Human Factors in Intelligent Vehicles

176 Pages·2020·35.8 MB·English

by  Cristina Olaverri-Monreal, Fernando García-Fernández, Rosaldo Rossetti

HUMAN FACTORS IN
River Publishers Series in Transport Technology
INTELLIGENT VEHICLES
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Cristina Olaverri-Monreal, Fernando García-Fernández and C
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Human Factors in Intelligent Vehicles addresses issues related LL
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River Publishers River Publishers
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Human Factors in Intelligent Vehicles
RIVER PUBLISHERS SERIES IN TRANSPORT
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Human Factors in Intelligent Vehicles
Editors
Cristina Olaverri-Monreal
ChairITS-SustainableTransportLogistics4.0
JohannesKeplerUniversityLinz
Austria
Fernando Garc´ıa-Ferna´ndez
UniversityCarlosIIIdeMadrid
Spain
Rosaldo J. F. Rossetti
FaculdadedeEngenhariadaUniversidadedoPorto
Portugal
River Publishers
Published,soldanddistributedby:
RiverPublishers
Alsbjergvej10
9260Gistrup
Denmark
www.riverpublishers.com
ISBN:978-87-7022-204-4(Hardback)
978-87-7022-203-7(Ebook)
©2020RiverPublishers
Allrightsreserved.Nopartofthispublicationmaybereproduced,storedin
aretrievalsystem,ortransmittedinanyformorbyanymeans,mechanical,
photocopying,recordingorotherwise,withoutpriorwrittenpermissionof
thepublishers.
Contents
Preface xi
ListofContributors xv
ListofFigures xvii
ListofTables xxi
ListofAbbreviations xxiii
1 Continuous Game Theory Pedestrian Modelling Method for
AutonomousVehicles 1
FantaCamara,SerhanCosar,NicolaBellotto,NatashaMerat
andCharlesW.Fox
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 RelatedWork . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2.1 PedestrianCrossingBehaviour . . . . . . . . . . . 4
1.2.2 GameTheory . . . . . . . . . . . . . . . . . . . . 5
1.2.3 PedestrianTracking . . . . . . . . . . . . . . . . . 7
1.3 Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3.1 HumanExperiment . . . . . . . . . . . . . . . . . 7
1.3.2 PedestrianDetectionandTracking . . . . . . . . . 9
1.3.3 SequentialChickenModel . . . . . . . . . . . . . 11
1.3.4 GaussianProcessParameterPosterior
Analysis . . . . . . . . . . . . . . . . . . . . . . . 12
1.4 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.5 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Acknowlegdment . . . . . . . . . . . . . . . . . . . . . . . . . . 15
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
v
vi Contents
2 TheInterfaceChallengeforPartiallyAutomatedVehicles:How
DriverCharacteristicsAffectInformationUsageOverTime 21
ArunUlahannan,PaulJennings,SimonThompson
andStewartBirrell
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.2 Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.2.1 StudyDesign . . . . . . . . . . . . . . . . . . . . 23
2.2.2 Participants . . . . . . . . . . . . . . . . . . . . . 23
2.2.3 InterfaceDesign . . . . . . . . . . . . . . . . . . 24
2.2.4 DrivingScenario . . . . . . . . . . . . . . . . . . 26
2.2.5 Procedure . . . . . . . . . . . . . . . . . . . . . . 26
2.2.6 DataAnalysis . . . . . . . . . . . . . . . . . . . . 28
2.2.6.1 Trust(Parts1and2) . . . . . . . . . . . 28
2.2.6.2 DBQ(Part1only) . . . . . . . . . . . . 28
2.2.6.3 DALI(Part2only) . . . . . . . . . . . . 28
