A comparison of car following behaviors: Effectiveness of applying statistical quality control charts to design in-vehicle forward collision warning systems

This study aims to evaluate the usability of the forward collision warning (FCW) system as adopted by the statistical quality control (SQC) chart design concepts on drivers’ car following behaviors and task performance. A total of 48 highly aggressive and 48 less aggressive drivers participated in a two (aggressive driving: high vs. low; between-subjects) by two (driving workload: high vs. low; within-subjects) by three (the FCW system: five-stages vs. X-bar vs. X-bar plus exponentially weighted moving-average (EWMA) control charts; between-subjects) mixed-factorial simulation experiment. The drivers’ behaviors, response time to divided attention (DA) tasks, as well as subjective workload and trust ratings were collected. Findings showed that drivers with the FCW’s assistance improved their car-following behaviors and that the FCWs with the SQC chart design concepts showed better results than the five-stage system. Drivers who used both SQC FCWs performed correspondingly in their car-following behaviors. However, the X-bar FCW aided drivers in responding to DA tasks much faster, and drivers felt less stressed and had more trust in using the X-bar FCW system than those who used the X-bar + EWMA FCW system.     

Effects of directional auditory and visual warnings at intersections on reaction times and speed reduction times

Intersection collision warning systems (ICWSs) have an important impact on driving safety because making the potential collision at intersection predictable, allow reducing the probability and severity of accidents. Among the several types of alarms to alert the driver of an imminent collision, those most used concerning the auditory and the visual stimulus. However, it is unclear whether is more effective an audio or a visual warning. In addition, no study compared the effects on drivers’ behavior induced by an acoustic and a visual directional warning. The main objective of the present study was to assess, in response to a potential conflict event at the intersections, the effects of directional auditory and visual warnings on driving performance.A driving simulator experiment was carried out to collect drivers’ behavior in response to a vehicle that failed to stop at the intersection. The parameters reaction time and speed reduction time were used for the evaluation of the effects on driving performance. These duration variables were modeled following the survival analysis, by the use of the accelerated failure time duration model with a Weibull distribution.Results showed that when the directional warning system (auditory or visual) was present, the drivers were able to detect earlier the violator vehicle. This effect led to a more comfortable braking maneuver and, thus, less possibilities of an unexpected maneuver for the following vehicle, avoiding the car – following collisions. The effectiveness of ICWSs was more evident for the directional auditory speech message; for this condition, in fact, the lower reaction time and the longer speed reduction time were obtained.The outcomes of the present study provide useful suggestions about the most effective collision warning systems that the automotive industry should develop and equip on vehicles.     

Influence of pedestrian-to-vehicle technology on drivers’ response and safety benefits considering pre-crash conditions

Pedestrian-to-vehicle (P2V) technology may offer a promising approach to reducing pedestrian crashes. However, its influences on both driver response and safety benefits have been little studied in previous research, particularly in regard to the variation of influences between different pre-crash scenarios. To investigate these influences, this study designed three pre-crash scenarios based on pedestrian crash contributing factors identified from crash reports, and collected 44 drivers’ driving simulator experiments’ data. The results clarified how using P2V technology to warn drivers of an impending collision improves safety by causing a series of changes for both brake operation and braking profile. These series of changes were further demonstrated to vary between scenarios. The study showed that P2V technology may be particularly useful in scenarios in which a pedestrian’s crossing intention is unclear; specifically, in this type of scenario, the P2V warning had changed the braking process from a panic brake of “slow reaction-hard brake” to a comfortable brake of “quick reaction-gentle brake.” In addition, the P2V warning may be less effective in “low-risk” level scenarios where a driver is confident that he/she can handle the situation through a more conservative evasive action and don’t need to react strongly to a warning. Moreover, depending on the pre-crash scenario, the P2V warning may be mostly beneficial for drivers who had a crash/citation in the past five years and working-aged drivers.     

