From Manual Driving to Automated Driving: A Review of 10 Years of AutoUI

This paper gives an overview of the ten-year devel- opment of the papers presented at the International ACM Conference on Automotive User Interfaces and Interactive Vehicular Applications (AutoUI) from 2009 to 2018. We categorize the topics into two main groups, namely, manual driving-related research and automated driving-related re- search. Within manual driving, we mainly focus on studies on user interfaces (UIs), driver states, augmented reality and head-up displays, and methodology; Within automated driv- ing, we discuss topics, such as takeover, acceptance and trust, interacting with road users, UIs, and methodology. We also discuss the main challenges and future directions for AutoUI and offer a roadmap for the research in this area.https://deepblue.lib.umich.edu/bitstream/2027.42/153959/1/From Manual Driving to Automated Driving: A Review of 10 Years of AutoUI.pdfDescription of From Manual Driving to Automated Driving: A Review of 10 Years of AutoUI.pdf : Main articl

Stereoscopic 3D user interfaces : exploring the potentials and risks of 3D displays in cars

During recent years, rapid advancements in stereoscopic digital display technology has led to acceptance of high-quality 3D in the entertainment sector and even created enthusiasm towards the technology. The advent of autostereoscopic displays (i.e., glasses-free 3D) allows for introducing 3D technology into other application domains, including but not limited to mobile devices, public displays, and automotive user interfaces - the latter of which is at the focus of this work. Prior research demonstrates that 3D improves the visualization of complex structures and augments virtual environments. We envision its use to enhance the in-car user interface by structuring the presented information via depth. Thus, content that requires attention can be shown close to the user and distances, for example to other traffic participants, gain a direct mapping in 3D space

Design and validation of decision and control systems in automated driving

xxvi, 148 p.En la última década ha surgido una tendencia creciente hacia la automatización de los vehículos, generando un cambio significativo en la movilidad, que afectará profundamente el modo de vida de las personas, la logística de mercancías y otros sectores dependientes del transporte. En el desarrollo de la conducción automatizada en entornos estructurados, la seguridad y el confort, como parte de las nuevas funcionalidades de la conducción, aún no se describen de forma estandarizada. Dado que los métodos de prueba utilizan cada vez más las técnicas de simulación, los desarrollos existentes deben adaptarse a este proceso. Por ejemplo, dado que las tecnologías de seguimiento de trayectorias son habilitadores esenciales, se deben aplicar verificaciones exhaustivas en aplicaciones relacionadas como el control de movimiento del vehículo y la estimación de parámetros. Además, las tecnologías en el vehículo deben ser lo suficientemente robustas para cumplir con los requisitos de seguridad, mejorando la redundancia y respaldar una operación a prueba de fallos. Considerando las premisas mencionadas, esta Tesis Doctoral tiene como objetivo el diseño y la implementación de un marco para lograr Sistemas de Conducción Automatizados (ADS) considerando aspectos cruciales, como la ejecución en tiempo real, la robustez, el rango operativo y el ajuste sencillo de parámetros. Para desarrollar las aportaciones relacionadas con este trabajo, se lleva a cabo un estudio del estado del arte actual en tecnologías de alta automatización de conducción. Luego, se propone un método de dos pasos que aborda la validación de ambos modelos de vehículos de simulación y ADS. Se introducen nuevas formulaciones predictivas basadas en modelos para mejorar la seguridad y el confort en el proceso de seguimiento de trayectorias. Por último, se evalúan escenarios de mal funcionamiento para mejorar la seguridad en entornos urbanos, proponiendo una estrategia alternativa de estimación de posicionamiento para minimizar las condiciones de riesgo

