Taking the load off: investigations of how adaptive cruise control affects mental workload

It has been posited that Adaptive Cruise Control (ACC) represents a new generation of vehicle automation, in that it has the potential to relieve drivers of mental as well as physical workload. The results of previous research however, have raised some confusing issues about the specific effects of Adaptive Cruise Control (ACC) on driver mental workload (MWL)—some studies report reduced MWL compared to manual driving, while others find no effect. Two hypotheses are proposed in an attempt to explain these discrepancies: (a) that any potential MWL reductions due to ACC could be masked by the overriding influence of steering demand; or (b) that the tasks designed in some experiments do not exploit the adaptive nature of the ACC system, therefore precluding any potential benefits. Two related experiments were designed to test these hypotheses. It was found that the main reason for the discrepant findings was the nature of the driving task chosen—constant-speed tasks do not realise the mental workload benefits of ACC. Future researchers using ACC devices are advised to use variable-speed tasks to ensure that all aspects of device functionality are covered.     

Driver usage and understanding of adaptive cruise control

Automation, in terms of systems such as adaptive/active cruise control (ACC) or collision warning systems, is increasingly becoming a part of everyday driving. These systems are not perfect though, and the driver has to be prepared to reclaim control in situations very similar to those the system easily handles by itself. This paper uses a questionnaire answered by 130 ACC users to discuss future research needs in the area of driver assistance systems. Results show that the longer drivers use their systems, the more aware of its limitations they become. Moreover, the drivers report that ACC forces them to take control intermittently. According to theory, this might actually be better than a more perfect system, as it provides preparation for unexpected situations requiring the driver to reclaim control.     

模糊PID控制器在自适应巡航控制系统中的应用

车辆的油门控制算法是自适应巡航控制系统(ACC：Adaptive Cruise Control)中的核心算法之一。这里采用的模糊PID算法(Fuzzy PID)是对常用的两输入单输出模糊控制算法的改进。通过使用Matlab／Simulink建立车辆动力学模型和控制器模型,对控制器的性能进行了仿真分析,验证了算法的合理性。     

基于Eclipse平台的车辆自适应巡航控制仿真

自适应巡航控制是一种先进的汽车辅助驾驶系统,可以减轻驾驶员的工作量并且可以提高驾驶的便利性和安全性。目前一般都是通过MatLab仿真曲线来检验车辆自适应巡航控制算法的控制效果,但该方式不够直观形象。基于Eclipse平台,用JAVA语言搭建一个具有动态效果的车辆巡航控制仿真平台。该平台可以模拟多种典型驾驶工况,直观有效地展现车辆自适应巡航控制算法的结果。最后,在该仿真平台上设计最优PD控制算法和智能驱动驾驶（IDM）控制算法验证车辆自适应巡航控制结果。结果表明,该Eclipse仿真平台能够有效地模拟多种驾驶工况,且能够直观有效地验证多种车辆自适应巡航控制算法的结果。     

Design and implementation of parameterized adaptive cruise control: An explicit model predictive control approach

The combination of different characteristics and situation-dependent behavior cause the design of adaptive cruise control (ACC) systems to be time consuming. This paper presents a systematic approach for the design of a parameterized ACC, based on explicit model predictive control. A unique feature of the synthesized ACC is its parameterization in terms of key characteristics, which, after the parameterization, makes it easy and intuitive to tune, even for the driver. The effectiveness of the design approach is demonstrated using simulations for relevant traffic scenarios, including Stop-&-Go. On-the-road experiments show the proper functioning of the synthesized ACC.     

通信中断时的网联车辆协作自适应巡航控制

针对自主巡航车队发生通信中断的情况,提出一种由协作式自适应巡航控制(CACC)模式切换至自适应巡航控制(ACC)模式的方法.当通信中断时,将车辆按照通信能力分组优化处理,并将通信中断车辆由CACC模式切换到ACC模式,且保持原CACC模式下的时间间距不变;为了保证车队安全,结合避碰理论和拉格朗日中值定理,提出一种基于最小安全距离的时间间距切换策略;为了保证两次切换后混合巡航车队(车队中既有CACC车辆也有ACC车辆)的稳定性,结合终值定理和频域分析法设计了混合巡航模式下的CACC-ACC控制器.最后通过仿真与现有方法对比,验证了所提出方法的有效性.     