The effect of a collision warning system on the driving performance of young drivers at intersections

This study investigated the manner in which the driving performance of young people was affected by a collision warning system when they encountered a driver running a red light at an intersection. Furthermore, the causal relationship among driving performance, traffic factors and intersection accidents was examined using Path Analysis. Participants drove a driving simulator with an intersection collision warning system (ICWS) in a simulated urban area. The driving performance measures recorded were reaction time, speed, lateral position deviation and crash events. Experimental results indicated that drivers who drove a vehicle with an ICWS audio signal at an intersection had a shorter reaction time, a lower speed and a reduced accident rate than those observed while driving a vehicle without ICWS audio signal. Furthermore, Path Analysis showed that the ICWS had an indirect effect on accident rate reduction through improved driving performance. The location of intersection accident had both direct and indirect effects on the accident rate. The number of driving days per week had a direct effect on accident rate reduction.     

A study of the compliance level of connected vehicle warning information in a fog warning system based on a driving simulation

The accidents in the freeway are frequent and more serious on foggy days. Connected vehicle (CV) technology as a new technology can inform drivers of fog conditions in advance so the drivers can adjust their driving behaviors through Human Machine Interface (HMI) and Dynamic Message Sign (DMS) in the fog warning system. The level of driver's compliance with a fog warning system is the key to assessing the effectiveness of the fog warning system. To evaluate the compliance level of fog warning system, the study established a CV system testing platform based on driving simulator, and analyzed the changes in driving behavior and influencing factors for drivers under three different visibility conditions (No fog, light fog and heavy fog) based on the platform, finally, comprehensive evaluation of the optimal fog warning system under different foggy conditions based on the compliance level were made. Research indicators are divided into three aspects: 1) the response degree, including the mean speed, the minimum speed in the fog zone, the difference of the speeds when entering and leaving the fog zone, the proportion of speed following, and the speed reduction proportion prompt; 2) the response start time, which is the time to start slowing down to the speed limit; and 3) the response time duration, namely, the time in which the speed limit is followed. The results show that the response degree of the driver to the fog warning system is high, the fog warning system can effectively reduce the driving speed of the drivers and improve the speed following proportion of the drivers, the deceleration ratio of the driver at each warning point is relatively high, and the influencing factors of various indicators are complex but are mostly related to visibility and technical level. Comprehensive evaluation results show that the warning mode of the combined HMI and DMS has the highest level of compliance under light fog conditions, and when fog concentration increases, compliance level of fog warning system with HMI only is higher than others. The study establishes a reference platform for CV system and provides methods and index system for the compliance level of CV research.     

Valid representation of a highly dynamic collision avoidance scenario in a driving simulator

In Germany the second-most frequent accidents in road traffic are rear-end collisions. For this reason rear-end collisions are quite important for accident research and the development of driving safety systems. To examine the functionality and to design the human–machine-interface of new driving safety systems, especially in the early development phase, subject tests are necessary. Because of the great hazard potential of such safety critical scenarios for the test persons, they are often conducted in a driving simulator (DS). Accordingly, validity is an important qualification to ensure that the findings collected in a simulated test environment can be directly transferred to the real world.This paper regards the question of driving behavior validity of DS in critical situations. There are hardly any validation studies which analyze the driving behavior in a specific collision avoidance situation.The validation study described in this paper aims to evaluate the behavioral validity of a fixed-base simulator in a collision avoidance situation. For this reason a field study from 2007 was replicated in a fixed-base simulator environment.The main questions of this validation study were if the driver can notice an active hazard braking system and if the driving behavior in a static simulator can be valid in such a critical situation.The key finding of the study states that there is no driving behavior validity in a static driving simulator for the tested dynamic scenario. The missing vestibular feedback causes a different behavior of the participants in field and simulator. The resulting absence of comparability leads to non-valid performance indicators. But these indicators are key parameters for analyzing the function and acceptance of active braking systems. So the question arises, which motion performance does a motion base have to provide in order to achieve valid acceleration simulation of such a highly dynamic collision avoidance scenario. The DS’s performance is measured in workspace, velocity and acceleration.     

