Publications

On Automotive Roadway Departure Prevention

Traffic accidents cause a huge amount of injuries and fatalities each year. Active safety systems assist the driver in critical traffic situations and thus contributes in reducing the amount of injuries and fatalities in traffic. This thesis deals with

Authors : Mohammad Ali
Year : 2010

On Performance Evaluation of Automotive Active Safety Systems

Road traffic accidents are a major global problem, annually causing over 1.2 million fatalities. To improve road safety, active safety systems support the driver by monitoring the vehicle and its surroundings, identifying hazardous situations and actively

Authors : Jonas Nilsson
Year : 2010

On Worst Case Performance of Collision Avoidance Systems

Automotive Collision Avoidance and Mitigation (CA/CM) systems help drivers to avoid collisions through autonomous interventions by braking or steering. If the decision to intervene is made too early, the intervention can become a nuisance to the driver and

Authors : Jonas Nilsson, Anders Ödblom
Year : 2010
Published in : Proceedings of the 2010 IEEE Intelligent Vehicles Symposium, June 2010, San Diego

Performance Evaluation Method for Mobile Computer Vision Systems using Augmented Reality

This paper describes a framework which uses augmented reality for evaluating the performance of mobile computer vision systems. Computer vision systems use primarily image data to interpret the surrounding world, e.g to detect, classify and track objects

Authors : Jonas Nilsson, Anders Ödblom, Jonas Fredriksson, Adeel Zafar, Fahim Ahmed
Year : 2010
Published in : Proceedings of the IEEE Virtual Reality Conference 2010, March 2010, Waltham

Post-Impact Vehicle Path Control by Optimization of Individual Wheel Braking Sequences

In this paper the effectiveness of brake-based path control under typical post-impact conditions is investigated. Accident analysis shows that the secondary collision in multiple-events accidents can be mitigated or avoided by reducing the lateral path

Authors : Derong Yang, Timothy Gordon, Mathias Lidberg, Mats Jonasson, Bengt Jacobson
Year : 2010
Published in : Proceedings of the "10th International Symposium on Advanced Vehicle Control", August 2010, Loughborough

Predictive Yaw and Lateral Control in Long Heavy Vehicles Combinations

We consider the problem of controlling the yaw and lateral dynamics in heavy vehicles, consisting of combina- tions of a truck and multiple towed units. In such heavy vehicle configurations, undesired yaw rate and lateral acceleration amplifications

Authors : M. Keshavarz Bahaghighat, Sogol Kharrazi, Mathias Lidberg, Paolo Falcone, Brad Scofield
Year : 2010
Published in : Proceedings of the "Proceedings of 49th IEEE Conference on Decision and Control", December 2010, Atlanta

PreEval - En förstudie av intelligenta vägmarkeringar

SAFER och TSS har i projektet PreEval – en förstudie av intelligenta vägmarkeringar, sökt en första bild av hur man på bästa sätt kan öka trafiksäkerhet med de produkter som internationellt sorterar under begreppet ”active road studs”. Projektet har

Authors : Anna Arvidsson, Peter Lindgren
Year : 2010

SAFER simulator lab Pre-study

This pre-study focuses on understanding issues that might arise from moving and merging equipment from different SAFER partners into a joint simulator lab. Identifying the needs of projects, individuals and partners within SAFER. Identifying problems and

Authors : Fang Chen, Paul Alvarado Mendoza
Year : 2010

Sensitivity Analysis and Tuning for Active Safety Systems

Active safety systems utilize information about the vehicle’s state and possibly the surrounding environment to assist the driver if a traffic situation is considered hazardous. The decision to assist the driver is based on sensors that are more or less

Authors : Jonas Nilsson, Mohammad Ali
Year : 2010
Published in : Proceedings of the 13th International IEEE Conference on Intelligent Transportation Systems, September 2010, Madeira

Set-Based Threat Assessment in Lane Guidance Applications

We present a model based threat assessment method for semi-autonomous vehicles. Based on the assumption that information about the surrounding environment is available over a future finite time horizon, we first introduce a set of constraints on the

Authors : Paolo Falcone, Mohammad Ali, Jonas Sjöberg
Year : 2010
Published in : The "6th IFAC Symposium on Advances in Automotive Control", July 2010, Munich

