Adaptive driver modelling in ADAS to improve user acceptance: A study using naturalistic data

Accurate understanding of driver behaviour is crucial for future Advanced Driver Assistance Systems (ADAS) and autonomous driving. For user acceptance it is important that ADAS respect individual driving styles and adapt accordingly. Using data collected during a naturalistic driving study carried out at the University of Southampton, we assess existing models of driver acceleration and speed choice during car following and when cornering. We observe that existing models of driver behaviour that specify a preferred inter-vehicle spacing in car-following situations appear to be too prescriptive, with a wide range of acceptable spacings visible in the naturalistic data. Bounds on lateral acceleration during cornering from the literature are visible in the data, but appear to be influenced by the minimum cornering radii specified in design codes for UK roadway geometry. This analysis of existing driver models is used to suggest a small set of parameters that are sufficient to characterise driver behaviour in car-following and curve driving, which may be estimated in real-time by an ADAS to adapt to changing driver behaviour. Finally, we discuss applications to adaptive ADAS with the objectives of improving road safety and promoting eco-driving, and suggest directions for future researc

A Learning-based Stochastic MPC Design for Cooperative Adaptive Cruise Control to Handle Interfering Vehicles

Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application, provides drivers with extra benefits such as traffic throughput maximization and collision avoidance. CACC systems must be designed in a way that are sufficiently robust against all special maneuvers such as cutting-into the CACC platoons by interfering vehicles or hard braking by leading cars. To address this problem, a Neural- Network (NN)-based cut-in detection and trajectory prediction scheme is proposed in the first part of this paper. Next, a probabilistic framework is developed in which the cut-in probability is calculated based on the output of the mentioned cut-in prediction block. Finally, a specific Stochastic Model Predictive Controller (SMPC) is designed which incorporates this cut-in probability to enhance its reaction against the detected dangerous cut-in maneuver. The overall system is implemented and its performance is evaluated using realistic driving scenarios from Safety Pilot Model Deployment (SPMD).Comment: 10 pages, Submitted as a journal paper at T-I

Evaluation of strategic information systems planning (SISP) techniques: Driver perspective

Strategic Information Systems Planning (SISP) literature reviews with a focus on the global dimension are considered in this research. The paper counters the evaluation of SISP techniques through information system (IS) strategic drivers. These techniques can be vital contributors in the IS strategy (ISS) designing process. Therefore, categorisation of the techniques of ISS planning will be developed. Keeping in mind the global dimension, the planning team needs to identify how it can cluster an organization’s ISS drivers. This may be achieved by analysing the drivers that can have an effect on IS for the organization, which may support categorisation of drivers against techniques being classified to understand which are needed to fit specific drivers. The contribution of this research is the taxonomy of SISP techniques, with a case study for X international airlines. This classification can benefit evaluation of the ISS planning processes to support decision-makers through the planning process

Analysis of Disengagements in Semi-Autonomous Vehicles: Drivers’ Takeover Performance and Operational Implications

This report analyzes the reactions of human drivers placed in simulated Autonomous Technology disengagement scenarios. The study was executed in a human-in-the-loop setting, within a high-fidelity integrated car simulator capable of handling both manual and autonomous driving. A population of 40 individuals was tested, with metrics for control takeover quantification given by: i) response times (considering inputs of steering, throttle, and braking); ii) vehicle drift from the lane centerline after takeover as well as overall (integral) drift over an S-turn curve compared to a baseline obtained in manual driving; and iii) accuracy metrics to quantify human factors associated with the simulation experiment. Independent variables considered for the study were the age of the driver, the speed at the time of disengagement, and the time at which the disengagement occurred (i.e., how long automation was engaged for). The study shows that changes in the vehicle speed significantly affect all the variables investigated, pointing to the importance of setting up thresholds for maximum operational speed of vehicles driven in autonomous mode when the human driver serves as back-up. The results shows that the establishment of an operational threshold could reduce the maximum drift and lead to better control during takeover, perhaps warranting a lower speed limit than conventional vehicles. With regards to the age variable, neither the response times analysis nor the drift analysis provide support for any claim to limit the age of drivers of semi-autonomous vehicles

Intergrated leachate treatment by sequencing batch reactor (SBR) and micro-zeolite (MZ)

