Publications

Behavioural adaptation in response to driving assistance technologies - A literature review

Adaption processes become important each time a driving situation embodies one or several unfamiliar components. These processes involve a behavioural change emerging into previously established behavioural patterns. Research shows that behavioural changes

Benchmarking the Hardware Error Sensitivity of Machine Instructions

This paper presents the results of an extensive fault injection study of the impact of processor faults that manifest as bit flip errors in instruction set architecture registers and main memory locations. The aim is to investigate if bit errors that

BikeCOM: A cooperative safety application supporting cyclists and drivers at intersections

In 2009, 2334 cyclists died while riding bicycles in Europe. Many of those accidents occurred at road intersections, typically involved one vehicle and one bicycle, and were caused by distraction of either of the driver or the cyclist. This study describes

BikeSAFER: Final Report

BikeSAFER has been an important milestone for Chalmers and SAFER offering a fertile ground for new national and international collaborations and providing a stable foundation for new projects. The naturalistic cycling data from BikeSAFER is presently

Bridging Physical and Digital Traffic System Simulations with the Gulliver Test-Bed

We propose a cyber-physical platform that combines road traffic simulation, network simulation, and physically simulated vehicles to facilitate extensive testing on various levels of vehicular systems. Our design integrates physical and digital vehicle

Bundle adjustment using single-track vehicle model

This paper describes a method for estimating the 6-DoF viewing parameters of a calibrated vehicle-mounted camera. Visual features are combined with standard in-vehicle sensors and a single-track vehicle motion model in a bundle adjustment framework to

Chaos: Versatile and Efficient All-to-All Data Sharing and In-Network Processing at Scale

An important building block for low-power wireless systems is to efficiently share and process data among all devices in a network. However, current approaches typically split such all-to-all interactions into sequential collection, processing, and

Closed-loop Controller for Post-Impact Vehicle Dynamics Using Individual Wheel Braking and Front Axle Steering

This paper presents a vehicle path controller for reducing the maximum lateral deviation (Ymax) after an initial impact in a traffic accident. In previous research, a Quasi-Linear Optimal Controller (QLOC) was proposed and applied to a simple vehicle model

Cognitive workload and driving behavior in persons with hearing loss

Purpose To compare the effect of cognitive workload in individuals with and without hearing loss, respectively, in driving situations with varying degree of complexity. Methods 24 participants with moderate hearing loss (HL) and 24 with normal hearing (NH)

Distributed clock synchronization with application of D2D communication without infrastructure

This paper investigates the clock synchronization problem for Device-to-Device (D2D) communication without infrastructure. Employing affine models for local clocks, it is proposed a random broadcast based distributed consensus clock synchronization

The DO-IT BEST Feedback Model - Distracted Driver Behaviour Management and Prevention Before, While And After Driving

Applied to driver distraction and inattention prevention/mitigation, this paper expresses how to enhance attention allocation using the DO-IT BEST Feedback Model – a model on ‘behavioural change’. Today, there are two main approaches to improve traffic

Driver behavior in car-to-pedestrian incidents: An application of the Driving Reliability and Error Analysis Method (DREAM)

To develop relevant road safety countermeasures, it is necessary to first obtain an in-depth understanding of how and why safety-critical situations such as incidents, near-crashes, and crashes occur. Video-recordings from naturalistic driving studies

Driver performance in the presence of adaptive cruise control related failures: Implications for safety analysis and fault tolerance

This study explored how failures related to an adaptive cruise control (ACC) were handled by drivers and what the effects on safety can be. The experimental study included forty-eight subjects and was performed in a moving base driving simulator equipped

Driver reactions to horn and headlight warnings in critical situations - A simulator study

Driver Support Systems: Estimating road safety effects at different levels of implementation

A prime objective of Intelligent Transport Systems (ITS) which are applied in road transportation is to reduce the number of accidents. A subset of ITS is Driver Support Systems (DSS), i.e. systems that support the driver in handling information, provide

Driving performance during visual and haptic menu selection with in-vehicle rotary device

An in-vehicle haptic rotary device developed to interact with secondary tasks can provide haptic support to a visual interface and reduce the need to look away from the road. However, added haptic information intended to support interaction may distract

Driving Scenarios and Factors affecting Safe Mobility for Older Drivers

Introduction: With a growing population of older drivers questions regarding possible negative implications for road traffic safety are constantly raised. Even though chronological age as such may not be an indicator of safe driving, researching and