Transforming Ecosystem Relationships in Digital Innovation

The open innovation literature focuses on the organizational configurations suited for leveraging external contributions in innovation ecosystems. Less is known about the process by which a firm transforms its ecosystem relationships to establish the

Authors : Lisen Selander, Ola Henfridsson, Fredrik Svahn
Year : 2010
Published in : Proceedings of the "International Conference on Information Systems 2010", December 2010, Saint Louis

Use of Models in Automotive Software Development: A Case-study

Models, formal and informal, can be used in product development for many purposes, e.g. to specify the desired behaviour of a function; to specify requirements; or as implementation. During the development of complex products, such as automotive

Authors : Niklas Mellegård, Miroslaw Staron
Year : 2010
Published in : The "M-BED Workshop on Model Based Engineering for Embedded Systems Design", March 2010, Dresden

Verification of collision avoidance functionality

The report introduces a general method for verification of Collision Avoidance Systems. The method is based on a principle called mileage multiplying, consisting of nine steps. By using this method it might be possible to significantly reduce the need for

Authors : Niklas Augustsson, Martin Wilhelmsson
Year : 2010

3D-sound in car compartments based on loudspeaker reproduction using crosstalk cancellation

One way to enhance driving safety is to use signal sounds. Driver attention may further be improved by  placing sounds in a 3D-space, using binaural synthesis. For correct loudspeaker reproduction of binaural  signals, crosstalk between the channels needs

Authors : Andre Lundkvist, Arne Nykänen, Roger Johnsson
Year : 2011
Published in : Proceedings of the 130th Audio Engineering Society Convention 2011, May 2011, London

An Approach to Enhance the Timeliness of Wireless Communications

Wireless technologies are the present and the future of network communications. However, the support of realtime data transmission in wireless communications - providing support for execution of well-timed networked operations - is still an open issue, not

Authors : Jeferson L. R. Souza, José Rufino
Year : 2011
Published in : 5th International Conference on Mobile Ubiquitous Computing, Systems, Services and Technologies (UBICOMM 2011), November 2011, Lisbon

An Open Customizable Modular Platform For Analysis of Human Movement in Laboratory and Outdoors

Introduction - New trends in analysis of human movement promote small low-cost portable devices and combine them with the traditional fixed lab-equipment such as force plates and stereophotogrammetry [1]. These new portable devices open for new

Authors : Marco Dozza, Martin Idegren, Tomas Andesson
Year : 2011
Published in : VI Posture Symposium, September 2011, Smolenice

Assessment of Automotive Visual Display Guidelines and Principles: A Literature Review

As more and more technology is added to the automobile interior it needs to be designed in a usable and efficient way: to facilitate safe driving. This paper reviews guidelines and visual design principles for automotive instrumentation. Guidelines were

Authors : Carl Jörgen Normark, Anita Gärling
Year : 2011
Published in : The Design Journal, 14 (4), pp. 446-474

Task pre-loading: designing adaptive systems to counteract mental underload

The concept of ‘pre-loading’ is introduced as a potential means of countering mental underload by giving the operator an additional, task-related activity during times of low workload to maintain their attention. A driving simulator study was conducted to

Authors : Mark S.Young, Stewart A. Birrell, Staffan Davidsson
Year : 2011
Published in : Proceedings of the International Conference on Ergonomics & Human Factors 2011, April 2011, Stoke Rochford

Cooperative driving according to Scoop

KTH Royal Institute of Technology and Scania are entering the GCDC 2011 under the name Scoop – Stockholm Cooperative Driving. This paper is an introduction to their team and to the technical approach they are using in their prototype system for GCDC 2011.

Authors : Assad Alam, Fredrik Asplund, Sagar M. Behere, Mattias Björk, Liliana Garcia Alonso, Farzad Khaksari, Altamash Khan, Joakim Kjellberg, Kuo-Yun Liang, Rickard Lyberger, Jonas Mårtensson, John-Olof Nilsson, Henrik Pettersson, Simon Pettersson, Elin Stålklinga, Dennis Sundman, Dave Zachariah
Year : 2011

Correlation between safety assessments in the driver-car interaction design process

With the functional revolution in modern cars, evaluation methods to be used in all phases of driverecar interaction design have gained importance. It is crucial for car manufacturers to discover and solve safety issues early in the interaction design

Authors : Robert Broström, Peter Bengtsson, Jakob Axelsson
Year : 2011
Published in : Applied Ergonomics, 42 (4), pp. 575-582

