Publications

Äldre bilförares körbeteende: förändringar, anpassning och konsekvenser för att behålla en säker mobilitet

Comparing Collision Threat Measures for Verification of Autonomous Vehicles using Extreme Value Theory

The verification of safety is expected to be one of the largest challenges in the commercialization of autonomous vehicles. Using traditional methods would require infeasible time and resources. Recent research has shown the possibility of using near

An analysis of a layered system architecture for autonomous construction vehicles

It has been suggested in the literature to organize software in autonomous vehicles as hierarchical layers where each layer makes its own decisions based on its own world model. This paper presents two alternative designs for autonomous construction

Lateral Control of Heavy Duty Vehicles in Platooning using Model Predictive Control

This thesis focuses on the lateral control of heavy duty vehicles (HDVs) in platooning. A Model Predictive Controller is designed, implemented and evaluated in the Simulink based simulation environment PreScan using high-fidelity HDV models provided by

Reference Path Estimation for Lateral Vehicle Control

Autonomous driving cars have been a hot topic in the media in recent years, with more and more tech companies and universities presenting projects with fully automated vehicles. Most of these vehicles rely on highly sophisticated and expensive sensors that

Car-to-cyclist crashes in Europe and identification of Use Cases for Advanced Driver Assistance Systems of the next generation – results from PROSPECT

The presence and performance of Advanced Driver Assistance Systems (ADAS) has increased over last years. Systems available on the market address also conflicts with vulnerable road users (VRUs) such as pedestrians and cyclists. Within the European project

SENSOR DATA FUSION FOR MULTIPLE SENSOR CONFIGURATIONS

This paper presents a fusion architecture designed for vehicle manufacturers that use multiple sensor systems to realize several active safety applications, ranging from standard systems to autonomous systems. Advantages and disadvantages of design choices

Road Geometry Estimation Using a Precise Clothoid Road Model and Observations of Moving Vehicles

An important part of any advanced driver assistance system is road geometry estimation. In this paper, we develop a Bayesian estimation algorithm using lane marking measurements received from a camera and measurements of the leading vehicles received from

Splines for Multi Target: Real time path planning for threat assessment and collision avoidance by steering

Auto-brake systems have been on the market for a few years, but in order to continue improving their performance, multi-target threat assessment is a key component. The goal is to trigger braking as soon as possible, but only if necessary, by detecting

Scaled test track: A novel approach for active safety system development, testing, and validation

This paper provides a summary of the work performed in the first iteration in the development of a scaled test track lab, which currently is under development in the Adaptive systems research group at Chalmers University of Technology. It is mainly

ITS and the effects on vulnerable road users: The case of motorcyclists

Intelligent Transport Systems (ITS) has existed as a generic concept for more than 20 years. In the beginning, the systems were adapted to personal vehicles, as with ABS and ESC, or part of infrastructure, as with Variable Message Signs (VMS). In more

Still no risk compensation for bicycle helmets – results from an experiment of cycling speed and short term effects of habituation.

It has been suggested that the safety benefits of bicycle helmets are limited by risk compensation. The current study contributes to explaining whether the potential safety effects of bicycle helmets are reduced by cyclists’ tendency to cycle faster in

Vehicle dynamics modeling and simulation for active safety development in MATLAB / Simulink

Path Control Algorithms for Autonomous Steering and Braking of Heavy Vehicles

In this study, path control algorithms for autonomous steering and braking interventions intended for severe rear-end collision avoidance manoeuvres of heavy vehicles are evaluated with computer simulations. First of all, in order to acquire basic

Creating Appropriate Trust for Autonomous Vehicles – a framework from HMI design

While autonomous vehicle technology progresses, potentially leading to a safer traffic environment, many challenges remain within the area of human factors. One very important factor that must be addressed is to what extent the driver (user) will be able

Creating trust in automated vehicles using a HMI-based framework

To See or Not To See – The Effect of Object Recognition on Users’ Trust for "Automated Vehicles"

While automated vehicle technology progresses, potentially leading to a safer, more efficient traffic environment, many challenges remain within the area of human factors, such as user trust for Automated Driving (AD) vehicle systems. Previous research has

