NumexiaNumexia
1 Structure: RTM body
2 Power Control: electronic
3 Guidance control: electronic
4 Energy storage: ultra capacitors
5 Security: laser detection system
6 Propulsion: motor wheel
7 Energy transmission:Litz bobine
2
4
1
5 6
7
3 8
Vehicle ArchitectureVehicle Architecture
Ground level
Fixed coils in the ground
Moving coil fixed to the vehicle
Contact free energy transmission
Efficiency > 90 %
Contactless Energy Contactless Energy TransferTransfer
