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117 results on '"Franck Mars"'

1. Driving with a Haptic Guidance System in Degraded Visibility Conditions: Behavioral Analysis and Identification of a Two-Point Steering Control Model

Author

Yishen Zhao, Philippe Chevrel, Fabien Claveau, and Franck Mars

Subjects
haptic guidance, driver steering model, visibility conditions, system identification, lateral control performance, Mechanical engineering and machinery, TJ1-1570, Machine design and drawing, TJ227-240, Motor vehicles. Aeronautics. Astronautics, TL1-4050
Abstract

The objective of this study is to determine the ability of a two-point steering control model to account for the influence of a haptic guidance system in different visibility conditions. For this purpose, the lateral control of the vehicle was characterized in terms of driving performance as well as through the identification of anticipation and compensation parameters of the driver model. The hypothesis is that if the structure of the model is valid in the considered conditions, the value of the parameters will change in coherence with the observed behavior. The results of an experiment conducted on a driving simulator demonstrate that the identified model can account for the cumulative influence of the haptic guidance system and degraded visibility. The anticipatory gain is sensitive to changes in driving conditions that have a direct influence on the produced trajectory, and the compensatory gain is sensitive to a decrease in the variability of the lateral position. However, a model with only the steering wheel angle as output is not able to determine whether the change in lateral position variability is due to the driver’s lack of anticipation or to the assistance provided by the haptic guidance system.

Published
2022
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2. Multiple sclerosis clinical decision support system based on projection to reference datasets

Author

Chadia Ed‐driouch, Florent Chéneau, Françoise Simon, Guillaume Pasquier, Benoit Combès, Anne Kerbrat, Emmanuelle Le Page, Sophie Limou, Nicolas Vince, David‐Axel Laplaud, Franck Mars, Cédric Dumas, Gilles Edan, and Pierre‐Antoine Gourraud

Subjects
Neurosciences. Biological psychiatry. Neuropsychiatry, RC321-571, Neurology. Diseases of the nervous system, RC346-429
Abstract

Abstract Objective Multiple sclerosis (MS) is a multifactorial disease with increasingly complicated management. Our objective is to use on‐demand computational power to address the challenges of dynamically managing MS. Methods A phase 3 clinical trial data (NCT00906399) were used to contextualize the medication efficacy of peg‐interferon beta‐1a vs placebo on patients with relapsing–remitting MS (RRMS). Using a set of reference patients (PORs), selected based on adequate features similar to those of an individual patient, we visualize disease activity by measuring the percentage of relapses, accumulation of new T2 lesions on MRI, and worsening EDSS during the clinical trial. Results We developed MS Vista, a functional prototype of clinical decision support system (CDSS), with a user‐centered design and distributed infrastructure. MS Vista shows the medication efficacy of peginterferon beta‐1a versus placebo for each individual patient with RRMS. In addition, MS Vista initiated the integration of a longitudinal magnetic resonance imaging (MRI) viewer and interactive dual physician‐patient data display to facilitate communication. Interpretation The pioneer use of PORs for each individual patient enables personalized analytics sustaining the dialog between neurologists, patients and caregivers with quantified evidence.

Published
2022
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4. Risk Assessment by a Passenger of an Autonomous Vehicle Among Pedestrians: Relationship Between Subjective and Physiological Measures

Author

Jeffery Petit, Camilo Charron, and Franck Mars

Subjects
autonomous driving, passenger perception, risk assessment, skin conductance, driving simulator, Bayesian network, Neurology. Diseases of the nervous system, RC346-429
Abstract

Autonomous navigation becomes complex when it is performed in an environment that lacks road signs and includes a variety of users, including vulnerable pedestrians. This article deals with the perception of collision risk from the viewpoint of a passenger sitting in the driver's seat who has delegated the total control of their vehicle to an autonomous system. The proposed study is based on an experiment that used a fixed-base driving simulator. The study was conducted using a group of 20 volunteer participants. Scenarios were developed to simulate avoidance manoeuvres that involved pedestrians walking at 4.5 kph and an autonomous vehicle that was otherwise driving in a straight line at 30 kph. The main objective was to compare two systems of risk perception: These included subjective risk assessments obtained with an analogue handset provided to the participants and electrodermal activity (EDA) that was measured using skin conductance sensors. The relationship between these two types of measures, which possibly relates to the two systems of risk perception, is not unequivocally described in the literature. This experiment addresses this relationship by manipulating two factors: The time-to-collision (TTC) at the initiation of a pedestrian avoidance manoeuvre and the lateral offset left between a vehicle and a pedestrian. These manipulations of vehicle dynamics made it possible to simulate different safety margins regarding pedestrians during avoidance manoeuvres. The conditional dependencies between the two systems and the manipulated factors were studied using hybrid Bayesian networks. This relationship was inferred by selecting the best Bayesian network structure based on the Bayesian information criterion. The results demonstrate that the reduction of safety margins increases risk perception according to both types of indicators. However, the increase in subjective risk is more pronounced than the physiological response. While the indicators cannot be considered redundant, data modeling suggests that the two risk perception systems are not independent.

