diff --git a/pyproject.toml b/pyproject.toml
index 048b860..af3945d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -14,6 +14,7 @@ authors = [
 ]
 
 dependencies = [
+
 ]
 
 [project.optional-dependencies]
@@ -64,4 +65,9 @@ rpi = [
     "matplotlib>=3.10.5",
     "opencv-python>=4.12.0.88",
     "scipy>=1.15.3",
+    "websockets>=16.0",
+    "fastapi>=0.128.0",
+    "uvicorn>=0.40.0",
+    "websocket>=0.2.1",
+    "websockets>=16.0",
 ]
diff --git a/scripts/commande_PS4.py b/scripts/commande_PS4.py
index f0a8dbd..a6a0428 100644
--- a/scripts/commande_PS4.py
+++ b/scripts/commande_PS4.py
@@ -18,7 +18,7 @@ def envoie_donnee(Voiture): #si utilisation de la voiture directement
     bus = smbus.SMBus(1)
     while True:
             try :
-                data = struct.pack('<ff', float(round(Voiture.vitesse_mms)), float(round(Voiture.direction_d)))
+                data = struct.pack('<ff', float(round(Voiture.vitesse_mms)), float(round(Voiture.direction)))
                 bus.write_i2c_block_data(SLAVE_ADDRESS, 0, list(data))
                 #time.sleep(0.00005)
             except Exception as e:
@@ -64,12 +64,12 @@ def kill(self):
         self.running = False
 
     @property
-    def vitesse_d(self):
+    def target_speed(self):
         return self.controller.vitesse_mms
     
     @property
-    def direction_d(self):
-        return self.controller.direction_d
+    def direction(self):
+        return self.controller.direction
 
 class MyController(Controller):
 
@@ -77,7 +77,7 @@ def __init__(self, **kwargs):
         super().__init__(**kwargs)
         self.log = logging.getLogger(__name__)
         self.vitesse_mms = 0 # vitesse initiale en métre par milliseconde
-        self.direction_d = 0 # angle initiale des roues en degrés
+        self.direction = 0 # angle initiale des roues en degrés
         self.filtered = 0
         self.alpha = 0.3
         self.running = 0
@@ -120,12 +120,12 @@ def on_R1_release(self):
     def on_L3_right(self,value):
         # print("x_r :", value, "degré : ",map_range(value,-32767, 32767, 60, 120))
         dir = map_range(value, 0, 32767, 0, MAX_ANGLE)
-        self.direction_d = dir
+        self.direction = dir
 
     def on_L3_left(self,value):
         #print("x_r :", value, "degré : ",map_range(value,-32767, 0, -MAX_ANGLE, 0 ))
         dir = self.stable_direction(value)
-        self.direction_d = dir
+        self.direction = dir
 
 
     def on_L2_press(self, value):
diff --git a/scripts/remote_control_controller.py b/scripts/remote_control_controller.py
index 8e808ee..9dd2b2e 100644
--- a/scripts/remote_control_controller.py
+++ b/scripts/remote_control_controller.py
@@ -10,16 +10,16 @@
 sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
 
 def envoie_donnee():
-    global vitesse_m, direction_d
+    global vitesse_m, direction
     while True:
-        packet = struct.pack("ff", vitesse_m, direction_d)
+        packet = struct.pack("ff", vitesse_m, direction)
         sock.sendto(packet, ("192.168.1.10", 5556))
         time.sleep(0.05)
 
 ###################################################
 # Paramètres véhicule
 ###################################################
-direction_d = 0
+direction = 0
 vitesse_m = 0
 
 vitesse_max_m_s_soft = 2
@@ -30,9 +30,9 @@ def map_range(x, in_min, in_max, out_min, out_max):
     return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
 
 def set_direction_degre(angle_degre):
-    global direction_d
-    direction_d = angle_degre
-    print(direction_d, vitesse_m)
+    global direction
+    direction = angle_degre
+    print(direction, vitesse_m)
 
 def set_vitesse_m_ms(vit):
     global vitesse_m
diff --git a/src/HL/Autotech_constant.py b/src/HL/Autotech_constant.py
index 717800e..608badf 100644
--- a/src/HL/Autotech_constant.py
+++ b/src/HL/Autotech_constant.py
@@ -42,6 +42,7 @@
 TEXT_LEFT_OFFSET = 3 # Offset from the left of the screen to ensure no cuttoff
 
 
+
 script_dir = os.path.dirname(os.path.abspath(__file__))
 MODEL_PATH = os.path.join(script_dir, "model_CNN1D.onnx")  # Allows the model to be loaded from the same directory as the script regardless of the current working directory (aka where the script is run from)
 
@@ -59,4 +60,9 @@
 # In our case Higher temperature means less agressive driving and lower temperature means more aggressive driving.
 
 
-LOGGING_LEVEL = logging.DEBUG # can be either NOTSET, DEBUG, INFO, WARNING, ERROR, CRITICAL
\ No newline at end of file
+LOGGING_LEVEL = logging.DEBUG # can be either NOTSET, DEBUG, INFO, WARNING, ERROR, CRITICAL
+
+#Startup
+CAMERA_STREAM_ON_START = True #If True the camera stream will start at the launch of the car
+BACKEND_ON_START = True #If True the backend will start at the launch of the car
+LIDAR_STREAM_ON_START = True #If True the lidar stream will start at the launch of the car
\ No newline at end of file
diff --git a/src/HL/Serveur_mq.py b/src/HL/Serveur_mq.py
index 3fd690e..9449661 100644
--- a/src/HL/Serveur_mq.py
+++ b/src/HL/Serveur_mq.py
@@ -33,6 +33,7 @@
 from src.HL.actionneur_capteur.Camera import ProgramStreamCamera
 from src.HL.programme.module_initialisation import Initialisation
 from src.HL.programme.Car import Ai_Programme
+from backend import BackendAPI
 
 from Autotech_constant import I2C_NUMBER_DATA_RECEIVED, I2C_SLEEP_RECEIVED, I2C_SLEEP_ERROR_LOOP, TEXT_HEIGHT, TEXT_LEFT_OFFSET
 
