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HAVEit Joint System

The future of driving . Final Event HAVEit Joint System First Hotel Grand, Bor s, Sweden June 21- 22, 2011. Frank Flemisch, Anna Schieben, Gerald Temme, Christian L per, Julian Schindler, Johann Kelsch (DLR). Fazwi Nashashibi, Paulo Resende (INRIA), George Thomaidis (ICCS), Serge Boverie (CAF), Sebastien Glaser, Benoit Vanholme, Salim Hima (LCPC/IFFSTAR). Nadja Schoemig, Armin Kaussner (WIVW). Before looking into the future: A look back in history 1900. 1900 Champs- lys es 1908. Flemisch & Schieben / 2011 DLR. Joint System in assistance and automation ?? Flemisch & Schieben / 2011 DLR. Before HAVEit : Example SPARC (Secure Propulsion using Advanced Redundant Control). Inform Warn Support Intervene ti tw tu te tc Strategy of Assistant Systems Flemisch & Schieben / 2011 DLR.

The future of driving. Final Event HAVEit Joint System First Hotel Grand, Borås, Sweden June 21- 22, 2011 Frank Flemisch, Anna Schieben, Gerald Temme, Christian Löper, Julian Schindler, Johann Kelsch (DLR)

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Transcription of HAVEit Joint System

1 The future of driving . Final Event HAVEit Joint System First Hotel Grand, Bor s, Sweden June 21- 22, 2011. Frank Flemisch, Anna Schieben, Gerald Temme, Christian L per, Julian Schindler, Johann Kelsch (DLR). Fazwi Nashashibi, Paulo Resende (INRIA), George Thomaidis (ICCS), Serge Boverie (CAF), Sebastien Glaser, Benoit Vanholme, Salim Hima (LCPC/IFFSTAR). Nadja Schoemig, Armin Kaussner (WIVW). Before looking into the future: A look back in history 1900. 1900 Champs- lys es 1908. Flemisch & Schieben / 2011 DLR. Joint System in assistance and automation ?? Flemisch & Schieben / 2011 DLR. Before HAVEit : Example SPARC (Secure Propulsion using Advanced Redundant Control). Inform Warn Support Intervene ti tw tu te tc Strategy of Assistant Systems Flemisch & Schieben / 2011 DLR.

2 Before HAVEit : Example H-Metaphor, H-Mode (DLR, TU-M, DFG, NASA). Before HAVEit : Example H-Metaphor, H-Mode (DLR, TU-M, DFG, NASA). Shared & Cooperative Control Joint Cognitive System (Hollnagel). Tight analogous to Loose Rein rider and horse Rein Assistance & Automation Scale From H-Mode to HAVEit Command Recommendation DRIVER Driver intention System intention Co- System TRANSITIONS. Manual switches Co- System state Automation Mode Driver state Environment driving Task Shared & Cooperative Control Dynamic task repartition Tight analogous to Loose Rein rider and horse Rein Assistance & Automation Scale HAVEit Joint System Demonstrator Command Recommendation DRIVER Driver intention System intention Co- System TRANSITIONS.

3 Manual switches Co- System state Automation Mode Driver state Environment driving Task Dynamic task repartition Flemisch & Schieben / 2011 DLR. HAVEit Joint System Demonstrator Flemisch & Schieben / 2011 DLR. Development steps: From initial to generic concepts Initial demonstrator concepts Generic concepts Iterative refinement Theater-technique Flemisch & Schieben / 2011 DLR. Theater technique: Designing the behavior and interaction Flemisch & Schieben / 2011 DLR. HAVEit Joint System development steps: Iterative waterfall Generic Concepts Implementation Iterative refinement Iterative refinement Migration to simulators Migration to vehicle(s). Design with theater System Validation by simulation Validation in trail blazer Flemisch & Schieben / 2011 DLR.

4 Building up the Joint System : Sensors Environment sensors Vehicle sensors Driver SICK. Driver Sensor data fusion monitoring ICCS. WIVW, CAG. HMI. DLR Driver state Co-Pilot assessment INRIA, IFSTTAR, DLR. WIVW maneuvers, trajectory Mode selection arbitration unit DLR. automation level Command and haptic feedback generation IFSTTAR, DLR. motion control vector Drivetrain control Steering Brakes Engine Gearbox Building up the Joint System : Sensor Data Fusion Laser Track Tracking scanner States Data Acquisition Track- Track Track associatio Global Track SRR Tracking States n Tracker States Track Fusion Laser Scanner Camera Track Camera Tracking Short Range Radars States Driver monitoring Camera Building up the Joint System : Co-Pilot Environment sensors Vehicle sensors Driver SICK.

