Publications

Evidence for a fundamental property of steering

In this paper, a general and fundamental property of steering is demonstrated: It is shown that steering corrections generally follow bell-shaped profiles of steering rate. The finding is strongly related to what is already known about reaching movements

Exploring the driver instructor metaphor - Requirement assessment for an advanced driver assistance system that provides driving related feedback

The risk of being involved in a traffic car accident increases with age. Countermeasures such as advanced driver assistance system and retraining programs have both been ways of trying to reverse this trend. This thesis sought to merge the two

Final report: SAFER Pre-study: Hazard Classification

This SAFER prestudy has the target to establish a cross competence areas cooperation for classification of hazardous events according to the automotive functional safety standard ISO 26262. Key aspects are functional safety, bio-mechanics, driver behavior

Intelligent Transport Systems - the Role of a Safety Loop for Holistic Safety Management

An ITS represents a Cyber-Physical System (CPS), which will involve information exchange at operational level as well as potential explicit collaboration between separate entities (systems of systems). Specific emphasis is required to manage the complexity

Introducing naturalistic cycling data: What factors influence bicyclists' safety in the real world?

Presently, the collection and analysis of naturalistic data is the most credited method for understanding road user behavior and improving traffic safety. Such methodology was developed for motorized vehicles, such as cars and trucks, and is still largely

Lowlevel steering control algorithms for high-capacity transport

High Capacity Transport projects aim at introducing longer and heavier vehicle combinations to European roads. This thesis focuses on an A-double combination (trucksemitrailer- dolly-semitrailer). To enhance safety and maneuverability of such combination

Minimizing Vehicle Post-impact Path Lateral Deviation Using Optimized Braking and Steering Sequences

This paper investigates the optimal control of a vehicle, after a light impact during a traffic accident. To reduce the risk of secondary events, the control target is set: to minimize the maximum lateral deviation from the initial path. In previous

Modeling and Classification of Longitudinal Driving Behavior

This paper concerns modeling of a driver's carfollowing behavior. The available signals, the distance to the vehicle in front as input and the driver's pedal positions, are not excited very much, and the recently suggested PrARX modeling framework is

Modeling driver control behavior in both routine and near-accident driving

Building on ideas from contemporary neuroscience, a framework is proposed in which drivers’ steering and pedal behavior is modeled as a series of individual control adjustments, triggered after accumulation of sensory evidence for the need of an adjustment

Modelling driver steering and neuromuscular behaviour

This thesis challenges the traditional view of treating steering behaviour as a tracking task, instead treating it as a reaching task. Here, reaching refers to a fundamental human behaviour with the the intriguing characteristic of having a linear

Older drivers' needs for safety and comfort systems in their cars - A focus group study in Sweden

Executive summary: A focus group study with a total of 63 older drivers (70 years or older) in two rounds was conducted to identify needs and means for transportation as a passenger car driver. The aim was to understand attitudes to and use of advanced

On optimal recovery from terminal understeer

This paper addresses the problem of terminal understeer and its mitigation via integrated brake control. The scenario considered is when a vehicle enters a curve at a speed that is too high for the tyre–road friction limits and an optimal combination of

Pedestrian Detection using Augmented Training Data

Detecting pedestrians is a challenging and widely explored problem in computer vision. Many approaches rely on large quantities of manually labelled training data to learn a pedestrian classifier. To reduce the need for collecting and manually labelling

Prediction of the Effectiveness Potential of a Post Impact Stability Control System for Passenger Cars in Secondary Collisions following an Initial Side Impact

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Principle Other Vehicle Warning

Reliable Vehicle Pose Estimation Using Vision and a Single-Track Model

This paper examines the problem of estimating vehicle position and direction, i.e., pose, from a single vehicle-mounted camera. A drawback of pose estimation using vision only is that it fails when image information is poor. Consequently, other

Robust Control Design of an Active Steering System in Heavy Vehicles

This thesis focuses on the design of steering control strategies in long combination of heavy vehicles. In particular, we consider the problem of controlling the steering angle of the axles of a unit called dolly, connecting a truck and a semi-trailer in a