@@ -77,7 +78,14 @@ def __init__(self):
 
         self.initialisation_module = Initialisation(self,Camera,Lidar,ToF, I2c_arduino)
         
-        self.programme = [SshProgramme(), self.initialisation_module, Ai_Programme(self), PS4ControllerProgram(), RemoteControl(), ProgramStreamCamera(self), Poweroff()]
+        self.programme = [SshProgramme(),
+                         self.initialisation_module, 
+                         Ai_Programme(self), 
+                         PS4ControllerProgram(), 
+                         RemoteControl(), 
+                         ProgramStreamCamera(self), 
+                         BackendAPI(self, host="0.0.0.0", port=8001, site_dir="/home/intech/CoVAPSy/src/HL/site_controle"),
+                         Poweroff()]
         self.log.debug("Programmes chargés: %s", [type(p).__name__ for p in self.programme])
 
         # donnée de l'écran
@@ -101,6 +109,15 @@ def tof(self):
     @property
     def arduino_I2C(self):
         return self.initialisation_module.arduino_I2C
+    
+    @property
+    def target_speed(self):
+        return self.programme[self.last_programme_control].target_speed
+    
+    @property
+    def direction(self):
+        return self.programme[self.last_programme_control].direction
+        
     #-----------------------------------------------------------------------------------------------------
     # affichage de l'écrans
     #-----------------------------------------------------------------------------------------------------
diff --git a/src/HL/actionneur_capteur/Camera.py b/src/HL/actionneur_capteur/Camera.py
index 8c0bd9c..c561f54 100644
--- a/src/HL/actionneur_capteur/Camera.py
+++ b/src/HL/actionneur_capteur/Camera.py
@@ -41,7 +41,7 @@ def outputframe(self, frame, keyframe=True):
 
 from src.HL.programme.Camera_serv import StreamServer, StreamHandler, StreamOutput, frame_buffer
 from src.HL.programme.programme import Program
-from src.HL.Autotech_constant import PORT_STREAMING_CAMERA, SIZE_CAMERA_X, SIZE_CAMERA_Y, FRAME_RATE, CAMERA_QUALITY, STREAM_PATH
+from src.HL.Autotech_constant import PORT_STREAMING_CAMERA, SIZE_CAMERA_X, SIZE_CAMERA_Y, FRAME_RATE, CAMERA_QUALITY, STREAM_PATH, CAMERA_STREAM_ON_START
 
 class ProgramStreamCamera(Program):
     def __init__(self,serveur):
@@ -50,6 +50,10 @@ def __init__(self,serveur):
         self.serveur = serveur
         self.running = False
         self.controls_car = False
+        
+        if CAMERA_STREAM_ON_START:
+            self.start()
+
     
     @property
     def camera(self):
diff --git a/src/HL/actionneur_capteur/masterI2C.py b/src/HL/actionneur_capteur/masterI2C.py
index edecdf8..eb12823 100644
--- a/src/HL/actionneur_capteur/masterI2C.py
+++ b/src/HL/actionneur_capteur/masterI2C.py
@@ -9,7 +9,7 @@ class I2c_arduino:
     def __init__(self,serveur):
         self.log = logging.getLogger(__name__)
         self.serveur = serveur
-        self.vitesse_r = 0
+        self.current_speed = 0
         self.send_running = True
         self.receive_running = True
         
