On quantifying the value of simulation for training and evaluating robotic agents

Un problème récurrent dans le domaine de la robotique est la difficulté à reproduire les résultats et valider les affirmations faites par les scientifiques. Les expériences conduites en laboratoire donnent fréquemment des résultats propres à l'environnement dans lequel elles ont été effectuées, rendant la tâche de les reproduire et de les valider ardues et coûteuses. Pour cette raison, il est difficile de comparer la performance et la robustesse de différents contrôleurs robotiques. Les environnements substituts à faibles coûts sont populaires, mais introduisent une réduction de performance lorsque l'environnement cible est enfin utilisé. Ce mémoire présente nos travaux sur l'amélioration des références et de la comparaison d'algorithmes (``Benchmarking'') en robotique, notamment dans le domaine de la conduite autonome. Nous présentons une nouvelle platforme, les Autolabs Duckietown, qui permet aux chercheurs d'évaluer des algorithmes de conduite autonome sur des tâches, du matériel et un environnement standardisé à faible coût. La plateforme offre également un environnement virtuel afin d'avoir facilement accès à une quantité illimitée de données annotées. Nous utilisons la plateforme pour analyser les différences entre la simulation et la réalité en ce qui concerne la prédictivité de la simulation ainsi que la qualité des images générées. Nous fournissons deux métriques pour quantifier l'utilité d'une simulation et nous démontrons de quelles façons elles peuvent être utilisées afin d'optimiser un environnement proxy.A common problem in robotics is reproducing results and claims made by researchers. The experiments done in robotics laboratories typically yield results that are specific to a complex setup and difficult or costly to reproduce and validate in other contexts. For this reason, it is arduous to compare the performance and robustness of various robotic controllers. Low-cost reproductions of physical environments are popular but induce a performance reduction when transferred to the target domain. This thesis present the results of our work toward improving benchmarking in robotics, specifically for autonomous driving. We build a new platform, the Duckietown Autolabs, which allow researchers to evaluate autonomous driving algorithms in a standardized framework on low-cost hardware. The platform offers a simulated environment for easy access to annotated data and parallel evaluation of driving solutions in customizable environments. We use the platform to analyze the discrepancy between simulation and reality in the case of predictivity and quality of data generated. We supply two metrics to quantify the usefulness of a simulation and demonstrate how they can be used to optimize the value of a proxy environment

What happens when drivers face hazards on the road?

The current study aims to obtain knowledge about the nature of the processes involved in Hazard Perception, using measurement techniques to separate and independently quantify these suspected sub-processes: Sensation, Situation Awareness (recognition, location and projection) and Decision-Making. It applies Signal Detection Theory analysis to Hazard Perception and Prediction Tasks. To enable the calculation of Signal Detection Theory parameters, video-recorded hazardous vs. quasi-hazardous situations were presented to the participants. In the hazardous situations it is necessary to perform an evasive action, for instance, braking or swerving abruptly, while the quasi-hazardous situations do not require the driver to make any evasive manoeuvre, merely to carry on driving at the same speed and following the same trajectory. A first Multiple Choice Hazard Perception and Prediction test was created to measure participants’ performance in a What Happens Next? Task. The sample comprised 143 participants, 47 females and 94 males. Groups of non-offender drivers (learner, novice and experienced) and offender drivers (novice and experienced) were recruited. The Multiple Choice Hazard Perception and Prediction test succeeded in finding differences between drivers according to their driving experience. In fact, differences exist with regard to the level of hazard discrimination (d’ prime) by drivers with different experience (learner, novice and experienced drivers) and profile (offenders and non-offenders) and these differences emerge from Signal Detection Theory analysis. In addition, it was found that experienced drivers show higher Situation Awareness than learner or novice drivers. On the other hand, although offenders do worse than non-offenders on the hazard identification question, they do just as well when their Situation Awareness is probed (in fact, they are as aware as non-offenders of what the obstacles on the road are, where they are and what will happen next). Nevertheless, when considering the answers participants provided about their degree of cautiousness, experienced drivers were more cautious than novice drivers, and non-offender drivers were more cautious than offender drivers. That is, a greater number of experienced and non-offender drivers chose the answer “I would make an evasive manoeuvre such as braking gradually”

Identification of road user related risk factors, deliverable 4.1 of the H2020 project SafetyCube.