Published
2021
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5. Addressing the Challenges and Barriers to the Integration of Machine Learning into Clinical Practice: An Innovative Method to Hybrid Human–Machine Intelligence

Author

Chadia Ed-Driouch, Franck Mars, Pierre-Antoine Gourraud, and Cédric Dumas

Subjects
human–machine collaboration, machine learning, physician–algorithm collaboration, clinical decision-making, personalized medicine, multiple sclerosis, Chemical technology, TP1-1185
Abstract

Machine learning (ML) models have proven their potential in acquiring and analyzing large amounts of data to help solve real-world, complex problems. Their use in healthcare is expected to help physicians make diagnoses, prognoses, treatment decisions, and disease outcome predictions. However, ML solutions are not currently deployed in most healthcare systems. One of the main reasons for this is the provenance, transparency, and clinical utility of the training data. Physicians reject ML solutions if they are not at least based on accurate data and do not clearly include the decision-making process used in clinical practice. In this paper, we present a hybrid human–machine intelligence method to create predictive models driven by clinical practice. We promote the use of quality-approved data and the inclusion of physician reasoning in the ML process. Instead of training the ML algorithms on the given data to create predictive models (conventional method), we propose to pre-categorize the data according to the expert physicians’ knowledge and experience. Comparing the results of the conventional method of ML learning versus the hybrid physician–algorithm method showed that the models based on the latter can perform better. Physicians’ engagement is the most promising condition for the safe and innovative use of ML in healthcare.

Published
2022
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6. Model-based estimation of the state of vehicle automation as derived from the driver’s spontaneous visual strategies

Author

Damien Schnebelen, Camilo Charron, and Franck Mars

Subjects
automated driving, manual driving, gaze behaviour, gaze dynamics, eye movement, region of interest, Human anatomy, QM1-695
Abstract

When manually steering a car, the driver’s visual perception of the driving scene and his or her motor actions to control the vehicle are closely linked. Since motor behaviour is no longer required in an automated vehicle, the sampling of the visual scene is affected. Autonomous driving typically results in less gaze being directed towards the road centre and a broader exploration of the driving scene, compared to manual driving. To examine the corollary of this situation, this study estimated the state of automation (manual or automated) on the basis of gaze behaviour. To do so, models based on partial least square regressions were computed by considering the gaze behaviour in multiple ways, using static indicators (percentage of time spent gazing at 13 areas of interests), dynamic indicators (transition matrices between areas) or both together. Analysis of the quality of predictions for the different models showed that the best result was obtained by considering both static and dynamic indicators. However, gaze dynamics played the most important role in distinguishing between manual and automated driving. This study may be relevant to the issue of driver monitoring in autonomous vehicles.

Published
2021
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7. Looking at the Road When Driving Around Bends: Influence of Vehicle Automation and Speed

Author

Damien Schnebelen, Otto Lappi, Callum Mole, Jami Pekkanen, and Franck Mars

Subjects
gaze behavior, automated driving, look-ahead fixations, visuomotor coordination, steering control, Psychology, BF1-990
Abstract

When negotiating bends car drivers perform gaze polling: their gaze shifts between guiding fixations (GFs; gaze directed 1–2 s ahead) and look-ahead fixations (LAFs; longer time headway). How might this behavior change in autonomous vehicles where the need for constant active visual guidance is removed? In this driving simulator study, we analyzed this gaze behavior both when the driver was in charge of steering or when steering was delegated to automation, separately for bend approach (straight line) and the entry of the bend (turn), and at various speeds. The analysis of gaze distributions relative to bend sections and driving conditions indicate that visual anticipation (through LAFs) is most prominent before entering the bend. Passive driving increased the proportion of LAFs with a concomitant decrease of GFs, and increased the gaze polling frequency. Gaze polling frequency also increased at higher speeds, in particular during the bend approach when steering was not performed. LAFs encompassed a wide range of eccentricities. To account for this heterogeneity two sub-categories serving distinct information requirements are proposed: mid-eccentricity LAFs could be more useful for anticipatory planning of steering actions, and far-eccentricity LAFs for monitoring potential hazards. The results support the idea that gaze and steering coordination may be strongly impacted in autonomous vehicles.

Published
2019
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9. Where we look when we drive with or without active steering wheel control.

Author

Franck Mars and Jordan Navarro

Subjects
Medicine, Science
Abstract

Current theories on the role of visuomotor coordination in driving agree that active sampling of the road by the driver informs the arm-motor system in charge of performing actions on the steering wheel. Still under debate, however, is the nature of visual cues and gaze strategies used by drivers. In particular, the tangent point hypothesis, which states that drivers look at a specific point on the inside edge line, has recently become the object of controversy. An alternative hypothesis proposes that drivers orient gaze toward the desired future path, which happens to be often situated in the vicinity of the tangent point. The present study contributed to this debate through the analyses of the distribution of gaze orientation with respect to the tangent point. The results revealed that drivers sampled the roadway in the close vicinity of the tangent point rather than the tangent point proper. This supports the idea that drivers look at the boundary of a safe trajectory envelop near the inside edge line. Furthermore, the study investigated for the first time the reciprocal influence of manual control on gaze control in the context of driving. This was achieved through the comparison of gaze behavior when drivers actively steered the vehicle or when steering was performed by an automatic controller. The results showed an increase in look-ahead fixations in the direction of the bend exit and a small but consistent reduction in the time spent looking in the area of the tangent point when steering was passive. This may be the consequence of a change in the balance between cognitive and sensorimotor anticipatory gaze strategies. It might also reflect bidirectional coordination control between the eye and arm-motor systems, which goes beyond the common assumption that the eyes lead the hands when driving.