Driver brake vs. steer response to sudden forward collision scenario in manual and automated driving modes

In autonomous vehicle operation, situations may arise when the driver is required to re-engage in manual control of the vehicle. Whether the control handoff from vehicle to human is done in a structured or unstructured manner, the process may be affected by the driver’s state, i.e. distracted or not. The study reported here was designed to measure a non-distracted driver’s response to a sudden forward collision (FC) event, in which the driver would assume manual control of the autonomous vehicle. Three driving scenarios were investigated: autonomous vehicle driven with full collision avoidance support, autonomous vehicle driven without collision avoidance support, and vehicle driven in manual mode.Forty-eight volunteers participated in a simulator study conducted in VIRTTEX. It was found that, at handoff, (1) drivers in manual mode tended to use evasive steering, rather than braking, compared to drivers in both the autonomous modes, (2) between subjects variations in speed were higher for the automation with collision support condition than for the other two scenarios, (3) for both autonomous driving scenarios, drivers reaction times were longer than for manual driving. In some cases the driver response was so late and the distance remaining so reduced that crash avoidance might be unfeasible. At a minimum, results of this study suggest that drivers may benefit from appropriate driver assistance technologies when a crash imminent situation is suddenly encountered.     

Evaluation of a dynamic blocking concept to mitigate driver distraction: Three simulator studies

In recent years, the number and complexity of in-vehicle infotainment systems has been steadily increasing. While these systems certainly improve the driving experience, they also increase the risk for driver distraction. International standards and guidelines provide methods of measuring this distraction along with test criteria that help automakers decide whether an interface task is too distracting to be used while driving. Any specific function failing this test should therefore be locked out for use by the driver. This study implemented and tested a dynamic approach to this blocking by algorithmically reacting to driver inputs and the pace of the interaction in order to prevent drivers from having prolonged or too intense sequences of in-vehicle interactions not directly related to driving. Three simulated driving experiments in Germany and the United States were conducted to evaluate this dynamic function blocking concept and also cater for differences in the status quo of either no blocking or static blocking. The experiments consisted of a car following scenario with various secondary interface tasks and always included a baseline condition where no blocking occurred as well as an implementation of the dynamic function blocking. While Experiments 1 and 3 were aimed at collecting and analyzing gaze and driving data from more than 20 participants, Experiment 2 focused on the user experience evaluation of different visual feedback implementations from 13 participants. The user experience as rated by these participants increased throughout the course of all three studies and helped further improve both the concept and feedback design. In the experiments the total glance time towards the road was significantly higher in the dynamic function blocking condition compared to the baseline, already accounting for the increase in total task time inherent to the dynamic condition. Participants developed two strategies of interacting with the dynamic function blocking. They either operated at their normal baseline speed and incurred task blockings or operated slower to avoid the blockings. In the latter strategy, participants chunked their interactions into smaller steps with the present data suggesting that they used the pauses in between chunks to look back onto the road ahead. Theoretical and practical implications of this first evaluation of a dynamic function blocking concept are discussed.     

Driving around bends with or without shoulders: The influence of bend direction

Paved shoulders have long been used to create “forgiving” roads where drivers can maintain control of their vehicles even when as they drift out of the lane. While the safety benefits of shoulders have been well documented, their effects on driver behavior around curves have scarcely been examined. The purpose of this paper is to fill this gap by assessing whether the addition of shoulders affects driver behavior differently as a function of bend direction. Driver behavior in a driving simulator was analyzed on left and right curves of two-lane rural roads in the presence and absence of 0.75-m and 1.25-m shoulders. The results demonstrated significant changes in drivers’ lateral control when shoulders were provided. In the absence of oncoming traffic, the shoulders caused participants to deviate more toward the inner lane edge at curve entry, at the apex and at the innermost position on right bends but not left ones. In the presence of oncoming traffic, this also occurred at the apex and the innermost position, leading participants to spend more time off the lane on right curves. Participants did not slow down in either traffic condition to compensate for steering farther inside, thereby increasing the risk of lane departure on right curves equipped with shoulders. These findings highlight the direction-specific influence of shoulders on a driver’s steering control when driving around bends. They provide arguments supporting the idea that drivers view paved shoulders as a new field of safe travel on right curves. Recommendations are made to encourage drivers to keep their vehicle within the lane on right bends and to prevent potential interference with cyclists when a shoulder is present.     

