| 1. |
- Andreotti, Eleonora, 1988, et al.
(författare)
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Cooperative merging strategy between connected autonomous vehicles in mixed traffic
- 2022
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Ingår i: IEEE Open Journal of Intelligent Transportation Systems. - : IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. - 2687-7813. ; 3, s. 825-837
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Tidskriftsartikel (refereegranskat)abstract
- In this work we propose a new cooperation strategy between connected autonomous vehicles in on-ramps merging scenarios and we implement the cut-in risk indicator (CRI) to investigate the safety effect of the proposed strategy. The new cooperation strategy considers a pair of vehicles approaching an on-ramp. The strategy then makes decisions on the target speeds/accelerations of both vehicles, possible lane changing, and a dynamic decision-making approach in order to reduce the risk during the cut-in manoeuvre. In this work, the CRI was first used to assess the risk during the merging manoeuvre. For this purpose, scenarios with penetration rates of autonomous vehicles from 20% to 100%, with step of 10%, both connected and non-connected autonomous vehicles were evaluated. As a result, on average a 35% reduction of the cut-in risk manoeuvres in connected autonomous vehicles compared to non-connected autonomous vehicles is obtained. It is shown through the analysis of probability density functions characterising the CRI distribution that the reduction is not homogeneous across all indicator values, but depends on the penetration rate and the severity of the manoeuvre.
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| 2. |
- Amador Molina, Oscar, 1986-, et al.
(författare)
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A Survey on Remote Operation of Road Vehicles
- 2022
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Ingår i: IEEE Access. - Piscataway, NJ : IEEE. - 2169-3536. ; 10, s. 130135-130154
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Forskningsöversikt (refereegranskat)abstract
- In recent years, the use of remote operation has been proposed as a bridge towards driverless mobility by providing human assistance remotely when an automated driving system finds a situation that is ambiguous and requires input from a remote operator. The remote operation of road vehicles has also been proposed as a way to enable drivers to operate vehicles from safer and more comfortable locations. While commercial solutions for remote operation exist, remaining challenges are being tackled by the research community, who is continuously testing and validating the feasibility of deploying remote operation of road vehicles on public roads. These tests range from the technological scope to social aspects such as acceptability and usability that affect human performance. This survey presents a compilation of works that approach the remote operation of road vehicles. We start by describing the basic architecture of remote operation systems and classify their modes of operation depending on the level of human intervention. We use this classification to organize and present recent and relevant work on the field from industry and academia. Finally, we identify the challenges in the deployment of remote operation systems in the technological, regulatory, and commercial scopes.
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| 3. |
- Amador, Oscar, et al.
(författare)
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A Survey on Remote Operation of Road Vehicles
- 2022
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Ingår i: IEEE Access. - : IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. - 2169-3536. ; 10, s. 130135-130154
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Tidskriftsartikel (refereegranskat)abstract
- In recent years, the use of remote operation has been proposed as a bridge towards driverless mobility by providing human assistance remotely when an automated driving system finds a situation that is ambiguous and requires input from a remote operator. The remote operation of road vehicles has also been proposed as a way to enable drivers to operate vehicles from safer and more comfortable locations. While commercial solutions for remote operation exist, remaining challenges are being tackled by the research community, who is continuously testing and validating the feasibility of deploying remote operation of road vehicles on public roads. These tests range from the technological scope to social aspects such as acceptability and usability that affect human performance. This survey presents a compilation of works that approach the remote operation of road vehicles. We start by describing the basic architecture of remote operation systems and classify their modes of operation depending on the level of human intervention. We use this classification to organize and present recent and relevant work on the field from industry and academia. Finally, we identify the challenges in the deployment of remote operation systems in the technological, regulatory, and commercial scopes.
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| 4. |
- Aramrattana, Maytheewat, 1988-, et al.
(författare)
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A Novel Risk Indicator for Cut-In Situations
- 2020
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Ingår i: 2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020. - Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc.. - 9781728141497 - 9781728141503
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Konferensbidrag (refereegranskat)abstract
- Cut-in situations occurs when a vehicle intentionally changes lane and ends up in front of another vehicle or in-between two vehicles. In such situations, having a method to indicate the collision risk prior to making the cut-in maneuver could potentially reduce the number of sideswipe and rear end collisions caused by the cut-in maneuvers. This paper propose a new risk indicator, namely cut-in risk indicator (CRI), as a way to indicate and potentially foresee collision risks in cut-in situations. As an example use case, we applied CRI on data from a driving simulation experiment involving a manually driven vehicle and an automated platoon in a highway merging situation. We then compared the results with time-to-collision (TTC), and suggest that CRI could correctly indicate collision risks in a more effective way. CRI can be computed on all vehicles involved in the cut-in situations, not only for the vehicle that is cutting in. Making it possible for other vehicles to estimate the collision risk, for example if a cut-in from another vehicle occurs, the surrounding vehicles could be warned and have the possibility to react in order to potentially avoid or mitigate accidents.