Design and validation of decision and control systems in automated driving

xxvi, 148 p.En la última década ha surgido una tendencia creciente hacia la automatización de los vehículos, generando un cambio significativo en la movilidad, que afectará profundamente el modo de vida de las personas, la logística de mercancías y otros sectores dependientes del transporte. En el desarrollo de la conducción automatizada en entornos estructurados, la seguridad y el confort, como parte de las nuevas funcionalidades de la conducción, aún no se describen de forma estandarizada. Dado que los métodos de prueba utilizan cada vez más las técnicas de simulación, los desarrollos existentes deben adaptarse a este proceso. Por ejemplo, dado que las tecnologías de seguimiento de trayectorias son habilitadores esenciales, se deben aplicar verificaciones exhaustivas en aplicaciones relacionadas como el control de movimiento del vehículo y la estimación de parámetros. Además, las tecnologías en el vehículo deben ser lo suficientemente robustas para cumplir con los requisitos de seguridad, mejorando la redundancia y respaldar una operación a prueba de fallos. Considerando las premisas mencionadas, esta Tesis Doctoral tiene como objetivo el diseño y la implementación de un marco para lograr Sistemas de Conducción Automatizados (ADS) considerando aspectos cruciales, como la ejecución en tiempo real, la robustez, el rango operativo y el ajuste sencillo de parámetros. Para desarrollar las aportaciones relacionadas con este trabajo, se lleva a cabo un estudio del estado del arte actual en tecnologías de alta automatización de conducción. Luego, se propone un método de dos pasos que aborda la validación de ambos modelos de vehículos de simulación y ADS. Se introducen nuevas formulaciones predictivas basadas en modelos para mejorar la seguridad y el confort en el proceso de seguimiento de trayectorias. Por último, se evalúan escenarios de mal funcionamiento para mejorar la seguridad en entornos urbanos, proponiendo una estrategia alternativa de estimación de posicionamiento para minimizar las condiciones de riesgo

Model-based control for automotive applications

The number of distributed control systems in modern vehicles has increased exponentially over the past decades. Today’s performance improvements and innovations in the automotive industry are often resolved using embedded control systems. As a result, a modern vehicle can be regarded as a complex mechatronic system. However, control design for such systems, in practice, often comes down to time-consuming online tuning and calibration techniques, rather than a more systematic, model-based control design approach. The main goal of this thesis is to contribute to a corresponding paradigm shift, targeting the use of systematic, model-based control design approaches in practice. This implies the use of control-oriented modeling and the specification of corresponding performance requirements as a basis for the actual controller synthesis. Adopting a systematic, model-based control design approach, as opposed to pragmatic, online tuning and calibration techniques, is a prerequisite for the application of state-of-the-art controller synthesis methods. These methods enable to achieve guarantees regarding robustness, performance, stability, and optimality of the synthesized controller. Furthermore, from a practical point-of-view, it forms a basis for the reduction of tuning and calibration effort via automated controller synthesis, and fulfilling increasingly stringent performance demands. To demonstrate these opportunities, case studies are defined and executed. In all cases, actual implementation is pursued using test vehicles and a hardware-in-the-loop setup. • Case I: Judder-induced oscillations in the driveline are resolved using a robustly stable drive-off controller. The controller prevents the need for re-tuning if the dynamics of the system change due to wear. A hardware-in-the-loop setup, including actual sensor and actuator dynamics, is used for experimental validation. • Case II: A solution for variations in the closed-loop behavior of cruise control functionality is proposed, explicitly taking into account large variations in both the gear ratio and the vehicle loading of heavy duty vehicles. Experimental validation is done on a heavy duty vehicle, a DAF XF105 with and without a fully loaded trailer. • Case III: A systematic approach for the design of an adaptive cruise control is proposed. The resulting parameterized design enables intuitive tuning directly related to comfort and safety of the driving behavior and significantly reduces tuning effort. The design is validated on an Audi S8, performing on-the-road experiments. • Case IV: The design of a cooperative adaptive cruise control is presented, focusing on the feasibility of implementation. Correspondingly, a necessary and sufficient condition for string stability is derived. The design is experimentally tested using two Citroën C4’s, improving traffic throughput with respect to standard adaptive cruise control functionality, while guaranteeing string stability of the traffic flow. The case studies consider representative automotive control problems, in the sense that typical challenges are addressed, being variable operating conditions and global performance qualifiers. Based on the case studies, a generic classification of automotive control problems is derived, distinguishing problems at i) a full-vehicle level, ii) an in-vehicle level, and iii) a component level. The classification facilitates a characterization of automotive control problems on the basis of the required modeling and the specification of corresponding performance requirements. Full-vehicle level functionality focuses on the specification of desired vehicle behavior for the vehicle as a whole. Typically, the required modeling is limited, whereas the translation of global performance qualifiers into control-oriented performance requirements can be difficult. In-vehicle level functionality focuses on actual control of the (complex) vehicle dynamics. The modeling and the specification of performance requirements are typically influenced by a wide variety of operating conditions. Furthermore, the case studies represent practical application examples that are specifically suitable to apply a specific set of state-of-the-art controller synthesis methods, being robust control, model predictive control, and gain scheduling or linear parameter varying control. The case studies show the applicability of these methods in practice. Nevertheless, the theoretical complexity of the methods typically translates into a high computational burden, while insight in the resulting controller decreases, complicating, for example, (online) fine-tuning of the controller. Accordingly, more efficient algorithms and dedicated tools are required to improve practical implementation of controller synthesis methods

