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2016-09-27
Technical Paper
2016-01-8109
Daniel Aceituna
When specifying an embedded system-to-be, a key consideration is how the embedded system will interact with its operating environment. Of particular concern, is the system's vulnerability to Off-Nominal Behaviors (ONB) from human interaction. ONB vulnerability can result in human operators placing the system in an undesired state through an unforeseen sequence of events. This, in turn, can have an adverse effect on the system’s quality. Reducing ONB vulnerability can be challenging because human behavior can be unpredictable and stakeholders have a natural tendency to assume the system will be used in a predictable, nominal, manner. One approach to reducing ONB vulnerability is to specify the system as "fool-proof" as possible, during the requirements phase, where access to domain experts is at its most convenient.
2016-09-27
Technical Paper
2016-01-2093
Rainer Mueller, Matthias Vette, Ortwin Mailahn
Many assembly processes, particularly in the manufacture of aircraft components, are still carried out by humans manually. In addition to rationalization aspects, high quality requirements, non-ergonomic activities, the lack of well-qualified workers etc. may require the use of automation technology. Through novel possibilities of human-robot-cooperation these challenges can be met through a skills-based division of labor. Tasks are assigned to humans and robots in a way that the respective strengths can be used most efficiently. This article presents, how assembly processes can get empowered for human-robot-cooperation, using a specific work description for humans and robots, an assembly priority chart and suitable robot programs, to prepare for a skills-based task assignment. In the area of formerly exclusively manual assembly, the operations for the assembly of the product must first be described in detail.
2016-09-27
Technical Paper
2016-01-8116
Mrudula Uday Orpe, Monika Ivantysynova
Mobile Earth Moving Machinery like Skid-steer loaders have a tight turning radius in limited spaces due to a short wheelbase which prevents the use of suspensions in these vehicles. The absence of a suspension system exposes the vehicle to ground vibrations of high magnitude and low frequency. Vibrations reduce operator comfort, productivity and life of components. Along with vibrations, the machine productivity is also hampered by material spillage which is caused by the tilting of the bucket due to the extension of the boom. The first part of the paper focuses on vibration damping. The chassis’ vibrations are reduced by the use of an active suspension element which is the hydraulic boom cylinder which is equivalent to a spring–damper. With this objective, a linear model for the skid steer loader is developed and a state feedback control law is implemented.
2016-09-27
Technical Paper
2016-01-8143
Jerry Syms, Theresia Manns, Björn Bergqvist
The noise generated by the flow of air past a transport truck is a key design factor for the manufacturers of these vehicles as the sound levels in the cabin are a significant component of driver comfort. This paper describes a demonstration study to measure the in-cabin aeroacoustic environment of a full-scale cab-over tractor in the NRC 9 m Wind Tunnel. Acoustic instrumentation was installed inside the tractor to record cabin noise levels and externally to acquire tunnel background noise data. Using a microphone mounted on the driver’s-side tunnel wall as a reference to remove variations in background noise levels between data points, differences in cabin noise levels were able to be detected when comparing the tractor with different configurations. The good repeatability of the data allowed for differences of as little as 0.5dB to be measured.
2016-09-14
Technical Paper
2016-01-1870
Jun Ma, Maofei Xu, Yuchun Du
Today’s drivers have to deal with a growing amount of information coming from in-vehicle infotainment systems. The interaction between the driver and the system is critical because it might distract the driver from the primary task of driving. To make the in-car interactions more convenient and intuitive, gestures and gesture recognition are terms increasingly arisen in discussions of human-computer interaction, and application trials of gesture control have appeared more and more in automotive industry. The aim of this study is to find out if gestures can reasonably be used to control in-car devices. Since there exists a big cultural difference of gesture between different countries because of its particularity, a set of gestures which support intuitive human-machine interaction in an automotive environment is searched. The results show a gesture dictionary for a variety of on-board functions, which conforms to Chinese drivers’ driving habits.