Safety CaUsation, Benefits and Efficiency (SafetyCube) is a European Commission supported Horizon 2020 project with the objective of developing an innovative road safety Decision Support System (DSS). The DSS will enable policy-makers and stakeholders to select and implement the most appropriate strategies, measures, and cost-effective approaches to reduce casualties of all road user types and all severities. This document is the first deliverable (4.1) of work package 4 which is dedicated to identifying and assessing human related risk factors and corresponding countermeasures as well as their effect on road safety. The focus of deliverable 4.1 is on identification and assessment of risk factors and describes the corresponding operational procedure and corresponding outcomes. The following steps have been carried out: Identification of human related risk factors – creation of a taxonomy Consultation of relevant stakeholders and policy papers for identification of topic with high priority (‘hot topics’) Systematic literature search and selection of relevant studies on identified risk factors •Coding of studies •Analysis of risk factors on basis of coded studies •Synopses of risk factors, including accident scenarios The core output of this task are synopses of risk factors which will be available through the DSS. Within the synopses, each risk factor was analysed systematically on basis of scientific studies and is further assigned to one of four levels of risk (marked with a colour code). Essential information of the more than 180 included studies were coded and will also be available in the database of the DSS. Furthermore, the synopses contain theoretical background on the risk factor and are prepared in different sections with different levels of detail for an academic as well as a non-academic audience. These sections are readable independently. It is important to note that the relationship between road safety and road user related risk factors is a difficult task. For some risk factors the available studies focused more on conditions of the behaviour (in which situations the behaviour is shown or which groups are more likely to show this behaviour) rather than the risk factor itself. Therefore, it cannot be concluded that those risk factors that have not often been studied or have to rely more indirect and arguably weaker methodologies, e.g. self-reports , do not increase the chance of a crash occurring. The following analysed risk factors were assessed as ‘risky’, ‘probably risky’ or ‘unclear’. No risk factors were identified as ‘probably not risky’. Risky Probably risky Unclear • Influenced driving – alcohol • Influenced Driving – drugs (legal & illegal) • Speeding and inappropriate speed • Traffic rule violations – red light running • Distraction – cell phone use (hand held) • Distraction – cell phone use (hands free) • Distraction – cell phone use (texting) • Fatigue – sleep disorders – sleep apnea • Risk taking – overtaking • Risk taking – close following behaviour • Insufficient knowledge and skills • Functional impairment – cognitive impairment • Functional impairment – vision loss • Diseases and disorders – diabetes • Personal factors – sensation seeking • Personal factors – ADHD • Emotions – anger, aggression • Fatigue – Not enough sleep/driving while tired • Distraction – conversation with passengers • Distraction – outside of vehicle • Distraction – cognitive overload and inattention • Functional impairment – hearing loss (few studies) • Observation errors (few studies) • Distraction – music – entertainment systems (many studies, mixed results) • Distraction – operating devices (many studies, mixed results) The next step in SafetyCube’s WP4 is to identify and assess the effectiveness of measures and to establish a link to the identified risk factors. The work of this first task indicates a set of risk factors that should be centre of attention when identifying corresponding road safety measures (category ‘risky’)

Driver's Braking Behavior

Summary The driver's braking behavior while approaching zebra crossings under different safety measures (curb extensions, parking restrictions, and advance yield markings) and without treatment (baseline condition) was examined. The speed reduction time was the variable used to describe the driver's behavior. Forty-two drivers drove a driving simulator on an urban scenario in which the baseline condition and the safety measures were implemented. The speed reduction time was modeled with a parametric duration model to compare the effects on driver's braking behavior of vehicle dynamic variables and different countermeasures. The parametric accelerated failure time duration model with a Weibull distribution identified that the vehicle dynamic variables and only the countermeasure curb extensions affected, in a statistically significant way, the driver's speed reduction time in response to a pedestrian crossing. This result shows that the driver, because of the improved visibility of the pedestrian allowed by the curb extensions, was able to receive a clear information and better to adapt his approaching speed to yield to the pedestrian, avoiding abrupt maneuvers. This also means a reduction of likelihood of rear-end collision due to less aggressive braking. Copyright © 2016 John Wiley & Sons, Ltd