Vehicle dynamics model & path stability control algorithms

Introduction: Traffic safety is a major requirement for transportation systems. A lot of work has been done in the passive safety area where milliseconds during a crash are of high importance. Nowadays, collision avoidance in the field of active safety is

Authors : Arman Nozad, Morteza Hassanzadeh, Mathias Lidberg, Jitendra Shah
Year : 2011
Published in : Project report, interactIVe, Deliverable D5.1

Desirability in the development of In-Car Infotainment Systems

This paper describes a workflow for designing experiences whileinteracting with an advanced driver assistant system. Future driver assistancesystems that utilize sensors and Car2X-communication in order to detect threatsin the car environment can help the

Authors : Torbjörn Andersson, Anders Warell, Stefan Holmlid, Johan Ölvander  
Year : 2011
Published in : Interact 2011 - 13th IFIP TC13 Conference on Human-Computer Interaction, September 2011, Lisbon

Exploring the concept of Gist as a mean to find the Current Product Sign

In today’s competitive market it is essential for companies to have a clear brand identity towards it consumers and users in order to be successful. An important factor is recognition of a product and how it is conceived through our perception, which is

Authors : Torbjörn Andersson, Stefan Holmlid, Anders Warell,
Year : 2011
Published in : 10th Nordcode seminar, September 2011, Roskilde

Exploring end-user experiences: self-perceived notions on use of adaptive cruise control systems

This study explores end-user experiences of adaptive cruise control (ACC) systems. A qualitative approach has been applied and data have been collected by means of focus group interviews. A qualitative content analysis was carried out to analyse and

Authors : Niklas Strand, Josef Nilsson, MariAnne Karlsson, Lena Nilsson
Year : 2011
Published in : IET Intelligent Transport Systems, 5 (2), pp. 134-140

Gulliver: A Testbed for Developing, Demonstrating and Prototyping Vehicular Systems

Vehicular system designers often use simulation tools in order to prove vehicular systems. The computational complexity of detailed simulations limits the scale of such testings. Therefore, it is often the case that the first full-scale demonstrations of

Authors : Mitra Pahlavan, Marina Papatriantafilou, Elad Michael Schiller
Year : 2011
Published in : Proceedings of the 9th ACM International Workshop on Mobility Management & Wireless Access, MOBIWAC 2011, November 2011, Miami Beach

Halmstad University Grand Cooperative Driving Challenge 2011 Technical Paper

Traffic congestion is a large and growing problem in many countries due to an ever increasing number of vehicles. Increasing capacity by simply extending the road infrastructure is in many places impossible due to space and cost limitations. Everyday

Authors : Kristoffer Lidström, Johan Andersson, Fredrik Bergh, Mattias Bjäde, Spencer Mak, Katrin Sjöberg
Year : 2011

Heavy vehicle path stability control for collision avoidance applications

The current state of the art for Advanced Driver Assistant System (ADAS) in heavy trucks is based on pure braking interventions for rear-end collisions on highways and rural roads. In order to expand the scope to more general target scenarios, it is

Authors : Arman Nozad
Year : 2011

High Precision Control of Active Safety Test Scenarios

To facilitate the development and testing of new active safety systems a new Active Safety Test Area (AstaZero) is currently developed by SP Technical Research Institute of Sweden and Chalmers University of Technology. We have studied different principles

Authors : Erik Steinmetz, Ragne Emardson, Henrik Eriksson, Jan Jacobson, Jacques Hérard
Year : 2011

Threat assessment for driver assistance systems using interval-based techniques

We present a threat assessment algorithm for driver assistance systems in which mathematical vehicle and driver models are used to explicitly account for the vehicle and driver behavior. For the application considered in this paper, requirements that the

Authors : Esteban R. Gelso, Mohammad Ali, Jonas Sjöberg
Year : 2011
Published in : Proceedings of the 18th IFAC World Congress, August-September 2011, Milan

Judgments of mean speed and predictions of route choice

How are driving speeds integrated when speeds vary along a route? In a first study, we examined heuristic processes used in judgments of mean speed when the mean speeds on parts of the trip varied. The judgments deviated systematically from objective mean

Authors : Ola Svenson, Gabriella Eriksson, Ilkka Salo, Ellen Peters
Year : 2011
Published in : Transportation Research Part F: Traffic Psychology and Behaviour, 14 (6), pp. 504–511