Investigating driving instructors: The mediating roles of driving skills in the relationship between organizational safety strategies and driver behaviours

The aim of the present study is to investigate the mediating roles of driving skills in relationship between organizational safety strategies and driver behaviours among driving instructors. Driving skills consist of perceptual-motor skills and safety skills. Driver behaviours are investigated under four factors: violations, errors, lapses, and positive driver behaviours. Participants were 132 driving instructors (108 male and 24 female). In order to measure organizational safety strategies, Organizational Safety Strategies Scale (OSSS) was developed for driving schools. Results of the principal component analyses yielded one-factor solution for OSSS. In order to test the indirect effects of organizational safety strategies on driver behaviours through driving skills, multiple mediation analyses were conducted by entering age and annual mileage as the control variables. As organizational safety strategies were stronger, driving instructors had higher levels of perceptual-motor skills, which resulted in higher violations. On the other hand, as organizational safety strategies were stronger, driving instructors had higher levels of safety skills, which resulted in less violations and lapses. It can be inferred that; organizational stronger safety strategies might have negative influences on road safety through higher perceptual-motor skills; whereas there can be positive influences on road safety through higher safety skills. In addition, both skills are related to organizational safety strategies. Hence, driving schools should consider the asymmetric relationship between perceptual-motor skills and safety skills while improving their safety strategies to decrease violations and lapses. Organizations might also develop interventions to balance the stated skills to increase road safety.     

Instruction-prompted objective behaviors as proxy for subjective measures in a driving simulator

Interactions with other road users and interpretations of traffic situations are important aspects of driving safety. Self-reports are often used to study drivers’ perceptions and attitudes but self-reports can be inaccurate and biased because of socially desirable responding. Driving simulators offer objective measures of driver behaviors but have limited ability to elicit natural behaviors. To address this issue, we tested a driving simulator-based approach that combined realistic driving scenarios including potentially frustrating forward obstacles and delays in travel time with two different types of instructions. Participants' vehicle control behaviors and subjective perception of traffic delays were compared. Results demonstrated that behaviors collected following instructions to drive safely did not have significant associations with participants’ perceptions of the traffic delays while participants following instructions to drive quickly demonstrated behaviors that were predictive of their subjective perceptions of the traffic delays. The findings suggest that vehicle control behaviors can be used as a proxy for subjective perceptions of traffic delays. We conclude that driving simulator methodology combining instructions, realistic traffic scenarios, and adaptive analytical methods is appropriate for studying drivers’ behaviors and interactions with other road users and can minimize the need to rely on subjective self-reports.     

Proposal of a driver profile classification in relation to risk level in overtaking maneuvers

Traffic crashes are a worldwide problem, and records have indicated frontal collisions have resulted in the most significant number of fatalities. Such a type of crash is frequently caused by improper overtaking of vehicles, which highlights the interference of human factors. Therefore, investigations on driver's risk perception are necessary. This study proposes a classification of driver's risk level through a decision tree using the Classification and Regression Tree (CART) algorithm from data collected from the overtaking maneuvers in a driving simulator. The model obtained by CART algorithm indicated young male drivers are more likely to take risks in overtaking maneuvers. The results were correlated with governmental records and similar studies. In addition, the results showed the potential of the tool for used as a risk level classifier, as well as the validation of the driving simulator in studies associated with human factor behaviours, accident analysis and investigation.     