@@ -32,8 +32,9 @@ def start_send(self):
         self.log.info("Thread I2C loop démarré")
         while self.send_running:
             try :
-                data = struct.pack('<ff', float(round(self.serveur.programme[self.serveur.last_programme_control].vitesse_d)), float(round(self.serveur.programme[self.serveur.last_programme_control].direction_d)))
+                data = struct.pack('<ff', float(round(self.serveur.target_speed)), float(round(self.serveur.direction)))
                 self.bus.write_i2c_block_data(SLAVE_ADDRESS, 0, list(data))
+                time.sleep(1e-5) # Short delay to prevent overwhelming the bus
             except Exception as e:
                 self.log.error("Erreur I2C write: %s", e, exc_info=True)
                 time.sleep(I2C_SLEEP_ERROR_LOOP)
@@ -52,7 +53,7 @@ def start_received(self):
                 # on enregistre les valeur
                 self.voltage_lipo = list_valeur[0]
                 self.voltage_nimh = list_valeur[1]
-                self.vitesse_r = list_valeur[2]
+                self.current_speed = list_valeur[2]
             else:
                 self.log.warning("I2C: taille inattendue (%d au lieu de %d)", len(data), length)
             time.sleep(I2C_SLEEP_RECEIVED)
\ No newline at end of file
diff --git a/src/HL/backend.py b/src/HL/backend.py
new file mode 100644
index 0000000..d49232d
--- /dev/null
+++ b/src/HL/backend.py
@@ -0,0 +1,329 @@
+# BackendAPI.py
+
+import threading
+import time
+import logging
+from typing import Any, Dict, Optional, List
+
+import uvicorn
+from fastapi import FastAPI, HTTPException
+from fastapi.middleware.cors import CORSMiddleware
+from fastapi.responses import HTMLResponse
+from fastapi.staticfiles import StaticFiles
+import numpy as np
+import asyncio
+from fastapi import WebSocket
+from fastapi.websockets import WebSocketDisconnect
+
+from src.HL.programme.programme import Program
+from Autotech_constant import (
+    LOGGING_LEVEL,
+    PORT_STREAMING_CAMERA,
+    STREAM_PATH,
+    BACKEND_ON_START,
+)
+
+class BackendAPI(Program):
+    """
+    Programme backend web de contrôle.
+    - Respecte Program: start/kill/running/controls_car
+    - Expose une API REST:
+        GET  /api/status
+        GET  /api/programs
+        POST /api/programs/{id}/toggle
+        POST /api/programs/{id}/start
+        POST /api/programs/{id}/kill
+        GET  /api/stream/camera
+    - Sert un frontend statique (optionnel) via / (index.html)
+    """
+
+    def __init__(
+        self,
+        server: Any,
+        host: str = "0.0.0.0",
+        port: int = 8001,
+        site_dir: Optional[str] = None,  # ex: "/home/intech/CoVAPSy/src/HL/site_controle"
+        cors_allow_origins: Optional[List[str]] = None,
+    ):
+        super().__init__()
+        self.logger = logging.getLogger(__name__)
+
+        self.server = server
+        self.controls_car = False
+        self.running = False
+        self.lidar_yaw = 0  # rotation fixe pour que "devant" = haut écran
+
+
+        self.host = host
+        self.port = port
+        self._thread: Optional[threading.Thread] = None
+        self._uvicorn_server: Optional[uvicorn.Server] = None
+
+        self.app = FastAPI(title="CoVAPSy Remote Control API", version="1.0.0")
+
+        # CORS: pratique si ton frontend est sur un autre port / autre machine
+        if cors_allow_origins is None:
+            cors_allow_origins = ["*"]
+        self.app.add_middleware(
+            CORSMiddleware,
+            allow_origins=cors_allow_origins,
+            allow_credentials=True,
+            allow_methods=["*"],
+            allow_headers=["*"],
+        )
+
+        # Frontend statique (optionnel)
+        # - si site_dir contient un index.html, il sera servi à "/"
+        if site_dir:
+            self.app.mount("/static", StaticFiles(directory=site_dir), name="static")
+
+            @self.app.get("/", response_class=HTMLResponse)
+            def index():
+                # Le frontend peut être /static/index.html ou /static/controle.html selon ton choix
+                # Ici on renvoie juste une page qui redirige vers /static/
+                return """
+                <html>
+                  <head><meta charset="utf-8"><title>CoVAPSy</title></head>
+                  <body>
+                    <h3>CoVAPSy Control</h3>
+                    <p>Frontend: <a href="/static/index.html">/static/index.html</a></p>
+                    <p>Lidar: <a href="/static/lidar.html">/static/lidar.html</a></p>
+                  </body>
+                </html>
+                """
+
+        self._setup_routes()
+
+        time.sleep(1)  # Petit délai pour s'assurer que tout est prêt avant de démarrer
+        if BACKEND_ON_START:
+            self.start()
+        
+
+
+    # ----------------------------
+    # Helpers: lecture état voiture
+    # ----------------------------
+    def _arduino(self):
+        # server.arduino_I2C est une property dans ton Serveur
+        return getattr(self.server, "arduino_I2C", None)
+
+    def _get_telemetry(self) -> Dict[str, Any]:
+        ard = self._arduino()
+        # On protège tout: si pas initialisé, on renvoie 0
+        voltage_lipo = getattr(ard, "voltage_lipo", 0.0) if ard else 0.0
+        voltage_nimh = getattr(ard, "voltage_nimh", 0.0) if ard else 0.0
+        current_speed = getattr(ard, "current_speed", 0.0) if ard else 0.0
+
+        # Programme qui contrôle la voiture actuellement
+        last_ctrl = int(getattr(self.server, "last_programme_control", 0) or 0)
+        programmes = getattr(self.server, "programme", [])
+        prog_name = None
+        if isinstance(programmes, list) and 0 <= last_ctrl < len(programmes):
+            prog_name = type(programmes[last_ctrl]).__name__
+
+        target_speed = float(getattr(self.server, "target_speed", 0.0) or 0.0)
+        direction = float(getattr(self.server, "direction", 0.0) or 0.0)
+
+        return {
+            "battery": {
+                "lipo": voltage_lipo,
+                "nimh": voltage_nimh
+            },
+            "car": {
+                "vitesse_reelle": current_speed,
+                "vitesse_demandee": target_speed,
+                "direction_demandee": direction,
+                "programme_controle": prog_name,
+                "programme_id": last_ctrl
+            },
+            "timestamp": time.time(),
+        }
+
+    def _list_programs(self) -> List[Dict[str, Any]]:
+        programmes = getattr(self.server, "programme", [])
+        out: List[Dict[str, Any]] = []
+        if not isinstance(programmes, list):
+            return out
+
+        for i, p in enumerate(programmes):
+            out.append(
+                {
+                    "id": i,
+                    "name": type(p).__name__,