Safe mobility for elderly drivers - considerations based on expert- and self- assessment

To further understand the needs of the growing population of elderly drivers and create solutions for safe mobility it is important to understand the driving scenarios and aspects in day to day traffic that may be of challenge for this group. More so

Safe Transitions to Manual Driving From Faulty Automated Driving System

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

Semi-automated versus highly automated driving in critical situations caused by automation failures

The purpose of this study was to examine effects of vehicle automation and automation failures on driving performance. Previous studies have shown problems with driving performance in situations with automation failures and attributed this to drivers being

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

Setting the stage for self-driving cars: Exploration of future autonomous driving experiences

Self-driving cars are under development and are predicted to reach the market within a few years. There is a need to understand how users will respond to the technology, and what possible benefits or difficulties they perceive. User involvement is a

Smartphones as Wireless Reflector Tags? - A Feasibility Study

This report investigates the feasibility of using smartphones as wireless reflector tags. A smartphone communicates its GNSS positioning data via peer-to-peer connections to nearby road users to notify its presence. Appropriate use cases are studied based

SteerPad Development and Evaluation of a Touchpad in the Steering Wheel from a User Experience Perspective

Driver safety has since the birth of automobiles been paramount. In a time when technologies are changing the way people interact with the outside world, the vehicle industries need to keep up with these changes in terms of both safety and user experience

A Study of The Impact of Bit-flip Errors on Programs Compiled with Different Optimization Levels

In this paper we study the impact of compiler optimizations on the error sensitivity of twelve benchmark programs. We conducted extensive fault injection experiments where bit-flip errors were injected in instruction set architecture registers and main

A Systematic approach to Risk Management in ITS Context : Challenges and Research Issues

Intelligent Transportation System (ITS) with autonomic functions that are cyber-physical in nature is of rapidly increasing importance for traffic efficiency and safety. Current engineering approaches to such functions often rely on worst-case assumptions

Towards Driver Adaptive Active Safety Systems

In recent years, active safety systems have become a standard accessory in new cars and trucks. This thesis addresses one of the major flaws of most such systems: they act the same independently of who is operating the vehicle. Driver modeling has been in

Training needs analysis - Towards a training curriculum

This deliverable provides a literature review concerned with different training programs with a focus on healthy older drivers and age related changes in driving ability. The review cover different types of training, from general (cognitive, physical or

Understanding Bicycle Dynamics and Cyclist Behavior from Naturalistic Field Data

As technology advances, motorized vehicles employ newer, more intelligent systems to improve drivers’ safety and mobility. The evolution of these systems is supported by increasingly accurate models for driver behavior and vehicle dynamics. Despite the

Uniting a winning team: behaviour-based safety and Advanced Driver Assistance Systems - Applied to attention enhancement accident prevention strategies

This book brings together recent work by the project ADAPTATION, to provide a better understanding of drivers’ adaption processes, the effect of technology use, the impact of age and the effects of the system’s performance and the level of automation

Verification of Collision Avoidance Systems using Reachability Analysis

This paper presents a method for formal verification of automotive collision avoidance systems. Using viability theory and reachability analysis, we define when the system should intervene, i.e. the unsafe set, and when the system should not intervene

When Driving Automation Fails. Drivers' Experiences and Interactions

Drivers’ interactions with automation based on experiences from real driving, and results from driving simulators were under investigation in this thesis. The thesis had a mixed methods research approach and was exploratory. Special attention has been

WiTag - the Mobile Phone as a Wireless Reflector Tag

Many vulnerable road users are today equipped with smart mobile phones while moving around in traffic. These smartphones normally have a rudimentary GNSS receiver and means for wireless communication via different technologies. The goal of the WiTag study

Driver behavior models for evaluating automotive active safety: From neural dynamics to vehicle dynamics

