Dutch Automated Vehicle Initiative – 2014 1

DAVI Progress & Ambitions

Dutch Automated Vehicle Initiative www.davi.connekt.nl R. Happee r.happee@tudelft.nl

Dutch Automated Vehicle Initiative – 2014 2

Dutch Automated Vehicle Initiative

To investigate, improve and demonstrate automated driving on public roads

• Assess & improve technology • Study human behaviour • Prove safety • Pursue legalisation• Create public awareness

Dutch Automated Vehicle Initiative – 2014 3

DAVI in time

• Inception March 2013

• Official Launch Innovatie-estafette Nov 2013• Experiments with non-expert drivers

2015• Demo with non-expert drivers 2016

Dutch Automated Vehicle Initiative – 2014 4

key projects & partners

DAVI open initiative

TU Delft, RDW, TNO, Connekt, SWOV, UT, Fontys, Hanze, HAN, RUG, Toyota Motor Europe, NXP, Imtech, VisLab (IT), SKF, Technolution, Almende, V-tron, Trinité Mapscape, DLR, TRL, ITS-Leeds

Human Factors of Automated Driving (HFAuto)Marie Curie FP7

TU Delft, TU München, Univ of Southampton, Univ of Twente, Chalmers Univ of Technology, IFSTTAR (France), VTI (Sweden), Volvo Truck, Volvo Car, BMW, Jaguar, Toyota Motor Europe, Continental, TNO, SWOV

Truck Merging SupportHTSM

TU Delft, TU/e, DAF, SKF, TNO, NXP

From Individual Automated Vehicles to Cooperative Traffic Management (IAVTRM) STW-OTP

TU Delft, Toyota Motor Europe, TNO, NXP, Imtech Traffic & Infra, RDW, Connekt, SWOV, Technolution, Almende, V-tron, Trinité Automation, VisLab

Foodvalley Province of Gelderland

Dutch Automated Vehicle Initiative – 2014 5

Hands free• Cruise Control with

automated steering• Highway in 2020• Capable driver

Autonomous• No steer & pedals• User only has to

select the destination

Mixed with normal traffic

Dutch Automated Vehicle Initiative – 2014 6

Vehicles

• 3 Priuses TNO / DITCM• CACC• Automated steering

• Prius Fontys• Automated steering

• 2 Priuses TU Delft• Towards 360 deg sensing

Dutch Automated Vehicle Initiative – 2014 7

Ambitions

• Vehicle automation• Robust environment perception • Safe control strategies

• Link automation to traffic management• Human factors

• Transitions of control• Acceptance, trust, use & misuse• Interaction with other road users

• Benefit prediction• Legalisation• Public awareness & acceptance

Dutch Automated Vehicle Initiative – 2014 8

Environment Perception

• Cameras, Radar, Ultrasound, Lidar • Cars, trucks, pedestrians, cyclists• Road markings• Road Signs• Traffic lights

• Challenges• Reliable detection

in various weather conditions• Intent recognition & motion prediction• Integration environment sensing

with communication and detailed maps

Dutch Automated Vehicle Initiative – 2014 9

Main Processing UnitPXIe-1062Q RTOS (NI)

HDR vision systems(Melexis)

High accuracy Digital maps & eHorizon systems (Mapscape – Maccom - Electrobit)

ARS 309-2 HS radars (Continental)

Custom of the shelf sensors

ACC: no V2V communicationCACC: full V2V communicationGraceful degradation in case of packet loss: dCACC

Graceful degradation of CACC

10

3 2 1

𝑣1𝑣2𝑣3

𝑑2𝑑3

𝑎ref , 1𝑎ref , 2𝑎ref , 3

𝑣4

𝑑4

𝑎ref , 4

𝑣5

𝑑5

12345

CACC ACC dCACC

Dutch Automated Vehicle Initiative – 2014 11

Automated lane changing & merging• Shown in movies carmakers

• Proof of safety not found

• DAVI simulation studies• Optimize gap & timing1 • Optimize collective benefits1 • Trajectory control with

non-linear vehicle model2

• Next• Sensors fusion & inaccuracy • Role of the driver?

1. Wang M, Hoogendoorn SP, Daamen W, van Arem B, Happee R. Novel predictive approach for unified lane-changing and car-following control. Submitted ISTT21

2. Gottardis P, Manazza SS. Automated Controlled Vehicle Based on Non-Linear Model Predictive Control Connected to a Safety Path Planner with Online Collision Risk Estimation MSc thesis TUDelft / Polimi 3 Oct 2014

Dutch Automated Vehicle Initiative – 2014 12

Human Factors

• Literature survey1

• Extensive simulator studies Highly Automated Driving

• Workload affects HAD much larger than ACC

• Only expert drivers tested with HAD on public roads (3 studies)

• Challenges• Monitor & Manage driver awareness• Develop safe transition procedures &

interfaces• Investigate human interaction

with HAD on public roads

1. de Winter JCF, Happee R, Martens MA, Stanton NA. (2014). Effects of ACC and highly automated driving on workload and situation awareness: A review of the empirical evidence. TRPF: Traffic Psychology and Behaviour.

Control ACC HAD0

50100150200250300

Secondary Task Performance (%)

Dutch Automated Vehicle Initiative – 2014 13

Opinions on automated driving 1

• Diverse / extreme responses• 22% unwilling to pay for fully automated driving• 5% willing to pay more than $ 30,000

• 69% estimated fully automated driving to reach 50% market share before 2050.

• concerned about • software hacking/misuse• legal issues and safety

1. Kyriakidis M, Happee R, de Winter JCF. Public opinion on automated driving: Results of an international questionnaire among 5,000 respondents. Submitted.

Dutch Automated Vehicle Initiative – 2014 14

Automated Transport Foodvalley (Gelderland)• “De eerste zelfsturende auto’s van Nederland

moeten gaan rijden in Ede en Wageningen” (Gelderlander 1 Oct 14).

• Planstudie, suitable routes, sensors & control• Innovation

• From closed track to public roads• Safe interaction with pedestrians, cyclists, cars• On demand public transport

• Safety by• Low speed• Conservative control strategies• Control room monitoring

Dutch Automated Vehicle Initiative – 2014 15

Milestones testing automation on public roads• Technical safety assessment

• Sensing reliability• Safe operating conditions

• Automation linked to traffic management• Behaviour non-expert drivers investigated

• Safe transitions of control• Quantify how drivers will use automation• Prove safety taking into account the human interaction

• Benefits predicted with traffic flow models• Legalisation

Dutch Automated Vehicle Initiative – 2014 16

Questions

Dutch Automated Vehicle Initiative – 2014 17

DAVI Partnership Charter

• DAVI aims to • implement automated vehicles, • obtain permission for testing on public roads, • link vehicle automation to traffic management, • assess and improve automation technology, • study human behaviour with automation, • prove safety, • optimise transport efficiency, • create public awareness, • and pursue legalisation of automated driving.

• DAVI pursues these objectives through complimentary research projects and demonstration activities with varying partnerships and national and international funding sources.

Dutch Automated Vehicle Initiative – 2014 18

Vacancies

• Vacancy 1 (PhD Candidate) Human interaction with automation• Human machine interface, driver state monitor• Investigate the human interaction with automation

• Vacancy 2 (PhD Candidate) Benefits & risks of automated driving • Develop computer models capturing mixed traffic• Predict & optimise benefits

• Vacancy 3 (Post Doc) Automation & safety assessment• Automation algorithms, merging, lane changing and overtaking• Safety assessment methods

• Vacancy 4 (Engineer) Environment sensing• Systems architecture • Sensors & fusion providing robust 360 degree environment

perception