Autonomous Vehicles (AV) can navigate itself from point `A' to point `B' without the aid of humans. Research on autonomous vehicles were primarily focused on the localization, navigation and path planning schemes. This led to numerous methods in each of the elds of focus. This research focuses on creating a scheme for the autonomous vehicle to navigate using minimal sensors and get maximum data/infor- mation from the map. At rst a digital map contains various structures and each has an associated database. This database contains the details of the environment. At present these data are manipulated for use by humans and for this map to be used with autonomous vehicle require more sensors. This work designs maps for use with autonomous vehicle and navigates using di erential GPS (dGPS) of high accuracy for localization. Then the vehicle gets path and directions from digital map and nav- igates using multiple waypoints that are provided by the path. Finally, the scheme is tested and demonstrated through simulation and test results.

This dissertation is concerned with the problem of estimating travel time per links in urban context using sparsely sampled GPS data. One of the challenges in this thesis is use the sparsely sampled data. A part of this research work, i developed a digital map with its new geographic information system (GIS), dealing with map-matching problem, where we come out with an enhancement tecnique, and also the shortest path problem.The thesis research work was conduct within the project PUMAS, which is an avantage for our research regarding the collection process of our data from the real world field and also in making our tests. The project PUMAS (Plate-forme Urbaine de Mobilité Avancée et Soutenable / Urban Platform for Sustainable and Advanced Mobility) is a preindustrial project that has the objective to inform about the traffic situation and also to develop an implement a platform for sustainable mobility in order to evaluate it in the region, specifically Rouen, France. The result is a framework for any traffic controller or manager and also estimation researcher to access vast stores of data about the traffic estimation, forecasting and status.

Cette thèse porte sur le problème de l'estimation des temps de parcours, de véhicules, par section de route dans un contexte urbain, en utilisant les données GPS à faible densité d’échantillon. L'un des défis de cette thèse est d'utiliser ce genre de données. Dans le cadre de ce travail de recherche, j'ai développé une carte numérique avec son nouveau système d'information géographique (SIG), qui traite la problématique du map-matching, où nous avons apporté des améliorations, ainsi que le problème du plus court chemin.La thèse s'inscrit dans le cadre du projet PUMAS (Plate-forme Urbaine de Mobilité Avancée et Soutenable), ce qui est un avantage pour nos recherches en ce qui concerne le processus de collecte de données réelles sur le terrain ainsi que pour faire nos tests. Le projet PUMAS est un projet préindustriel qui a pour objectif d'informer sur la situation du trafic mais également de développer et de mettre en œuvre une plate-forme de mobilité durable afin de l'évaluer dans la région, notamment à Rouen, France. Le résultat offre un cadre pour tout contrôleur de la situation, gestionnaire ou chercheur pour accéder à de vastes réserves de données sur l'estimation du flux du trafic, sur les prévisions et sur l'état du trafic. / This dissertation is concerned with the problem of estimating travel time per links in urban context using sparsely sampled GPS data. One of the challenges in this thesis is use the sparsely sampled data. A part of this research work, i developed a digital map with its new geographic information system (GIS), dealing with map-matching problem, where we come out with an enhancement tecnique, and also the shortest path problem.The thesis research work was conduct within the project PUMAS, which is an avantage for our research regarding the collection process of our data from the real world field and also in making our tests. The project PUMAS (Plate-forme Urbaine de Mobilité Avancée et Soutenable / Urban Platform for Sustainable and Advanced Mobility) is a preindustrial project that has the objective to inform about the traffic situation and also to develop an implement a platform for sustainable mobility in order to evaluate it in the region, specifically Rouen, France. The result is a framework for any traffic controller or manager and also estimation researcher to access vast stores of data about the traffic estimation, forecasting and status.