+                    "running": bool(getattr(p, "running", False)),
+                    "controls_car": bool(getattr(p, "controls_car", False)),
+                    "display": p.display() if hasattr(p, "display") else type(p).__name__,
+                }
+            )
+        return out
+
+    def _camera_stream_url(self) -> str:
+        ip = getattr(getattr(self.server, "SOCKET_ADRESS", None), "IP", None)
+        ip = getattr(self.server, "ip", None) or "192.168.1.10"
+        return f"http://{ip}:{PORT_STREAMING_CAMERA}/stream.mjpg"
+    
+    def _lidar(self):
+        return getattr(self.server, "lidar", None)
+
+    def _get_lidar_points_cartesian(self):
+        lidar = self._lidar()
+        if not lidar or lidar.rDistance is None:
+            return None
+
+        r = np.asarray(lidar.rDistance)
+        n = r.shape[0]
+
+        # angles du lidar (repère capteur)
+        theta_lidar = np.linspace(
+            -3*np.pi/4,   # -135°
+            +3*np.pi/4,   # +135°
+            n,
+            endpoint=True
+        )
+
+        # correction d’orientation
+        theta_world = theta_lidar + self.lidar_yaw
+
+        # projection
+        # Repère monde: +Y = devant le lidar
+        x = -np.sin(theta_world) * r
+        y = np.cos(theta_world) * r
+
+
+        return {
+            "x": x.tolist(),
+            "y": y.tolist(),
+            "unit": "mm",
+            "timestamp": time.time(),
+        }
+
+
+
+    # ----------------------------
+    # Routes
+    # ----------------------------
+    def _setup_routes(self) -> None:
+        @self.app.get("/api/status")
+        def status():
+            return {
+                "backend": {"running": self.running, "host": self.host, "port": self.port},
+                "telemetry": self._get_telemetry(),
+                "programs": self._list_programs(),
+            }
+
+        @self.app.get("/api/programs")
+        def programs():
+            return self._list_programs()
+
+        @self.app.post("/api/programs/{prog_id}/toggle")
+        def toggle_program(prog_id: int):
+            programmes = getattr(self.server, "programme", [])
+            if not isinstance(programmes, list) or not (0 <= prog_id < len(programmes)):
+                raise HTTPException(status_code=404, detail="Unknown program id")
+
+            self.server.start_process(prog_id)
+            # après action, renvoyer état mis à jour
+            return {"status": "ok", "program_id": prog_id, "programs": self._list_programs()}
+
+        @self.app.post("/api/programs/{prog_id}/start")
+        def start_program(prog_id: int):
+            programmes = getattr(self.server, "programme", [])
+            if not isinstance(programmes, list) or not (0 <= prog_id < len(programmes)):
+                raise HTTPException(status_code=404, detail="Unknown program id")
+
+            p = programmes[prog_id]
+            if getattr(p, "running", False):
+                return {"status": "already_running", "program_id": prog_id}
+
+            self.server.start_process(prog_id)
+            return {"status": "ok", "program_id": prog_id}
+
+        @self.app.post("/api/programs/{prog_id}/kill")
+        def kill_program(prog_id: int):
+            programmes = getattr(self.server, "programme", [])
+            if not isinstance(programmes, list) or not (0 <= prog_id < len(programmes)):
+                raise HTTPException(status_code=404, detail="Unknown program id")
+
+            p = programmes[prog_id]
+            if not getattr(p, "running", False):
+                return {"status": "already_stopped", "program_id": prog_id}
+
+            # toggle kill if running
+            self.server.start_process(prog_id)
+            return {"status": "ok", "program_id": prog_id}
+
+        @self.app.get("/api/stream/camera")
+        def camera_stream():
+            # give the URL.
+            return {"url": self._camera_stream_url()}
+        
+        @self.app.get("/api/lidar")
+        def lidar_snapshot():
+            data = self._get_lidar_points_cartesian()
+            if data is None:
+                raise HTTPException(status_code=503, detail="Lidar not available")
+            return data
+        
+        @self.app.websocket("/api/lidar/ws")
+        async def lidar_ws(ws: WebSocket):
+            await ws.accept()
+            self.logger.info("Lidar WS client connected")
+
+            try:
+                while True:
+                    data = self._get_lidar_points_cartesian()
+                    if data:
+                        await ws.send_json(data)
+                    await asyncio.sleep(0.1)
+            except WebSocketDisconnect:
+                self.logger.info("Lidar WS client disconnected")
+        @self.app.websocket("/api/telemetry/ws")
+        async def telemetry_ws(ws: WebSocket):
+            await ws.accept()
+            self.logger.info("Telemetry WS client connected")
+
+            try:
+                while True:
+                    data = self._get_telemetry()
+                    await ws.send_json(data)
+                    await asyncio.sleep(0.25)  # 4 Hz
+            except WebSocketDisconnect:
+                self.logger.info("Telemetry WS client disconnected")
+
+
+    # ----------------------------
+    # Program interface
+    # ----------------------------
+    def start(self):
+        if self.running:
+            return
+        self.running = True
+
+        # Uvicorn
+        config = uvicorn.Config(self.app, host=self.host, port=self.port, log_level="info")
+        self._uvicorn_server = uvicorn.Server(config)
+
+        def _run():
+            try:
+                self.logger.info("BackendAPI starting on %s:%d", self.host, self.port)
+                self._uvicorn_server.run()
+            except Exception as e:
+                self.logger.error("BackendAPI crashed: %s", e, exc_info=True)
+            finally:
+                self.running = False
+                self.logger.warning("BackendAPI stopped")
+
+        self._thread = threading.Thread(target=_run, daemon=True)
+        self._thread.start()
+
+    def kill(self):
+        if not self.running:
+            return
+        self.running = False
+        if self._uvicorn_server:
+            self._uvicorn_server.should_exit = True
+        self.logger.info("BackendAPI kill requested")
+
+    def display(self):
+        name = self.__class__.__name__
+        return f"{name}\n(running)" if self.running else name
diff --git a/src/HL/programme/Car.py b/src/HL/programme/Car.py
index 46b6a23..afce745 100644
--- a/src/HL/programme/Car.py
+++ b/src/HL/programme/Car.py
@@ -19,8 +19,8 @@ def __init__(self,driving_strategy, serveur):
         self.log = logging.getLogger(__name__)
 