2016-09-14
Technical Paper
2016-01-1872
Bin Wu, Xichan Zhu, Lin li
This paper aims to determine how vehicle driver steering behavior seen in the emergency lane change event. Through the emergency lane change cases extracted from the China naturalistic driving data, the driver’s steering characteristics can be obtained and analyzed. Then the driving steering behaviors divides into avoidance and stabilization steering phases, and the different steering characteristics were found. It’s shown that during the avoidance phase, the steering generally follow the bell-shaped profiles of steering angle rate, and a linear relationship was found between the maximum steering wheel rate and steering wheel angle, which indicates a constant movement time for the avoidance steering. However, during the stabilization phase, the steering angle rate can be described using two or more overlapping bell-shaped profiles, something which relates to the different steering strategies in the avoidance phase.
2016-09-14
Technical Paper
2016-01-1888
Jie Hu, Yehui Li, Jun Cai, Richard Turkson, Feng Lin, Meiyun Qiao
With the development of the society, automobiles have been widely used in various classes of the society, while some issues came out such as traffic safety, environmental pollution and energy shortages and became increasingly serious. It reported that good driving behaviors can be applied to driving assistance, active safety, fuel economy improvement and others aspects to alleviate this problem. This thesis proposed that by way of data acquisition and identification of driving behaviors based on vehicle bus, it can be identified the driver’s driving habit and accelerating intentions through these information without additional sensors. Firstly, K line and CAN line, which are known by the current mainstream vehicle bus, are selected as the research object, then we analyzing communication protocol of bus data link layer, data transport layer and application layer according to the OSI model.
2016-09-14
Technical Paper
2016-01-1890
Jun Ma, Zaiyan Gong, Yiwei Dong
With the development of automotive HMI and mobile internet, many interactive modes are available for drivers to fulfill the in-vehicle secondary tasks, e.g. dialing, volume adjustment, music playing. Considering the secondary tasks are always fulfilled simultaneously with the main task – driving itself, efficiency and safety are very important factors for the secondary tasks. Besides, drivers have high expectation for user experience of the new interactive modes. Thus, it is urgent to effectively evaluate which is the most suitable interactive mode with good efficiency, safety and good user experience for each secondary tasks, e.g. steering wheel buttons, voice control, in-air gestures, etc. This study uses a static driving simulation cockpit to provide driving environment, and sets up a high-fidelity driving cockpit based on OKTAL SacnerStudio and three-dimensional modeling technology. The secondary tasks supported by HMI platform are designed by customer demands research.
2016-06-15
Technical Paper
2016-01-1782
Kyoung-Jin Chang, Dong Chul Park
Abstract This paper discusses approaches to emotionally improve the driving sound based on Active Sound Design (ASD). In the first step, target sound design methods are suggested in order to represent the vehicle’s concept and brand image via a driving sound. In this method, formant filter and musical chords are applied to the target sound synthesis. In the second step, a technique to make a target sound realistic in ASD system is discussed, which enables to stimulate the customers' emotion. In this technique, the process to simulate a musical instrument sound for a vivid driving sound and synthesize the sound with FIR filter is studied. Finally, the improved driving sound is demonstrated in ASD system.
2016-04-05
Technical Paper
2016-01-1357
Junyi Chen, Bangshui Jiang, Shutao Song, Hongyan Wang, Xuguang Wang
Abstract Driving posture study is essential for the evaluation of the occupant packaging. This paper presents a method of reconstructing driver’s postures in a real vehicle using a 3D laser scanner and Human Builder (HB), the digital human modeling tool under CATIA. The scanning data was at first converted into the format readable by CATIA, and then a personalized HB manikin was generated mainly using stature, sitting height and weight. Its pelvis position and joint angles were manually adjusted so as to match the manikin with the scan envelop. If needed, a fine adjustment of some anthropometric dimensions was also preceded. Finally the personalized manikin was put in the vehicle coordinate system, and joint angels and joint positions were extracted for further analysis.
