Mauro Da Lio

A Holistic Approach to the Integration of Safety Applications: The INSAFES Subproject Within the European Framework Programme 6 Integrating Project PReVENT

This paper deals with the integration of multiple advanced driver-assistance systems (ADAS) and in-vehicle information systems (IVIS) in a holistic driver-support system. The paper presents the results of a project named Integrated Safety Systems (INSAFES), which was part of PReVENT: an integrating project carried out under the European Framework Programme 6. Integration in INSAFES is tackled at three different levels in the framework of a “cognitive car” perspective: 1) at the perception level, to represent the world around the vehicle, including object-tracking between sensor fields and the detection of driver intentions; 2) at the decision level, to reproduce humanlike holistic motion plans, which serve as “reference maneuvers” to evaluate the motion alternatives that a driver faces; and 3) at the level of interaction with the driver and vehicle control ( action level), to arbitrate between the requests of functions competing for driver attention. A function that provides simultaneous longitudinal and lateral support has been developed. It gives support for safe speed, safe distance, lane change, and all-around collision avoidance all at the same time. At its core, there is a tool (evasive/reference maneuver) that constantly evaluates two possible alternatives (in lane and evasive/lane change) and compares them with the driver input to detect which one applies, which dictates warnings and driver interactions, and whether there is a better alternative. In addition, a “warning manager” has been developed, acting like a referee who lets the ADAS applications work standalone and then combines the requests of each application, prioritizes them, and manages the interaction with the user. The warning manager can be particularly useful in the case of integration of pre-existing standalone functions, which can be quickly reused. If a holistic ADAS is developed, the warning manager can still be used to combine it with IVIS functions. In fact, depending on the kind of ADAS and IVIS considered, the most suitable approach can be either to combine functions in a unified multifunctional driver-support application or to arbitrate between them through the warning manager.

On the use of natural coordinates in optimal synthesis of mechanisms

Abstract This paper deals with the use of natural coordinates for the synthesis of mechanisms using optimization methods. It will be shown that an approach based on this kind of coordinates has many interesting aspects. The modeling of a mechanism with natural coordinates, like any other multi-body system, is carried out by means of a system of algebraic constraint equations. These are complemented by additional equations describing the requirements of the mechanism. All types of requirements — paths, function generation, body guidance, correlation between members — may be given in this way, so that there is a unified method for treating any kind of synthesis. An interesting method is developed here for kinematic analysis of candidate mechanisms. According to this method, kinematic analysis is carried out in the sense that only constraint equations are satisfied exactly, while requirements are satisfied at best. This corresponds to finding the motion of the candidate mechanism that is ‘closest’ to established requirements. This method is then reduced to the solution of the Initial Value Problem (IVP) of a proper system of Ordinary Differential Equations (ODEs). Lastly, the design space (i.e., the space of the design parameters) also takes advantage of the natural coordinates approach. It is based on the initial values of the natural coordinates themselves rather than on link lengths. This avoids the need to assemble the mechanism in the initial position (and associated branching problems), gives more uniform spanning of the solution space, and guarantees that at least the starting configuration for the ODEs IVP exists and is known. Three examples are given: a four-bar linkage generating a straight path, the same type of linkage generating a square angle (both without correlation), and a six-link Stephenson’s mechanism producing a function with a dwell range.

Artificial Co-Drivers as a Universal Enabling Technology for Future Intelligent Vehicles and Transportation Systems

This position paper introduces the concept of artificial “co-drivers” as an enabling technology for future intelligent transportation systems. In Sections I and II, the design principles of co-drivers are introduced and framed within general human-robot interactions. Several contributing theories and technologies are reviewed, specifically those relating to relevant cognitive architectures, human-like sensory-motor strategies, and the emulation theory of cognition. In Sections III and IV, we present the co-driver developed for the EU project interactIVe as an example instantiation of this notion, demonstrating how it conforms to the given guidelines. We also present substantive experimental results and clarify the limitations and performance of the current implementation. In Sections IV and V, we analyze the impact of the co-driver technology. In particular, we identify a range of application fields, showing how it constitutes a universal enabling technology for both smart vehicles and cooperative systems, and naturally sets out a program for future research.