Biological treatment has a lot of potential in leachate treatment with the ability of the biodegradable substrates and this method can reduce the cost of treatment residues with respect to ecological and economical requirements.The aims of this study are to investigate the effect of biological treatment by using sequencing batch reactor (SBR) system in different condition consisting anaerobic (An), anoxic (Ax), and oxic (Ox) with different reaction time. An integration in combining phases consisting An/Ax/Ox is used in order to achieve maximum removal. Then, followed by the performance of combination phases consisting An/Ax/Ox in SBR system with addition of adsorption adsorbent micro-zeolite (MZ) (size range 75-150 μm) at different dosages. The raw leachate and sludge were collected from sanitary landfill from Tanjung Langsat, Pasir Gudang. An condition has better performance in an SBR system at optimum reaction time 11 hr promoting the percentage removal efficiency of chemical oxygen demand (COD), ammonia nitrogen (AN), total nitrogen (TN), total phosphorus (TP) and suspended solid (SS) and turbidity which were 77%, 74.65%, 75.07%, 76.05%, 63.91%, and 62.67% respectively. The result indicated that the combined condition consisting An/Ax/Ox at the optimum time reaction of each condition gives the removal efficiency COD, AN, TN, TP, SS, and turbidity which were 85.78%, 88.65%, 87.07%, 86.9%, 81.92% and 81.15% respectively. The application addition of adsorption adsorbent gives optimum dosage at 5 g/L. The addition of MZ shows good removal efficiency which were more than 90% at overall parameter

Behavioural compensation by drivers of a simulator when using a vision enhancement system

Technological progress is suggesting dramatic changes to the tasks of the driver, with the general aim of making driving environment safer. Before any of these technologies are implemented, empirical research is required to establish if these devices do, in fact, bring about the anticipated improvements. Initially, at least, simulated driving environments offer a means of conducting this research. The study reported here concentrates on the application of a vision enhancement (VE) system within the risk homeostasis paradigm. It was anticipated, in line with risk homeostasis theory, that drivers would compensate for the reduction in risk by increasing speed. The results support the hypothesis although, after a simulated failure of the VE system, drivers did reduce their speed due to reduced confidence in the reliability of the system

Measuring working memory load effects on electrophysiological markers of attention orienting during a simulated drive

Intersection accidents result in a significant proportion of road fatalities, and attention allocation likely plays a role. Attention allocation may depend on (limited) working memory (WM) capacity. Driving is often combined with tasks increasing WM load, consequently impairing attention orienting. This study (n = 22) investigated WM load effects on event-related potentials (ERPs) related to attention orienting. A simulated driving environment allowed continuous lane-keeping measurement. Participants were asked to orient attention covertly towards the side indicated by an arrow, and to respond only to moving cars appearing on the attended side by pressing a button. WM load was manipulated using a concurrent memory task. ERPs showed typical attentional modulation (cue: contralateral negativity, LDAP; car: N1, P1, SN and P3) under low and high load conditions. With increased WM load, lane-keeping performance improved, while dual task performance degraded (memory task: increased error rate; orienting task: increased false alarms, smaller P3). Practitioner Summary: Intersection driver-support systems aim to improve traffic safety and flow. However, in-vehicle systems induce WM load, increasing the tendency to yield. Traffic flow reduces if drivers stop at inappropriate times, reducing the effectiveness of systems. Consequently, driver-support systems could include WM load measurement during driving in the development phase