2016-04-05
Technical Paper
2016-01-1552
Renato Galluzzi, Andrea Tonoli, Nicola Amati, Gabriele Curcuruto, Piero Conti, Giordano Greco, Andrea Nepote
Abstract The development of suspension systems has seen substantial improvements in the last years due to the use of variable dampers. Furthermore, the efficiency increase in the subsystems within the automotive chassis has led to the use of regenerative solutions, in which electric machines can be employed as generators to recover part of the energy otherwise dissipated. However, the harvesting capability of regenerative suspensions is often limited by friction and inertial phenomena. The former ones waste mechanical energy into heat, while the latter ones hamper the shock absorption by locking the suspension when subject to dynamic excitation. Besides a suitable design and sizing of components, recent research works highlight the use of the so-called motion rectifier to improve energy recovery by constraining the motion of the electric motor to a single sense of rotation.
2016-04-05
Technical Paper
2016-01-1559
Francesco Vinattieri, Tim Wright, Renzo Capitani, Claudio Annicchiarico, Giacomo Danisi
Abstract The adoption of Electrical Power Steering (EPS) systems has greatly opened up the possibilities to control the steering wheel torque, which is a critical parameter in the subjective and objective evaluation of a new vehicle. Therefore, the tuning of the EPS controller is not only becoming increasing complicated, containing dozens of parameters and maps, but it is crucial in defining the basic DNA of the steering feeling characteristics. The largely subjective nature of the steering feeling assessment means that EPS tuning consists primarily of subjective tests on running prototypes. On account of that, this paper presents an alternative test bench for steering feeling simulation and evaluation. It combines a static driving simulator with a physical EPS assisted steering rack. The end goal is to more accurately reproduce the tactile feedback to the driver by including a physical hardware in lieu of complicated and difficult to obtain software models.
2016-04-05
Technical Paper
2016-01-1542
Shaosong Li, Jiafei Niu, Ren Sheng, Zhixin Yu, Shunhang Zheng, Yongfa Tu
Abstract With motor and reduction mechanism applied to Electric Power Steering (short for EPS) system of automobile, the frictional loss torque of steering system is increased. The common friction compensation control through the sign function of angular velocity or the saturation function of angular velocity is conducted to reduce the frictional loss torque of steering system. However, when the motor used in steering system generates assist torque based on the common friction compensation control, the longitudinal intercepts of steering torque change obviously at different steering wheel angles. The driver will get different frictional loss torque of steering system at different steering wheel angle. The information of steering torque contains the change of steering reaction torque and the frictional loss torque of steering system, so the change of frictional loss torque can cause the fuzzy of road feeling.
2016-04-05
Technical Paper
2016-01-1546
Dongpil Lee, Bongchoon Jang, Kyongsu Yi, Sehyun Chang, Byungrim Lee
Abstract This paper describes a reference steering feel tracking algorithm for Electric-Power-Steering (EPS) system. Development of the EPS system with intended steering feel has been time-consuming procedure, because the feedforward map-based method has been applied to the conventional EPS system. However, in this study, a three-dimensional reference steering feel surface, which is determined from current vehicle states, is proposed. In order to track the proposed reference steering feel surface, sliding mode approach is applied to second-order steering dynamics model considering a coulomb friction model. An adaptive technique is utilized for robustness against uncertainties. In order to validate the proposed EPS control algorithm, hardware-in-the-loop simulation (HILS) has been conducted with respect to a typical steering test. It is shown that the reference steering feel is realized well by the proposed EPS control algorithm.
2016-04-05
Technical Paper
2016-01-0014
Shun Yang, Weiwen Deng, Haizhen Liu, Rui He, Lei Qian, Wenlong Sun, Ji Gao
Abstract Nowadays, the vehicle market puts forward urgent requirement for new kinds of braking booster because the traditional vacuum booster cannot meet the demands of new energy vehicles anymore. However, one problem that all the new plans should face is how to guarantee an ideal pedal feeling. In this paper, a novel mechatronics braking booster is proposed, and servo motor introduced into the booster makes the assist rate can be adjusted under a great degrees of freedom, so the structural parameters and control parameters of the booster should be determined elaborately to get an optimal pedal feeling. The pedal feeling is always represented by the pedal stoke-force curve which is influenced by different parameters.