Experimental Study of Motorcycle Transfer Functions for Evaluating Handling

Summary The transfer functions of a motorcycle, especially that between roll angle and steering torque, qualify input-output characteristics - that is, motion produced as a function of steering torque - and are closely related to ease of use and handling. This paper describes the measurement of the transfer functions of a typical sports motorcycle, resulting from data collected in slalom tests. These functions are then compared to analytical transfer functions derived from known models in the literature. The comparison shows fair to good agreement. Lastly, the formation of steering torque is analysed and the observed transfer functions are interpreted in this framework. It is shown that gyroscopic effects are mostly responsible for the lag between steering torque and roll angle, and that there is a velocity for which the various terms that combine to form steering torque cancel each other out, yielding a ‘maximum gain condition’ for torque to roll transfer function which drivers rated ‘good handling’.

On Curve Negotiation: From Driver Support to Automation

This paper describes a curve negotiation “behavior” that can be used-within subsumption architectures - to produce artificial agents with the ability to negotiate curves in a humanlike way. This may be used to implement functions spanning different levels of automation, from assistance (curve warning) to automated (curve speed control). This paper gives the following: (1) a summary of related works and of the subsumption architecture conceptual framework; (2) a detailed description of the function within this framework; (3) experimental data for validation and tuning derived from user tests; (4) guidelines on integration of the function within advanced driver assistance systems with different automation levels, with examples; and (5) a comparison with experimental data of the human curve speed choice models in the state of the art.

Will intelligent vehicles evolve into Human-peer Robots?

This paper aims at stimulating the discussion on the future of Intelligent Vehicles. It is a position paper, indicating converging technologies that, in our opinion, will have to be used in future Intelligent Vehicles. We present a vision according to which Intelligent Vehicles will evolve into Human-peer Robots, here called Co-Drivers. Co-Drivers will be able to “understand” human drivers and to form symbiotic systems with them. The general architecture of Co-Drivers, the building blocks and the technologies that are needed to bring them to life are discussed, pointing out which parts have been already researched and which gaps still remain. We clarify what “understanding driver” actually means and how a joint system can be obtained. The paper will identify research needs and paths, and hopefully trigger interest.

Automated Crossing of Intersections Controlled by Traffic Lights

The crossing of intersections controlled by traffic lights requires decision making: at the onset of yellow, drivers must quickly choose whether to stop or to pass and, in the latter case, with which speed. Sometimes drivers select the incorrect action, passing too late or performing sudden decelerations. This paper describes a driver support system for traffic light negotiation, which is based on a layered control architecture with human-like motor primitives. The system receives information regarding the traffic light timings, produces a set of maneuvers every 100 ms and then selects the motion with the minimum initial jerk. The stop maneuver has been validated using real data collected from human drivers. The developed system may be integrated, within subsumption architectures, to produce an artificial driver for autonomous driving applications in urban scenarios.

Development of Innovative HMI Strategies for Eye Controlled Wheelchairs in Virtual Reality

This paper focuses on the development of a gaze-based control strategy for semiautonomous wheelchairs. Starting from the information gathered by an eye tracker, the work aims to develop a novel paradigm of Human Computer Interaction (HCI) by means of a Virtual Reality (VR) environment, where specific motion metrics are evaluated.

A Web Based “Virtual Racing Car Championship” to Teach Vehicle Dynamics and Multidisciplinary Design

A web based VRCC (Virtual Racing Car Championship) application is here presented. The application is intended for educational purposes to teach students a variety of topics of the teaching course “Vehicle Dynamics and Control” in Mechatronics Master Degree Course; the present application forces students to understand the relevant parameters that govern the dynamic performance of racing cars. The application relies on an optimal control library, which is capable of calculating minimum lap times of a racing car on the basis of a comprehensive symbolic description of an open-wheel racing car dynamic model. Students are enrolled in a number of teams competing in a Championship to attain the minimum lap time (i.e., the pole position) on three circuits by choosing the appropriate setup of the racing car. The ranking is based on the best lap time obtained in the qualification session. The application stimulates students to adopt a multidisciplinary approach in a challenging and instructive environment, where they are in a position to apply a broad range of knowledges and abilities they have acquired during the Mechanotronics engineering course.Copyright

Cooperative Intersection Support System Based on Mirroring Mechanisms Enacted by Bio-Inspired Layered Control Architecture

This paper presents a cooperative intersection support system implemented with an artificial cognitive system enacted by an agent that replicates human driver longitudinal sensorimotor control in the application domain. The engineering of the agent exploits recent ideas from Cognitive Science, among which the notion of mirroring (the agent discovering driver intentions by simulating possible human actions). The paper introduces the design principles for the agent and the following implementation. The system is evaluated with experimental data and compared to state of the art implementations that use different approaches.