         """Initialize the car's components."""
-        self.vitesse_d = 0  # Speed in millimeters per second
-        self.direction_d = 0  # Steering angle in degrees
+        self.target_speed = 0  # Speed in millimeters per second
+        self.direction = 0  # Steering angle in degrees
         self.serveur = serveur
         self.reverse_count = 0
         def _initialize_ai():
@@ -52,8 +52,8 @@ def tof(self):
 
 
     def stop(self):
-        self.vitesse_d = 0
-        self.direction_d = 0
+        self.target_speed = 0
+        self.direction = 0
         self.log.info("Arrêt du moteur")
         
 
@@ -65,7 +65,7 @@ def has_Crashed(self):
             # min_index = self.lidar.rDistance.index(min(small_distances))
             while self.tof.get_distance() < REAR_BACKUP_DIST:
                 self.log.info(f"Obstacle arriere détecté {self.tof.get_distance()}")
-                self.vitesse_d = 0
+                self.target_speed = 0
                 time.sleep(0.1)
             return True
         return False
@@ -74,9 +74,9 @@ def turn_around(self):
         """Turn the car around."""
         self.log.info("Turning around")
         
-        self.vitesse_d = 0
-        self.direction_d = MAX_ANGLE
-        self.vitesse_d = -2 #blocing call
+        self.target_speed = 0
+        self.direction = MAX_ANGLE
+        self.target_speed = -2 #blocing call
         time.sleep(1.8) # Wait for the car to turn around
         if self.camera.is_running_in_reversed():
             self.turn_around()
@@ -93,7 +93,7 @@ def main(self):
         lidar_data_ai= (lidar_data-0.5)*(
             LIDAR_DATA_OFFSET + LIDAR_DATA_AMPLITUDE * np.exp(-1/2*((np.arange(1080) - 135) / LIDAR_DATA_SIGMA**2))
         ) #convertir en mètre et ajouter un bruit gaussien #On traffique les données fournit a l'IA
-        self.direction_d, self.vitesse_d = self.driving(lidar_data_ai) #l'ai prend des distance en mètre et non en mm
+        self.direction, self.target_speed = self.driving(lidar_data_ai) #l'ai prend des distance en mètre et non en mm
         self.log.debug(f"Min Lidar: {min(lidar_data)}, Max Lidar: {max(lidar_data)}")
 
         if self.camera.is_running_in_reversed():
@@ -120,8 +120,8 @@ def main(self):
             if color == 1:
                 self.log.info("Obstacle vert détecté")
             angle= -color*MAX_ANGLE
-            self.vitesse_d = -2
-            self.direction_d = angle
+            self.target_speed = -2
+            self.direction = angle
 
 
 
@@ -137,16 +137,16 @@ def __init__(self, serveur):
         self.controls_car = True
 
     @property
-    def vitesse_d(self):
+    def target_speed(self):
         if self.GR86 == None:
             return 0
-        return self.GR86.vitesse_d
+        return self.GR86.target_speed
     
     @property
-    def direction_d(self):
+    def direction(self):
         if self.GR86 == None:
             return 0
-        return self.GR86.direction_d
+        return self.GR86.direction
 
     def run(self):
         while self.running:
diff --git a/src/HL/programme/Poweroff.py b/src/HL/programme/Poweroff.py
index c82ca9d..19abd3b 100644
--- a/src/HL/programme/Poweroff.py
+++ b/src/HL/programme/Poweroff.py
@@ -14,7 +14,7 @@ def kill(self):
         pass
 
     def start(self):
-        self.log("Power off started")
+        self.log.info("Power off started")
         subprocess.Popen(
                 "sudo poweroff",
                 shell=True,
diff --git a/src/HL/programme/RemoteControl.py b/src/HL/programme/RemoteControl.py
index c9e3361..f0ebdee 100644
--- a/src/HL/programme/RemoteControl.py
+++ b/src/HL/programme/RemoteControl.py
@@ -13,8 +13,8 @@ def __init__(self):
         self.log = logging.getLogger(__name__)
         self.controls_car = True
         self.running = False
-        self.vitesse_d = 0
-        self.direction_d = 0
+        self.target_speed = 0
+        self.direction = 0
     
         #initialisation
         self.public = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
@@ -29,7 +29,7 @@ def car_controle(self,sock):
         while self.running:
             try:
                 data, ip = sock.recvfrom(1024)
-                self.vitesse_d, self.direction_d = struct.unpack("ff", data)
+                self.target_speed, self.direction = struct.unpack("ff", data)
             except socket.timeout:
                 continue
 
diff --git a/src/HL/programme/SshProgramme.py b/src/HL/programme/SshProgramme.py
index b9e589b..f08381f 100644
--- a/src/HL/programme/SshProgramme.py
+++ b/src/HL/programme/SshProgramme.py
@@ -11,8 +11,8 @@ def __init__(self):
         self.running = True
         self.controls_car = True
 
-        self.vitesse_d = 0
-        self.direction_d = 0
+        self.target_speed = 0
+        self.direction = 0
 
         # Cache IP
         self.ip = None
diff --git a/src/HL/programme/programme.py b/src/HL/programme/programme.py
index 990b21e..9530372 100644
--- a/src/HL/programme/programme.py
+++ b/src/HL/programme/programme.py
@@ -6,8 +6,8 @@
 class Program:
     controls_car:bool # correspond si le programme cotronle la voiture ou non pour savoir si il faut arreter l'ancien programme qui controle la voiture
     running:bool # état de base du programme (au lancement de la voiture)
-    vitesse_d:Optional[float] # target speed
-    direction_d:Optional[float] # target direction
+    target_speed:Optional[float] # target speed
+    direction:Optional[float] # target direction
 