Impact on driver behaviour of guardrails of different height in horizontal-vertical coordinated road scenarios with a limited available sight distance

Drivers consider traffic barriers (e.g., guardrails) a protection system, a hard obstacle and a sight obstruction. Hence, the possibility of using containment level barriers which are higher and superior than the minimum required by current standards should be carefully evaluated. Moreover, research investigations into their impact on driver behaviour should be designed so as to distinguish between the effects associated with each of the three roles cited above.This driving simulation study investigates how drivers adapt their longitudinal and transversal behaviour when negotiating curves with guardrails of different heights on horizontal-vertical coordinated two–lane rural road settings, with consideration given solely to the sight obstruction effect of the guardrails. Fifty-four participants drove four out of the eighteen possible scenarios obtained when the same horizontal alignment is combined with three vertical profiles with three inner roadside treatments (no guardrails, 0.75 m two–wave and 0.95 m three-wave guardrails) and the two driving directions.Research outcomes confirm that guardrail height has a significant impact on lateral and longitudinal behaviour. With the minimum standard, i.e., the minimum height, drivers stay closer to the roadside, while higher guardrails result in drivers increasing their lateral distance. Speeds are influenced by the interaction between the guardrail and other geometric and human factors. Male and female drivers adapt differently to the limitation in the available sight distance caused by the guardrail: males increase their speed, adopting a more aggressive behaviour than females. Important safety implications due to the higher speeds and wider trajectories have to be considered at the design stage.     

Effectiveness of the compensatory strategy adopted by older drivers: Difference between professional and non-professional drivers

It has been a controversial issue for the effect of ageing population on driving safety. Apparently, drivers’ physiological and cognitive performances deteriorate with age. However, older drivers may compensate for the elevated risk by adjusting their behaviors, known as compensatory strategy. Despite the extensive research on this topic, the compensatory strategy of older professional drivers is not well understood since many studies focused on the differences in compensatory behavior between older and young drivers. Professional drivers tend to be more skillful and able to cope with the unfavorable driving environments, thus presenting a higher capability to mitigate the risk. This study attempts to examine the compensatory behavior and its safety effect amongst older professional drivers, as compared to those of older non-professional drivers, using the driving simulator approach. In the driving simulator experiment, participants were asked to follow a leading vehicle for one hour, and two sudden brake events were presented. 41 (mid-aged and older) drivers completed the driving tests. Each participant was required to complete a car-following test, either under high or low traffic flow conditions. Performance indicators include driving capability (i.e. lateral control, longitudinal control, and brake reaction time) and compensatory behavior (i.e. average speed, and time headway). Additionally, two modified traffic conflict measures: time exposed time-to-collision (TET) and time integrated time-to-collision (TIT) are applied to indicate the traffic conflict risk. The random parameter Tobit models were estimated to measure the association between conflict risk and driver attributes, and random intercept models were used to assess other driving performance indicators. Results show that despite the impaired lateral control performance and longer brake reaction time of older drivers, the likelihood of severe traffic conflict of older drivers is lower than that of mid-aged drivers. Furthermore, though both older professional and older non-professional drivers adopted longer time headway, the reduction in the risk of severe traffic conflict is more profound among the older professional drivers. Such findings suggest that older professional drivers are more capable of mitigating the possible collision risk by adopting the compensatory strategy, as compared to older non-professional drivers. This justifies the existence of compound effect by the compensatory strategy of older driver and better driving skills of professional driver. This research provides useful insights into driver training and management strategies for employers, as older drivers would become a major cohort in the transportation industry.     