Creating Appropriate Trust for Autonomous Vehicle Systems: A Framework for HMI Design

While autonomous vehicle technology progresses, potentially leading to a safer and more efficient traffic environment, many challenges remain within the area of human factors, such as user trust for Autonomous Driving (AD) vehicle systems. The aim of this

Accelerated Behavioural Adaptation through Targeted Training Programs: the Case of Highly Automated Driving

A prominent issue in the field of automotive research is the apparent lack of consideration given to the potentially safety-critical differences between novice and experienced users of Advanced Driver Assistance System (ADAS). Conducting experiments with

A Functional Architecture for Autonomous Driving

As the Technology Readiness Levels (TRLs) of self-driving vehicles increase, it is necessary to investigate the Electrical/Electronic(E/E) system architectures for autonomous driving, beyond proof-of-concept prototypes. Relevant patterns and anti-patterns

Defining Autonomous Functions Using Iterative Hazard Analysis and Requirements Refinement

Autonomous vehicles are predicted to have a large impact on the field of transportation and bring substantial benefits, but they present new challenges when it comes to ensuring safety. Today the standard ISO 26262:2011 treats each defined function, or

Systems engineering and architecting for autonomous driving

This chapter provides an overview of architecture and systems engineering for autonomous driving system, through a set of complementary perspectives. For practitioners, a short term perspective uses the state of the art to define a three layered functional

Disarming the Trolley Problem – Why Self-driving Cars do not Need to Choose Whom to Kill

Many claim that the "Trolley problem" is hindering the introduction of self-driving cars. Self-driving cars must, as all safety-critical products, be designed such that the probability of morally hard ("trolley") situations is acceptably low. In this paper

Safe Transitions of Responsibility in Highly Automated Driving

This thesis presents a method to assess the safety of transitions from automated to manual driving when vehicle automation fails. The method is based on contributions to the understanding of human driving behavior, also presented in this thesis. Interviews

The Need for an Environment Perception Block to Address all ASIL Levels Simultaneously

In order to perform safety assessment of vehicles for highly automated driving, it is critical that the vehicle can be proven to adapt its driving according to the sensed objects that might become a hinder. There is a complicated relation between the

Challenges in architecting fully automated driving; with an emphasis on heavy commercial vehicles

Fully automated vehicles will require new functionalities for perception, navigation and decision making – an
Autonomous Driving Intelligence (ADI). We consider architectural cases for such functionalities and investigate how they integrate with legacy

A Functional Brake Architecture for Autonomous Heavy Commercial Vehicles

Heavy commercial vehicles constitute the dominant form of inland freight transport. There is a strong interest in making such vehicles autonomous (self-driving), in order to improve safety and the economics of fleet operation. Autonomy concerns affect a

Efficient Identification of Safety Goals in the Automotive E/E Domain

This paper addresses the problem of how to identify all safety goals for an item in the automotive E/E domain. The paper gives a background on the problem of hazard analysis and risk assessment in general, and for the automotive domain in particular. A key

Reference Architectures for Highly Automated Driving

Highly automated driving systems promise increased road traffic safety, as well as positive impacts on sustainable transportation by means of increased traffic efficiency and environmental friendliness. The design and development of such systems require

The Importance of Active Choices in Hazard Analysis and Risk Assessment.

According to the functional safety standard for road vehicles, ISO 26262, the list of safety goals shall be shown to be complete. Especially when considering highly automated driving, this may lead to the formulation of very general hazardous event. On the

How to Reach Complete Safety Requirement Refinement for Autonomous Vehicles

The introduction of highly automated driving and autonomous road vehicles will imply new functional safety challenges. The higher complexity and the partly implicit definition of the tasks for the E/E systems will make it harder to argue completeness and

A Functional Reference Architecture for Autonomous Driving

Context

As autonomous driving technology matures toward series production, it is necessary to take a deeper look at various aspects of electrical/electronic (E/E) architectures for autonomous driving.

