Automated driving: A literature review of the take over request in conditional automation

This article belongs to the Special Issue Autonomous Vehicles TechnologyIn conditional automation (level 3), human drivers can hand over the Driving Dynamic Task (DDT) to the Automated Driving System (ADS) and only be ready to resume control in emergency situations, allowing them to be engaged in non-driving related tasks (NDRT) whilst the vehicle operates within its Operational Design Domain (ODD). Outside the ODD, a safe transition process from the ADS engaged mode to manual driving should be initiated by the system through the issue of an appropriate Take Over Request (TOR). In this case, the driver's state plays a fundamental role, as a low attention level might increase driver reaction time to take over control of the vehicle. This paper summarizes and analyzes previously published works in the field of conditional automation and the TOR process. It introduces the topic in the appropriate context describing as well a variety of concerns that are associated with the TOR. It also provides theoretical foundations on implemented designs, and report on concrete examples that are targeted towards designers and the general public. Moreover, it compiles guidelines and standards related to automation in driving and highlights the research gaps that need to be addressed in future research, discussing also approaches and limitations and providing conclusions.This work was funded by the Austrian Ministry for Climate Action, Environment, Energy, Mobility, Innovation, and Technology (BMK) Endowed Professorship for Sustainable Transport Logistics 4.0; the Spanish Ministry of Economy, Industry and Competitiveness under the TRA201563708-R and TRA2016-78886-C3-1-R project; open access funding by the Johannes Kepler University Linz

An Interacting Multiple Model Approach for Target Intent Estimation at Urban Intersection for Application to Automated Driving Vehicle

Research shows that urban intersections are a hotspot for traffic accidents which cause major human injuries. Predicting turning, passing, and stop maneuvers against surrounding vehicles is considered to be fundamental for advanced driver assistance systems (ADAS), or automated driving systems in urban intersections. In order to estimate the target intent in such situations, an interacting multiple model (IMM)-based intersection-target-intent estimation algorithm is proposed. A driver model is developed to represent the driver’s maneuvering on the intersection using an IMM-based target intent classification algorithm. The performance of the intersection-target-intent estimation algorithm is examined through simulation studies. It is demonstrated that the intention of a target vehicle is successfully predicted based on observations at an individual intersection by proposed algorithms. Document type: Articl

Age-of-Information Aware Contents Caching and Distribution for Connected Vehicles

To support rapid and accurate autonomous driving services, road environment information, which is difficult to obtain through vehicle sensors themselves, is collected and utilized through communication with surrounding infrastructure in connected vehicle networks. For this reason, we consider a scenario that utilizes infrastructure such as road side units (RSUs) and macro base station (MBS) in situations where caching of road environment information is required. Due to the rapidly changed road environment, a concept which represents a freshness of the road content, age of information (AoI), is important. Based on the AoI value, in the connected vehicle system, it is essential to keep appropriate content in the RSUs in advance, update it before the content is expired, and send the content to the vehicles which want to use it. However, too frequent content transmission for the minimum AoI leads to indiscriminate use of network resources. Furthermore, a transmission control, that content AoI and service delay are not properly considered adversely, affects user service. Therefore, it is important to find an appropriate compromise. For these reasons, the objective of this paper is about to reduce the system cost used for content delivery through the proposed system while minimizing the content AoI presented in MBS, RSUs and UVs. The transmission process, which is able to be divided into two states, i.e., content caching and service, is approached using Markov decision process (MDP) and Lyapunov optimization framework, respectively, which guarantee optimal solutions, as verified via data-intensive performance evaluation

Controlling Concurrent Change - A Multiview Approach Toward Updatable Vehicle Automation Systems

The development of SAE Level 3+ vehicles [{SAE}, 2014] poses new challenges not only for the functional development, but also for design and development processes. Such systems consist of a growing number of interconnected functional, as well as hardware and software components, making safety design increasingly difficult. In order to cope with emergent behavior at the vehicle level, thorough systems engineering becomes a key requirement, which enables traceability between different design viewpoints. Ensuring traceability is a key factor towards an efficient validation and verification of such systems. Formal models can in turn assist in keeping track of how the different viewpoints relate to each other and how the interplay of components affects the overall system behavior. Based on experience from the project Controlling Concurrent Change, this paper presents an approach towards model-based integration and verification of a cause effect chain for a component-based vehicle automation system. It reasons on a cross-layer model of the resulting system, which covers necessary aspects of a design in individual architectural views, e.g. safety and timing. In the synthesis stage of integration, our approach is capable of inserting enforcement mechanisms into the design to ensure adherence to the model. We present a use case description for an environment perception system, starting with a functional architecture, which is the basis for componentization of the cause effect chain. By tying the vehicle architecture to the cross-layer integration model, we are able to map the reasoning done during verification to vehicle behavior

