Car-following behavioural adaptation when driving next to automated vehicles on a dedicated lane on motorways: A driving simulator study in the Netherlands

Automated vehicles (AVs) are expected to improve traffic flow efficiency and safety. The deployment of AVs on motorways is expected to be the first step in their implementation. One of the main concerns is how human drivers will interact with AVs. Dedicating specific lanes to AVs have been suggested as a possible solution. However, there is still a lack of evidence-based research on the consequence of dedicated lanes for AVs on human drivers’ behavior. To bridge this research gap, a driving simulator experiment was conducted to investigate the behavior of human drivers exposed to different road design configurations of dedicated lanes on motorways. The experiment sample consisted of 34 (13 female) licensed drivers in the age range of 20–30. A repeated measures ANOVA was applied, which revealed that the type of separation between the dedicated lane and the other lanes has a significant influence on the behavior of human drivers driving in the proximity of AV platoons. Human drivers maintained a significantly lower time headway (THW) when driving in the proximity of a continuous access dedicated lane as compared to a limited-access dedicated lane with a guardrail separation for AV platoons. A similar result was found for the limited-access dedicated lane in comparison to the limited-access dedicated lane with guardrail separation. Moreover, the results regarding the empirical relationships between THW and sociodemographic variables indicate a significant THW difference between males and females as well as a significant inverse relationship between THW and the years of driving experience.     

Physiological indicators of driver workload during car-following scenarios and takeovers in highly automated driving

This driving simulator study, conducted as a part of Horizon2020-funded L3Pilot project, investigated how different car-following situations affected driver workload, within the context of vehicle automation. Electrocardiogram (ECG) and electrodermal activity (EDA)-based physiological metrics were used as objective indicators of workload, along with self-reported workload ratings. A total of 32 drivers were divided into two equal groups, based on whether they engaged in a non-driving related task (NDRT) during automation (SAE Level 3) or monitored the drive (SAE Level 2). Drivers in both groups were exposed to two counterbalanced experimental drives, lasting ∼ 18 min each, of Short (0.5 s) and Long (1.5 s) Time Headway conditions during automated car-following (ACF), which was followed by a takeover that happened with or without a lead vehicle. Results showed that driver workload due to the NDRT was significantly higher than both monitoring the drive during ACF and manual car-following (MCF). Furthermore, the results indicated that a lead vehicle maintain a shorter THW can significantly increase driver workload during takeover scenarios, potentially affecting driver safety. This warrants further research into understanding safe time headway thresholds to be maintained by automated vehicles, without placing additional cognitive or attentional demands on the driver. Our results indicated that ECG and EDA signals are sensitive to variations in workload, which warrants further investigation on the value of combining these two signals to assess driver workload in real-time, to help future driver monitoring systems respond appropriately to the limitations of the driver, and predict their performance in the driving task, if and when they have to resume manual control of the vehicle after a period of automated driving.     

The relationship between simulator sickness and driving performance in a high-fidelity simulator

Driving simulators are highly valuable tools for various applications such as research, training, and rehabilitation. However, they are also known to cause simulator sickness, a special form of traditional motion sickness. Common side effects of simulator sickness include nausea, headache, dizziness, eye-strain, and/or disorientation, all symptoms which may negatively impact driving performance. The goal of the present study was to investigate the relationship between simulator sickness and driving performance obtained in a high-fidelity driving simulator. Twenty-one healthy participants were engaged in a simulated driving task containing rural, city, and highway sections for approx. 25 min. Participants were asked to drive naturally while obeying traffic rules and completing common driving maneuvers (including reactions to sudden events). Driving performance was evaluated based on various driving measures, such as lane positioning, speed measures, following distance, or the number of steering reversals. Simulator sickness was measured before, during, and after the simulated drive using a combination of the Simulator Sickness Questionnaire and the Fast Motion Sickness scale. Overall, correlations between the level of simulator sickness and driving performance measures were low to moderate (r’s from -0.37 to 0.40) and were not significant. Additionally, participants who reported higher levels of simulator sickness did not differ with regards to their driving performance from those who reported lower simulator sickness scores. Our results suggest that the presence of simulator sickness is not strongly related to performance in a driving simulator.     