Trust and the use of adaptive cruise control: a study of a cut-in situation

This paper analyses driver trust and performance when using adaptive cruise control (ACC) in a situation involving a truck cutting into the lane in front of the ACC-equipped vehicle. The study was carried out using a mini driving simulator and a simulated ACC whose reference speed and time headway (THW) were preset to 130 km/h and 1.5 s, respectively. Questionnaires were used to analyse driver trust. Two kinds of drivers emerge from the analysis of driver behaviour during the cut-in situation: drivers who reclaimed control from the ACC before the device began to regulate the THW with regard to the truck, and drivers who braked after the device had begun its regulation. The latter demonstrated a higher level of trust in the ACC device itself while the former had a higher level of trust in the cooperation with the device. These findings are discussed in terms of over-reliance and well-calibrated trust.     

Analysis and modeling of human driving behaviors using adaptive cruise control

We describe a driver model based on the feedback-error learning scheme using neural network (NN) for adaptive cruise control (ACC) use in driving and show the applicability of the feedback-error learning scheme as a behavior model of adaptability of human. The focus of the study is on the adaptation process of driving behaviors using ACC. The driver model for computer simulations was implemented by using a NN. The developed simulation model is used for predicting control performance of skilled driver using ACC. In the experiments, we used a fixed-base driving simulator (DS) installed ACC system for collecting driver’s data. Headway time when lane changing in a row and lateral deviation from road center were investigated as driver behavior characteristics during ACC use and manual driving, respectively. The simulation results of the lateral deviation were compared with the experimental results and showed that control performance with ACC use would be better than that of manual driving. Furthermore, it was found that human error occurred during ACC use in the DS experiments and provided an explanation of the cause in terms of Neisser’s perceptual cycle model.     

异构通信网联车系统鲁棒协同自适应巡航控制

考虑异构通信下的不确定网联车系统协同自适应巡航控制(CACC)问题,提出一种网联车系统鲁棒协同自适应巡航控制器设计方法.采用伯努利随机过程和具有可变输入延迟的跟踪模型描述具有参数不确定性和丢包及时延的异构通信网联车系统.为降低CACC控制器设计的复杂性,采用分散输出反馈控制结构和线性矩阵不等式技术,求解不确定异构通信网联车系统的CACC控制器.进一步,利用时滞系统方法和频域分析,建立保证闭环系统稳定和网联车辆系统弦稳定结果.最后通过一组四车辆三信道的网联车辆系统的仿真实验验证所提方法的有效性.     

Real-time optimization of energy consumption under adaptive cruise control for connected HEVs

This paper presents a real-time energy optimization algorithm for a hybrid electric vehicle (HEV) that operates with adaptive cruise control (ACC). Real-time energy optimization is an essential issue such that the HEV powertrain system is as efficient as possible. With connected vehicle technique, ACC system shows considerable potential of high energy efficiency. Combining a classical ACC algorithm, a two-level cooperative control scheme is constructed to realize real-time power distribution for the host HEV that operates in a vehicle platoon. The proposed control strategy actually provides a solution for an optimal control problem with multi objectives in terms of string stable of vehicle platoon and energy consumption minimization of the individual following vehicle. The string stability and the real-time optimization performance of the cooperative control system are confirmed by simulations with respect to several operating scenarios.     

联合通信资源分配的网联车协同自适应巡航 时滞反馈控制

考虑网联车辆队列在路段通信资源受限下的协同自适应巡航控制(CACC)问题,提出一种联合通信资源分配的网联车辆协同自适应巡航时滞反馈控制方法.首先,在头车-前车跟随的通信拓扑结构下,通过网联车辆队列中各车辆间的通信链路数量、该路段可使用的通信资源和当前时刻车辆间的间距误差建立二分图,根据车辆间的间距误差来调度有限的通信资源,将通信资源合理分配给有较大间距误差的跟随车辆;其次,利用非对称PD控制协议和网联车辆队列时滞纵向模型,应用线性矩阵不等式技术计算网联车CACC控制器,进一步得到车辆队列弦稳定性的充分条件;最后,通过Matlab/CarSim联合仿真验证该方法的有效性.     

Data-iteration cooperative adaptive cruise control of mixed heterogeneous vehicle platoons with unknown dynamic characteristics

This paper considers the cooperative adaptive cruise control (CACC) problem of mixed heterogeneous vehicle platoons composed of human-driven and CACC vehicles with unknown dynamic characteristics and an alternative to CACC for platooning of the heterogeneous vehicle platoon is presented. Adaptive dynamic programming is firstly used to learn the dynamic characteristics of acceleration of vehicles from the sampled data. Then the data-iteration optimal CACC controller is computed to ensure that each CACC vehicle can reach a desired inter-vehicle distance and desired common velocity with no prior knowledge of the dynamics of vehicles in the mixed platoon. Moreover, the string stability of the mixed vehicle platoon is derived by establishing some sufficient conditions on the acceleration transfer function of adjacent vehicles. Two simulation experiments of a six-vehicle mixed platoon are used to illustrate the effectiveness of the proposed CACC method.     