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| 5. |
- Aramrattana, Maytheewat, 1988-, et al.
(författare)
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A Roadmap Towards Remote Assistance : Outcomes from Multidisciplinary Workshop at the 2023 Intelligent Vehicles Symposium
- 2024
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Ingår i: HCI International 2024 Posters. - : Springer Science+Business Media B.V.. - 9783031619625 - 9783031619632 ; , s. 175-185
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- Remote operation of highly automated vehicles (HAVs) may include occasional assistance from a human remote operator that is located outside the HAVs. Remote assistance typically delegates only high-level guidance tasks to the remote operators such as authorizing a driving maneuver or specifying a new driving path. As remote assistance is fairly unexplored, there are still several research challenges. These challenges were discussed by experts from academia and industry in a multidisciplinary workshop at the 2023 IEEE Intelligent Vehicles Symposium. As a result of the workshop, this paper presents a list of most pressing research questions in the following areas: human-machine interaction and human factors, design of the remote station, design of the HAVs. It also outlines a roadmap for future research on remote assistance of HAV, thereby informing interdisciplinary studies and facilitating the benefits of HAVs before full autonomy can be reached.
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| 6. |
- Aramrattana, Maytheewat, 1988-
(författare)
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A Simulation-Based Safety Analysis of CACC-Enabled Highway Platooning
- 2018
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Cooperative Intelligent Transport Systems (C-ITS) enable actors in the transport systems to interact and collaborate by exchanging information via wireless communication networks. There are several challenges to overcome before they can be implemented and deployed on public roads. Among the most important challenges are testing and evaluation in order to ensure the safety of C-ITS applications.This thesis focuses on testing and evaluation of C-ITS applications with regard to their safety using simulation. The main focus is on one C-ITS application, namely platooning, that is enabled by the Cooperative Adaptive Cruise Control (CACC) function. Therefore, this thesis considers two main topics: i) what should be modelled and simulated for testing and evaluation of C-ITS applications? and ii) how should CACC functions be evaluated in order to ensure safety?When C-ITS applications are deployed, we can expect traffic situations which consist of vehicles with different capabilities, in terms of automation and connectivity. We propose that involving human drivers in testing and evaluation is important in such mixed traffic situations. Considering important aspects of C-ITS including human drivers, we propose a simulation framework, which combines driving-, network-, and traffic simulators. The simulation framework has been validated by demonstrating several use cases in the scope of platooning. In particular, it is used to demonstrate and analyse the safety of platooning applications in cut-in situations, where a vehicle driven by a human driver cuts in between vehicles in platoon. To assess the situations, time-to-collision (TTC) and its extensions are used as safety indicators in the analyses.The simulation framework permits future C-ITS research in other fields such as human factors by involving human drivers in a C-ITS context. Results from the safety analyses show that cut-in situations are not always hazardous, and two factors that are the most highly correlated to the collisions are relative speed and distance between vehicles at the moment of cutting in. Moreover, we suggest that to solely rely on CACC functions is not sufficient to handle cut-in situations. Therefore, guidelines and standards are required to address these situations properly.
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| 7. |
- Aramrattana, Maytheewat, 1988-, et al.
(författare)
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Behavioral adaptation of drivers when driving among automated vehicles
- 2022
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Ingår i: Journal of Intelligent and Connected Vehicles. - : Emerald Publishing. - 2399-9802. ; 5:3, s. 309-315
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Tidskriftsartikel (refereegranskat)abstract
- Purpose This paper aims to explore whether drivers would adapt their behavior when they drive among automated vehicles (AVs) compared to driving among manually driven vehicles (MVs).Understanding behavioral adaptation of drivers when they encounter AVs is crucial for assessing impacts of AVs in mixed-traffic situations. Here, mixed-traffic situations refer to situations where AVs share the roads with existing nonautomated vehicles such as conventional MVs. Design/methodology/approach A driving simulator study is designed to explore whether such behavioral adaptations exist. Two different driving scenarios were explored on a three-lane highway: driving on the main highway and merging from an on-ramp. For this study, 18 research participants were recruited. Findings Behavioral adaptation can be observed in terms of car-following speed, car-following time gap, number of lane change and overall driving speed. The adaptations are dependent on the driving scenario and whether the surrounding traffic was AVs or MVs. Although significant differences in behavior were found in more than 90% of the research participants, they adapted their behavior differently, and thus, magnitude of the behavioral adaptation remains unclear. Originality/value The observed behavioral adaptations in this paper were dependent on the driving scenario rather than the time gap between surrounding vehicles. This finding differs from previous studies, which have shown that drivers tend to adapt their behaviors with respect to the surrounding vehicles. Furthermore, the surrounding vehicles in this study are more “free flow'” compared to previous studies with a fixed formation such as platoons. Nevertheless, long-term observations are required to further support this claim.