2.3 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.3.1 TrustResults(Parts1and2) . . . . . . . . . . . . 29
2.3.2 DBQResults(Part1only) . . . . . . . . . . . . . 29
2.3.3 DALIResults(Part2only) . . . . . . . . . . . . . 30
2.3.4 Fixations . . . . . . . . . . . . . . . . . . . . . . 30
2.3.4.1 FixationsandTrust(Parts1and2) . . . 30
2.3.4.2 FixationsandDBQ(Part1only) . . . . 30
2.3.4.3 FixationsandDALI(Part2only) . . . . 30
2.3.5 Betweentrust,DBQandDALI . . . . . . . . . . . 32
2.3.5.1 TrustandDBQ(Part1only) . . . . . . . 32
2.3.5.2 TrustandDALI(Part2only) . . . . . . 33
2.4 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.4.1 Fixations . . . . . . . . . . . . . . . . . . . . . . 33
2.4.1.1 FixationsandTrust(Parts1and2) . . . 33
2.4.1.2 FixationsandDBQ(Part1only) . . . . 34
2.4.2 FixationsandDALI(Part2only) . . . . . . . . . 34
2.4.3 BetweenTrust,DBQandDALI . . . . . . . . . . 35
2.4.3.1 TrustandDBQ(Part1only) . . . . . . . 35
2.4.3.2 TrustandDALI(Part2only) . . . . . . 36
2.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . 36
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Contents vii
3 A CNN Approach for Bidirectional Brainwave Controller for
IntelligentVehicles 41
ArmandoAstudilloOlallaandFernandoGarc´ıaFerna´ndez
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.1.1 HumanBrain . . . . . . . . . . . . . . . . . . . . 42
3.1.2 BrainwavesFeatures . . . . . . . . . . . . . . . . 43
3.1.3 BCIResearch . . . . . . . . . . . . . . . . . . . . 44
3.2 SetupOverview . . . . . . . . . . . . . . . . . . . . . . . . 47
3.2.1 BrainwaveSensor . . . . . . . . . . . . . . . . . . 47
3.2.2 VehiclePlatform . . . . . . . . . . . . . . . . . . 47
3.3 Methodology . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.3.1 DataReading . . . . . . . . . . . . . . . . . . . . 48
3.3.2 DataFiltering . . . . . . . . . . . . . . . . . . . . 48
3.3.3 InputProcessing . . . . . . . . . . . . . . . . . . 48
3.3.4 NNClassifier . . . . . . . . . . . . . . . . . . . . 50
3.3.5 CNNClassifier . . . . . . . . . . . . . . . . . . . 51
3.3.5.1 MindNet 1 . . . . . . . . . . . . . . . . 51
3.3.5.2 MindNet 2 . . . . . . . . . . . . . . . . 52
3.4 ExperimentalWorksandResults . . . . . . . . . . . . . . . 52
3.4.1 GeneralClassifier . . . . . . . . . . . . . . . . . . 53
3.4.2 IndividualClassifier . . . . . . . . . . . . . . . . 54
3.4.3 ComputationalTime . . . . . . . . . . . . . . . . 55
3.5 ConclusionandFutureWork . . . . . . . . . . . . . . . . . 55
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4 A-RCRAFTFrameworkforAnalysingAutomation:
ApplicationtoSAEJ3016LevelsofDrivingAutomation 59
ElodieBouzekri,Ce´liaMartinieandPhilippePalanque
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.2 AFrameworkforAutomationAnalysis:A-RCRAFT . . . . 61
4.2.1 AllocationofFunctionsandTasks . . . . . . . . . 62
4.2.2 AllocationofResources . . . . . . . . . . . . . . 64
4.2.3 AllocationofControlTransitions . . . . . . . . . 66
4.2.4 AllocationofResponsibility . . . . . . . . . . . . 67
4.2.5 AllocationofAuthority . . . . . . . . . . . . . . . 68
4.3 Qualitative Analysis of SAE J3016 Levels of Driving
AutomationwithA-RCRAFT . . . . . . . . . . . . . . . . 69
4.3.1 Scope of the SAE J3016 for the Human Tasks and
SystemFunctions . . . . . . . . . . . . . . . . . . 70
viii Contents
4.3.2 Decomposition of Levels of Driving Automation
AccordingtoA-RCRAFT . . . . . . . . . . . . . 70
4.3.3 ResultsoftheAnalysisandBenefitsfromUsing