Advances in Automated Driving Systems

Electrification, automation of vehicle control, digitalization and new mobility are the mega-trends in automotive engineering, and they are strongly connected. While many demonstrations for highly automated vehicles have been made worldwide, many challenges remain in bringing automated vehicles to the market for private and commercial use. The main challenges are as follows: reliable machine perception; accepted standards for vehicle-type approval and homologation; verification and validation of the functional safety, especially at SAE level 3+ systems; legal and ethical implications; acceptance of vehicle automation by occupants and society; interaction between automated and human-controlled vehicles in mixed traffic; human–machine interaction and usability; manipulation, misuse and cyber-security; the system costs of hard- and software and development efforts. This Special Issue was prepared in the years 2021 and 2022 and includes 15 papers with original research related to recent advances in the aforementioned challenges. The topics of this Special Issue cover: Machine perception for SAE L3+ driving automation; Trajectory planning and decision-making in complex traffic situations; X-by-Wire system components; Verification and validation of SAE L3+ systems; Misuse, manipulation and cybersecurity; Human–machine interactions, driver monitoring and driver-intention recognition; Road infrastructure measures for the introduction of SAE L3+ systems; Solutions for interactions between human- and machine-controlled vehicles in mixed traffic

Augmenting low-fidelity flight simulation training devices via amplified head rotations

Due to economic and operational constraints, there is an increasing demand from aviation operators and training manufacturers to extract maximum training usage from the lower fidelity suite of flight simulators. It is possible to augment low-fidelity flight simulators to achieve equivalent performance compared to high-fidelity setups but at reduced cost and greater mobility. In particular for visual manoeuvres, the virtual reality technique of head-tracking amplification for virtual view control enables full field-of-regard access even with limited field-of-view displays. This research quantified the effects of this technique on piloting performance, workload and simulator sickness by applying it to a fixed-base, low-fidelity, low-cost flight simulator. In two separate simulator trials, participants had to land a simulated aircraft from a visual traffic circuit pattern whilst scanning for airborne traffic. Initially, a single augmented display was compared to the common triple display setup in front of the pilot. Starting from the base leg, pilots exhibited tighter turns closer to the desired ground track and were more actively conducting visual scans using the augmented display. This was followed up by a second experiment to quantify the scalability of augmentation towards larger displays and field of views. Task complexity was increased by starting the traffic pattern from the downwind leg. Triple displays in front of the pilot yielded the best compromise delivering flight performance and traffic detection scores just below the triple projectors but without an increase in track deviations and the pilots were also less prone to simulator sickness symptoms. This research demonstrated that head augmentation yields clear benefits of quick user adaptation, low-cost, ease of systems integration, together with the capability to negate the impact of display sizes yet without incurring significant penalties in workload and incurring simulator sickness. The impact of this research is that it facilitates future flight training solutions using this augmentation technique to meet budgetary and mobility requirements. This enables deployment of simulators in large numbers to deliver expanded mission rehearsal previously unattainable within this class of low-fidelity simulators, and with no restrictions for transfer to other training media

