Highly automated driving InteractIVe Summerschool 2012 Tobias … · Highly automated driving >...
Transcript of Highly automated driving InteractIVe Summerschool 2012 Tobias … · Highly automated driving >...
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012> 1
Highly automated drivingInteractIVe Summerschool 2012
Tobias Hesse & Anna SchiebenGerman Aerospace Center, Institute of Transportation Systems
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 2
Agenda
Different levels of automation in a highly automated vehicle
Technical development for highly automated driving
Design of the Human-Machine-Interaction for highly automated driving
Outlook and summary
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 3
Imagine…
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 4
Definition of different levels of automation
Much discussed e.g. in Projects such as PATH, HAVEit, interactIVe, …BASt group „legal consequences of increasing automation“iMobility Automation Working GroupIHRA (International Harmonized Research Association)TRB (Transportation Research Board)…
Gasser, Arzt, Ayoubi, Bartels, Bürkle, Eier, Flemisch, Häcker, Hesse, Huber, Lotz, Maurer, Ruth-Schumacher, Schwarz, Vogt (2012).
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 5
Different levels of automation in one vehicle
BASt Definition: Human driver executes manual driving task
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 6
Different levels of automation in one vehicle
www. bester-beifahrer.de
BASt Definition: The driver permanently controls either longitudinal or lateral control. The other task can be automated to a certain extent by the assistance system.
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 7
Different levels of automation in one vehicle
HAVEit
BASt Definition: The system takes over longitudinal and lateral control, the driver shallpermanently monitor the system and shall be prepared to take over at any time.
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 8
Different levels of automation in one vehicle
SARTRE
BASt Definition: The system takes over longitudinal and lateral control; the drivermust no longer permanently monitor the system. In case of a take-over request, thedriver must take-over control with a certain time buffer.
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 9
Different levels of automation in one vehicle
BASt Definition: The system takes over longitudinal and lateral control completely andpermanently. In case a take-over request that is not carried out, the system will returnto a minimal risk condition by itself.
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 10
Different levels of automation in one vehicle
H-Mode Basefunding
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 11
Agenda
Different levels of automation in a highly automated vehicle
Technical development for highly automated driving
Design of the Human-Machine-Interaction for highly automated driving
Outlook and summary
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 12
Concept of Cooperative Automation
Common action executionCommon action planningCompatibility
External compatibilityInternal compatibility
Cognitive compatibilityCompatibility of values
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 13
Cooperative Automation: Cognitive Compatibility
Löper, Kelsch and Flemisch (2008)Löper and Flemisch (2009)
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 14
Representation of Cooperative Automation Behaviour on Layers
Valential (from Valency + Potential)Value of feasible action (e.g. of available manoeuvre)
Manoeuvre planning: Manoeuvre Tree(Shortterm)Trajectory planning: Trajectory Valential FieldControl: Actuation Valential Field
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 15
Implementation on Manoeuvre Level
Explicit communication with driverRegard currently driven manoeuvre: Implicit communication
Enables common and shared action execution
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 16
Application in Project IMoST
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 17
Application in Project FAMOS
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 18
Application in Project FAMOS
Löper, Knake-Langhorst, Schebitz, Schießl and Köster (2011)
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 19
Steer-by-wire technology
Feedb.-A
ctuator (FA
CT)
Steer-by-wire driving:Steering wheel can be used fordifferent purposesManouevre-based drivingFree haptic interaction design (tics, vibrations)Steering wheel parametersadaptable to different levels ofautomation and different drivingsituations
DLR
DLR
DLR
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 20
Agenda
Different levels of automation in a highly automated vehicle
Technical development for highly automated driving
Design of the Human-Machine-Interaction for highly automated driving
Outlook and summary
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 21
Design aspects of the Human-Machine-Interaction
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 22
Design aspects of the Human-Machine-Interaction
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 23
Levels of assistance and automation
Define how many different levels of automation are suitableChoose clearly distinguishable levels of automation
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 24
Levels of automation in HAVEit
BASt Definition
HAVEit D 33.2
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 25
Design aspects of the Human-Machine-Interaction
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 26
Transitions between levels of automation
Define which transitions should be allowed
Driver initiated transition vs. Automation intiated transitionsNormal transitions vs. transitions at system limits
?