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| 8. |
- Aramrattana, Maytheewat, 1988-, et al.
(författare)
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Evaluating Model Mismatch Impacting CACC Controllers in Mixed Traffic using a Driving Simulator
- 2018
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Ingår i: 2018 IEEE Intelligent Vehicles Symposium (IV). - New York, NY : IEEE. - 9781538644522 - 9781538644515 - 9781538644539 ; , s. 1867-1872
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Konferensbidrag (refereegranskat)abstract
- At early market penetration, automated vehicles will share the road with legacy vehicles. For a safe transportation system, automated vehicle controllers therefore need to estimate the behavior of the legacy vehicles. However, mismatches between the estimated and real human behaviors can lead to inefficient control inputs, and even collisions in the worst case. In this paper, we propose a framework for evaluating the impact of model mismatch by interfacing a controller under test with a driving simulator. As a proof-of-concept, an algorithm based on Model Predictive Control (MPC) is evaluated in a braking scenario. We show how model mismatch between estimated and real human behavior can lead to a decrease in avoided collisions by almost 46%, and an increase in discomfort by almost 91%. Model mismatch is therefore non-negligible and the proposed framework is a unique method to evaluate them. © 2018 IEEE.
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| 9. |
- Aramrattana, Maytheewat, 1988-, et al.
(författare)
-
Remote Driving Operation (REDO) project : final report
- 2023
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- This report presents experimental setups and findings from the REDO project, which had been conducted between December 2019 and February 2023. Five main topics are covered in this report: 1) Effects of latency and field-of-view on driving performance; 2) Remote driving feedback and control; 3) Connectivity and mobile network support for remote driving; 4) Video transmission for remote driving; and 5) Laws and regulations concerning remote driving. Contents of this report dives into technical details and findings within each topic. Nevertheless, this report does not intend to repeat all detail and results published in scientific publications, and thus this report should be seen as complementary material to the published results.
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| 10. |
- Aramrattana, Maytheewat, 1988-, et al.
(författare)
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Safety Evaluation of Highway Platooning Under a Cut-In Situation Using Simulation
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Annan publikation (populärvet., debatt m.m.)abstract
- Platooning refers to an application, where a group of connected and automated vehicles follow a lead vehicle autonomously, with short inter-vehicular distances. At merging points on highways such as on-ramp, platoons could encounter manually driven vehicles, which are merging on to the highways. In some situations, the manually driven vehicles could end up between the platooning vehicles. Such situations are expected and known as “cut-in” situations. This paper presents a simulation study of a cut-in situation, where a platoon of five vehicles encounter a manually driven vehicle at a merging point of a highway. The manually driven vehicle is driven by 37 test persons using a driving simulator. For the platooning vehicles, two longitudinal controllers with four gap settings between the platooning vehicles, i.e. 15 meters, 22.5 meters, 30 meters, and 42.5 meters, are evaluated. Results summarizing cut-in behaviours and how the participants perceived the situation are presented. Furthermore, the situation is assessed using safety indicators based on time-to-collision.
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| 11. |
- Aramrattana, Maytheewat, 1988-, et al.
(författare)
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Simulation of cut-in by manually driven vehicles in platooning scenarios
- 2017
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Ingår i: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. - Piscataway, NJ : IEEE. - 9781538615256 - 9781538615263 - 9781538615270
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Konferensbidrag (refereegranskat)abstract
- In the near future, Cooperative Intelligent Transport System (C-ITS) applications are expected to be deployed. To support this, simulation is often used to design and evaluate the applications during the early development phases. Simulations of C-ITS scenarios often assume a fleet of homogeneous vehicles within the transportation system. In contrast, once C-ITS is deployed, the traffic scenarios will consist of a mixture of connected and non-connected vehicles, which, in addition, can be driven manually or automatically. Such mixed cases are rarely analysed, especially those where manually driven vehicles are involved. Therefore, this paper presents a C-ITS simulation framework, which incorporates a manually driven car through a driving simulator interacting with a traffic simulator, and a communication simulator, which together enable modelling and analysis of C-ITS applications and scenarios. Furthermore, example usages in the scenarios, where a manually driven vehicle cut-in to a platoon of Cooperative Adaptive Cruise Control (CACC) equipped vehicles are presented.