A validation study of driving errors using a driving simulator

BackgroundDriving simulators have become an important research tool in road safety. They provide a safer environment to test driving performance and have the capacity to manipulate and control situations that are not possible on-road.AimTo validate a laboratory-based driving simulator in measuring on-road driving performance by type and mean driving errors.MethodsParticipants were instructed to drive a selected route on-road. The same route was programmed in the driving simulator using the UC/Win-road software. All participants completed a background questionnaire. On-road driving behaviours of participants and driving behaviours in the simulator were assessed by an occupational therapist and two trained researchers using an assessment form. Interclass correlations were calculated to assess the inter-rater agreement between the researchers on driving behaviours. Paired t-tests were used to assess differences in driving performance between the simulator and on-road assessments.ResultsA convenience sample of 47 drivers aged 18–69 years who held a current Western Australian class C licence (passenger vehicle) were recruited into the study. The mean age was 34.80 years (SD: 13.21) with twenty-six males (55.32%) and 21 females (44.68%) completing the study. There was no statistical difference between the on-road assessment and the driving simulator for mirror checking, left, right and forward observations, speed at intersections, maintaining speed, obeying traffic lights and stop signs.ConclusionThe preliminary results provide early support for the relative validity of the driving simulator which may be used for a variety of road safety outcomes with reduced risk of harm to participants.     

Eye movements predict driver reaction time to takeover request in automated driving: A real-vehicle study

For automated driving at SAE level 3 or lower, driver performance in responding to takeover requests (TORs) is decisive in providing system safety. A driver state monitoring system that can predict a driver’s performance in a TOR event will facilitate a safer control transition from vehicle to driver. This experimental study investigated whether driver eye-movement measured before a TOR can predict driving performance in a subsequent TOR event. We recruited participants (N = 36) to obtain realistic results in a real-vehicle study. In the experiment, drivers rode in an automated vehicle on a test track for about 32 min, and a critical TOR event occurred at the end of the drive. Eye movements were measured by a camera-based driver monitoring system, and five measures were extracted from the last 2-min epoch prior to the TOR event. The correlations between each eye-movement measure and driver reaction time were examined, and a multiple regression model was built using a stepwise procedure. The results showed that longer reaction time could be significantly predicted by a smaller number of large saccades, a greater number of medium saccades, and lower saccadic velocity. The implications of these relationships are consistent with previous studies. The present real-vehicle study can provide insights to the automotive industry in the search for a safer and more flexible interface between the automated vehicle and the driver.     

Challenges for automated vehicle driver training: A thematic analysis from manual and automated driving

Considerable research and resources are going into the development and testing of Automated Vehicles. They are expected to bring society a huge number of benefits (such as: improved safety, increased capacity, reduced fuel use and emissions). Notwithstanding these potential benefits, there have also been a number of high-profile collisions involving Automated Vehicles on the road. In the majority of these cases, the driver’s inattention to the vehicle and road environment was blamed as a significant causal factor. This suggests that solutions need to be developed in order to enhance the benefits and address the challenges associated with Automated Vehicles. One such solution is driver training. As drivers still require manual driving skills when operating Automated Vehicles on the road, this paper applied the grounded theory approach to identify eight “key” themes and interconnections that exist in current manual vehicle driver training. These themes were then applied to the limited literature available on Automated Vehicle driver training, and a ninth theme of trust emerged. This helped to identify a set of training requirements for drivers of Automated Vehicles, which suggests that a multifaceted approach (covering all nine themes and manual and Automated Vehicle driving skills) to driver training is required. This framework can be used to develop and test a training programme for drivers of Automated Vehicles.     