2016-04-05
Technical Paper
2016-01-0080
Hiroyuki Miyake
Abstract This paper explains a performance enhancement of the lane guidance function in car navigation systems. In order to achieve intuitive lane guidance, a function is considered that displays lane guidance on an image of the front scene that matches what drivers actually see outside the vehicle. Therefore, two developed items were lane accurate positioning based on image recognition and augmented reality visualization that renders lane guidance images overlaid on the scenery of the road ahead. The eye glance time to the navigation screen has been reduced in a comparison test with a conventional lane guidance method. It is confirmed that this lane guidance function is more intuitive than the conventional method.
2016-04-05
Technical Paper
2016-01-0110
Mohammad Huq, Douglas McConnell
Abstract Adaptive Cruise Control (ACC) runs with a set of parameters that determine how the ACC performs. Some of these parameters are tunable to some degree through HMI and the rest are pre-determined. The proposed Behavior Trainable ACC (BTACC) is able to learn all these parameters from driving behavior of the driver. To develop BTACC adapted to the driver’s driving behavior, the ACC keeps collecting driving data such as set speed, acceleration, deceleration, headway settings, etc., of the vehicle over time and keeps updating the related parameters. After training is over, the driver is able to drive the vehicle in BTACC mode, when the vehicle would drive itself according to driving behavior of the driver, young or elderly, and thus, provide the drivers with a higher level of safety and comfort. BTACC can be embedded with an existing ACC module so that the drivers may choose either ACC or BTACC.
2016-04-05
Technical Paper
2016-01-0111
Hiroaki Tanaka, Daisuke Takemori, Tomohiro Miyachi
Abstract Establishing drivers’ trust in the automated driving system is critical to the success of automated vehicle. The focus of this paper is how to make drivers drive automated vehicles with confidence during braking events. In this study, 10 participants drove a test vehicle and experienced 24 different deceleration settings each. Prior to each drive, we indicated to each participant the expected brake starting and stopping position. During each drive, participants would first maintain a set speed, and then stop the vehicle when they see a signal to apply the brakes. After each drive, we asked the participants’ perceived safety about the deceleration setting he/she just experienced. The results revealed that ‘jerk’ have significant influence on drivers’ perceived safety.
2016-04-05
Technical Paper
2016-01-0114
Chris Schwarz, Timothy Brown, John Lee, John Gaspar, Julie Kang
Abstract Distracted driving remains a serious risk to motorists in the US and worldwide. Over 3,000 people were killed in 2013 in the US because of distracted driving; and over 420,000 people were injured. A system that can accurately detect distracted driving would potentially be able to alert drivers, bringing their attention back to the primary driving task and potentially saving lives. This paper documents an effort to develop an algorithm that can detect visual distraction using vehicle-based sensor signals such as steering wheel inputs and lane position. Additionally, the vehicle-based algorithm is compared with a version that includes driving-based signals in the form of head tracking data. The algorithms were developed using machine learning techniques and combine a Random Forest model for instantaneous detection with a Hidden Markov model for time series predictions.
2016-04-05
Technical Paper
2016-01-0115
Dev S. Kochhar, Hong Zhao, Paul Watta, Yi Murphey
Abstract Lane change events can be a source of traffic accidents; drivers can make improper lane changes for many reasons. In this paper we present a comprehensive study of a passive method of predicting lane changes based on three physiological signals: electrocardiogram (ECG), respiration signals, and galvanic skin response (GSR). Specifically, we discuss methods for feature selection, feature reduction, classification, and post processing techniques for reliable lane change prediction. Data were recorded for on-road driving for several drivers. Results show that the average accuracy of a single driver test was approx. 70%. It was greater than the accuracy for each cross-driver test. Also, prediction for younger drivers was better.