Published
2012
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20. Impact of the driver’s visual engagement on situation awareness and takeover quality

Author

Paul Marti, Christophe Jallais, Arnaud Koustanaï, Anne Guillaume, Franck Mars, Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ), Laboratoire d'Accidentologie de Biomécanique et d'Etude du Comportement Humain, RENAULT, Laboratoire Ergonomie et Sciences Cognitives pour les Transports (TS2-LESCOT ), Université Gustave Eiffel, and ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016)

Subjects
Automated driving, [SCCO.PSYC]Cognitive science/Psychology, Automotive Engineering, Transportation, Situation awareness, Non-driving task, Taker-over request, Human factors, Applied Psychology, Civil and Structural Engineering
Abstract

International audience; During automated driving (SAE Level 3), drivers can delegate control of the vehicle and monitoring of the road to an automated system. They may then devote themselves to tasks other than driving and gradually lose situational awareness (SA). This could res ult in difficulty in regaining control of the vehicle when the automated system requires it. In this simulator study, the level of SA was manipulated through the time spent performing a nondriving task (NDRT), which alternated with phases where the driver could monitor the driving scene, prior to a critical takeover request (TOR). The SA at the time of TOR, the visual behaviour after TOR, and the takeover quality were analysed. The results showed that monitoring the road just before the TOR allowed the development of limited perception of the driving situation, which only partially compensated for the lack of a consolidated mental model of the situation. The quality of the recovery, assessed through the number of collisions, was consistent with the level of development of SA. The analysis of visual behaviour showed that engagement in the non-driving task at the time of TOR induced a form of perseverance in consulting the interface where the task was displayed, to the detriment of checking the mirrors. These results underline the importance of helping the driver to restore good SA well in advance of a TOR.

Published
2022
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29. Planning Lane Changes using Advance Visual and Haptic Information

Author

Ilja Frissen and Franck Mars

Abstract

Taking a motor planning perspective, this study investigates whether haptic force cues displayed on the steering wheel are more effective than visual cues in signaling the direction of an upcoming lane change. Licensed drivers drove in a fixed-base driving simulator equipped with an active steering system for realistic force-feedback. They were instructed to make lane changes upon registering a directional cue. Cues were delivered according to the movement precuing technique employing a pair of precues and imperative cues which could be either visual, haptic, or crossmodal (a visual precue with a haptic imperative cue, and vice versa). The main dependent variable was response times. Additional analyses were conducted on steering wheel angle profiles and error rates. Conditions with a haptic imperative cue produced considerably faster responses than conditions with a visual imperative cue, irrespective of the precue modality. Valid and invalid precues produced the typical gains and costs, with one exception. There appeared to be little cost in response time or steering errors associated with invalid cueing when both cues were haptic. The results are consistent with the hypothesis that imperative haptic cues facilitate action selection while visual stimuli require additional time-consuming cognitive processing.

Published
2022
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30. Effects of motorcycle simulator configurations on steering control and gaze behavior in bends

Author

Régis Lobjois, Franck Mars, Laboratoire Exploitation, Perception, Simulateurs et Simulations (IFSTTAR/COSYS/LEPSIS), Communauté Université Paris-Est-Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Perception, Action, Cognition pour la Conception et l’Ergonomie (PACCE), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Fondation Sécurité Routière (projet SENSORIMOTO), Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR)-Communauté Université Paris-Est, Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST)

Subjects
Adult, Male, Automobile Driving, steering path, Computer science, media_common.quotation_subject, Control (management), reverse steering, Internal model, motorcycle simulator, [SHS.PSY]Humanities and Social Sciences/Psychology, Experimental and Cognitive Psychology, 050105 experimental psychology, Simulators and Simulation, Vehicle dynamics, Accident Prevention, Perception, Humans, Computer Simulation, 0501 psychology and cognitive sciences, Eye Movement Measurements, Simulation, media_common, Perceived realism, 05 social sciences, bend negotiation, Steering control, Gaze, Motorcycles, visual control of steering, Female, Safety, Tilt (camera)
Abstract

The recent development of motorcycle simulators has made it possible to study rider behavior in safe conditions. However, their use still raises validity issues. Our study examined how riders' steering and gaze behaviors and subjective experience are influenced by motorcycle roll tilt and reverse steering, which are considered to be essential factors in real-life motorcycle riding. The results revealed that tilting the motorcycle in the roll plane did not lead to significant changes in rider behavior, gaze sampling, or perceived realism. The steering control strategy adopted by riders did, however, significantly influence these results. A direct steering control strategy meant that riders took a racing path and scanned the road far in advance. When reverse steering was implemented, however, riders chose to take a "safety path", as recommended by training manuals. Reverse steering also received the highest realism score. However, steering control was more difficult, as shown by the larger number of lane departures recorded and a change in the trade-off between guiding and look-ahead fixations. This suggests that although reverse steering matches riders' real control behavior and improves the subjective experience of simulator riding, it is hindered by an inadequate internal model of vehicle dynamics. (PsycINFO Database Record (c) 2020 APA, all rights reserved).