Methods for Verification of Post-Impact Control including Driver Interaction

This thesis project focuses on the verification method of a safety function called PIC that stands for Post-Impact Control which controls the vehicle motion of passenger cars after being exposed to external disturbances produced by a 1st impact, aiming

Authors : Javier Beltran, Yujiao Song
Year : 2011

Model-Based Threat Assessment for Lane Guidance Systems

This paper considers a threat assessment problem in a lane guidance application for semi-autonomous vehicles. In particular, in order to issue an autonomous assisting intervention, we assess the vehicle’s ability to safely travel along a path subject to

Authors : Mohammad Ali, Paolo Falcone, Jonas Sjöberg
Year : 2011
Published in : American Control Conference, June-July 2011, San Francisco

Model-Based Threat Assessment in Semi-Autonomous Vehicles with Model Parameter Uncertainties

In this paper, we consider model-based threat assessment methods which rely on vehicle and driver mathematical models and are based on reachability analysis tools and set invariance theory. We focus on the parametric uncertainties of the driver

Authors : Mohammad Ali, Paolo Falcone, Jonas Sjöberg
Year : 2011
Published in : Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, December 2011, Orlando

Modeling Cooperative Functionality in Traffic Environments - An Exploration of Spatiality, Temporality, and Scope

Cooperative vehicle systems and cooperative functions are increasingly interesting phenomena for research as well as practice. As interlinked vehicles form higher order systems we can expect new approaches to individual (e.g. safety) as well as collective

Authors : Fredrik Svahn
Year : 2011

Optimized Brake-based Control of Path Lateral Deviation for Mitigation of Secondary Collisions

This paper considers brake-based lateral control of a passenger vehicle, for reducing secondary collision risk following an initial impact in a traffic accident. Since secondary collisions are associated with deviations from the original travel path, the

Authors : Derong Yang, Timothy Gordon, Bengt Jacobson, Mats Jonasson, Mathias Lidberg
Year : 2011
Published in : Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 225 (12), pp 1587-1604

Post Impact Vehicle Path Control in Multiple Event Accidents

Recent statistics show that multiple-event accidents (MEAs) possess an increasing fraction of all vehicle traffic accidents. They are characterized by having at least one vehicle subjected to more than one harmful event, such as collision with another

Authors : Derong Yang
Year : 2011

Pre Automotive Cooperative Technologies (PreAct)

This document describes the work carried out in the project PreACT, which is short for Pre Automotive Cooperative Technologies and “Pre” hints that this is a pre-project for a larger project to be applied for in the future. In this pre-project we aim to

Authors : Kristian Karlsson, Jonny Vinter, Fredrik Svahn
Year : 2011

Predictive Threat Assessment via Reachability Analysis and Set Invariance Theory

We propose two model-based threat assessment methods for semi-autonomous vehicles, i.e., human-driven vehicles with autonomous driving capabilities. Based on information about the surrounding environment, we introduce a set of constraints on the vehicle

Authors : Paolo Falcone,  Mohammad Ali, Jonas Sjöberg
Year : 2011
Published in : IEEE Transactions on Intelligent Transportation Systems, 12 (4), pp. 1352-1361

Real-time Implementation of a Novel Safety Function for Prevention of Loss of Vehicle Control

We present a novel safety function for prevention of vehicle control loss. The safety function overcomes some of the limitations of conventional Electronic Stability Control (ESC) systems. Based on sensor information about the host vehicle's state and the

Authors : Mohammad Ali, Claes Olsson, Jonas Sjöberg
Year : 2011
Published in : IEEE Intelligent Transportation Systems Conference, October 2011, Washington

Requirements of a system to reduce car-to-vulnerable road user crashes in urban intersections

Intersection crashes between cars and vulnerable road users (VRUs), such as pedestrians and bicyclists, often result in injuries and fatalities. Advanced driver assistance systems (ADASs) can prevent, or mitigate, these crashes. To derive functional

Authors : Azra Habibovic, Johan Davidsson
Year : 2011
Published in : Accident Analysis and Prevention, 43 (4) pp. 1570-1580

A simulation environment for analysis and optimization of driver models

A simulation environment for evaluation and optimization of driver models is introduced and described. The simulation environment features models of vehicles and drivers, as well as a representation of the traffic environment (roads, buildings etc.). In

