1. Darya Popiv, popiv@in.tum.de Master Thesis Presentation
Integration of a Component Based Driving Simulator and Design of Experiments on Multimodal Driver Assistance
Darya Popiv,
Master Thesis Presentation
22 November 2018
Department of Informatics | Technische Universität München

2. Outline Concept of Assisted Driving
Integrated Multimodal Driver Assistance
Concept “Aus”
Concept “Active Cruise Control”
Concept “Active Gas Pedal”
ACC/AGP Algorithm
Fixed-base Driving Simulator
Future Work
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

3. Concept of Assisted Driving: Activity Loop
Major tasks: navigation, stabilization, maneuvering
Activity Loop
“Driver in the loop” vs. “Driver out of the loop”
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

4. Concept of Assisted Driving: Related Work
Conventional Head-Up Display (HUD)
Longitudinal Assistance:
Active Gas Pedal [1]
Active Cruise Control [2]
Braking bar [3] – conformal HUD
Lateral assistance:
Braking bar [3]
[1] Lange, C., Tönnis, M., Bubb, H., Klinker, G. (2006). Einfluss eines aktiven Gaspedals auf Akzeptanz, Blickverhalten und Fahrperfomance. Konferenzband der VDI/VW Konferenz, Germany
[2] Brookhuis, K., de Waard, D. (2006). The consequences of automation for driver behaviour and acceptance. Paper presented at IEA Congress, Maastricht, The Netherlands, 9-14 July 2006.
[3] Tönnis, M. et al. (2006) Visual Longitudinal and Lateral Driving Assistance in the Head-Up Displays of Cars. TU-München, Munich, Germany.
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

5. Concept of Assisted Driving: Levels of Automation
Perceptive Cooperation mode
Mutual Cooperation mode
2.1 Warning stage
2.2 Action suggestion stage
2.3 Limit stage
2.4 Correction stage
Functional Delegation Cooperation mode
Fully Automatic Cooperation mode
Driver in the loop
Driver out of the loop
Adopted from Endsley, M.R., Kiris, E.O. (1995). The out-of-the-loop perfomance problem and level of control in automation. Human factors, 37 (2),
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

6. Outline Concept of Assisted Driving
Integrated Multimodal Driver Assistance
Concept “Aus”
Concept “Active Cruise Control”
Concept “Active Gas Pedal”
ACC/AGP Algorithm
Fixed-base Driving Simulator
Future Work
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

7. Integrated Multimodal Driver Assistance: Concept “Aus” - Baseline
Fully manual control
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

8. Integrated Multimodal Driver Assistance: Concept “Active Cruise Control”
Functional Delegation Cooperation mode – “driver out of the loop”
Two models for visual assistance (symbol vs. contact-analog) a) b)
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

9. Integrated Multimodal Driver Assistance: Concept “Active Gas Pedal”
Mutual Cooperation mode – “driver in the loop”
AGP force appliance algorithm (similar to kick-down by the automatic trans)
Two models for visual assistance (as for “ACC” concept)
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

10. Outline Concept of Assisted Driving
Integrated Multimodal Driver Assistance
Concept “Aus”
Concept “Active Cruise Control”
Concept “Active Gas Pedal”
ACC/AGP Algorithm
Fixed-base Driving Simulator
Future Work
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

11. ACC/AGP Algorithm Control Circuit
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

12. ACC/AGP Algorithm Control Circuit
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

13. ACC/AGP Algorithm Control Circuit
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

14. ACC/AGP Algorithm: Control System
Desired Accel
Controller
Vehicle Dynamics
Model
Accel
error
Driver
ACC concept
Sugg
Gas Pos
AGP concept
Stability of system: Bounded Input/Bounded Output (BIBO)
Behavior of system:
a) under-damped
b) over-damped
c) critically damped a) b) c)
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

15. ACC/AGP Algorithm: PID Controller
Proportional term guarantees the stability of the system
Integral term anticipates and rejects a step disturbance
Derivative term introduces additional damping of the output
KP, KI, KD – to-be-tuned coefficients of proportional, integral, derivative terms
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

16. ACC/AGP Algorithm: PID Controller Implementation
We can neglect the integral term, because in the driving simulator the output signal of system is measured precisely
We use only proportional term when the car is almost approaching wanted speed (Proportional Controller)
We use proportional term and derivative term (Proportional-Derivative Controller) when the difference between wanted and current speed is significant (>1km/h)
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

17. ACC/AGP Algorithm Control Circuit
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

18. ACC/AGP Algorithm: Required Acceleration – Step 1
Step 1: derive function representing how actual speed should reach wanted speed over course of time
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

19. ACC/AGP Algorithm: Required Acceleration – Step 2
Step 2: using Step 1, derive required acceleration function
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

20. ACC/AGP Algorithm Control Circuit
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

21. ACC/AGP Algorithm Control Circuit
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

22. ACC/AGP Algorithm: Following Distance Rule
Goal: at required distance, speed of “own” car should be equaled to speed of leading car
Wanted speed for “our” car: before some threshold, “own” car can travel faster than leading car; after threshold is passed linearly decrease wanted speed
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

23. Outline Concept of Assisted Driving
Integrated Multimodal Driver Assistance
Concept “Aus”
Concept “Active Cruise Control”
Concept “Active Gas Pedal”
ACC/AGP Algorithm
Fixed-base Driving Simulator
Future Work
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

24. Fixed-base Driving Simulator – OLD
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

25. Fixed-base Driving Simulator - NEW
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

26. Fixed-base Driving Simulator: Component Structure
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

27. Outline Concept of Assisted Driving
Integrated Multimodal Driver Assistance
Concept “Aus”
Concept “Active Cruise Control”
Concept “Active Gas Pedal”
ACC/AGP Algorithm
Fixed-base Driving Simulator
Future Work
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018

28. Future Work Execution and evaluation of predefined experiments
Improvement of following distance rule function
Introduction of integral term into PID equation …
CAMP-AR | Department of Informatics | Technische Universität München | 22 November 2018