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 27
ISO 15622
Transitions between levels of automation
From existing to future levels of automation:Driver needs to build up a correct mental modelIntegrated and consistent concepts for the transitionsInclude already existing standards for systems like ACC(ISO 15622)
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 28
HAVEit: Example of transition design
HMI WorkshopsSimulator studiesStandardisation
Prototype A Prototype B Prototype C
Schieben et al. (2011)
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 29
Transitions: Mode Confusion
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 30
Transitionen: Interlocked Transitions
Explicit transition designHand-over of control only after confirmation by the other partner („Interlocked Transition“, „Handshake“)
HAVEit D 33.6
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 31
Transitions: Concept for take-over requests
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 32
Transitions: Concept for take-over requestsExample: HAVEit take-over request:
Try to bring the driver back in the loopAcoustic & visual alarms
Check if driver takes over as intendedHands-on check Attention monitor
If driver does not react, bring vehicle to a safe stop Minimum Risk Manoeuvre
HAVEit D 33.2
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 33
Transitions: Concept for take-over requests
Also after automatic emergency interventions e.g. collision avoidance by steering
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 34
Transitions: Devices and strategies
Interface for transitions between different levels of automation
Common switching devicesSmart transition (e.g. hands-off detection on steering wheel)
Adaptive automation
DLR
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 35
Design aspects of the Human-Machine-Interaction
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 37
Interaction concepts: Displays
Provide information and assistance in lower levels of automationRaise awareness for the current automation actions
Contact analogue displaysHead-up-displays
BMW
Light Blue Optics
DaimlerDaimler
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 38
Interaction concepts: Displays
Integrated display and interaction concept for different levels of automation Indicate the available and active levels of automationStandardized display elements in the cluster instrument
Take over control!
HAVEit D 33.2
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 39
Interaction concepts: Displays
Joint System Demonstrator
VW TAPConti ARC VTEC AQuA
Take over control!
Flemisch, Schieben, Strauss, Lueke & Heyden (2011)
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 40
Interaction concepts: Displays
Integrated display and interaction conceptsStandardized display elements in the cluster instrument
Automation scale: available and active level of automationSafety shield: available and active protection functionsMessage field (overlay)
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 41
Design aspects of the Human-Machine-Interaction
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 42
Other tasks than driving?
„What would you like to do while driving highly automated?“
HAVEit Usability Assessment, 20098 participants, multiple answers were possible
Write emails Surf in the internet
Make phone calls
Eat something
Watch TV
Read something
Listen to musicLook out of the window
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 43
Interaction concepts: Other tasks than driving?
If other tasks than driving are allowed:
Changes in cockpit designChanges in the interaction between driver and passengers
Audi A2 Concept VW
H. Miller, 1957
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 44
Interaction concepts: Other tasks than driving?
Driver State AssessmentCheck the state of the driver to ensure that he can take over and to avoid misuseCamera Tracking of inputHands-on sensor on steering wheel
HAVEit D32.1
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 45
Effects of automation
Critical effects might occur due to theintroduction of automation
Mode ConfusionMisuseComplacency/OvertrustLoss of skills
Effects need to be monitoredCountermeasures need to be introducedif necessary
elektromania.net
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 46
Agenda
Different levels of automation in a highly automated vehicle
Technical development for highly automated driving
Design of the Human-Machine-Interaction for highly automated driving
Summary and Outlook
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 47
Summary
Different levels of automation in one vehicleTechnical issues:
Appropriate hardware enables additional degrees of freedomX-by-wire, Head-up displays, novel inceptors, etc.