Analysis of the mental workload of city traffic control operators while monitoring traffic density: A field study

IntroductionIt is important to evaluate when and why the mental workload of operators increases during system operation. The city traffic control center (TCC) is a complex work system, and it is important to describe MW as a condition related to this. The purpose of this study is to evaluate the mental workload of operators while monitoring traffic loads in the city TCC.MethodsElectroencephalography and electrooculography data were collected from 16 operators while performing their daily work, in four conditions: resting state, low traffic density, high traffic density, and recovery. The Simplified-Subjective Workload Assessment Technique (S-SWAT) was used to evaluate the subjective workload of operators.ResultsThe findings indicate that operators experience a larger mental workload during high traffic density than during low traffic density (p < 0.001). TCC stressors led to significant changes in EEG bands, such as theta, alpha, and eye activity. Significant differences were observed for subjective ratings of MW (p < 0.001).ConclusionAlthough the working situations of TCC operators are repeated daily, their mental fatigue and stress level gradually increase, leading to deterioration in their mental health. It may be necessary periodically to monitor their mental health and to consider their organizational behavior during traffic density monitoring.Relevance to industrycomplex work systems have increased the requirement for many operators to conduct mental tasks in real work conditions such as city traffic density monitoring. When evaluating such workplaces, it is important to identify situations requiring increased mental workload that might impose additional stress on operators, decreasing their performance. Based on the results, the traffic control center director would be aware of the MW condition of the operators.     

Multimodal feedback: an assessment of performance and mental workload

Multimodal interfaces offer great potential to humanize interactions with computers by employing a multitude of perceptual channels. This paper reports on a novel multimodal interface using auditory, haptic and visual feedback in a direct manipulation task to establish new recommendations for multimodal feedback, in particular uni-, bi- and trimodal feedback. A close examination of combinations of uni-, bi- and trimodal feedback is necessary to determine which enhances performance without increasing workload. Thirty-two participants were asked to complete a task consisting of a series of 'drag-and-drops' while the type of feedback was manipulated. Each participant was exposed to three unimodal feedback conditions, three bimodal feedback conditions and one trimodal feedback condition that used auditory, visual and haptic feedback alone, and in combination. Performance under the different conditions was assessed with measures of trial completion time, target highlight time and a self-reported workload assessment captured by the NASA Task Load Index (NASA-TLX). The findings suggest that certain types of bimodal feedback can enhance performance while lowering self-perceived mental demand.     

Development of a mental workload index: A systems approach

The objective of this study is to develop a method for determining the mental workload imposed on train control officers that is objective and quantifiable and can stand up to the tests of validity and reliability. This technical note reports on the methodology used in the development process, as well as the assessment of the criteria considered for the mental workload index (MWLI). The MWLI aims at solving an existing operational shortcoming and could be used as a tool for predicting the mental workload imposed on an operator at a particular train control centre. The method could be applied to manage and improve operational safety in the rail transport environment. A participative approach was followed in the development process. A work group comprising expert users of the system was involved in identifying task factors and assigning weights for task and moderating factors. The newly developed MWLI consists of three task factors and 11 moderating factors, each with a different weight in terms of its contribution to overall mental workload. The work group performed several iterations to reach final consensus and acceptance of the factors and their respective contributions to the MWLI. The criteria and development processes are discussed and the final index with the task and moderating factors is presented.     

Development of a mental workload index: a systems approach

The objective of this study is to develop a method for determining the mental workload imposed on train control officers that is objective and quantifiable and can stand up to the tests of validity and reliability. This technical note reports on the methodology used in the development process, as well as the assessment of the criteria considered for the mental workload index (MWLI). The MWLI aims at solving an existing operational shortcoming and could be used as a tool for predicting the mental workload imposed on an operator at a particular train control centre. The method could be applied to manage and improve operational safety in the rail transport environment. A participative approach was followed in the development process. A work group comprising expert users of the system was involved in identifying task factors and assigning weights for task and moderating factors. The newly developed MWLI consists of three task factors and 11 moderating factors, each with a different weight in terms of its contribution to overall mental workload. The work group performed several iterations to reach final consensus and acceptance of the factors and their respective contributions to the MWLI. The criteria and development processes are discussed and the final index with the task and moderating factors is presented.     