The effects of adaptive cruise control (ACC) headway time on young-experienced drivers' overtaking tendency in a driving simulator

The preference to maintain a certain desired speed is perhaps the most prevalent explanation for why a driver of a manually driven car decides to overtake a lead vehicle. Still, the motivation for overtaking is also affected by other factors such as aggressiveness, competitiveness, or sensation-seeking caused by following another vehicle. Whether such motivational factors for overtaking play a role in partially automated driving is yet to be determined. This study had three goals: (i) to investigate whether and how a driver's tendency to overtake a lead vehicle changes when driving a vehicle equipped with an adaptive cruise control (ACC) system. (ii) To study how such tendencies change when the headway time configuration of the ACC system varies. (iii) To examine how the manipulation of the speed and speed variance of the lead vehicle affect drivers' tendencies to overtake a lead vehicle. We conducted two different experiments, where the second experiment followed the first experiment's results. In each experiment, participants drove three 10–12 min simulated drives under light traffic conditions in a driving simulator under manual and level one (L1) automation driving conditions. The automation condition included an ACC with two headway time configurations. In the first experiment, it was 1 sec and 3 secs, and in the second, it was 1 sec and 2 secs. Each drive included six passing opportunities representing three different speeds of the lead vehicle (−3 km/h, +3 km/h, +6 km/h relative to the participant), with or without speed variance. Results show that drivers tended to overtake a lead vehicle more often in manual mode than in automated driving modes. In the first experiment, ACC with a headway time of 1 sec led to more overtaking events than ACC with 3 secs headway time. In addition, the relative speed of the lead vehicle and its speed variability affected overtaking tendencies. In the second experiment, the relative speed of the lead vehicle and its speed variability affected overtaking tendencies only when interacting with each other and with driving configuration. When the speed of the lead vehicle was +3 km/h and included variability, more overtaking events occurred in manual mode than both automation modes. This work has shown that driving with ACC might help reduce overtaking frequencies and more considerable when the headway time is set to 3 secs.     

Driver's avoidance characteristics to hazardous situations: A driving simulator study

When analyzing the causes of an accident, it is critical to determine whether the driver could have prevented the accident. In previous studies on the reaction times of drivers, the definition and values of reaction times vary, so applying reaction time is difficult. In such analysis, the driver’s reaction time from perception is required to determine whether the driver could have prevented the accident, but past studies are difficult to utilize in accident analysis as reaction time measurements were taken after the occurrence of hazardous situations. In this study, 93 subjects from age groups ranging from 20 s to 40 s participated in an experiment inside a full-scale driving simulator, to determine reaction time values that can be practically applied to accident analysis. A total of 4 hazardous accident situations were reproduced, including driving over the centerline, pedestrian jaywalking, a vehicle cutting in, and intersection traffic signal violation. The Time-To-Collision (TTC) was 2.5 s and the driving speed was set to the common city road speed limits of 60 and 80 km/h. An eye tracker was used to determine the driver’s Saccade Latency (SL) during hazardous situations. Brake Reaction Time from Perception (BRT_P), Steer Reaction Time from Perception (SRT_P), and Driver Reaction Time from Perception (DRT_P) were derived, and the measurements were statistically analyzed to investigate differences by age group, gender, speed, and type of hazardous situation. Most participants were found to avoid collisions by braking first rather than steering for the presented hazardous situations, except for the cutting in situation. Also, to determine a reaction time that would cover most drivers, the 85th percentile of DRT_P was calculated. The 85th percentile of DRT_P was in the range of 0.550 – 0.800 s. Specifically for each hazardous situation, it was 0.650 s for driving over the centerline, 0.800 s for the pedestrian jaywalking, 0.660 s for cutting in, and 0.550 s for the intersection traffic signal violation. For all 4 hazardous situations combined, the 85th percentile of DRT_P was 0.646 s. The findings can be utilized to determine the driver’s likelihood of avoiding accidents when faced with similar hazardous situations.     

Effects of visual factors during automated driving of mobility scooters on user comfort: An exploratory simulator study

An automated mobility scooter is expected to provide convenient and safe transportation for users in their living area. However, there is limited research on user comfort compared to that on user safety for the automated driving of mobility scooters. Because the user does not perform driving tasks in automated driving, the visual information from the peripheral environment and visual behavior is expected to closely affect the psychological comfort of the user. This study clarifies the effects of factors related to the automated driving of mobility scooters and the peripheral environment on the visual behavior and psychological comfort of the user. Effects of driving velocity and pedestrian density on the visual behavior and psychophysiological responses of users were investigated via a driving simulator. The results showed that automated driving in an environment with a high pedestrian density can result in a decrease in fixation duration, deactivation of visual processing, sympathetic activation, and feeling of negative emotion. This implies that the assessment of visual behaviors of users is important for the design of automated mobility scooters to improve user comfort.     