Effects of experience and electronic stability control on low friction collision avoidance in a truck driving simulator

Two experiments were carried out in a moving-base simulator, in which truck drivers of varying experience levels encountered a rear-end collision scenario on a low-friction road surface, with and without an electronic stability control (ESC) system. In the

Effects on localization performance from moving the sources in binaural reproductions

A well-known problem for reproductions of binaural recordings and simulations using HRTFs other than those of the actual listener is decreased localization performance and increased front-back confusion. Previous studies have indicated that moving the

Escaping the obvious: Skewing properties of interaction

Most design methods used within interaction design originate from other disciplines. As a result, there are few methods which can focus on designing or redesigning interaction in itself. In this paper we present a structured ideation method called Skewing

Evaluating vehicle stability support systems by measuring, analyzing, and modeling driver behavior

This thesis presents an investigation of near-accident behavior of truck drivers, with and without support from an electronic stability control (ESC) system. A critical scenario, involving both collision avoidance and vehicle stabilization on a low

Evolving the Modular Layered Architecture in Digital Innovation: The Case of the Car's Instrument Cluster

Digital innovation entails the combining of digital and physical components to produce novel products.  The materiality of digital artifacts, particularly the separation between their material and immaterial  features, which is expressed through a layered

Examining the Effect of Conspicuity Treatments on Truck Drivers' Time-To-Arrival Judgments of Motorcycles at T-intersections

A “looked-but-failed-to-see” (LBFS) error is a common contributing factor in crashes involving motorcycles and other vehicles. Motorcyclists are particularly vulnerable to injury in crashes with truck due to substantial differences in vehicle mass

Expressing validity estimates in smart sensor applications

Eye movement and brake reactions to real world brake-capacity forward collision warnings - A naturalistic driving study

The purpose of this field operational test study is to assess visual attention allocation and brake reactions in response to a brake-capacity forward collision warning (B-FCW), which is designed similarly to all forward collision warnings on the market for

Failure Propagation Modelling for Safety Analysis Using Causal Bayesian Networks

The method Bayesian Networks (BN) has, in previous literature, been recognized as a powerful tool for safety analysis, with several advantages over traditional methods such as fault trees. The construction of BNs for safety analysis is however cumbersome

Fault model for cooperative semiautomated vehicles

This paper presents a fault model for vehicle functions that includes communication devices for inter-vehicle cooperation. In particular, the fault model addresses vehicles where automation has partially replaced the driver, i.e., semi-automated

Fighting Uncertainty in Highly Dynamic Wireless Sensor Networks with Probabilistic Models

Real-time operation in Wireless Sensor Networks (WSNs) is conditioned not only by the current technological level (e.g., limited computing power) but also inherently by the target problem itself: WSNs are required to operate in very open and uncertain

Geometric Environment Modelling System

Flexible system configurations and adaptability to changing environments and environmental conditions are key concerns for autonomous systems in future applications, either in industrial production processes, building automation, or health-care scenarios

Global Laxity-Based Scheduling on Multiprocessor Resource Reservations

In this paper, we focus on the problem of scheduling a task set on a multiprocessor resource reservation, i.e., in a scenario in which some (or all) processors may be at some times unavailable. We focus on the approach of adding laxity-based priority

Improving Defect Management in Automotive Software Development, LiDeC---A Light-weight Defect Classification Scheme

Classification of software defects is a means to provide defect reports with a shared and well-defined structure. Quantitative analyses of the classification data facilitated by the shared structure are useful to industry practitioners and academic

Improving NS-2 Network Simulator for IEEE 802.15.4 standard operation

The IEEE 802.15.4 standard was designed to support the specification of wireless sensor networks (WSNs) and wireless sensor and actuator networks (WSANs), which the utilization is emerging within environments with real-time requirements such as industrial

Investigation of driver sleepiness in FOT data

Executive summary - Driver sleepiness contributes to a great number of motor vehicle accidents every year. In order to reduce the number of sleepiness related accidents, more knowledge on e.g. prevalence, countermeasures and driver behaviour is needed

The KARYON Project: Predictable and Safe Coordination in Cooperative Vehicular Systems

KARYON, a kernel-based architecture for safety-critical control, is a European project that proposes a new perspective to improve performance of smart vehicle coordination. The key objective of KARYON is to provide system solutions for predictable and safe