Multimodal feedback: an assessment of performance and mental workload

Multimodal interfaces offer great potential to humanize interactions with computers by employing a multitude of perceptual channels. This paper reports on a novel multimodal interface using auditory, haptic and visual feedback in a direct manipulation task to establish new recommendations for multimodal feedback, in particular uni-, bi- and trimodal feedback. A close examination of combinations of uni-, bi- and trimodal feedback is necessary to determine which enhances performance without increasing workload. Thirty-two participants were asked to complete a task consisting of a series of ‘drag-and-drops’ while the type of feedback was manipulated. Each participant was exposed to three unimodal feedback conditions, three bimodal feedback conditions and one trimodal feedback condition that used auditory, visual and haptic feedback alone, and in combination. Performance under the different conditions was assessed with measures of trial completion time, target highlight time and a self-reported workload assessment captured by the NASA Task Load Index (NASA-TLX). The findings suggest that certain types of bimodal feedback can enhance performance while lowering self-perceived mental demand.     

Cultural influences on the measurement of subjective mental workload

Cognitive ergonomics is well entrenched in North American and most European work environments, where systems and products are designed with the capabilities and limitations of the user in mind. A prominent technique for analysing task demands is subjective mental workload measurement. Subjective ratings of mental workload have been shown—in North American and European populations—to be reliable and sensitive to changes in mental workload. However, there is reason to think that cultural differences may affect subjective ratings. This study compared the performance and subjective mental workload ratings of Indonesian (n = 87) and Dutch (n = 88) students in the context of a hybrid memory/visual search task. Performance was comparable for the two groups, but the sensitivity of the subjective workload measures was better in the Dutch than in the Indonesian group. The results are interpreted in light of social axioms and cultural values.

Statement of Relevance: Now more than ever ergonomists must think beyond national borders in improving work processes. Globalisation requires that cultural differences be taken into account in developing and applying ergonomic techniques. This paper presents empirical work showing that cultural differences seriously impact the sensitivity of mental workload measures.     

Design,tuning, and evaluation of a full-range adaptive cruise control system with collision avoidance

This paper describes the design, tuning, and evaluation of a full-range adaptive cruise control (ACC) system with collision avoidance (CA). The control scheme is designed to improve drivers’ comfort during normal, safe-driving situations and to completely avoid rear-end collision in vehicle-following situations. Driving situations are divided into safe, warning, and dangerous modes. Three different control strategies have been proposed, depending on the driving situation. The driving situations are determined using a non-dimensional warning index and the time-to-collision (TTC). The control parameters of the proposed ACC/CA system are tuned by a confusion-matrix method using manual-driving data in no-crashing driving situations. The vehicle-following characteristics of the subject vehicle were compared to real-world, manual-driving data. Finally, the ACC/CA system was also implemented in a real vehicle and tested in both safe-traffic and severe-braking situations. It is shown that the proposed control strategy can provide natural following performance that is similar to human manual-driving in both high-speed driving and low-speed stop-and-go situations. Furthermore, it can prevent the vehicle-to-vehicle distance from dropping to an unsafe level in a variety of driving conditions.     

Modeling and predicting mental workload in en route air traffic control: critical review and broader implications

OBJECTIVE: We perform a critical review of research on mental workload in en route air traffic control (ATC). We present a model of operator strategic behavior and workload management through which workload can be predicted within ATC and other complex work systems. BACKGROUND: Air traffic volume is increasing worldwide. If air traffic management organizations are to meet future demand safely, better models of controller workload are needed. METHOD: We present the theoretical model and then review investigations of how effectively traffic factors, airspace factors, and operational constraints predict controller workload. RESULTS: Although task demand has a strong relationship with workload, evidence suggests that the relationship depends on the capacity of the controllers to select priorities, manage their cognitive resources, and regulate their own performance. We review research on strategies employed by controllers to minimize the control activity and information-processing requirements of control tasks. CONCLUSION: Controller workload will not be effectively modeled until controllers' strategies for regulating the cognitive impact of task demand have been modeled. APPLICATION: Actual and potential applications of our conclusions include a reorientation of workload modeling in complex work systems to capture the dynamic and adaptive nature of the operator's work. Models based around workload regulation may be more useful in helping management organizations adapt to future control regimens in complex work systems.