Applications of ontology in the Internet of Things: a systematic analysis

Ontology has been increasingly implemented to facilitate the Internet of Things (IoT) activities, such as tracking and information discovery, storage, information exchange, and object addressing. However, a complete understanding of using ontology in the IoT mechanism remains lacking. The main goal of this research is to recognize the use of ontology in the IoT process and investigate the services of ontology in IoT activities. A systematic literature review (SLR) is conducted using predefined protocols to analyze the literature about the usage of ontologies in IoT. The following conclusions are obtained from the SLR. (1) Primary studies (i.e., selected 115 articles) have addressed the need to use ontologies in IoT for industries and the academe, especially to minimize interoperability and integration of IoT devices. (2) About 31.30% of extant literature discussed ontology development concerning the IoT interoperability issue, while IoT privacy and integration issues are partially discussed in the literature. (3) IoT styles of modeling ontologies are diverse, whereas 35.65% of total studies adopted the OWL style. (4) The 32 articles (i.e., 27.83% of the total studies) reused IoT ontologies to handle diverse IoT methodologies. (5) A total of 45 IoT ontologies are well acknowledged, but the IoT community has widely utilized none. An in-depth analysis of different IoT ontologies suggests that the existing ontologies are beneficial in designing new IoT ontology or achieving three main requirements of the IoT field: interoperability, integration, and privacy. This SLR is finalized by identifying numerous validity threats and future directions

Exploring acceptance of autonomous vehicle policies using KeyBERT and SNA: Targeting engineering students

This study aims to explore user acceptance of Autonomous Vehicle (AV) policies with improved text-mining methods. Recently, South Korean policymakers have viewed Autonomous Driving Car (ADC) and Autonomous Driving Robot (ADR) as next-generation means of transportation that will reduce the cost of transporting passengers and goods. They support the construction of V2I and V2V communication infrastructures for ADC and recognize that ADR is equivalent to pedestrians to promote its deployment into sidewalks. To fill the gap where end-user acceptance of these policies is not well considered, this study applied two text-mining methods to the comments of graduate students in the fields of Industrial, Mechanical, and Electronics-Electrical-Computer. One is the Co-occurrence Network Analysis (CNA) based on TF-IWF and Dice coefficient, and the other is the Contextual Semantic Network Analysis (C-SNA) based on both KeyBERT, which extracts keywords that contextually represent the comments, and double cosine similarity. The reason for comparing these approaches is to balance interest not only in the implications for the AV policies but also in the need to apply quality text mining to this research domain. Significantly, the limitation of frequency-based text mining, which does not reflect textual context, and the trade-off of adjusting thresholds in Semantic Network Analysis (SNA) were considered. As the results of comparing the two approaches, the C-SNA provided the information necessary to understand users' voices using fewer nodes and features than the CNA. The users who pre-emptively understood the AV policies based on their engineering literacy and the given texts revealed potential risks of the AV accident policies. This study adds suggestions to manage these risks to support the successful deployment of AVs on public roads.Comment: 29 pages with 11 figure

A stigmergy-based analysis of city hotspots to discover trends and anomalies in urban transportation usage

A key aspect of a sustainable urban transportation system is the effectiveness of transportation policies. To be effective, a policy has to consider a broad range of elements, such as pollution emission, traffic flow, and human mobility. Due to the complexity and variability of these elements in the urban area, to produce effective policies remains a very challenging task. With the introduction of the smart city paradigm, a widely available amount of data can be generated in the urban spaces. Such data can be a fundamental source of knowledge to improve policies because they can reflect the sustainability issues underlying the city. In this context, we propose an approach to exploit urban positioning data based on stigmergy, a bio-inspired mechanism providing scalar and temporal aggregation of samples. By employing stigmergy, samples in proximity with each other are aggregated into a functional structure called trail. The trail summarizes relevant dynamics in data and allows matching them, providing a measure of their similarity. Moreover, this mechanism can be specialized to unfold specific dynamics. Specifically, we identify high-density urban areas (i.e hotspots), analyze their activity over time, and unfold anomalies. Moreover, by matching activity patterns, a continuous measure of the dissimilarity with respect to the typical activity pattern is provided. This measure can be used by policy makers to evaluate the effect of policies and change them dynamically. As a case study, we analyze taxi trip data gathered in Manhattan from 2013 to 2015.Comment: Preprin