2016-04-05
Technical Paper
2016-01-0118
Shinji Niwa, Mori Yuki, Tetsushi Noro, Shunsuke Shioya, Kazutaka Inoue
Abstract This paper presents detection technology for a driver monitoring system using JINS MEME, an eyewear-type wearable device. Serious accidents caused by human error such as dozing while driving or inattentive driving have been increasing recently in Japan. JINS MEME is expected to contribute to reducing the number of traffic deaths by constantly monitoring the driver with an ocular potential sensor. This paper also explains how a driver’s drowsiness level can be estimated from information on their blink rate, which can be calculated from the ocular potential.
2016-04-05
Technical Paper
2016-01-0119
Preeti J. Pillai, Veeraganesh Yalla, Kentaro Oguchi
Abstract This paper is an extension of our previous work on the CHASE (Classification by Holistic Analysis of Scene Environment) algorithm, that automatically classifies the driving complexity of a road scene image during day-time conditions and assigns it an ‘Ease of Driving’ (EoD) score. At night, apart from traffic variations and road type conditions, illumination changes are a major predominant factor that affect the road visibility and the driving easiness. In order to resolve the problem of analyzing the driving complexity of roads at night, a brightness detection module is incorporated in our end-to-end nighttime EoD system, which computes the ‘brightness factor’ (bright or dark) for that given night-time road scene. The brightness factor along with a multi-level machine learning classifier is then used to classify the EoD score for a night-time road scene.
2016-04-05
Technical Paper
2016-01-0144
Morgan A. Price, Vindhya Venkatraman, Madeleine Gibson, John Lee, Bilge Mutlu
Abstract Increasingly sophisticated vehicle automation can perform steering and speed control, allowing the driver to disengage from driving. However, vehicle automation may not be capable of handling all roadway situations and driver intervention may be required in such situations. The typical approach is to indicate vehicle capability through displays and warnings, but control algorithms can also signal capability. Psychophysical methods can be used to link perceptual experiences to physical stimuli. In this situation, trust is an important perceptual experience related to automation capability that is revealed by the physical stimuli produced by different control algorithms. For instance, precisely centering the vehicle in the lane may indicate a highly capable system, whereas simply keeping the vehicle within lane boundaries may signal diminished capability.
2016-04-05
Technical Paper
2016-01-0141
Prasanna Vasudevan, Sreegururaj Jayachander
Abstract Several studies in the field of hedonics using subjective responses to gauge the nature and influence of odors have attempted to explain the complex psychological and chemical processes. Work on the effect of odors in alleviating driver fatigue is limited. The potential to improve road safety through non-pharmacological means such as stimulating odors is the impetus behind this paper. This is especially relevant in developing countries today with burgeoning economies such as India. Longer road trips by commercial transport vehicles with increasingly fatigued drivers and risk of accidents are being fuelled by distant producer - consumer connections. This work describes a two stage comparative study on the effects of different odors typically obtainable in India. The stages involve administration of odorants orthonsally and retronasally after the onset of circadian fatigue in test subjects. This is followed by a small cognitive exercise to evaluate hand-eye coordination.
2016-04-05
Technical Paper
2016-01-0135
Ji Zhang, Mengjing Shen, Xiangyu Zhu, Qipeng Chen
Abstract Nowadays researches of automotive electromagnetic field mainly focus on the component level and electromagnetic compatibility, while there is a lack of relevant studies on internal electromagnetic environment of the vehicles. With the increasingly complex internal electromagnetic environment of the vehicle, people are increasingly concerned about its potential impact of human health. This article researches on a type of electric vehicle and the occupants and analyses its electromagnetic radiation effects on human health. Firstly, considering the characters of Pro/E, Hypermesh and FEKO, the “Characteristics grouping subdivision” method is used to establish the entire vehicle body FE model. According to the requirement of MOM/FEM method, the entire vehicle model is optimized to be a high quality body model with simple construction and moderate grid size.