Cooperative, user-compatible automationOuter and inner user compatibilityUncertainties
Human-Machine-Interaction:Vehicles with different levels of automation Challenges in HMIdesign
TransitionsTake over requests
Secondary tasks and influences on cockpit design
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 48
Human Factors InvestigationsDriver Behaviour and PerformanceSituation AwarenessMode ConfusionOvertake AbilityControllability
Technical DevelopmentC2XX-by-WireCooperative AutomationSensorsInceptors & InterfacesContact-Analogue Displays
Holistic System DesignArbitration & InteractionIntegration of FunctionsModes & TransitionsHMI: visual, acoustic, haptic, kinaesthetic,…
ModellingDriver BehaviourReaction to AssistanceInteractionTraffic Flow
Outlook
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Institute of Transportation Systems > Aerospace technology for road and railwayHMI and User Acceptance > 26 October, 2011 > Folie 49
Thank you for your attention!
Contact:Tobias Hesse Anna Schieben [email protected] [email protected]
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Institute of Transportation Systems > Aerospace technology for road and railwayHighly automated driving > InteractIVe Summerschool 4.-6. July 2012 > 50
References
Flemisch, F., Schieben, A., Strauss, M., Lüke, S. & Heyden, A. (2011). Design of human-machine interfaces for highlyautomated vehicles in the EU-project HAVEit. In: Proceedings 14th International Conference on Human-Computer Interaction, 9.-14.7.2011, Orlando.
Flemisch, F. & Schieben, A. (Eds.). HAVEit Deliverable D.33.2: Preliminary concept on optimum task repartition in the joint system driver / co-pilot. HAVEit consortium. www.haveit-eu.org.
Gasser, T., Arzt, C. Ayoubi, M., Bartels, A., Bürkle, L., Eier, J., Flemisch, F., Häcker, D., Hesse, T., Huber, W., Lotz, C., Maurer, M., Ruth-Schumacher, S., Schwarz, J., Vogt, W. (2012). Rechtsfolgen zunehmender Fahrzeugautomatisierung. Berichteder Bundesanstalt für Straßenwesen. Fahrzeugtechnik Heft F83
Löper, C., Knake-Langhorst, S., Schebitz, N., Schießl, C., Köster, F. (2011). Eine Assistenzfunktion zur Unterstützung des Fahrers bei der Auswahl geeigneter Lücken für Ein- und Ausfädelvorgänge. 6. VDI Tagung „Der Fahrer im 21. Jahrhundert“, 08.-09.11.2011, Braunschweig, VDI Berichte Nr. 2134, S. 35-48
Löper, C. & Flemisch, F. (2009). Ein Baustein für hochautomatisiertes Fahren: Kooperative, manöverbasierte Automation in den Projekten H-Mode und HAVEit. In: Stiller, C., Maurer, M. (Eds.) 6. Workshop Fahrerassistenzsysteme. Karlsruhe: Freundeskreis Mess- und Regelungsrechnik Karlsruhe e.V., S. 136-146.
Löper, C., Kelsch, J., Flemisch, F. (2008). Kooperative, manöverbasierte Automation und Arbitrierung als Bausteine für hochautomatisiertes Fahren. In: Gesamtzentrum für Verkehr Braunschweig (Hrsg.): Automatisierungs-, Assistenzsysteme und eingebettete Systeme für Transportmittel. GZVB, Braunschweig. S. 215 - 237.
Schieben, A. & Flemisch, F. (Eds.) . HAVEit Deliverable D.33.6: Validation of optimum concept for task repartition. HAVEitconsortium. www.haveit-eu.org.
Schieben, A., Flemisch, F., Temme, G. & Köster, Frank (2011). What happens when I push the accelerator pedal? Exploration and proposal for the design of driver-initiated transitions between different automation modes in a highly automatedvehicle. In: VDI Berichte 2134, pp. 1-21. VDI Verlag GmbH. Der Fahrer im 21. Jahrhundert, 8.11.-9.11.2011, Braunschweig.
Rauch, N., Kaussner, A., Boverie, S., Giralt, A. (Eds.). HAVEit Deliverable D.32.1: Report on Driver Assessment Methodology. HAVEit consortium. www.haveit-eu.org.