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| 12. |
- Aramrattana, Maytheewat, 1988-, et al.
(författare)
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Team Halmstad Approach to Cooperative Driving in the Grand Cooperative Driving Challenge 2016
- 2018
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Ingår i: IEEE transactions on intelligent transportation systems (Print). - Piscataway, N.J. : Institute of Electrical and Electronics Engineers Inc.. - 1524-9050 .- 1558-0016. ; 19:4, s. 1248-1261
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Tidskriftsartikel (refereegranskat)abstract
- This paper is an experience report of team Halmstad from the participation in a competition organised by the i-GAME project, the Grand Cooperative Driving Challenge 2016. The competition was held in Helmond, The Netherlands, during the last weekend of May 2016. We give an overview of our car’s control and communication system that was developed for the competition following the requirements and specifications of the i-GAME project. In particular, we describe our implementation of cooperative adaptive cruise control, our solution to the communication and logging requirements, as well as the high level decision making support. For the actual competition we did not manage to completely reach all of the goals set out by the organizers as well as ourselves. However, this did not prevent us from outperforming the competition. Moreover, the competition allowed us to collect data for further evaluation of our solutions to cooperative driving. Thus, we discuss what we believe were the strong points of our system, and discuss post-competition evaluation of the developments that were not fully integrated into our system during competition time. © 2000-2011 IEEE.
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| 13. |
- David, Jennifer, 1987-, et al.
(författare)
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Design and Development of a Hexacopter for the Search and Rescue of a Lost Drone
- 2019
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Konferensbidrag (refereegranskat)abstract
- Search and rescue with an autonomous robot is an attractive and challenging task within the research community. This paper presents the development of an autonomous hexacopter that is designed for retrieving a lost object, like a drone, from a vast-open space, like a desert area. Navigating its path with a proposed coverage path planning strategy, the hexacopter can efficiently search for a lost target and locate it using an image-based object detection algorithm. Moreover, after the target is located, our hexacopter can grasp it with a customised gripper and transport it back to a destined location. It is also capable of avoiding static obstacles and dynamic objects. The proposed system was realised in simulations before implementing it in a real hardware setup, i.e. assembly of the drone, crafting of the gripper, software implementation and testing under real-world scenarios. The designed hexacopter won the best UAV design award at the CPS-VO 2018 Competition held in Arizona, USA.
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| 14. |
- Fan, Yuantao, 1989-, et al.
(författare)
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Infrastructure Mapping in Well-Structured Environments Using MAV
- 2016
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Ingår i: Lecture Notes in Computer Science. - Cham, Switzerland : Springer. - 0302-9743 .- 1611-3349. - 9783319403786 - 9783319403793 ; 9716, s. 116-126
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, we present a design of a surveying system for warehouse environment using low cost quadcopter. The system focus on mapping the infrastructure of surveyed environment. As a unique and essential parts of the warehouse, pillars from storing shelves are chosen as landmark objects for representing the environment. The map are generated based on fusing the outputs of two different methods, point cloud of corner features from Parallel Tracking and Mapping (PTAM) algorithm with estimated pillar position from a multi-stage image analysis method. Localization of the drone relies on PTAM algorithm. The system is implemented in Robot Operating System(ROS) and MATLAB, and has been successfully tested in real-world experiments. The result map after scaling has a metric error less than 20 cm. © Springer International Publishing Switzerland 2016.
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| 15. |
- Malik, Mateen, et al.
(författare)
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Simulation-based Evaluation of a Remotely Operated Road Vehicle under Transmission Delays and Denial-of-Service Attacks
- 2023
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Ingår i: Proceedings of IEEE Pacific Rim International Symposium on Dependable Computing, PRDC. - : IEEE Computer Society. - 1541-0110. ; 2023, s. 23-29
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Konferensbidrag (refereegranskat)abstract
- A remotely operated road vehicle (RORV) refers to a vehicle operated wirelessly from a remote location. In this paper, we report results from an evaluation of two safety mechanisms: safe braking and disconnection. These safety mechanisms are included in the control software for RORV developed by Roboauto, an intelligent mobility solutions provider. The safety mechanisms monitor the communication system to detect packet transmission delays, lost messages, and outages caused by naturally occurring interference as well as denial-of-service (DoS) attacks. When the delay in the communication channel exceeds certain threshold values, the safety mechanisms are to initiate control actions to reduce the vehicle speed or stop the affected vehicle safely as soon as possible. To evaluate the effectiveness of the safety mechanisms, we exposed the vehicle control software to various communication failures using a software-in-the-loop (SIL) testing environment developed specifically for this study. Our results show that the safety mechanisms behaved correctly for a vast majority of the simulated communication failures. However, in a few cases, we noted that the safety mechanisms were triggered incorrectly, either too early or too late, according to the system specification.