INTELLIGENTE TRANSPORT SYSTEMEN ITS EN VERKEERSVEILIGHEID

This report discusses Intelligent Transport Systems (ITS). This generic term is used for a broad range of information-, control- and electronic technology that can be integrated in the road infrastructure and the vehicles themselves, saving lives, time and money bymonitoring and managing traffic flows, reducing conges-tion, avoiding accidents, etc. Because this report was written in the scope of the Policy Research Centre Mobility & Public Works, track Traffic Safety, it focuses on ITS systems from the traffic safety point of view. Within the whole range of ITS systems, two categories can be distinguished: autonomous and cooperative systems. Autonomous systems are all forms of ITS which operate by itself, and do not depend on the cooperation with other vehicles or supporting infrastructure. Example applications are blind spot detection using radar, electronic stability control, dynamic traffic management using variable road signs, emergency call, etc. Cooperative systems are ITS systems based on communication and cooperation, both between vehicles as between vehicles and infrastructure. Example applications are alerting vehicles approaching a traffic jam, exchanging data regarding hazardous road conditions, extended electronic brake light, etc. In some cases, autonomous systems can evolve to autonomous cooperative systems. ISA (Intelligent Speed Adaptation) is an example of this: the dynamic aspect as well as communication with infrastructure (eg Traffic lights, Variable Message Sign (VMS)...) can provide additional road safety. This is the clear link between the two parts of this report. The many ITS applications are an indicator of the high expectations from the government, the academic world and the industry regarding the possibilities made possible by both categories of ITS systems. Therefore, the comprehensive discussion of both of them is the core of this report. The first part of the report covering the autonomous systems treats two aspects: 1. Overview of European projects related to mobility and in particular to road safety 2. Overview for guidelines for the evaluation of ITS projects. Out of the wide range of diverse (autonomous) ITS applications a selection is made; this selection is focused on E Safety Forum and PreVENT. Especially the PreVent research project is interesting because ITS-applications have led to a number of concrete demonstration vehicles that showed - in protected and unprotected surroundings- that these ITS-applications are already technically useful or could be developed into useful products. The component “guidelines for the evaluation of ITS projects” outlines that the government has to have specific evaluation tools if the government has the ambition of using ITS-applications for road safety. Two projects -guidelines for the evaluation of ITS projects- are examined; a third evaluation method is only mentioned because this description shows that a specific targeting of the government can be desirable : 1. TRACE describes the guidelines for the evaluation of ITS projects which are useful for the evaluation of specific ITS-applications. 2. FITS contains Finnish guidelines for the evaluation of ITS project; FIS is an adaptation of methods used for evaluation of transport projects. 3. The third evaluation method for the evaluation of ITS projects is developed in an ongoing European research project, eImpact. eImpact is important because, a specific consultation of stake holders shows that the social importance of some techniques is underestimated. These preliminary results show that an appropriate guiding role for the government could be important. In the second part of this document the cooperative systems are discussed in depth. These systems enable a large number of applications with an important social relevance, both on the level of the environment, mobility and traffic safety. Cooperative systems make it possible to warn drivers in time to avoid collisions (e.g. when approaching the tail of a traffic jam, or when a ghost driver is detected). Hazardous road conditions can be automatically communicated to other drivers (e.g. after the detection of black ice or an oil trail by the ESP). Navigation systems can receive detailed real-time up-dates about the current traffic situation and can take this into account when calculating their routes. When a traffic distortion occurs, traffic centers can immediately take action and can actively influence the way that the traffic will be diverted. Drivers can be notified well in advance about approaching emergency vehicles, and can be directed to yield way in a uniform manner. This is just a small selection from the large number of applications that are made possible because of cooperative ITS systems, but it is very obvious that these systems can make a significant positive contribution to traffic safety. In literature it is estimated that the decrease of accidents with injuries of fatalities will be between 20% and 50% . It is not suprising that ITS systems receive a lot of attention for the moment. On an international level, a number of standards are being established regarding this topic. The International Telecommunications Uniont (ITU), Institute for Electrical and Electronics Engineers (IEEE), International Organization for Standardization (ISO), Association of Radio Industries and Business (ARIB) and European committee for standardization (CEN) are currently defining standards that describe different aspects of ITS systems. One of the names that is mostly mentioned in literature is the ISO TC204/WG16 Communications Architecture for Land Mobile environment (CALM) standard. It describes a framework that enables transparent (both for the application and the user) continuous communication through different communication media. Besides the innumerable standardization activities, there is a great number of active research projects. On European level, the most important are the i2010 Intelligent Car Initiative, the eSafety Forum, and the COMeSafety, the CVIS, the SAFESPOT, the COOPERS and the SEVECOM project. The i2010 Intelligent Car Initiative is an European initiative with the goal to halve the number of traffic casualties by 2010. The eSafety Forum is an initiative of the European Commission, industry and other stakeholders and targets the acceleration of development and deployment of safety-related ITS systems. The COMeSafety project supports the eSafety Forum on the field of vehicle-to-vehicle and vehicle-to-infrastructure communication. In the CVIS project, attention is given to both technical and non-technical issues, with the main goal to develop the first free and open reference implementation of the CALM architecture. The SAFEST project investigates which data is important for safety applications, and with which algorithmsthis data can be extracted from vehicles and infrastructure. The COOPERS project mainly targets communication between vehicles and