Effectiveness of risk awareness perception training in dynamic simulator scenarios involving salient distractors

The Risk Awareness Perception Training (RAPT) has been shown to improve latent hazard anticipation in young drivers. However, previous evaluation scenarios in a driving simulator often lacked either dynamic road environment features or control for such variations. The current study investigated whether the effectiveness of RAPT persists even in the presence of dynamic and salient distractors. Twenty RAPT-trained drivers and twenty-one Placebo-trained young drivers (aged 18–21) drove through eight simulated driving scenarios with latent hazards. A pedestrian avatar served as a distractor and was placed across from the latent hazard location. In half of the scenarios, the pedestrian remained static while in the other half the pedestrian started to move, without potential interference with the driver’s travelling path, as the drivers approached the latent hazard. Consistent with previous research, RAPT-trained drivers demonstrated better latent hazard anticipation performance than Placebo-trained drivers regardless of dynamic movement of the pedestrian avatar. Additionally, RAPT-trained drivers adopted wider scanning patterns and fixated more frequently on both the latent hazard and the pedestrian compared to Placebo-trained drivers. The results imply that RAPT may protect drivers from being distracted by dynamic stimuli and allow them to scan safety–critical areas containing latent hazards. Furthermore, RAPT may not only improve tactical hazard anticipation skills, but also modal hazard anticipation skills in young drivers.     

Behavioural adaptation and effectiveness of a Forward Collision Warning System depending on a secondary cognitive task

Forward Collision Warning Systems (FCWS) have been designed to enhance road safety by reducing the number of rear-end collisions. Nevertheless, little is known about how drivers adapt their behaviour over time when using this kind of system. In addition, these systems are expected to aid particularly distracted drivers. However, previous research has suggested that the effectiveness of the system could depend on the difficulty level of the secondary task. The objective of this study on driving simulator was twofold. Firstly, it consisted in evaluating the behavioural adaptation to an FCWS as well as analysing the possible consequences of driving without the system after a short period of adaptation. Secondly, it was to evaluate the effectiveness of the system according to two different difficulty levels of a cognitive secondary task. The results showed that drivers adapted their behaviour positively when the system was introduced. Nevertheless, both the effectiveness and the behavioural adaptation in the short term were dependent on the cognitive load induced by the secondary task. These findings suggest that the warning needs some attentional resources to be processed. Finally, no negative or transfer effect was observed following the removal of the system after a short period of adaptation.     

The perceived criticality of different time headways is depending on velocity

Time headway (THW) presumably represents a velocity-independent measure of safe following distances during car-following. However, studies using on-road data show that drivers decrease their THWs as velocity increases (e.g., Brackstone, Waterson, & McDonald, 2009). This contradicts recent findings of simulator-based studies suggesting independence of velocity and chosen THW (Siebert, Oehl, & Pfister, 2014; Siebert, Oehl, Bersch, & Pfister, 2017). This study aimed at investigating the relationship between velocity and subjective risk of different THWs using an experimental setup with a motion-based driving simulator. N = 29 participants followed a preceding vehicle with five different velocities ranging from 30 km/h to 140 km/h in urban, rural and highway environments. At each velocity level, drivers were instructed to follow with three different THWs (0.7 s, 1.1 s and 1.5 s). Subjective criticality ratings were analysed for the different combinations of these independent variables (IV1: velocity, IV2: THW). Drivers rated situations with short THWs as more critical when following with slower velocities compared to higher velocities. These results show that the criticality of theoretically velocity-independent THWs is indeed depending on velocity. These findings have both theoretical implications, such as a better understanding of drivers’ car following behavior and risk acceptance, and practical implications as they may be used in the design of automated driving functions.     