5 Driver Sensor data fusion monitoring ICCS. WIVW, CAG. HMI. DLR Driver state Co-Pilot assessment INRIA, IFSTTAR, DLR. WIVW maneuvers, trajectory Mode selection arbitration unit DLR. automation level Command and haptic feedback generation IFSTTAR, DLR. motion control vector Drivetrain control Steering Brakes Engine Gearbox HAVEit Joint System : Co- System algorithms (examples). Manoeuvres: Decision on the safety of the manoeuvres based on 3 algorithms that have veto- right Trajectories: Generation of trajectory and speed profile for each of the selected target lanes 3. Partial Motion Planning 1. Fuzzy logic based 2. Sampling-based (PMP) or quintic polynomial manoeuvre tree algorithm manoeuvre grid algorithm trajectory algorithm Flemisch & Schieben / 2011 DLR.

6 HAVEit Joint System : Command and Haptic Feedback Generation Generation of direct commands on motor and front wheel Generation of haptic feedback commands on pedals and steering wheel Switch from optimal to minimum risk trajectory (MRS) in the case of System failure and driver absence Driver Co-pilot Inceptor Input Command translation Generation Haptic MSU Coupling valve Feedback MSU. Generation Direct Command Haptic Command Flemisch & Schieben / 2011 DLR. Building up the Joint System : Driver State Assessement Environment sensors Vehicle sensors Driver SICK. Driver Sensor data fusion monitoring ICCS. WIVW, CAG. HMI. DLR Driver state Co-Pilot assessment INRIA, IFSTTAR, DLR. WIVW maneuvers, trajectory Mode selection arbitration unit DLR.

7 Automation level Command and haptic feedback generation IFSTTAR, DLR. motion control vector Drivetrain control Steering Brakes Engine Gearbox HAVEit Joint System : Driver in the loop assessment Development of SW component for online Driver State Assessment - Distraction detection Driver State Assessment - Drowsiness detection Combination of techniques drowsiness distraction detection detection - Direct driver monitoring (CAF camera). - Indirect driver monitoring (driver's behaviour Driver monitoring Driver monitoring and performance, WIVW). Flemisch & Schieben / 2011 DLR 23. Building up the Joint System : HMI & MSU. Environment sensors Vehicle sensors Driver SICK. Driver Sensor data fusion monitoring ICCS.

8 WIVW, CAG. HMI. DLR Driver state Co-Pilot assessment INRIA, IFSTTAR, DLR. WIVW maneuvers, trajectory Mode selection arbitration unit DLR. automation level Command and haptic feedback generation IFSTTAR, DLR. motion control vector Drivetrain control Steering Brakes Engine Gearbox HAVEit Joint System : Mode Selection & Arbitration Unit (MSU). Start point power off power on Failure Failure Ai [failure corrected] Ai [failure]. MRM / Emergency Di [switch HA] Normal driving Ai [emergency]. Di [switch SA]. Activation impossible Activation impossible Activation impossible Di [any switch]. Di [any switch] Di [any switch]. [driver Ai attentive [distracted]. again] || [drowsy]. Driver Assisted Semi Automated [driver Highly Automated attentive [driver Ai [distracted] again].]

9 Attentive || [drowsy]. again] [driver grasps [driver Ai [No response steering wheel]. grasps by driver]. Ai steering Ai Di [distracted] wheel] End point [preconditions not [switch SA]. || [drowsy] to MRS longer fullfilled]. Ai Emergency Ai [No response Ai [No response by driver]. [preconditions not Brake by driver] longer fullfilled]. Ai [No response End point by driver] to MRS. Di [switch DA] Di [switch DA]. || [braking over threshold] Di [steering over threshold]. || [accelerating over threshold] || [braking over threshold]. End point || [accelerating over threshold]. to MRS. Ai [emergency]. [driver grasps steering wheel]. End point Ai [No response by driver] to MRS. Ai [standstill?]. Ai [No response by driver].

10 MRM. Di [switch DA] || [steering over threshold] || [accelerating over threshold] || [breaking over threshold]. Flemisch & Schieben / 2011 DLR. HAVEit Joint System : Interaction & display schemes Joint System Conti ARC VTEC AQuA VW TAP. Demonstrator Flemisch & Schieben / 2011 DLR. HAVEit Joint System : Evaluation of principles Validation of Joint System principles in simulator and vehicles studies at WIVW, DLR and VW. (results documented in , , ). Flemisch & Schieben / 2011 DLR. HAVEit Joint System : Evaluation of principles Subjective evaluation of a highly automated vehicle (32 participants Transition study see ). Flemisch & Schieben / 2011 DLR. Publications (selection). Flemisch, F. Nashashibi, N.


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