     def __init__(self):
         self.logger = logging.getLogger(__name__)
diff --git a/src/HL/site_controle/app.js b/src/HL/site_controle/app.js
new file mode 100644
index 0000000..575b333
--- /dev/null
+++ b/src/HL/site_controle/app.js
@@ -0,0 +1,387 @@
+const API = ""; // même origine (FastAPI)
+const speedHistory = {
+    real: [],
+    demand: [],
+    maxPoints: 100
+};
+
+function drawSpeedChart() {
+    const canvas = document.getElementById("speedChart");
+    if (!canvas) return;
+
+    const ctx = canvas.getContext("2d");
+    const w = canvas.width;
+    const h = canvas.height;
+
+    ctx.clearRect(0, 0, w, h);
+
+    // axes
+    ctx.strokeStyle = "#444";
+    ctx.beginPath();
+    ctx.moveTo(40, 10);
+    ctx.lineTo(40, h - 20);
+    ctx.lineTo(w - 10, h - 20);
+    ctx.stroke();
+
+    
+
+    const maxAbs = Math.max(
+    ...speedHistory.real.map(Math.abs),
+    ...speedHistory.demand.map(Math.abs),
+    1
+    );
+    const yZero = h / 2;
+    const scaleY = (h - 40) / (2 * maxAbs);
+    // ligne y=0
+    ctx.strokeStyle = "#666";
+    ctx.setLineDash([5, 5]);
+    ctx.beginPath();
+    ctx.moveTo(40, yZero);
+    ctx.lineTo(w - 10, yZero);
+    ctx.stroke();
+    ctx.setLineDash([]);
+
+
+    function drawCurve(data, color) {
+        ctx.strokeStyle = color;
+        ctx.beginPath();
+
+        data.forEach((v, i) => {
+            const x = 40 + (i / (data.length - 1)) * (w - 60);
+            const y = yZero - v * scaleY;
+            if (i === 0) ctx.moveTo(x, y);
+            else ctx.lineTo(x, y);
+        });
+
+        ctx.stroke();
+    }
+
+    drawCurve(speedHistory.demand, "#ffaa00"); // consigne
+    drawCurve(speedHistory.real, "#00ff88");   // réel
+
+    // légende
+    
+    ctx.fillStyle = "#ffaa00";
+    ctx.fillText("Consigne", w - 100, 20);
+    ctx.fillStyle = "#00ff88";
+    ctx.fillText("Réelle", w - 100, 35);
+    ctx.font = "10px monospace";
+    
+}
+
+function drawSteering(directionDeg) {
+    const canvas = document.getElementById("steeringViz");
+    if (!canvas) return;
+
+    const ctx = canvas.getContext("2d");
+    const w = canvas.width;
+    const h = canvas.height;
+
+    ctx.clearRect(0, 0, w, h);
+
+    const centerX = w / 2;
+    const centerY = h * 0.85;
+    const radius = h * 0.65;
+
+    /* -------- Rapporteur (-18° à +18°) -------- */
+    ctx.strokeStyle = "#444";
+    ctx.lineWidth = 1;
+
+    const maxDeg = 18;
+
+    ctx.beginPath();
+    ctx.arc(
+        centerX,
+        centerY,
+        radius,
+        (-90 - maxDeg) * Math.PI / 180,
+        (-90 + maxDeg) * Math.PI / 180
+    );
+    ctx.stroke();
+
+    /* -------- Graduations -------- */
+    for (let d = -18; d <= 18; d += 6) {
+        const a = (d - 90) * Math.PI / 180;
+
+        ctx.beginPath();
+        ctx.moveTo(
+            centerX + Math.cos(a) * (radius - 10),
+            centerY + Math.sin(a) * (radius - 10)
+        );
+        ctx.lineTo(
+            centerX + Math.cos(a) * radius,
+            centerY + Math.sin(a) * radius
+        );
+        ctx.stroke();
+
+        ctx.fillStyle = "#777";
+        ctx.font = "10px monospace";
+        ctx.fillText(
+            `${d}°`,
+            centerX + Math.cos(a) * (radius + 10) - 8,
+            centerY + Math.sin(a) * (radius + 10) + 3
+        );
+    }
+
+    /* -------- Tige (direction demandée) -------- */
+    const angleRad = (directionDeg - 90) * Math.PI / 180;
+
+    ctx.strokeStyle = "#00ff88";
+    ctx.lineWidth = 3;
+    ctx.beginPath();
+    ctx.moveTo(centerX, centerY);
+    ctx.lineTo(
+        centerX + Math.cos(angleRad) * (radius - 20),
+        centerY + Math.sin(angleRad) * (radius - 20)
+    );
+    ctx.stroke();
+
+    /* -------- Centre -------- */
+    ctx.fillStyle = "#00ff88";
+    ctx.beginPath();
+    ctx.arc(centerX, centerY, 5, 0, Math.PI * 2);
+    ctx.fill();
+}
+
+
+async function fetchStatus() {
+    const res = await fetch(`${API}/api/status`);
+    if (!res.ok) {
+        throw new Error(`API status failed: ${res.status}`);
+    }
+    return await res.json();
+}
+
+async function fetchCameraUrl() {
+    const res = await fetch(`${API}/api/stream/camera`);
+    if (!res.ok) {
+        throw new Error(`Camera url API failed: ${res.status}`);
+    }
+    const data = await res.json();
+    return data.url;
+}
+
+
+async function startProgram(id) {
+    await fetch(`${API}/api/programs/${id}/start`, { method: "POST" });
+    refreshPrograms();
+}
+
+async function killProgram(id) {
+    await fetch(`${API}/api/programs/${id}/kill`, { method: "POST" });
+    refreshPrograms();
+}
+
+function updateTelemetry(t) {
+    document.getElementById("lipo").textContent = t.battery.lipo.toFixed(2);
+    document.getElementById("nimh").textContent = t.battery.nimh.toFixed(2);
+    document.getElementById("vitesse").textContent =
+        t.car.vitesse_reelle.toFixed(2);
+
+    document.getElementById("target_speed").textContent =
+        t.car.vitesse_demandee.toFixed(2);
+
+    document.getElementById("direction").textContent =
+        t.car.direction_demandee.toFixed(2);
+    document.getElementById("active_program").textContent =
+        t.car.programme_controle ?? "Aucun";
+    speedHistory.real.push(t.car.vitesse_reelle);
+    speedHistory.demand.push(t.car.vitesse_demandee);
+
+    if (speedHistory.real.length > speedHistory.maxPoints) {
+        speedHistory.real.shift();
+        speedHistory.demand.shift();
+    }
+
+    drawSpeedChart();
+    drawSteering(t.car.direction_demandee);
+
+}
+
+function updatePrograms(programs) {