Published
2020
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32. Risk assessment by a passenger of an autonomous vehicle among pedestrians: relationship between declarative and physiological measures

Author

Jeffery Petit, Camilo Charron, Franck Mars, Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), École Centrale de Nantes (ECN), Université de Rennes 2 (UR2), Université de Rennes (UNIV-RENNES), Centre National de la Recherche Scientifique (CNRS), ANR-17-CE22-0010,Hianic,Navigation autonome dans des foules inspirée par les humains(2017), Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)

Subjects
05 social sciences, Applied psychology, driving simulator, risk assessment, [SHS.PSY]Humanities and Social Sciences/Psychology, 01 natural sciences, 050105 experimental psychology, 010104 statistics & probability, skin conductance, Bayesian network, autonomous driving, 11. Sustainability, 0501 psychology and cognitive sciences, Neurology. Diseases of the nervous system, passenger perception, Geriatrics and Gerontology, 0101 mathematics, Risk assessment, Psychology, RC346-429
Abstract

International audience; Autonomous navigation becomes complex when it is performed in an environment that lacks road signs and includes a variety of users, including vulnerable pedestrians. This article deals with the perception of collision risk from the viewpoint of a passenger sitting in the driver’s seat who has delegated the total control of their vehicle to an autonomous system. The proposed study is based on an experiment that used a fixed-base driving simulator. The study was conducted using a group of 20 volunteer participants. Scenarios were developed to simulate avoidance manoeuvres that involved pedestrians walking at 4.5 kph and an autonomous vehicle that was otherwise driving in a straight line at 30 kph. The main objective was to compare two systems of risk perception: These included subjective risk assessments obtained with an analogue handset provided to the participants and electrodermal activity (EDA) that was measured using skin conductance sensors. The relationship between these two types of measures, which possibly relates to the two systems of risk perception, is not unequivocally described in the literature. This experiment addresses this relationship by manipulating two factors: The time-to-collision (TTC) at the initiation of a pedestrian avoidance manoeuvre and the lateral offset left between a vehicle and a pedestrian. These manipulations of vehicle dynamics made it possible to simulate different safety margins regarding pedestrians during avoidance manoeuvres. The conditional dependencies between the two systems and the manipulated factors were studied using hybrid Bayesian networks. This relationship was inferred by selecting the best Bayesian network structure based on the Bayesian information criterion. The results demonstrate that the reduction of safety margins increases risk perception according to both types of indicators. However, the increase in subjective risk is more pronounced than the physiological response. While the indicators cannot be considered redundant, data modeling suggests that the two risk perception systems are not independent.

Published
2021
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33. Approach used to merge the different driver monitoring diagnostics in the AutoConduct project

Author

Hélène Tattegrain, Stéphanie Cœugnet, Martin Petrov, Franck Mars, Xuguang Wang, Antonio Hidalgo-Munoz, Christophe Jallais, Alexandra Fort, Damien Schnebelen, Georges Beurrier, Laboratoire Ergonomie et Sciences Cognitives pour les Transports (TS2-LESCOT ), Université Gustave Eiffel, VEhicule DEcarboné et COmmuniquant et sa Mobilité (VeDeCom), Continental AG [Hannover], Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Laboratoire de Biomécanique et Mécanique des Chocs (LBMC UMR T9406 ), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Université Gustave Eiffel, Cognition, Langues, Langage, Ergonomie (CLLE), École pratique des hautes études (EPHE), Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)-Université Toulouse - Jean Jaurès (UT2J)-Centre National de la Recherche Scientifique (CNRS), ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016), Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Centre National de la Recherche Scientifique (CNRS)-École pratique des hautes études (EPHE), and Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)-Université Toulouse - Jean Jaurès (UT2J)

Subjects
[SHS.PSY]Humanities and Social Sciences/Psychology, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2021

34. Gaze and steering strategies while driving around bends with shoulders

Author

Sami Mecheri, Franck Mars, Régis Lobjois, Institut de Recherche Biomédicale des Armées [Brétigny-sur-Orge] (IRBA), Laboratoire sur la Perception, les Intéractions, les Comportements et la Simulation des usagers de la route et de la rue (COSYS-PICS-L), Université Gustave Eiffel, Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ), and Délégation à la sécurité routière (projet PROFIL+, contrat n° 2201141611)

Subjects
[SPI.OTHER]Engineering Sciences [physics]/Other, Automobile Driving, Shoulder, Eye Movements, steering strategies, driving simulator, Physical Therapy, Sports Therapy and Rehabilitation, Human Factors and Ergonomics, paved shoulder, bends, visual control of steering, [SCCO.PSYC]Cognitive science/Psychology, Humans, Safety, Risk, Reliability and Quality, Engineering (miscellaneous)
Abstract

International audience; The installation of shoulders on rural roads to create more forgiving roads encourages drivers to cut corners on right-hand bends, but the underlying mechanisms are poorly understood. Since eye movements and steering control are closely coupled, this study investigated how the presence of a shoulder influences drivers' gaze strategies. To this end, eighteen drivers negotiated right-hand bends with and without a shoulder on a simulated rural road. In the presence of a shoulder, participants modified their visual sampling of the road by directing their gaze further inside the bend. At the same time, their lane position was deviated inward throughout the bend and the vehicle spent more time out of the lane. These results suggest that the shoulder influences the visual processes involved in trajectory planning. Recommendations are made to encourage drivers to keep their eyes and vehicle in the driving lane when a shoulder is present.