Effects of a driver assistance system with foresighted deceleration control on the driving performance of elderly and younger drivers

It is imperative to enhance the safety of elderly individuals on the roads to ensure the quality of their daily life. Near-miss incidents or accidents at blind intersections often result from a conflict between the behaviors of the driver and of other road users (pedestrians and cyclists). The failure to search for potential conflict in the context of blind intersections is a concern pertaining to road safety. The proposed assistance system performs a proactive braking intervention to achieve a referenced velocity in uncertain situations, such as one in which an unobserved pedestrian might initiate a road crossing. The proactive braking intervention attempts to manage the potential risk of crashing with respect to covert hazards. Because an automated system may impair a human’s ability to perceive and respond to hazardous situations while driving, this study was designed to examine the effects of proactive braking intervention and visual support cues on elderly and younger drivers’ ability to respond to information about potentially hazardous situations. We conducted a public-road driving experiment involving 108 elderly and younger drivers from two non-overlapping age groups. It was observed that the vehicle slowdown realized through the proactive braking intervention enabled the drivers to perform safety confirmation near blind spots and caused them to be more sensitive to and wary of potential hazards. This approach could be effective not only for elderly drivers, but also for young or inexperienced ones.     

An evaluation of the effectiveness of countermeasures for improving the safety of dilemma zones: A driving simulator study

The main objective of this driving simulator study is to analyze the behavior of the driver at the start of the yellow signal of a signalized rural intersection and identify the most effective countermeasures for tackling the dilemma zone, namely an area on the intersection approach where vehicles at the start of the yellow phase can neither safely stop before the stop line nor cross the intersection. The following countermeasures were tested in the study on a sample of 48 drivers: green signal countdown timers, GSCT (C₁); a new pattern of vertical and horizontal warning signs (C₂); and an advanced on-board driver assistance system based on augmented reality (AR) and connected vehicle technologies (C₃). These countermeasures were tested and compared to a baseline condition (B) where no countermeasures were applied. Based on the results of this study, the C₂ and C₃ countermeasures have proven to be valid tools for reducing driver indecision when approaching signalized intersections at the start of the yellow signal. In fact, using C₂ and C₃, the length of the dilemma zone was equal to 30 m and 36 m, respectively, with a reduction of about 50%, as compared to the baseline condition (B). Moreover, a reduced number of false behaviors was recorded, as well as a greater consistency in driver decision-making behaviors. Conversely, the C₁ countermeasure did not lead to a significant improvement in the dilemma zone: an unnecessary increase in early stop rates was recorded, resulting in reduced intersection efficiency and operations.     

Investigating the effectiveness of perceptual treatments on a crest vertical curve: A driving simulator study

Rural roads are characterized by a high percentage of run-off-the-road accidents and head-on collisions, mainly caused by inappropriate speeds and failure to maintain a proper lateral position along the roadway alignment. Among several road safety treatments, low-cost perceptual measures are considered an effective tool, as they generally increase the risk perceived by drivers, or even alter the drivers’ speed perception, and consequently tempting them to decrease their speeds. Their effectiveness has been widely recognized in a number of studies, especially with respect to road intersections and curves.The overall aim of this study is to investigate the effects of different perceptual treatments on driving speed, along a crest vertical curve of an existing two-lane rural road, in order to identify the most effective measure to reduce speed and define its subsequent implementation in the field. Three perceptual treatments were tested using a driving simulator: white peripheral transverse bars, red peripheral transverse bars and optical speed bars, with each one being painted along the approaching tangent to the crest vertical curve. The effects of these speed-reducing measures were investigated using a sample of forty-four participants, by comparing the driving speeds with those recorded under a baseline condition (without a treatment); these were also used to validate the driving simulator’s speed measurements with those found in the field. Moreover, subjective measures were collected, consisting of the driver’s static evaluation of the desired speed, risk perception and markings comprehension, based on screen shot pictures that represented the simulated configurations of the treatments.The findings demonstrated an overall effectiveness of the perceptual treatments, although only the red peripheral transverse bars were found to significantly reduce the driving speeds (−6 km/h). The analysis of the questionnaire yielded interesting information and demonstrated the importance of performing driving simulation tests for evaluating the effectiveness of perceptual treatments.Finally, the results confirmed the enormous potential of using driving simulators to pinpoint a number of speed-reducing measures, and consequently select the most effective one that reduces cost and promotes safety before its actual implementation in the field.     