Authors : Ola Benderius, Gustav Markkula, Krister Wolff, Mattias Wahde
Year : 2011
Published in : Proceedings of the Third International Conference on Digital Human Modeling, ICDHM 2011, July 2011, Orlando

Technical Aspects on Team Chalmers Solution to Cooperative Driving

As the number of cars in the roads increase new strategies to alleviate traffic congestion problems are necessary. Cooperative driving is deemed an efficient and sustainable solution to help mitigating some of the problems generated by roads capacity

Authors : Bruno Augusto, Alireza Ebadighajari, Cristofer Englund, Usman Hakeem, Naga V. Irukulapati, Josef Nilsson, Ali Raza, Reza Sadeghitabar
Year : 2011

Towards Self-Adaptive Scheduling in Time- and Space-Partitioned Systems

Time- and space-partitioned systems (TSP) are a current trend in safety-critical systems, most notably in the aerospace domain; applications of different criticalities and origins coexist in an integrated platform,  while being logically separated in

Authors : João Pedro Craveiro, Joaquim Rosa, José Rufino
Year : 2011
Published in : 32nd IEEE Real-Time Systems Symposium (RTSS- Work-in-progress Session), November 2011, Vienna

Using Augmentation Techniques for Performance Evaluation in Automotive Safety

This chapter describes a framework which uses augmentation techniques for performance evaluation of mobile computer vision systems. Computer vision systems use primarily image data to interpret the surrounding world, e.g. to detect, classify and track

Authors : Jonas Nilsson, Anders Ödblom, Jonas Fredriksson, Adeel Zafar
Year : 2011
Published in : Handbook of Augmented Reality, pp. 631–649

Volunteer occupant kinematics during driver initiated and autonomous braking when driving in real traffic environment

When a vehicle is braking, the occupants are subjected to longitudinal forces which may influence their positions. The aim of this paper is to quantify the driver and passenger kinematics during medium harsh braking while driving in real traffic and to

Authors : Stina Carlsson, Johan Davidsson
Year : 2011
Published in : Proceedings of the "2011 International IRCOBI Conference on the Biomechanics of Injury", September 2011, Krakow

An approach supporting fault-propagation analysis for smart sensor systems

Distributed sensor-actuator-systems in automotive or avionic applications have to fulfill safety requirements strictly. Those implementation has to be monitored during the development process and on run-time. For this purpose we presented a data centric

Authors : Sebastian Zug, Tino Brade, Jörg Kaiser, Sasanka Potluri
Year : 2012
Published in : Proceedings of the SAFECOMP 2012 Workshop on Architecting Safety in Collaborative Mobile Systems - ASCoMS, September 2012, Magdeburg

Analyzing real-world data to promote development of active safety systems that reduce car-to-vulnerable road user accidents

The overall objective of the thesis is to explore various types of real-world road traffic data and to assess the extent to which they can inform the design of active safety systems that aim to prevent car-to-vulnerable road user (VRU) accidents. A

Authors : Azra Habibovic
Year : 2012

Assessment of integrated vehicle safety systems for improved vehicle safety

Road safety is a major societal issue. In 2009, more than 35,000 people died on the roads of the European Union, i.e. the equivalent of a medium town, and no fewer than 1,500,000 persons were injured. The cost for society is huge, representing

Authors : Paul Lemmen, Helen Fagerlind, Thomas Unselt, Carmen Rodarius, Eduard Infantes, Cor van der Zweep
Year : 2012
Published in : Procedia - Social and Behavioral Sciences, 48,  pp.1632-1641

Causation mechanisms in car-to-vulnerable road user crashes: Implications for active safety systems

Vulnerable road users (VRUs), such as pedestrians and bicyclists, are often involved in crashes with passenger cars. One way to prevent these crashes is to deploy active safety systems that support the car drivers and/or VRUs. However, to develop such

Authors : Azra Habibovic, Johan Davidsson
Year : 2012
Published in : Accident Analysis and Prevention, 49, pp. 493-500

Control Mitigation for Over-Speeding in Curves: Strategies to Minimize Off-Tracking

This paper tests the effectiveness of closed-loop brake control to reduce vehicle off-tracking arising from overspeeding in curves. When a driver enters a curve too fast given the available friction, the aim is to use electronic brake control to reduce

Authors : Tim Gordon, Matthijs Klomp, Mathias Lidberg
Year : 2012
Published in : Proceedings of
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