dedicated roadside infrastructure. Finally, the SEVECOM project researches security and privacy issues. Besides the European projects, research is also conducted in the United States of America (CICAS and VII projects) and in Japan (AHSRA, VICS, Smartway, internetITS). Besides standardization bodies and governmental organizations, also the industry has a considerable interest in ITS systems. In the scope of their ITS activities, a number of companies are united in national and international organizations. On an international level, the best known names are the Car 2 Car Communication Consortium, and Ertico. The C2C CC unites the large European car manufacturers, and focuses on the development of an open standard for vehicle-to-vehicle and vehicle-to-infrastructure communications based on the already well established IEEE 802.11 WLAN standard. Ertico is an European multi-sector, public/private partnership with the intended purpose of the development and introduction of ITS systems. On a national level, FlandersDrive and The Telematics Cluster / ITS Belgium are the best known organizations. Despite the worldwide activities regarding (cooperative) ITS systems, there still is no consensus about the wireless technology to be used in such systems. This can be put down to the fact that a large number of suitable technologies exist or are under development. Each technology has its specific advantages and disadvantages, but no single technology is the ideal solution for every ITS application. However, the different candidates can be classified in three distinct categories. The first group contains solutions for Dedicated Short Range Communication (DSRC), such as the WAVE technology. The second group is made up of several cellular communication networks providing coverage over wide areas. Examples are GPRS (data communication using the GSM network), UMTS (faster then GPRS), WiMAX (even faster then UMTS) and MBWA (similar to WiMAX). The third group consists of digital data broadcast technologies such as RDS (via the current FM radio transmissions, slow), DAB and DMB (via current digital radio transmissions, quicker) and DVB-H (via future digital television transmissions for mobiledevices, quickest). The previous makes it clear that ITS systems are a hot topic right now, and they receive a lot of attention from the academic world, the standardization bodies and the industry. Therefore, it seems like that it is just a matter of time before ITS systems will find their way into the daily live. Due to the large number of suitable technologies for the implementation of cooperative ITS systems, it is very hard to define which role the government has to play in these developments, and which are the next steps to take. These issues were addressed in reports produced by the i2010 Intelligent Car Initiative and the CVIS project. Their state of the art overview revealed that until now, no country has successfully deployed a fully operational ITS system yet. Seven EU countries are the furthest and are already in the deployment phase: Sweden, Germany, the Netherlands, the United Kingdom, Finland, Spain and France. These countries are trailed by eight countries which are in the promotion phase: Denmark, Greece, Italy, Austria, Belgium,Norway, the Czech Republic and Poland. Finally, the last ten countries find themselves in the start-up phase: Estonia, Lithuania, Latvia, Slovenia, Slovakia, Hungary, Portugal, Switzerland, Ireland and Luxembourg. These European reports produced by the i2010 Intelligent Car Initiative and the CVIS project have defined a few policy recommendations which are very relevant for the Belgian and Flemish government. The most important recommendations for the Flemish government are: • Support awareness: research revealed that civilians consider ITS applications useful, but they are not really willing to pay for this technology. Therefore, it is important to convince the general public of the usefulness and the importance of ITS systems. • Fill the gaps: Belgium is situated in the promotion phase. This means that it should focus at identifying the missing stakeholders, and coordinating national and regional ITS activities. Here it is important that the research activities are coordinated in a national and international context to allow transfer of knowledge from one study to the next, as well as the results to be comparable. • Develop a vision: in the scope of ITS systems policies have to be defined regarding a large number of issues. For instance there is the question if ITS users should be educated, meaning that the use of ITS systems should be the subject of the drivers license exam. How will the regulations be for the technical inspection of vehicles equipped with ITS technology? Will ITS systems be deployed on a voluntary base, or will they e.g. be obliged in every new car? Will the services be offered by private companies, by the public authorities, or by a combination of them? Which technology will be used to implement ITS systems? These are just a few of the many questions where the government will have to develop a point of view for. • Policy coordination: ITS systems are a policy subject on an international, national and regional level. It is very important that these policy organizations can collaborate in a coordinated manner. • Iterative approach to policy development: developing policies for this complex matter is not a simple task. This asks for an iterative approach, where policy decisions are continuously refined and adjusted

Issues arising from the HASTE experiments

[FIRST PARAGRAPH] The HASTE project work discussed in the foregoing papers can be depicted as being aimed at answering two questions: “Does greater secondary task load from an In-Vehicle Information System (IVIS) lead to an identifiably worse performance in the primary task of driving?” and “How much distraction is too much?”. There is, of course, a huge amount of literature examining the effect of distraction on driving. Some of this concerns visual distraction (e.g. Holohan, Culler & Wilcox, 1978; Dingus, Antin, Hulse & Wierwille, 1989; Wierwille & Tijerina, 1996; Wallace, 2003), while other parts cover distraction from cognitive (auditory) tasks such as mobile phone use (e.g. Stevens & Paulo, 1999; Svenson & Patten, 2003). But, in spite of this large background of research, it can be argued that the HASTE work was pioneering in the sense that it attempted to differentiate between the effects of visual and cognitive distraction and at the same time it attempted to carefully control the “dose” of distraction administered at any one time. These dose-response studies were carried out in three common but quite different experimental settings, a laboratory set-up, advanced driving simulators, and in instrumented vehicles in the field. The project also examined the reliability of the evaluation, with for example six replications of the rural road studies across a variety of driving simulators in five different countries