Tactile encoding of directions and temporal distances to safety hazards supports drivers in overtaking and intersection scenarios

Safe traffic participation requires continuous monitoring of the environment for potential safety hazards. Here we investigate, to what extent an interface using directed tactile stimuli to communicate temporal distances to approaching objects can make drivers feel supported and influence their driving safety. In contrast to previous studies, we focus on conditions in which the driver has relatively high levels of control over the criticality of evolving hazards as well as on scenarios with laterally approaching hazards. In a dynamic driving simulator experiment, 33 participants completed a selection of overtaking and intersection scenarios with and without sensory support. Furthermore, two novel variants of the interface which differed in the resolution of the temporal distance encoding were utilized. We measured safety, quantified as minimum time-to-contact (mTTC) and rate of critical situations, and assessed the participants’ subjective understanding, acceptance and perceived helpfulness of the support functions. Participants understood the system in both variants after brief exposure. The subjective evaluation was positive with regard to helpfulness, acceptance, and custom questionnaire responses. While mTTC values did not differ between supported and baseline drives, the availability of the system reduced the occurrence of safety–critical situations in intersection scenarios. Driving statistics further reveal that the availability of the system increased the likelihood for entering system-relevant signaling ranges in overtaking scenarios. In sum, the presented work extends previous findings by showing that the subjective utility of the investigated tactile interface applies beyond critical situations and that it can also provide a safety advantage at intersections.     

Exploring the effects of the location of the lane-end sign and traffic volume on multistage lane-changing behaviors in work zone areas: A driving simulator-based study

The lane-changing behavior in work zone areas has special features than a regular lane change as the former is usually compulsively motivated involving complicated cognitive processes with drivers’ perception of work-zone control devices. Toward this end, this study conducted a driving simulator-based experiment to understand the effects of lane-end sign distance and traffic volume on driving behaviors. A conceptual model was also proposed to partition the whole lane-changing process into three stages, i.e. the perception, preparation and action stages, reflecting different cognitive and manipulative activities of drivers. In addition to the lane-end sign distance and traffic volume, gender and profession of drivers were adopted as covariates. In this experiment, a complete combination of lane-end sign distance and traffic volume served as treatments. The results verify the impacts of those factors on driving behaviors in and across different stages. For example, the location of the lane-end sign had a profound influence on drivers' perception of the imminent work-zone situation, but the influence continued to diminish in the following two stages. On the other hand, male or taxi drivers tended to act earlier than female or regular drivers respectively, for all the three stages. According to the analysis, several practical implications were also provided. In specific, the lane-end sign is recommended to be installed 500 m upstream to the lane dropping point of work zones. It is a pioneer study toward investigating multistage driving behaviors in work zone areas, which is expected to provide references and guidance for the design of traffic control devices and other driving simulator-based studies.     

Effect of multimodal takeover request issued through A-pillar LED light,earcon, speech message,and haptic seat in conditionally automated driving

The driver of a conditionally automated vehicle equivalent to level 3 of the SAE is obligated to accept a takeover request (TOR) issued by the vehicle. Considerable research has been conducted on the TOR, especially in terms of the effectiveness of multimodal methods. Therefore, in this study, the effectiveness of various multimodalities was compared and analyzed. Thirty-six volunteers were recruited to compare the effects of the multimodalities, and vehicle and physiological data were obtained using a driving simulator. Eight combinations of TOR warnings, including those implemented through LED lights on the A-pillar, earcon, speech message, or vibrations in the back support and seat pan, were analyzed to clarify the corresponding effects. When the LED lights were implemented on the A-pillar, the driver reaction was faster (p = 0.022) and steering deviation was larger (p = 0.024) than those in the case in which no LED lights were implemented. The speech message resulted in a larger steering deviation than that in the case of the earcon (p = 0.044). When vibrations were provided through the haptic seat, the reaction time (p < 0.001) was faster, and the steering deviation (p = 0.001) was larger in the presence of vibrations in the haptic seat than no vibration. An interaction effect was noted between the visual and auditory modalities; notably, the earcon resulted in a small steering deviation and skin conductance response amplitude (SCR amplitude) when implemented with LED lights on the A-pillar, whereas the speech message led to a small steering deviation and SCR amplitude without the LED lights. In the design of a multimodal warning to be used to issue a TOR, the effects of each individual modality and corresponding interaction effects must be considered. These effects must be evaluated through application to various takeover situations.