A-RCRAFT . . . . . . . . . . . . . . . . . . . . . 71
4.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . 77
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
5 Autonomous Vehicles: Vulnerable Road User Response to
Visual Information Using an Analysis Framework for Shared
Spaces 83
WalterMoralesAlvarezandCristinaOlaverri-Monreal
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.2 FieldTestDescription . . . . . . . . . . . . . . . . . . . . 86
5.3 AnalyzingAlgorithm . . . . . . . . . . . . . . . . . . . . . 89
5.3.1 PedestrianDetectionandPoseEstimation . . . . . 89
5.3.2 DistanceEstimationviaStereoCameras . . . . . . 90
5.3.3 PedestriantrackingwithDeepSort . . . . . . . . . 91
5.3.4 FaceDetection . . . . . . . . . . . . . . . . . . . 92
5.3.5 Velocity . . . . . . . . . . . . . . . . . . . . . . . 93
5.3.6 Classification . . . . . . . . . . . . . . . . . . . . 93
5.3.7 BehaviorSegmentation . . . . . . . . . . . . . . . 94
5.4 DataAnalysis . . . . . . . . . . . . . . . . . . . . . . . . . 96
5.5 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
5.5.1 AlgorithmResult . . . . . . . . . . . . . . . . . . 96
5.5.2 FieldTestsResults . . . . . . . . . . . . . . . . . 99
5.6 Conclusion,Discussion,andFutureWork . . . . . . . . . . 101
Acknowledgment . . . . . . . . . . . . . . . . . . . . . . . . . . 103
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
6 IntelligentVehiclesandOlderDrivers 109
JoonwooSonandMyoungoukPark
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 109
6.2 Age-relatedLimitationsinDriving . . . . . . . . . . . . . . 110
6.2.1 VisionandAudition . . . . . . . . . . . . . . . . 110
6.2.2 CognitiveFunction . . . . . . . . . . . . . . . . . 111
6.2.3 PhysicalFunction . . . . . . . . . . . . . . . . . . 112
6.3 HowCanIntelligentVehiclesHelpOlderDrivers? . . . . . 112
6.4 IntelligentVehiclesandOlderDriver . . . . . . . . . . . . 113
6.4.1 ResearchMethods . . . . . . . . . . . . . . . . . 114
Contents ix
6.4.2 Age Differences in the Acceptance of Assistive
Technologies . . . . . . . . . . . . . . . . . . . . 115
6.4.3 AgeDifferencesinEffectivenessofFCW . . . . . 115
6.4.4 AgeDifferencesinEffectivenessofLDW . . . . . 117
6.5 HMIDesignforOlderDrivers . . . . . . . . . . . . . . . . 118
6.5.1 VisualHMIDesign . . . . . . . . . . . . . . . . . 118
6.5.2 AudibleHMIDesign . . . . . . . . . . . . . . . . 119
6.5.3 Multiple-taskDesign . . . . . . . . . . . . . . . . 119
6.6 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . 120
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
7 Integration Model of Multi-Agent Architectures for Data
Fusion-BasedActiveDrivingSystem 125
OscarSipele,AgapitoLedezmaandAraceliSanchis
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 126
7.2 RelatedWork . . . . . . . . . . . . . . . . . . . . . . . . . 127
7.3 DeploymentArchitecture . . . . . . . . . . . . . . . . . . . 128
7.4 MaterialsandMethods . . . . . . . . . . . . . . . . . . . . 130
7.4.1 Materials . . . . . . . . . . . . . . . . . . . . . . 130
7.4.2 DeploymentDetails . . . . . . . . . . . . . . . . . 131
7.4.3 DrivingTrailDesigning . . . . . . . . . . . . . . 134
7.5 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
7.6 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Acknowledgment . . . . . . . . . . . . . . . . . . . . . . . . . . 140
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Index 143
AbouttheEditors 145