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| 16. |
- Meyerson, Amanda, et al.
(författare)
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Effects of daylight and darkness at daytime versus nighttime on driver sleepiness : A driving simulator study
- 2024
-
Ingår i: Transportation Research Interdisciplinary Perspectives. - : Elsevier. - 2590-1982. ; 24
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Tidskriftsartikel (refereegranskat)abstract
- The study explores the impact of light conditions on driver sleepiness. In a driving simulator experiment, 20 drivers drove both during daytime in an alert condition and then later at night after being awake since early morning. Light conditions were manipulated by driving in a simulated nighttime scenario in a dark room (1 lx) versus driving in simulated daylight in a room lit with light emitting diodes combining blue light with a yellow phosphor giving a two peaked spectrum (212 lx). Both the daylight and the darkness scenarios were driven daytime and nighttime in a 2 × 2 design. Sleepiness was measured during the four 1-hour drives in terms of subjective sleepiness ratings, divided attention ability, driving performance, heart rate variability and blink behaviour. Significant differences were found in all measured sleepiness indicators between the daytime and nighttime drives, and in most indicators for time-on- task. No significant main effects were found between simulated daylight and darkness. A psychomotor vigilance test conducted before and after each drive also showed no significant effects for lighting condition. Further research, preferably using longitudinal studies in more realistic settings on real roads, is needed to determine which behaviours and which cognitive processes that are affected when driving in daylight versus darkness.
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| 17. |
- Skogsmo, Ingrid, 1961-, et al.
(författare)
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One2Many : remote operation of multiple vehicles
- 2023
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- One2Many, the title of this report, refers to remote operation of vehicles where an operator handles several vehicles simultaneously. This may increase efficiency and opportunities for profitability. The objective of this report is to identify essential and relevant developments of the regulatory framework, as well as business models and working conditions for support of safe and sustainable introduction of a single person’s remote operation of multiple vehicles. As a starting point, this report describes the taxonomy used and a state-of-the-art study. Most literature deals with technical challenges around remote operation while non-technical challenges, as well operation of multiple vehicles, are poorly covered. This report aims at addressing this gap by considering non-technical aspects for remote operation. Legal aspects are described and analysed, resulting in recommendations for next steps for legislation and regulation. Furthermore, business models and working environment are discussed, taking advantage of two real world use cases: goods transport (Einride trucks), and public transportation (Ride the Future automated shuttles). One2Many summarises regulatory considerations in a Memorandum, and additionally concludes that: • Research is needed regarding legal challenges for the three different modes of remote operation (remote driving, remote assistance, remote supervision) and how to address them in future regulation to best deal with safety concerns and to support remote operation. Liability issues and concerns also need to be handled. • The main advantage of introducing remote operating for several vehicles per operator will most likely be uptime. The employee cost is foreseen to decrease, but potential surrounding functions need to be studied in order to determine if the cost of personnel actually would go down. • Several working environment considerations should be further discussed, e.g. regarding what type of controls would be most effective and safe to use, and whether it matters if an operator has a background as driver of conventional vehicles.
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| 18. |
- Zhao, Lin, et al.
(författare)
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Remote Driving of Road Vehicles : A Survey of Driving Feedback, Latency, Support Control, and Real Applications
- 2024
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Ingår i: IEEE Transactions on Intelligent Vehicles. - : IEEE. - 2379-8858 .- 2379-8904.
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Tidskriftsartikel (refereegranskat)abstract
- This literature survey explores the domain of remote driving of road vehicles within autonomous vehicles, focusing on challenges and state-of-the-art solutions related to driving feedback, latency, support control, as well as remote driving platform and real applications. The advancement towards Level-5 autonomy faces challenges, including sensor reliability and diverse scenario feasibility. Currently, remote driving is identified as vital for commercialization, however, it comes with challenges like low situational awareness, latency, and a lack of comprehensive feedback mechanisms. Solutions proposed include enhancing visual feedback, developing haptic feedback, employing prediction techniques, and use control methods to support driver. This paper reviews the existing literature on remote driving in these fields, revealing research gaps and areas for future studies. Additionally, this paper reviews the industry applications of remote driving and shows the state-of-art use cases.
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