Published
2022
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35. A User-Centered Approach to Adapt the Human-Machine Cooperation Strategy in Autonomous Driving

Author

Annie Pauzié, Mercedes Bueno, Arnaud Koustanaï, Franck Mars, Stéphanie Coeugnet, Hélène Tattegrain, Chouki Sentouh, Jean-Christophe Popieul, VEhicule DEcarboné et COmmuniquant et sa Mobilité (VeDeCom), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Centre National de la Recherche Scientifique (CNRS)-Université Polytechnique Hauts-de-France (UPHF)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), Laboratoire d'Accidentologie de Biomécanique et d'Etude du Comportement Humain, RENAULT, Laboratoire Ergonomie et Sciences Cognitives pour les Transports (TS2-LESCOT ), Université Gustave Eiffel, ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), and Université de Nantes (UN)-Université de Nantes (UN)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique)

Subjects
DRIVER MONITORING, 050210 logistics & transportation, VEHICULE, Human machine cooperation, Computer science, media_common.quotation_subject, 05 social sciences, [SHS.PSY]Humanities and Social Sciences/Psychology, ADAPTIVE SYSTEM, Human–computer interaction, Adaptive system, 0502 economics and business, CONDUITE DU VEHICULE, 0501 psychology and cognitive sciences, Quality (business), VEHICULE AUTONOME, AIDE A LA CONDUITE, AUTONOMOUS DRIVING, CONTROLE, 050107 human factors, media_common, HMI
Abstract

21st Congress of the International Ergonomics Association (IEA 2021), VANCOUVER, CANADA, 14-/06/2021 - 18/06/2021; International audience; Using an integrative user-centered approach, the research project aimed at designing and assessing an adaptive HMI to improve the safety and the quality of the take-over in a level-3 automated vehicle. Future autonomous driving users confirmed the need for the monitoring systems to improve safety as long as they are simple and not intrusive. They request specific information to understand and initiate appropriated actions in case of a critical situation. However, to avoid overloading and detri-mental effects, it is important that the system limits the amount of infor-mation at the right moment.

Published
2021
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36. Model-based estimation of the state of vehicle automation as derived from the driver’s spontaneous visual strategies

Author

Franck Mars, Camilo Charron, Damien Schnebelen, Perception, Action, Cognition pour la Conception et l’Ergonomie (PACCE), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016), Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)

Subjects
Visual perception, Computer science, media_common.quotation_subject, Control (management), [SHS.PSY]Humanities and Social Sciences/Psychology, Corollary, Human–computer interaction, 0502 economics and business, Quality (business), 050207 economics, eye movement, ComputingMilieux_MISCELLANEOUS, media_common, 050208 finance, business.industry, QM1-695, 05 social sciences, gaze behaviour, Eye movement, Automation, Gaze, Sensory Systems, Ophthalmology, Human anatomy, automated driving, gaze dynamics, manual driving, State (computer science), region of interest, business, Research Article
Abstract

When manually steering a car, the driver’s visual perception of the driving scene and his or her motor actions to control the vehicle are closely linked. Since motor behaviour is no longer required in an automated vehicle, the sampling of the visual scene is affected. Autonomous driving typically results in less gaze being directed towards the road centre and a broader exploration of the driving scene, compared to manual driving. To examine the corollary of this situation, this study estimated the state of automation (manual or automated) on the basis of gaze behaviour. To do so, models based on partial least square regressions were computed by considering the gaze behaviour in multiple ways, using static indicators (percentage of time spent gazing at 13 areas of interests), dynamic indicators (transition matrices between areas) or both together. Analysis of the quality of predictions for the different models showed that the best result was obtained by considering both static and dynamic indicators. However, gaze dynamics played the most important role in distinguishing between manual and automated driving. This study may be relevant to the issue of driver monitoring in autonomous vehicles.