+    const tbody = document.getElementById("program_table");
+    tbody.innerHTML = "";
+
+    for (const p of programs) {
+        const tr = document.createElement("tr");
+
+        tr.innerHTML = `
+            <td>${p.id}</td>
+            <td>${p.name}</td>
+            <td>${p.running ? "🟢" : "🔴"}</td>
+            <td>${p.controls_car ? "🚗" : "-"}</td>
+            <td>
+                <button class="start" onclick="startProgram(${p.id})">Start</button>
+                <button class="kill" onclick="killProgram(${p.id})">Kill</button>
+            </td>
+        `;
+
+        tbody.appendChild(tr);
+    }
+}
+async function refreshPrograms() {
+    try {
+        const res = await fetch("/api/programs");
+        if (!res.ok) {
+        throw new Error(`Programs API failed: ${res.status}`);
+    }
+        const programs = await res.json();
+        updatePrograms(programs);
+    } catch (e) {
+        console.error("Failed to refresh programs", e);
+    }
+}
+function initLidar(retryDelay = 1000) {
+    const canvas = document.getElementById("lidar");
+    if (!canvas) return;
+
+    const ctx = canvas.getContext("2d");
+    const scale = 0.15; // 10 cm = 15 px
+
+    const proto = location.protocol === "https:" ? "wss" : "ws";
+    const ws = new WebSocket(proto + "://" + location.host + "/api/lidar/ws");
+    try{
+    ws.onmessage = (e) => {
+        const data = JSON.parse(e.data);
+
+        ctx.clearRect(0, 0, canvas.width, canvas.height);
+
+        ctx.save();
+        ctx.translate(canvas.width / 2, canvas.height / 2);
+
+        /* ---------- Grille ---------- */
+        const circleStepMM = 100; // 10 cm
+        const circleCount = 15;
+
+        ctx.strokeStyle = "#333";
+        ctx.lineWidth = 1;
+
+        for (let i = 1; i <= circleCount; i++) {
+            const r = i * circleStepMM * scale;
+            ctx.beginPath();
+            ctx.arc(0, 0, r, 0, Math.PI * 2);
+            ctx.stroke();
+
+            if (i % (circleCount / 3) === 0){
+            // label distance
+            ctx.fillStyle = "#777";
+            ctx.font = "10px monospace";
+            ctx.fillText(`${i * 10} cm`, r + 2, 0);
+            }
+        }
+        // FOV du lidar (270°)
+        ctx.strokeStyle = "#444";
+        ctx.lineWidth = 1;
+
+        const fovMin = -135 * Math.PI / 180;
+        const fovMax =  135 * Math.PI / 180;
+        const fovRadius = 1500 * scale;
+
+        ctx.beginPath();
+        // ligne gauche
+        ctx.moveTo(0, 0);
+        ctx.lineTo(
+        Math.sin(fovMin) * fovRadius,
+        -Math.cos(fovMin) * fovRadius
+        );
+        ctx.stroke();
+
+        // ligne droite
+        ctx.beginPath();
+        ctx.moveTo(0, 0);
+        ctx.lineTo(
+        Math.sin(fovMax) * fovRadius,
+        -Math.cos(fovMax) * fovRadius
+        );
+        ctx.stroke();
+        /* ---------- Axes ---------- */
+        ctx.strokeStyle = "#555";
+        ctx.beginPath();
+        ctx.moveTo(-canvas.width / 2, 0);
+        ctx.lineTo(canvas.width / 2, 0);
+        ctx.stroke();
+
+        ctx.beginPath();
+        ctx.moveTo(0, -canvas.height / 2);
+        ctx.lineTo(0, canvas.height / 2);
+        ctx.stroke();
+
+        /* ---------- Points LIDAR ---------- */
+        ctx.fillStyle = "#00ff88";
+        for (let i = 0; i < data.x.length; i++) {
+            ctx.fillRect(
+                data.x[i] * scale,
+               -data.y[i] * scale,
+                2, 2
+            );
+        }
+
+        ctx.restore();
+    };
+    }catch(e){
+        console.error("Erreur dans LIDAR WS onmessage:", e);
+    }
+
+    ws.onclose = () => {
+        console.warn("LIDAR WS disconnected");
+
+        setTimeout(() => {
+            initLidar(Math.min(retryDelay * 2, 8000));
+        }, retryDelay);
+}
+}
+function initTelemetryWS() {
+    const proto = location.protocol === "https:" ? "wss" : "ws";
+    const ws = new WebSocket(proto + "://" + location.host + "/api/telemetry/ws");
+    try{
+            ws.onmessage = (e) => {
+        const data = JSON.parse(e.data);
+        updateTelemetry(data);
+    };
+    }catch(e){
+    console.error("Erreur dans Telemetry WS onmessage:", e);
+}   
+    ws.onclose = () => {
+        console.warn("Telemetry WS disconnected, retrying...");
+        setTimeout(initTelemetryWS, 1000);
+    };
+}
+
+async function loadProgramsOnce() {
+    try {
+        const res = await fetch("/api/programs");
+        if (!res.ok) {
+            throw new Error(`Programs API failed: ${res.status}`);
+        }
+        const programs = await res.json();
+        updatePrograms(programs);
+    } catch (e) {
+        console.error("Failed to load programs", e);
+    }
+}
+
+
+async function init() {
+    try {
+        const camUrl = await fetchCameraUrl();
+        const camEl = document.getElementById("camera");
+        const camLink = document.getElementById("camera-link");
+
+        if (camEl && camLink) {
+            camEl.src = camUrl;
+            camLink.href = camUrl;
+
+        } else {
+            console.warn("Element #camera introuvable au moment d'init");
+        }
+
+        initLidar();
+        initTelemetryWS();
+        loadProgramsOnce();
+    } catch (e) {
+        console.error("Erreur dans init:", e);
+    }
+}
+
+window.addEventListener("DOMContentLoaded", init);
+ 
\ No newline at end of file
diff --git a/src/HL/site_controle/index.html b/src/HL/site_controle/index.html
new file mode 100644
index 0000000..dacbc6f
--- /dev/null
+++ b/src/HL/site_controle/index.html
@@ -0,0 +1,73 @@
+<!DOCTYPE html>
+<html lang="fr">