Middleware Support for Adaptive Real-Time Applications in Wireless Sensor Networks

This position paper describes initial efforts and ideas for the development of a middleware framework to  support the operation of adaptive Wireless Sensor Networks applications with real-time and dependability  requirements. We identify a set of

Model-based, Composable Simulation for the Development of Autonomous Miniature Vehicles

Modern vehicles contain nearly 100 embedded control units to realize various comfort and safety functions. These vehicle functions consist of a sensor, a data processing, and an actor layer to react intelligently to stimuli from their context. Recently

Model-driven development of critical perception components using Simulink

Modern sensor-actuator applications combine a large number of components (sensing devices, processing nodes, networks) and implementing complex interactions between them. Due to failures and other sensor inherent insufficiencies the intended control

Multi-Objective Collision Avoidance

This paper presents a multi-objective safety system that is capable of avoiding unintended collisions with stationary and moving road obstacles, vehicle control loss as well as unintended roadway departures. The safety system intervenes only when there is

Numerical simulation of the transient aerodynamic phenomena induced by passing manoeuvres

Several three-dimensional Unsteady Reynolds-Averaged Navier-Stokes (URANS) simulations of the passing generic vehicles (Ahmed bodies) are presented. The relative motion of vehicles was obtained using a combination of deforming and sliding computational

On 20 MHz channel spacing for V2X communication based on 802.11 OFDM

In this semi-tutorial paper, we will examine the use of a larger channel spacing than 10~MHz for vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication, collectively referred to as V2X communication, based on the IEEE 802.11 OFDM

On clock offset and skew estimation with exponentially distributed delays

This paper investigates the problem of clock synchronization of nodes in a wireless sensor network based on the two-way timing message exchange mechanism with an unknown deterministic transmission delay and random exponential transmission delays. Without

On Clock Synchronization in Wireless Networks Using Parameter Estimation and Consensus Techniques

Time agreement in a network is a critical issue for communications. While clock synchronization in wired networks is a well studied problem, the wireless medium presents extra challenges. For example, in wireless sensor networks which may contain several

On the need for standardized representations of cooperative vehicle behavior

Cooperative intelligent transport systems have been identified as an enabling technology for solving several of today’s traffic systems challenges. Several initiatives to standardize vehicle-to-vehicle and vehicle-to-infrastructure communication exist and

On path planning methods for automotive collision avoidance

There is a strong trend for increasingly sophisticated Advanced Driver Assistance Systems (ADAS) such as Autonomous Emergency Braking (AEB) systems, Lane Keeping Aid (LKA) systems, and indeed autonomous driving. This trend generates a need for online

On Reliability Analysis of Leader Election Protocols for Virtual Traffic Lights

This paper addresses the problem of leader election in virtual traffic lights. A virtual traffic light (VTL) is a self-organizing traffic control system that allows road vehicles equipped with vehicle-to-vehicle communication facilities to implement the

Online driver behavior classification using probabilistic ARX models

This paper shows how a probabilistic ARX model can be used to predict the driver's steering behavior and classify the current driving style, based on measurements from the vehicle sensors. An algorithm, online classifying the driving style and predicting

Optimal control for decentralized platooning

The idea of autonomous vehicles and automated highway systems is no new concept to the automotive industry. The potential benefits of such a technology are numerous. The platooning approach would imply energy economy through air drag reduction, but also

Performance study of fixed and moving relays for vehicular users with multi-cell handover under co-channel interference

In this paper, we investigate the power outage probability (OP) of a vehicular user equipment (VUE) device served by half-duplex decode-and-forward relay nodes (RNs) under co-channel interference. Both moving RNs (MRNs) and fixed RNs (FRNs) are studied

A Platform Enabling Intelligent Safety Applications for Vulnerable Road Users

In 2009, 9108 vulnerable road users (VRUs; pedestrians and bicyclists) died in the EU and 4722 in the US. Active safety systems, i.e. intelligent systems able to predict and prevent crashes, may significantly help reduce VRU fatalities and injuries

Predictive Prevention of Loss of Vehicle Control for Roadway Departure Avoidance

In this paper, we investigate predictive approaches to the problem of roadway departure prevention via automated steering and braking. We assume a sensing infrastructure detecting road geometry and consider a two-layer accident avoidance framework