Published
2021
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38. Estimating the out-of-the-loop phenomenon from visual strategies during highly automated driving

Author

Franck Mars, Camilo Charron, Damien Schnebelen, Perception, Action, Cognition pour la Conception et l’Ergonomie (PACCE), Laboratoire des Sciences du Numérique de Nantes (LS2N), Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Université de Nantes (UN), Université de Rennes 2 (UR2), Université de Rennes (UNIV-RENNES), Centre National de la Recherche Scientifique (CNRS), ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Automobile Driving, Computer science, Control (management), [SHS.PSY]Humanities and Social Sciences/Psychology, Human Factors and Ergonomics, Fixation, Ocular, Automation, Phenomenon, 0502 economics and business, Partial least squares regression, Mind-wandering, driver monitoring, Humans, Attention, 0501 psychology and cognitive sciences, Visual behaviour, Computer vision, Safety, Risk, Reliability and Quality, Vision, Ocular, 050107 human factors, PLS regression, mind wandering, 050210 logistics & transportation, business.industry, 05 social sciences, Accidents, Traffic, Public Health, Environmental and Occupational Health, gaze behaviour, Regression analysis, Gaze, Loop (topology), Self Report, Artificial intelligence, autonomous vehicles, business
Abstract

International audience; During highly automated driving, drivers no longer physically control the vehicle but they might need to monitor the driving scene. This is true for SAE level 2, where monitoring the external environment is required; it is also true for level 3, where drivers must react quickly and safely to a take-over request. Without such monitoring, even if only partial, drivers are considered out-of-the-loop (OOTL) and safety may be compromised. The OOTL phenomenon may be particularly important for long automated driving periods during which mind wandering can occur. This study scrutinized drivers’ visual behaviour for 18 min of highly automated driving. Intersections between gaze and 13 areas of interest (AOIs) were analysed, considering both static and dynamic indicators. An estimation of self-reported mind wandering based on gaze behaviour was performed using partial least squares (PLS) regression models. The outputs of the PLS regressions allowed defining visual strategies associated with good monitoring of the driving scene. This information may enable online estimation of the OOTL phenomenon based on a driver’s spontaneous visual behaviour.

Published
2020
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39. Towards a Driver Model to Clarify Cooperation Between Drivers and Haptic Guidance Systems

Author

Franck Mars, Yishen Zhao, Philippe Chevrel, Fabien Claveau, Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Perception, Action, Cognition pour la Conception et l’Ergonomie (PACCE), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and RFI Atlanstic 2020 (projet Steer&Share)

Subjects
050210 logistics & transportation, 0209 industrial biotechnology, haptic feedback, Computer science, 05 social sciences, Driving simulator, Internal model, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, parameter identification, Identification (information), 020901 industrial engineering & automation, 0502 economics and business, Torque, cybernetic driver model, Adaptation (computer science), Guidance system, neuromuscular system, Simulation, ComputingMethodologies_COMPUTERGRAPHICS, Haptic technology
Abstract

International audience; Understanding a driver's behavior in a steering task is essential to the development of haptic guidance systems. This paper aims to predict driver torque control, especially when haptic guidance is part of haptic feedback. A new cybernetic driver model with an improved neuromuscular system is proposed and identified. It is assumed that the driver converts a target steering-wheel angle into torque by both indirect and direct control. Indirect control refers to the adaptation of the parameters of an internal model of steering compliance as perceived by the driver. Direct control accounts for the driver's corrective action through direct haptic feedback. The parameters of the model were identified with data collected from experiments conducted with a driving simulator. The results of identification were satisfactory and led to good representation of the driver's action, with or without haptic guidance. The model accurately predicted driver torque output. It can be used to study driver adaptation to haptic guidance systems.

Published
2020
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40. Systematic H2/H∞ haptic shared control synthesis for cars, parameterized by sharing level

Author

Chouki Sentouh, Philippe Chevrel, Beatrice Pano, Franck Mars, Fabien Claveau, Perception, Action, Cognition pour la Conception et l’Ergonomie (PACCE), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Commande (Commande), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Centre National de la Recherche Scientifique (CNRS)-Université Polytechnique Hauts-de-France (UPHF)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), and ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016)

Subjects
050210 logistics & transportation, 0209 industrial biotechnology, Control synthesis, business.industry, Computer science, 05 social sciences, Parameterized complexity, Control engineering, 02 engineering and technology, Automation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Robustness (computer science), 0502 economics and business, Trajectory, business, Haptic technology
Abstract

International audience; This paper presents a methodology for the systematic synthesis of haptic shared control (HSC) of a car. This HSC design is based on a two-part architecture. The first part is a trajectory generator that provides a reference trajectory to the second part, which is a static output feedback. In this paper, the haptic shared control is used as an lane keeping assist system (LKA); hence, the reference trajectory is chosen to fulfill this function. The main contribution of this article is related to the combination of the H2/H∞ feedback synthesis. This, involves an H2 criterion quantifying the sharing level and quality as an objective function, and H2/H∞ constraints for lane-keeping performance, driver comfort and robustness. The control design relies on a driver cybernetic model, which decreases conflicts between the assistance and the driver. A systematic method to tune criterion and constraints is described, enabling the attainment of desired lane-following and shared-control performance. The proposed methodology facilitates the design of lateral assistance, ensuring stability and guaranteed performance regardless of the prescribed level of sharing between the actions of the driver and the automaton. The shared control between human driver and automation for the lane keeping task over the Satory test track with the sharing level adaptation is then shown for the validation of the proposed architecture. This work introduces perspectives on smooth transitioning between manual and autonomous driving modes.