2016-04-05
Technical Paper
2016-01-0140
Yang Zheng, Navid Shokouhi, Nicolai Thomsen, Amardeep Sathyanarayana, John Hansen
Abstract The use of smart portable devices in vehicles creates the possibility to record useful data and helps develop a better understanding of driving behavior. In the past few years the UTDrive mobile App (a.k.a MobileUTDrive) has been developed with the goal of improving driver/passenger safety, while simultaneously maintaining the ability to establish monitoring techniques that can be used on mobile devices on various vehicles. In this study, we extend the ability of MobileUTDrive to understand the impact on driver performance on public roads in the presence of distraction from speech/voice based tasks versus tactile/hands-on tasks. Drivers are asked to interact with the device in both voice-based and hands-on modalities and their reaction time and comfort level are logged. To evaluate the driving patterns while handling the device by speech/hand, the signals from device inertial sensors are retrieved and used to construct Gaussian Mixture Models (GMM).
2016-04-05
Technical Paper
2016-01-0164
Jamy Li, Xuan Zhao, Mu-Jung Cho, Wendy Ju, Bertram F. Malle
Abstract Autonomous vehicles represent a new class of transportation that may be qualitatively different from existing cars. Two online experiments assessed lay perceptions of moral norms and responsibility for traffic accidents involving autonomous vehicles. In Experiment 1, 120 US adults read a narrative describing a traffic incident between a pedestrian and a motorist. In different experimental conditions, the pedestrian, the motorist, or both parties were at fault. Participants assigned less responsibility to a self-driving car that was at fault than to a human driver who was at fault. Participants confronted with a self-driving car at fault allocated greater responsibility to the manufacturer and the government than participants who were confronted with a human driver at fault did.
2016-04-05
Technical Paper
2016-01-0158
Toshio Ito, Arata Takata, Kenta Oosawa
Abstract Automation of vehicles can be expected to improve safety, comfort and efficiency, and is being developed in various countries. Introduction of automated driving can be ranked from 0 to 5 (0: no automation, 1: driver assistance, 2: partial automation, 3: conditional automation, 4: high automation, 5: full automation). Currently, feasible automation levels are considered to be levels 2 or 3, and human manual take-over from the automated system is needed when the automated system exceeds these levels. In this situation, time required for take-over is an important issue. This study focuses on describing driving simulator experimental results of time required for take-over. The experimental scenario is that the automated system finds an object ahead during automated driving on the highway, and issues a take-over request to the driver. The subject driver can be in the following driver situations: hands-on or hands-off the steering, and strong or weak distractions.
2016-04-05
Technical Paper
2016-01-0254
Gursaran D. Mathur
Field tests were conducted on a late full sized sedan with the HVAC unit operating in both Recirculation and OSA modes to monitor build-up of the CO2 concentration inside the cabin and its influence on occupant’s fatigue and alertness. These tests were conducted during 2015 summer on interstate highways with test durations ranging from 4 to 7 hours. During the above tests, fatigue or tiredness of the occupants (including CO2 levels) was monitored and recorded at 30 min intervals. Based on this investigation it is determined that the measured cabin concentration levels reaches ASHRAE (Standard 62-1999) specified magnitudes (greater than 700 ppm over ambient levels) with three occupants in the vehicle. Further, the occupants did show fatigue when the HVAC unit was operated in recirculation mode in excess of 5 hours. Further details have been presented in the paper.
2016-04-05
Technical Paper
2016-01-0246
Rupesh Sonu Kakade, Prashant Mer
Abstract Vehicle occupants, unlike building occupants, are exposed to continuously varying, non-uniform solar heat load. Automotive manufacturers use photovoltaic cells based solar sensor to measure intensity and direction of the direct-beam solar radiation. Use of the time of the day and the position - latitude and longitude - of a vehicle is also common to calculate direction of the direct-beam solar radiation. Two angles - azimuth and elevation - are used to completely define the direction of solar radiation with respect to the vehicle coordinate system. Although the use of solar sensor is common in today’s vehicles, the solar heat load on the occupants, because of their exposure to the direct-beam solar radiation remains the area of in-car subjective evaluation and tuning. Since the solar rays travel in parallel paths, application of the ray tracing method to determine solar insolation of the vehicle occupants is possible.
Viewing 1 to 30 of 4255