Objective

This paper describes a functional

Architecture challenges for intelligent autonomous machines: An industrial perspective

Machines are displaying a trend of increasing autonomy. This has a far reaching impact on the architectures of the embedded systems within the machine. The impact needs to be clearly understood and the main obstacles to autonomy need to be identified. The

Driving Faster or Slower? Speed Changes and Judged Effects on Fuel Consumption

Greenhouse gas emissions from the transport sector continue to increase. Lower speeds on roads would reduce fuel consumption and thereby emissions. Drivers choose the speed of their vehicles, but do they realize the full benefit of a reduced speed on fuel

A comparison of two contemporary types of in-car multifunctional interfaces.

A driving simulator study was conducted to investigate the effects of carrying out a variety of tasks using two different types of contemporary in-car multifunctional interfaces: a touch screen interface and an interface manoeuvred by a rotary control

Intrusiveness of a visual detection task on secondary and driving task performance

A driving simulator study was conducted to investigate the intrusiveness of the visual detection task (VDT) on driving and secondary task performance. A within-subject design was used to assess both objective and subjective data in 16 participants. In

Driver behaviour during haptic and visual secondary tasks

There has been an increasing interest for in-vehicle interfaces that make use of haptic information. A simulator study was conducted to investigate whether haptic information can facilitate the interaction with an interface while driving. The conceptual in

Farlig å blande trafikanter

What is the relation between crashes from crash databases and near-crashes from naturalistic data?

Naturalistic cycling data are increasingly available worldwide and promise ground-breaking insights into road-user behaviour and crash-causation mechanisms. Because few, low-severity crashes are available, safety analyses of naturalistic data often rely on

Binary-Level Fault Injection (BLFI) for AUTOSAR-based Systems

Safety is a prime requirement for the automotive industry. Increasing use of complex electrical and electronic systems in vehicles has brought many safety concerns to the industry, in terms of reliability and robustness of these systems. AUTOSAR is an

Robustness Testing of AUTOSAR Software Components

The increasing complexity of software in modern automotives is currently leading to a greater interest in robustness testing of software components. Furthermore, the introduction of industry standards within functional safety, such as ISO 26262, raises the

On the Impact of Hardware Faults – An Investigation of the Relationship between Workload Inputs and Failure Mode Distributions

Technology scaling of integrated circuits is making transistors increasingly sensitive to process variations, wear-out effects and ionizing particles. This may lead to an increasing rate of transient and intermittent errors in future microprocessors. In

An Investigation of the Fault Sensitivity of Four Benchmark Workloads

This paper presents an experimental study of the fault sensitivity of four programs included in the MiBench test suit. We investigate their fault sensitivity with respect to hardware faults that manifest as single bit flips in main memory locations and

Competing Values in the Era of Digitalization

This case study examines three different digital innovation projects within AutoInc that are compared with established and institutionalized processes. By using the competing values framework as a theoretical lens we present how dynamic capabilities occur

Digitalization dynamics: user interface innovation in an automotive setting

The automotive industry is going through a digitalization journey. While it still manufactures physical cars, software is becoming progressively present and important. This development causes socio-technical tensions as existing processes meet software

The temporality of in-vehicle user experience - exploring user experiences from past to future

Cars are nowadays equipped with numerous interactive systems, aiding the driver by providing safety warnings, driving information, support, connectivity and entertainment. Traditionally in the field of in-vehicle system design, the focus of the automotive

User Experience Insight: Steering Experience Design Through Meaningful Incorporation

Interest in User Experience (UX) is on the rise; however, designing for User Experience presents unique challenges because of the subjective nature of experience. Whereas UX theory is plentiful, there is a distinct lack of precedent when it comes to

Setting the stage for autonomous cars: A pilot study of future autonomous driving experiences

Autonomous cars are undergoing rapid development. In order to gain acceptance and adoption, there is a need to understand how users will respond to the technology, and what possible benefits or difficulties they perceive. A prerequisite for eliciting this

The temporality of user experience: exploring past and future in two car case studies

The importance of understanding the temporal aspects of user experience (UX) has been recognized by the research community as well as by industry. Two studies of cars were performed to further investigate the temporality of user experience. In total 27

Putting Phronesis to Work in Digital Innovation

This paper uses the Aristotelian concept of phronesis (practical wisdom) as a sensitizing device to explore digital materiality in relation to user experience. We studied a digital innovation called Prudence, and observed that it possesses material