Published
2020
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41. Driver Model Validation through Interaction with Varying Levels of Haptic Guidance

Author

Beatrice Pano, Fabien Claveau, Yishen Zhao, Franck Mars, Philippe Chevrel, Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Perception, Action, Cognition pour la Conception et l’Ergonomie (PACCE), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and RFI ATLANSTIC 2020 (projet Steer&Share)

Subjects
0209 industrial biotechnology, internal model, Computer science, haptic guidance system, 05 social sciences, Process (computing), Internal model, Driving simulator, 02 engineering and technology, Steering wheel, Kalman filter, adaptation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, parameter identification, 020901 industrial engineering & automation, 0501 psychology and cognitive sciences, haptic shared control, Guidance system, Adaptation (computer science), 050107 human factors, Simulation, Haptic technology, driver model
Abstract

International audience; Driver modeling is essential in the development of haptic guidance systems. A new cybernetic driver model designed to account for the cooperation between the driver and haptic guidance systems has recently been proposed. This paper aims to validate this model in situations of interaction with different levels of haptic guidance on a driving simulator. Two experiments have been performed for this purpose. The first experiment consisted of implementing the driver model in the driving simulator and evaluating its lateral control performance when interacting with a haptic guidance system. The results reveal that the model can be adapted to different sharing levels by adjusting only the gain of an internal model of the steering wheel compliance. The second experiment consisted of estimating the evolution of the gain of this internal model using the unscented Kalman filter. The results reveal consistency between the evolution of the identified parameter and the level of sharing of the haptic guidance system. The driver model represents the process of human driver adaptation to variations in the level of sharing in haptic guidance systems.

Published
2020
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42. A pilot study on the dynamics of online risk assessment by the passenger of a self-driving car among pedestrians

Author

Camilo Charron, Franck Mars, Jeffery Petit, Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Krömker H., ANR-17-CE22-0010,Hianic,Navigation autonome dans des foules inspirée par les humains(2017), Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)

Subjects
Shared space, 050210 logistics & transportation, Computer science, 05 social sciences, Applied psychology, driving simulator, Driving simulator, [SHS.PSY]Humanities and Social Sciences/Psychology, Pedestrian, Risk perception, Online risk assessment, Self driving, Dynamics (music), 11. Sustainability, 0502 economics and business, 0501 psychology and cognitive sciences, Risk assessment, 050107 human factors
Abstract

International audience; In autonomous cars, the automation systems assume complete operational control. In this situation, it is essential that passengers always feel comfort-able with the vehicle's decisions. In this project, we are specifically inter-ested in risk assessment by the passenger of an autonomous car navigating among pedestrians in a shared space. A driving simulator experiment was conducted with 27 participants. The challenge was twofold: on the one hand, to find a link between the pedestrians' avoidance behavior of the ve-hicle and the risk felt by the passenger; and on the other hand, to try to pre-dict this perceived risk in real time. The study revealed a significant effect of two factors on the risk assessed by the participants: (1) the value of the TTC at the moment the vehicle begins a pedestrian avoidance maneuver; (2) the lateral distance it leaves to the pedestrian. The proposed real-time pre-diction model is based on the principle of impulse response operation. This new paradigm assumes that the passenger's risk assessment is the result of a quantifiable unconscious internal phenomenon that has been estimated us-ing the dynamics of the perceived pedestrian approach. The results showed that this approach was predictive of risk for isolated avoidance maneuvers, but was insufficient to explain the variability in the risk assessment behav-ior of the participants.

Published
2020
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43. Revealing misleading schemes through operator activity analysis: A factory case study

Author

Franck Mars, Camilo Charron, Marie Hoarau, Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Région Pays de la Loire (projet ARTUR), Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)

Subjects
Scheme (programming language), Computer science, Process (engineering), [SHS.PSY]Humanities and Social Sciences/Psychology, aeronautical factory, Human Factors and Ergonomics, Machine learning, computer.software_genre, 050105 experimental psychology, Industrial and Manufacturing Engineering, Operator (computer programming), activity analysis, Ecological interface design, 0501 psychology and cognitive sciences, 050107 human factors, Abstraction (linguistics), computer.programming_language, Hierarchy, business.industry, 05 social sciences, Representation (systemics), misleading scheme, Factory (object-oriented programming), Artificial intelligence, business, computer
Abstract

International audience; This article presents an activity analysis carried out in an aeronautical factory. The representation of the real process and the operators’ representations were identified. The representation of the real process was elaborated using an abstraction hierarchy, as described by the ecological interface design framework. The operators’ representations were extracted through interviews and observations and described in terms of schemes. The analysis revealed that operators in the studied factory used misleading schemes (i.e., false representations) to organize their activities, resultingin poor performance.We conclude by offering possible remedies, including training aimed at inhibiting the misleading scheme and a simulation tool to convey a more accurate representation.