Opportunities for olfactory interaction in an automotive context

Driving is a highly visual task. Nevertheless, it is a process that involves other senses as well. When we drive, we touch the steering wheel; we listen to what is happening around us, and, even if we are not paying attention to that, we smell what is happening with the car or around it. A scent of gasoline, the burning rubber, the plastic heated up by the sunlight - these are just a few examples. Smell is a very important sense for driving, though it has not been studied much in this context [85], despite being able to provide a much more vivid experience than any other human sense [80]. This thesis aims to fill this gap by investigating opportunities for olfactory interaction in an automotive context. The thesis is mainly focused on designing a scent-delivery device suitable for in-car interaction, on the topic of delivering driving-relevant notifications using scents, and on studying the effects scents have on the driving performance and behaviour, as well as the driver’s mood and well-being. This paper-style PhD thesis consists of two parts. Part II is a collection of seven published papers written in the scope of this thesis, and Part I describes how these papers build a coherent story. Part I starts with an introduction (see Chapter 1) that covers the research questions and contributions of the thesis. It continues with a summary of the background research (see Chapter 2). This overview part then moves on to the description of the approach (see Chapter 3) that covers the process of designing the scent delivery device, the olfactory interaction space, and the studies conducted throughout this PhD. Chapter 4 then summarises the core findings of each study, which are finally discussed in Chapter 5. Part I finishes with a conclusion (see Chapter 6)

Eliciting User Experience Information in Early Design Phases. The CARE Approach to In-Vehicle UX

Experience-rich input in early phases of a design process can offer valuable information and inspiration to designers. However, there are methodological challenges linked with efforts to understand future user experiences. Experience encompasses multi-layered and tacit data, such as emotions and value, that are important for commercial success but are difficult to elicit from users for existing products, and even more so for concepts in early design phases. At early design phases, the inevitably incomplete representations of product and use context influences the outcomes. It is typically easier to elicit usability-related aspects, meaning that other aspects of experience may be insufficiently addressed. The contribution of this thesis is an approach for eliciting rich user experience (UX) data in early design phases, building on six studies. This thesis employs in-vehicle user experience as a study case, but results are however presented on a methodological level that can also be of use to other interactive products. The overall research questions are: What signifies in-vehicle UX? How can UX data be elicited for input to novel in-vehicle concepts in early design phases?Firstly, the analysis phase of the design process was addressed, where a multi-method approach was employed to study current in-vehicle UX. UX is an umbrella term that has proven difficult to describe and conceptualise in studies. Therefore, the aim of the first study was to better understand what signifies the specific case of in-vehicle UX. Secondly, how to approach and understand user expectations on future autonomous cars was address in the two following studies, in order to address prospective research of novel systems. A method addressing research on user expectations was developed – Setting the Stage for Autonomous Cars. Thirdly, ideation was addressed in a series of workshops, containing generative and creative efforts for ideating future interactive in-vehicle systems. Methods such as enactment, small-scale scenarios, Wizard of Oz, a lo-fi driving simulator and the developed Setting the Stage for Autonomous Cars method were used. The final studies address concept evaluation, and comparatively explore the effects of choosing different product representations (storyboard and interactive prototype) and study contexts (Virtual Reality and in the field) in early UX evaluation. Based on the outcomes of the studies, an approach is proposed – the CARE approach – for enabling richer and more in-depth UX data in early design phases. This approach suggests that there is a need to Contextualise the researched experience (conveying the intended use situation and sentisising the participants to experience), enabling the participant to Act (enabling interaction even at the stages of very lo-fi concepts), supporting Reflection on the experience (enhanced by generative elements in the methods, such as drawing concepts and enacting use) and enabling the participant to Express the experience (in more ways than by just relying on words). Furthermore, the thesis presents findings regarding what signifies in-vehicle UX, for example whole-body, multi-sensory interactions, the importance of the temporal stage of use, the social and multi-device context, and the changing relationship between user and car with increased automation. The results emphasise the importance of addressing the multisensory use situation in each design phase and for participants to express experiences, not only in words but also through enactment and generative techniques