+<head>
+    <meta charset="UTF-8">
+    <title>CoVAPSy – Remote Control</title>
+    <link rel="stylesheet" href="style.css">
+</head>
+<body>
+<header class="topbar">
+    <img src="ressources/Logo_équipe N°20_AutoTech 2025 (long)_promo Ecole_transparent.png" alt="Logo CoVAPSy" class="logo">
+    <h1> CoVAPSy – Remote Control</h1>
+</header>
+
+<div class="grid">
+
+    <!-- TELEMETRY -->
+    <div class="card">
+        <h2>Télémétrie:</h2>
+        <p>LiPo: <span id="lipo">--</span> V</p>
+        <p>NiMH: <span id="nimh">--</span> V</p>
+        <p>Vitesse réelle: <span id="vitesse">--</span></p>
+        <p>Vitesse demandée: <span id="target_speed">--</span></p>
+        <p>Direction demandée: <span id="direction">--</span></p>
+
+        <p>Programme actif: <span id="active_program">--</span></p>
+    </div>
+
+    <!-- CAMERA -->
+    <div class="card">
+        <a id="camera-link" href="#" target="_blank">
+            <img id="camera" src="" alt="Camera stream">
+        </a>
+    </div>
+    <!-- LIDAR -->
+    <div class="card">
+        <a href="/static/lidar.html" target="_blank">
+            <canvas id="lidar" width="400" height="400"></canvas>
+        </a>
+    </div>
+    <!-- SPEED CHART -->
+    <div class="card">
+        <canvas id="speedChart" width="400" height="400"></canvas>
+    </div>
+
+    <!-- STEERING -->
+    <div class="card">
+        <canvas id="steeringViz" width="400" height="200"></canvas>
+    </div>
+
+
+    <!-- PROGRAMS -->
+    <div class="card full">
+        <h2>Programmes:</h2>
+        <table>
+            <thead>
+                <tr>
+                    <th>ID</th>
+                    <th>Nom</th>
+                    <th>État</th>
+                    <th>Contrôle voiture</th>
+                    <th>Actions</th>
+                </tr>
+            </thead>
+            <tbody id="program_table"></tbody>
+        </table>
+    </div>
+
+</div>
+
+<script src="/static/app.js" defer></script>
+
+</body>
+</html>
diff --git a/src/HL/site_controle/lidar.html b/src/HL/site_controle/lidar.html
new file mode 100644
index 0000000..2cfc025
--- /dev/null
+++ b/src/HL/site_controle/lidar.html
@@ -0,0 +1,94 @@
+<!DOCTYPE html>
+<html>
+<head>
+  <meta charset="utf-8">
+  <title>LIDAR</title>
+  <style>
+    canvas { background: #111; }
+  </style>
+</head>
+<body>
+
+<canvas id="lidar" width="600" height="600"></canvas>
+
+<script>
+const canvas = document.getElementById("lidar");
+const ctx = canvas.getContext("2d");
+const scale = 0.15; // mm → pixels
+
+const proto = location.protocol === "https:" ? "wss" : "ws";
+const ws = new WebSocket(proto + "://" + location.host + "/api/lidar/ws");
+
+
+ws.onmessage = (e) => {
+  const data = JSON.parse(e.data);
+
+  ctx.clearRect(0, 0, canvas.width, canvas.height);
+
+  // origine au centre
+  ctx.save();
+  ctx.translate(canvas.width/2, canvas.height/2);
+
+  // grille simple
+  // paramètres d’échelle
+  const circleStepMM = 100;   // 10 cm
+  const circleCount = 15;
+
+  // grille circulaire
+  ctx.strokeStyle = "#333";
+  ctx.lineWidth = 1;
+
+  for (let i = 1; i <= circleCount; i++) {
+    const r = i * circleStepMM * scale;
+    ctx.beginPath();
+    ctx.arc(0, 0, r, 0, Math.PI * 2);   
+    ctx.stroke();
+    if (i % (circleCount / 3) === 0){
+    // label distance
+    ctx.fillStyle = "#777";
+    ctx.font = "10px monospace";
+    ctx.fillText(`${i * 10} cm`, r + 2, 0);
+    }
+  }
+  // FOV du lidar (270°)
+  ctx.strokeStyle = "#444";
+  ctx.lineWidth = 1;
+
+  const fovMin = -135 * Math.PI / 180;
+  const fovMax =  135 * Math.PI / 180;
+  const fovRadius = 1500 * scale;
+
+  ctx.beginPath();
+  // ligne gauche
+  ctx.moveTo(0, 0);
+  ctx.lineTo(
+  Math.sin(fovMin) * fovRadius,
+  -Math.cos(fovMin) * fovRadius
+  );
+  ctx.stroke();
+
+  // ligne droite
+  ctx.beginPath();
+  ctx.moveTo(0, 0);
+  ctx.lineTo(
+  Math.sin(fovMax) * fovRadius,
+  -Math.cos(fovMax) * fovRadius
+  );
+  ctx.stroke();
+
+  // points lidar
+  ctx.fillStyle = "#00ff88";
+  for (let i = 0; i < data.x.length; i++) {
+    ctx.fillRect(
+      data.x[i] * scale,
+      -data.y[i] * scale,
+      2, 2
+    );
+  }
+
+  ctx.restore();
+};
+</script>
+
+</body>
+</html>
diff --git "a/src/HL/site_controle/ressources/Logo_\303\251quipe N\302\26020_AutoTech 2025 (long)_promo Ecole_transparent.png" "b/src/HL/site_controle/ressources/Logo_\303\251quipe N\302\26020_AutoTech 2025 (long)_promo Ecole_transparent.png"
new file mode 100644
index 0000000..3a478e1
Binary files /dev/null and "b/src/HL/site_controle/ressources/Logo_\303\251quipe N\302\26020_AutoTech 2025 (long)_promo Ecole_transparent.png" differ
diff --git a/src/HL/site_controle/style.css b/src/HL/site_controle/style.css
new file mode 100644
index 0000000..ec2f9b4
--- /dev/null
+++ b/src/HL/site_controle/style.css
@@ -0,0 +1,83 @@
+body {
+    font-family: Arial, sans-serif;
+    background: #0f1117;
+    color: #eaeaea;
+    margin: 20px;
+}
+
+h1 {
+    text-align: center;
+}
+
+.grid {
+    display: grid;
+    grid-template-columns: repeat(auto-fit, minmax(350px, 1fr));
+    gap: 20px;
+}
+
+.card {
+    background: #1b1f2a;
+    padding: 15px;
+    border-radius: 8px;
+}
+
+.card.full {
+    grid-column: 1 / -1;
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diff --git a/uv.lock b/uv.lock
index 4b5d9e5..21473b4 100644
--- a/uv.lock
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 source = { virtual = "." }
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+    { name = "uvicorn" },
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