The main topic of this thesis is how to realistically model driver behavior in computer simulations of safety critical traffic events, an increasingly important tool for evaluating automotive active safety systems. By means of a comprehensive literature

Improving yaw stability control in severe instabilities by means of a validated model of driver steering

An experiment was carried out on a low friction test track, where seven truck drivers repeatedly performed collision avoidance and stabilization with a 4x2 tractor. A previous finding from a simulator study was confirmed: In severe yaw instability, drivers

Interaction Design for Communicating System State and Capabilities During Automated Highway Driving

Automation of road vehicles is currently one of the strongest trends within the automotive industry and understanding how the driver/user automation interaction should be designed is one important step towards realizing automated vehicles. In this paper we

Random Broadcast Based Distributed Consensus Clock Synchronization for Mobile Networks

Clock synchronization is a crucial issue for mobile ad hoc networks due to the dynamic and distributed nature of these networks. In this paper, employing affine models for local clocks, a random broadcast based distributed consensus clock synchronization

Robustness analysis of a steering-based control strategy for improved lateral performance of a truck-dolly-semitrailer

A control strategy for lateral performance improvement of a truck-dolly-semitrailer combination by active steering of the towed units is presented. The effectiveness and robustness of the controller are verified by extensive analysis of the controller

Safe Transitions From Automated to Manual Driving Using Driver Controllability Estimation

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Worst Case Analysis of Automotive Collision Avoidance Systems

Automotive Collision Avoidance (CA) 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 if the decision

An analysis of common patterns in aggregated causation charts from intersection crashes

Intersection crashes are a major traffic problem. Greater knowledge of causation is required in order to prevent them with the implementation of active safety measures. Causation charts were aggregated to establish whether common patterns of interlinked

Collaboration with Japan regarding analysis of real traffic data, a pre-study

SAFER is interested in initiating long term collaboration projects with strong international actors within the field of vehicle and traffic safety. This pre-study consists of a delegation trip to visit research organizations within the Japanese automotive

Developing Theoretical and Empirical Definitions of Safety Problems in Driving Suitable for Active Safety Function Evaluation

In passive safety, the requirement specifications used for evaluation of protective functions are both standardised and specified at a high level of detail regarding evaluation scenario definition, performance metrics and pass/fail criteria. For active

EuroFOT: a risk analysis

Field operational tests (FOTs) are studies aimed at collecting data in real-traffic in order, for example, to evaluate the actual impact of in-vehicle systems on road safety. Both Japan and the US have a long history of FOTs which demonstrated both how

The intercoder agreement when using the Driving Reliability and Error Analysis Method in road traffic accident investigations

Many different classification schemes have been used in the analysis of road traffic accidents but the agreement between coders using the same classification scheme is rarely tested and/or reported. As a high intercoder agreement is a prerequisite for a

Methodological challenges and solutions in the EuroFOT project

The euroFOT project is undertaking Field Operational Tests to investigate the effects of eight safety functions. More than 1500 drivers of cars and trucks will participate with the focus being not only on the use of the systems under daily traffic

A model of attention selection in driving

Inattention is one of the most common factors contributing to road crashes. However, the basic mechanisms behind inattention and how it leads to crashes are still relatively poorly understood. The objective of the present thesis was to develop a testable

Causation patterns and data collection blind spots for fatal intersection accidents in Norway

Norwegian fatal intersection accidents from the years 2005-2007 were analysed to identify any causation patterns among their underlying contributing factors, and also to evaluate whether the data collection and documentation procedures used by the

Challenges in Low-speed Collision Avoidance

Rear-end collisions account for a substantial amount of all traffic accidents. The vast majority of rear-end collisions occur at speeds up to 30 km/h, mostly in city traffic. Volvo developed a system called City Safety that helps drivers to avoid these

Chunking: a Method to Increase Robustness of Naturalistic Field-Operational-Test Data Analysis

When using field operational test (FOT) data to evaluate advanced driver assistance systems (ADASs), selecting relevant data from the FOT database is a crucial step which significantly influences any following step in data analysis. In the methodology