The impact of cognitive functioning on driving performance of older persons in comparison to younger age groups: A systematic review

Older drivers are at a severely higher risk for motor vehicle crash involvement. Due to the global aging of the population, this increased crash risk has a significant impact on society, as well as on an older individual’s quality of life. For this reason, there is a need for understanding how normal age-related changes in cognition and underlying brain dynamics impact driving performance to identify the functional and neurophysiological biomarkers that could be used to design strategies to preserve or improve safe driving behavior in older persons. This review provides an overview of the literature on age-related changes in cognitive functioning and brain dynamics that impact driving simulator performance of healthy persons. A systematic literature search spanning the last ten years was conducted, resulting in 22 eligible studies. Results indicated that various aspects of cognition, most importantly executive function, complex attention, and dual tasking, were associated with driving performance, irrespective of age. However, there was a distinct age-related decline in cognitive and driving performance. Older persons had a more variable, less consistent driving simulator performance, such as more variable speed adaptation or less consistent lane keeping behavior. Only a limited number of studies evaluated the underlying brain dynamics in driving performance. Therefore, future studies should focus on implementing neuroimaging techniques to further unravel the neural correlates of driving performance.     

Transition patterns of driving style from a traditional driving environment to a connected vehicle environment: A case of an extra-long tunnel road

To provide a better understanding of individual driver’s driving style classification in a traditional and a CV environment, spatiotemporal characteristics of vehicle trajectories on a road tunnel were extracted through a driving simulator-based experiment. Speed, acceleration, and rate of acceleration changes are selected as clustering indexes. The dynamic time warping and k-means clustering were adopted to classify participants into different risk level groups. To assess the driver behavior benefits in a CV environment, an indicator BI (behavior indicator, BI) was defined based on the standard deviation of speed, the standard deviation of acceleration, and the standard deviation of the rate of acceleration change. Then, the index BI of each driver was calculated. Furthermore, this paper explored driving style classification, not in terms of traditional driving environment, but rather the transition patterns from a traditional driving environment to a CV environment. The results revealed that inside a long tunnel, 80 % of drivers benefited from a CV environment. Moreover, drivers might need training before using a CV system, especially female drivers who have low driving mileage. In addition, the results showed that the driving style of 69 % of the drivers’ transferred from a high risk-level to a low risk-level when driving in a CV environment. The study results can be expected to improve driving training education programs and also to provide a valuable reference for developing individual in-vehicle human-machine interface projects and other proactive safety countermeasures.     

Using the UTAUT2 model to explain public acceptance of conditionally automated (L3) cars: A questionnaire study among 9,118 car drivers from eight European countries

We investigated public acceptance of conditionally automated (SAE Level 3) passenger cars using a questionnaire study among 9,118 car-drivers in eight European countries, as part of the European L3Pilot project. 71.06% of respondents considered conditionally automated cars easy to use while 28.03% of respondents planned to buy a conditionally automated car once it is available. 41.85% of respondents would like to use the time in the conditionally automated car for secondary activities. Among these 41.85%, respondents plan to talk to fellow travellers (44.76%), surf the internet, watch videos or TV shows (44%), observe the landscape (41.70%), and work (17.06%). The UTAUT2 (Unified Theory of Acceptance and Use of Technology) was applied to investigate the effects of performance and effort expectancy, social influence, facilitating conditions, and hedonic motivation on the behavioural intention to use conditionally automated cars. Structural equation analysis revealed that the UTAUT2 can be applied to conditional automation, with hedonic motivation, social influence, and performance expectancy influencing the behavioural intention to buy and use a conditionally automated car. The present study also found positive effects of facilitating conditions on effort expectancy and hedonic motivation. Social influence was a positive predictor of hedonic motivation, facilitating conditions, and performance expectancy. Age, gender and experience with advanced driver assistance systems had significant, yet small (<0.10), effects on behavioural intention. The implications of these results on the policy and best practices to enable large-scale implementation of conditionally automated cars on public roads are discussed.