Transcript Integration of a Component Based Driving Simulator and

Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Integration of a Component Based Driving
Simulator and Design of Experiments on
Multimodal Driver Assistance
Darya Popiv, [email protected]
Master Thesis Presentation
18 July 2015
Department of Informatics | Technische Universität München
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Outline
 Concept of Assisted Driving
 Integrated Multimodal Driver Assistance
 Concept “Aus”
 Concept “Active Cruise Control”
 Concept “Active Gas Pedal”
 ACC/AGP Algorithm
 Fixed-base Driving Simulator
 Future Work
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
2
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Concept of Assisted Driving: Activity Loop


Major tasks: navigation, stabilization, maneuvering
Activity Loop

“Driver in the loop” vs. “Driver out of the loop”
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
3
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Concept of Assisted Driving: Related Work



Conventional Head-Up Display
(HUD)
Longitudinal Assistance:
 Active Gas Pedal [1]
 Active Cruise Control [2]
 Braking bar [3] – conformal
HUD
Lateral assistance:
 Braking bar [3]
[1] Lange, C., Tönnis, M., Bubb, H., Klinker, G. (2006). Einfluss eines aktiven Gaspedals auf
Akzeptanz, Blickverhalten und Fahrperfomance. Konferenzband der VDI/VW Konferenz, Germany
[2] Brookhuis, K., de Waard, D. (2006). The consequences of automation for driver behaviour and
acceptance. Paper presented at IEA Congress, Maastricht, The Netherlands, 9-14 July 2006.
[3] Tönnis, M. et al. (2006) Visual Longitudinal and Lateral Driving Assistance in the Head-Up Displays
of Cars. TU-München, Munich, Germany.
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
4
Chair for Computer Aided Medical Procedures & Augmented Reality
|
Fachgebiet
Augmented Reality
campar.in.tum.de
Concept of Assisted Driving: Levels of
Automation
1. Perceptive Cooperation mode
2. Mutual Cooperation mode
2.1 Warning stage
2.2 Action suggestion stage
2.3 Limit stage
2.4 Correction stage
3. Functional Delegation Cooperation mode
4. Fully Automatic Cooperation mode
Driver in the loop
Driver out of the loop
Adopted from Endsley, M.R., Kiris, E.O. (1995). The out-of-the-loop perfomance problem and level of control in
automation. Human factors, 37 (2), 381-394.
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
5
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Outline
 Concept of Assisted Driving
 Integrated Multimodal Driver Assistance
 Concept “Aus”
 Concept “Active Cruise Control”
 Concept “Active Gas Pedal”
 ACC/AGP Algorithm
 Fixed-base Driving Simulator
 Future Work
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
6
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Integrated Multimodal Driver Assistance:
Concept “Aus” - Baseline
 Fully manual control
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
7
Chair for Computer Aided Medical Procedures & Augmented Reality
|
Fachgebiet
Augmented Reality
campar.in.tum.de
Integrated Multimodal Driver Assistance:
Concept “Active Cruise Control”
 Functional Delegation Cooperation mode – “driver out of the
loop”
 Two models for visual assistance (symbol vs. contact-analog)
a)
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
b)
8
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Integrated Multimodal Driver Assistance:
Concept “Active Gas Pedal”
 Mutual Cooperation mode – “driver in the loop”
 AGP force appliance algorithm (similar to kick-down by the
automatic trans)
 Two models for visual assistance (as for “ACC” concept)
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
9
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Outline
 Concept of Assisted Driving
 Integrated Multimodal Driver Assistance
 Concept “Aus”
 Concept “Active Cruise Control”
 Concept “Active Gas Pedal”
 ACC/AGP Algorithm
 Fixed-base Driving Simulator
 Future Work
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
10
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
ACC/AGP Algorithm
Control Circuit
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
11
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
ACC/AGP Algorithm
Control Circuit
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
12
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
ACC/AGP Algorithm
Control Circuit
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
13
Chair for Computer Aided Medical Procedures & Augmented Reality
|
Fachgebiet
Augmented Reality
campar.in.tum.de
ACC/AGP Algorithm: Control System
AGP concept
Driver
Desired Accel
error
Controller
Sugg
Gas
Pos
Vehicle
Dynamics
Model
Accel
ACC concept
 Stability of system: Bounded Input/Bounded Output (BIBO)
 Behavior of system:
c)
b)
a)
a) under-damped
b) over-damped
c) critically damped
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
14
Chair for Computer Aided Medical Procedures & Augmented Reality
|
Fachgebiet
Augmented Reality
campar.in.tum.de
ACC/AGP Algorithm: PID Controller

u(t )  K P e(t )  K I  e(t )dt  K D e(t )




Proportional term guarantees the stability of the system
Integral term anticipates and rejects a step disturbance
Derivative term introduces additional damping of the output
KP, KI, KD – to-be-tuned coefficients of proportional, integral,
derivative terms
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
15
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
ACC/AGP Algorithm: PID Controller
Implementation
 We can neglect the integral term, because in the driving
simulator the output signal of system is measured precisely
 We use only proportional term when the car is almost
approaching wanted speed (Proportional Controller)
Kp 
 gas
a max
 We use proportional term and derivative term (ProportionalDerivative Controller) when the difference between wanted and
current speed is significant (>1km/h)
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
16
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
ACC/AGP Algorithm
Control Circuit
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
17
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
ACC/AGP Algorithm: Required Acceleration –
Step 1
 Step 1: derive function representing how actual speed should
reach wanted speed over course of time
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
18
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
ACC/AGP Algorithm: Required Acceleration –
Step 2
 Step 2: using Step 1, derive required acceleration function
vwanted  v(t )  c1ec2t
dv
 c(vwanted  v(t ))
dt
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
19
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
ACC/AGP Algorithm
Control Circuit
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
20
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
ACC/AGP Algorithm
Control Circuit
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
21
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
ACC/AGP Algorithm: Following Distance Rule
 Goal: at required distance, speed of “own” car should be
equaled to speed of leading car
 Wanted speed for “our” car: before some threshold, “own” car
can travel faster than leading car; after threshold is passed
linearly decrease wanted speed
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
22
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Outline
 Concept of Assisted Driving
 Integrated Multimodal Driver Assistance
 Concept “Aus”
 Concept “Active Cruise Control”
 Concept “Active Gas Pedal”
 ACC/AGP Algorithm
 Fixed-base Driving Simulator
 Future Work
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
23
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Fixed-base Driving Simulator – OLD
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
24
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Fixed-base Driving Simulator - NEW
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
25
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Fixed-base Driving Simulator: Component
Structure
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
26
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Outline
 Concept of Assisted Driving
 Integrated Multimodal Driver Assistance
 Concept “Aus”
 Concept “Active Cruise Control”
 Concept “Active Gas Pedal”
 ACC/AGP Algorithm
 Fixed-base Driving Simulator
 Future Work
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
27
Chair for Computer Aided Medical Procedures & Augmented Reality
|
campar.in.tum.de
Fachgebiet
Augmented Reality
Future Work




Execution and evaluation of predefined experiments
Improvement of following distance rule function
Introduction of integral term into PID equation
…
CAMP-AR | Department of Informatics | Technische Universität München | 18 July 2015
28