Methods and techniques for analyzing human factors facets on drivers

Mención Internacional en el título de doctorWith millions of cars moving daily, driving is the most performed activity worldwide. Unfortunately, according to the World Health Organization (WHO), every year, around 1.35 million people worldwide die from road traffic accidents and, in addition, between 20 and 50 million people are injured, placing road traffic accidents as the second leading cause of death among people between the ages of 5 and 29. According to WHO, human errors, such as speeding, driving under the influence of drugs, fatigue, or distractions at the wheel, are the underlying cause of most road accidents. Global reports on road safety such as "Road safety in the European Union. Trends, statistics, and main challenges" prepared by the European Commission in 2018 presented a statistical analysis that related road accident mortality rates and periods segmented by hours and days of the week. This report revealed that the highest incidence of mortality occurs regularly in the afternoons during working days, coinciding with the period when the volume of traffic increases and when any human error is much more likely to cause a traffic accident. Accordingly, mitigating human errors in driving is a challenge, and there is currently a growing trend in the proposal for technological solutions intended to integrate driver information into advanced driving systems to improve driver performance and ergonomics. The study of human factors in the field of driving is a multidisciplinary field in which several areas of knowledge converge, among which stand out psychology, physiology, instrumentation, signal treatment, machine learning, the integration of information and communication technologies (ICTs), and the design of human-machine communication interfaces. The main objective of this thesis is to exploit knowledge related to the different facets of human factors in the field of driving. Specific objectives include identifying tasks related to driving, the detection of unfavorable cognitive states in the driver, such as stress, and, transversely, the proposal for an architecture for the integration and coordination of driver monitoring systems with other active safety systems. It should be noted that the specific objectives address the critical aspects in each of the issues to be addressed. Identifying driving-related tasks is one of the primary aspects of the conceptual framework of driver modeling. Identifying maneuvers that a driver performs requires training beforehand a model with examples of each maneuver to be identified. To this end, a methodology was established to form a data set in which a relationship is established between the handling of the driving controls (steering wheel, pedals, gear lever, and turn indicators) and a series of adequately identified maneuvers. This methodology consisted of designing different driving scenarios in a realistic driving simulator for each type of maneuver, including stop, overtaking, turns, and specific maneuvers such as U-turn and three-point turn. From the perspective of detecting unfavorable cognitive states in the driver, stress can damage cognitive faculties, causing failures in the decision-making process. Physiological signals such as measurements derived from the heart rhythm or the change of electrical properties of the skin are reliable indicators when assessing whether a person is going through an episode of acute stress. However, the detection of stress patterns is still an open problem. Despite advances in sensor design for the non-invasive collection of physiological signals, certain factors prevent reaching models capable of detecting stress patterns in any subject. This thesis addresses two aspects of stress detection: the collection of physiological values during stress elicitation through laboratory techniques such as the Stroop effect and driving tests; and the detection of stress by designing a process flow based on unsupervised learning techniques, delving into the problems associated with the variability of intra- and inter-individual physiological measures that prevent the achievement of generalist models. Finally, in addition to developing models that address the different aspects of monitoring, the orchestration of monitoring systems and active safety systems is a transversal and essential aspect in improving safety, ergonomics, and driving experience. Both from the perspective of integration into test platforms and integration into final systems, the problem of deploying multiple active safety systems lies in the adoption of monolithic models where the system-specific functionality is run in isolation, without considering aspects such as cooperation and interoperability with other safety systems. This thesis addresses the problem of the development of more complex systems where monitoring systems condition the operability of multiple active safety systems. To this end, a mediation architecture is proposed to coordinate the reception and delivery of data flows generated by the various systems involved, including external sensors (lasers, external cameras), cabin sensors (cameras, smartwatches), detection models, deliberative models, delivery systems and machine-human communication interfaces. Ontology-based data modeling plays a crucial role in structuring all this information and consolidating the semantic representation of the driving scene, thus allowing the development of models based on data fusion.I would like to thank the Ministry of Economy and Competitiveness for granting me the predoctoral fellowship BES-2016-078143 corresponding to the project TRA2015-63708-R, which provided me the opportunity of conducting all my Ph. D activities, including completing an international internship.Programa de Doctorado en Ciencia y Tecnología Informática por la Universidad Carlos III de MadridPresidente: José María Armingol Moreno.- Secretario: Felipe Jiménez Alonso.- Vocal: Luis Mart

Toward a Safer Transportation System for Senior Road Users

Senior pedestrians and drivers (65 years and older) are among the most vulnerable road users. As the population of seniors rise, concerns regarding older adults\u27 traffic safety are growing. The advantages of using autonomous vehicles, innovative vehicle technologies, and active transportation are becoming more widely recognized to improve seniors\u27 mobility and safety. This behooves researchers to further investigate senior road users’ safety challenges and countermeasures. This study contributes to the literature by achieving two main goals. First, to explore contributing factors affecting the safety of older pedestrians and drivers in the current transportation system. Second, to examine seniors’ perceptions, preferences, and behaviors toward autonomous vehicles and advanced vehicle technologies, the main components of future transportation systems. To achieve the first objective, crash data involving senior pedestrians and drivers were collected and analyzed. Using structural equation modeling, it was found out that seniors’ susceptibility to pedestrian incidents is a function of level of walking difficulty, fear of falling, and crossing evaluation capability. Senior drivers’ risk factors were found to be driving maneuver & crash location, road features & traffic control devices, driver condition & behavior, road geometric characteristics, crash time and lighting, road class latent factors, as well as pandemic variable. To achieve the second objective, a national survey and a driving simulator experiment were conducted among seniors. The national survey investigates seniors’ perceptions and attitudes to a wide range of AVs features from the perspective of pedestrians and users. Using principal component analysis and cluster analysis, three distinctive clusters of seniors were identified with different perceptions and attitude toward different AV options. The driving simulator experiment examined drivers’ behavior and preferences towards vehicle to infrastructure warning messages. Using the analysis of covariance technique, the results revealed that audio warning message was more effective compared to other scenarios. This finding is consistent with the results of stated preferences of the participants. Female and senior drivers had higher speed limit compliance rate. The findings of this study shed light on key aspects of the current and future of transportation systems that are needed to improve the safety of senior road users