Prevzem vodenja pogojno avtomatiziranega vozila

GRUDEN, TIMOTEJ (author), Jakus, Grega (mentor)

Strokovnjaki menijo, da bodo popolnoma avtomatizirana vozila močno prispevala h kakovosti družbenega življenja. Srednjeročno lahko pričakujemo obdobje soobstoja ročne in avtomatizirane vožnje. Trenutno poteka razvoj t. i. pogojno avtomatiziranih vozil, ki bodo sposobna popolnoma avtomatizirane vožnje v določenih okoljih. Kadar takšna vožnja ne bo več mogoča, bodo od voznika zahtevala prevzem vodenja vozila. Postopek kakovostnega prevzema vodenja pa je predmet raziskave te naloge. Za kakovostni prevzem vodenja lahko vozniku pomagajo avtomatizirani podporni sistemi. V disertaciji predlagamo uporabniški vmesnik, ki omogoča celovit pristop k prevzemu vodenja pogojno avtomatiziranega vozila tako, da voznika spremlja in mu dodatno pomaga ves čas razreševanja nastale situacije. Jedro disertacije tako predstavljajo štirje izvirni znanstveni članki, ki v vsebinsko zaokroženih uporabniških študijah opisujejo postopen razvoj predlaganega vmesnika. S prvo uporabniško študijo smo določili fiziološke signale, ki podajajo relevanten opis voznikovega stanja, in ovrednotili merilne naprave v simulatorju vožnje. Primerjali smo nosljive naprave na zapestju in naprave na prsnem traku. Rezultati so pokazali nezanesljivost meritev z nosljivimi napravami na zapestju zaradi premikanja rok, ki je posledica upravljanja z vozilom. Po drugi strani smo lahko s prsnim trakom zaznali statistično pomembne razlike med različnimi stopnjami zahtevnosti vožnje. Nato smo načrtovali in v drugi uporabniški študiji ovrednotili preprost zvočno-vizualni in taktilno-vizualni uporabniški vmesnik za podajanje zahteve za prevzem vodenja. Ugotovili smo, da zvočni dražljaji hitreje pritegnejo pozornost, taktilni dražljaji pa pripomorejo k manjšemu številu trkov. Na podlagi rezultatov smo zasnovali in v tretji uporabniški študiji ovrednotili celovit pristop k prevzemu vodenja, ki voznika vseskozi spremlja in mu nudi dodatno pomoč. Izkazalo se je, da mehanizem samodejnega blagega zaviranja, dodatno opozorilo pri neprimernem ravnanju, zaviranje v sili in možnost delnega prevzema dopolnjujejo večmodalno zahtevo za prevzem vodenja in tako povečujejo kakovost prevzema vodenja pogojno avtomatiziranega vozila.

• Language: Slovenian
• Keywords: avtomatizirana vožnja, prevzem vodenja, simulator vožnje, uporabniška študija
• Work type: Doctoral dissertation
• Organization: FE - Faculty of Electrical Engineering
• Year: 2024
• PID: 20.500.12556/RUL-155677
• COBISS.SI-ID: 192269827
• Publication date in RUL: 11.04.2024

Secondary language

• Language: English
• Title: Take-over of a conditionally automated vehicle

Abstract

Experts believe that fully automated vehicles, capable of performing all driving tasks autonomously, will have a highly positive impact on society. However, a coexistence of manual and automated driving is expected in the mid-term. Currently, the development of so-called conditionally automated vehicles is underway, which will be capable of fully automated driving in specific environments. In situations where such driving is no longer possible, the driver will be required to take over control of the vehicle. Performing a qualitative take-over is the subject of the investigation in this assignment. In this dissertation, we propose a user interface that enables a comprehensive approach to the take-over of a conditionally automated vehicle by continuously monitoring the driver and providing additional assistance throughout the resolution of the situation. The core of the dissertation consists of four original scientific articles that describe the gradual development of the proposed interface through user studies. In the first user study, we identified physiological signals providing a relevant description of the driver's state and evaluated measurement devices in a driving simulator. The results showed the unreliability of wrist-worn devices due to the hand movements associated with vehicle control. On the other hand, using a chest strap, we were able to detect statistically significant differences between various levels of driving task complexity. In the second user study, we designed and evaluated simple auditory-visual and tactile-visual user interfaces for initiating a take-over request. Based on the results, we designed a comprehensive approach to take-over, continuously monitoring the driver and providing additional assistance, and evaluated it in the third user study. We showed that the mechanism of automatic gradual braking, additional warnings in case of inappropriate behaviour, emergency braking, and the possibility of partial take-over complement the multimodal take-over request, thus enhancing the quality of take-over of a conditionally automated vehicle.

• Keywords: automated driving, take-over, driving simulator, user study