Published
2018
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44. Proceedings of the Human Factors and Ergonomics Society Europe Chapter 2019 Annual Conference

Author

Dick de Waard, Antonella Toffetti, Luca Pietrantoni, Thomas Franke, Jean-François Petiot, Cédric Dumas, Assaf Botzer, Linda Onnasch, Isabelle Milleville-Pennel, Franck Mars, University of Groningen [Groningen], Centro Ricerche Fiat (CRF), Centro Ricerche Fiat, Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Chemnitz University of Technology / Technische Universität Chemnitz, Laboratoire des Sciences du Numérique de Nantes (LS2N), Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Perception, Action, Cognition pour la Conception et l’Ergonomie (PACCE), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Ariel University Center (AUC), Humboldt-Universität zu Berlin, IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique)

Subjects
[SHS.PSY]Humanities and Social Sciences/Psychology, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2020

45. Continuous Identification of Driver Model Parameters via the Unscented Kalman Filter

Author

Fabien Claveau, Philippe Chevrel, Yishen Zhao, Franck Mars, Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Perception, Action, Cognition pour la Conception et l’Ergonomie (PACCE), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), RFI Atlanstic 2020, and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Computer science, 020208 electrical & electronic engineering, Driving simulator, Control engineering, 02 engineering and technology, Kalman filter, Variation (game tree), Steering wheel, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Identification (information), 020901 industrial engineering & automation, Control and Systems Engineering, LPV Identification, 0202 electrical engineering, electronic engineering, information engineering, Driver Model, Unscented Kalman Filter, Haptic technology, Kalman Filter Tuning
Abstract

International audience; Advanced Driver-Assistance Systems (ADAS) have become an essential part of modern cars. Among the solutions proposed, haptic shared control of the steering wheel is increasingly being studied. A fundamental question is how drivers adapt their behavior to these systems. This article proposes to use the Unscented Kalman Filter (UKF) to identify the variation over time in the psychological and neuromuscular parameters of a driver structured model. The goal here is to understand how the driver adapts to changes, whether regarding the behavior of the steering system, the visibility or the road conditions. The LPV system considered for identification is known as the cybernetic driver model. Two experiments carried out respectively with Simulink© and on a driving simulator provide the data. The methodology proposed for tuning the UKF is studied from the results obtained with those data. A multi-UKF strategy is also considered. The methodology reveals useful when a compromise between rapidity and precision has to be achieved for parameters estimation. It opens the way to a detailed analysis of the driver's parameter variations within the multi-UKF framework.

Published
2019
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46. Looking at the Road When Driving Around Bends: Influence of Vehicle Automation and Speed

Author

Franck Mars, Jami Pekkanen, Damien Schnebelen, Otto Lappi, Callum Mole, Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), University of Helsinki, University of Leeds, ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016), Cognitive Science, TRU (Traffic Research Unit), Department of Digital Humanities, Staff Services, Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), and Université de Nantes (UN)-Université de Nantes (UN)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique)

Subjects
6162 Cognitive science, Time headway, lcsh:BF1-990, [SHS.PSY]Humanities and Social Sciences/Psychology, Poison control, 050105 experimental psychology, 03 medical and health sciences, 0302 clinical medicine, Visual guidance, visuomotor coordination, Psychology, 0501 psychology and cognitive sciences, General Psychology, Simulation, Original Research, look-ahead fixations, business.industry, 05 social sciences, gaze behaviour, Driving simulator, Gaze, Automation, steering control, lcsh:Psychology, Anticipation (artificial intelligence), automated driving, Polling, business, gaze behavior, 030217 neurology & neurosurgery
Abstract

International audience; When negotiating bends car drivers perform gaze polling: their gaze shifts between guiding fixations (GFs; gaze directed 1-2 s ahead) and look-ahead fixations (LAFs; longer time headway). How might this behavior change in autonomous vehicles where the need for constant active visual guidance is removed? In this driving simulator study, we analyzed this gaze behavior both when the driver was in charge of steering or when steering was delegated to automation, separately for bend approach (straight line) and the entry of the bend (turn), and at various speeds. The analysis of gaze distributions relative to bend sections and driving conditions indicate that visual anticipation (through LAFs) is most prominent before entering the bend. Passive driving increased the proportion of LAFs with a concomitant decrease of GFs, and increased the gaze polling frequency. Gaze polling frequency also increased at higher speeds, in particular during the bend approach when steering was not performed. LAFs encompassed a wide range of eccentricities. To account for this heterogeneity two sub-categories serving distinct information requirements are proposed: mid-eccentricity LAFs could be more useful for anticipatory planning of steering actions, and far-eccentricity LAFs for monitoring potential hazards. The results support the idea that gaze and steering coordination may be strongly impacted in autonomous vehicles.

Published
2019
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47. Shared Control Based on an Ecological Feedforward and a Driver Model Based Feedback

Author

Franck Mars, Yishen Zhao, Philippe Chevrel, Fabien Claveau, Beatrice Pano, Perception, Action, Cognition pour la Conception et l’Ergonomie (PACCE), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Commande (Commande), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), RFI Atlanstic 2020 (projet STEER&SHARE), ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016), and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Computer science, Shared control, 020208 electrical & electronic engineering, Control (management), Feed forward, Robust control, Control engineering, 02 engineering and technology, Steering wheel, Identification for control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, cooperation and degree of automation, 020901 industrial engineering & automation, Control and Systems Engineering, 0202 electrical engineering, electronic engineering, information engineering, Trajectory, Torque, Haptic technology, Vehicle dynamic systems
Abstract

International audience; Haptic shared control is a consistent way to design an assistance for the lateral control of a vehicle. The most important problem raised by haptic shared control is to minimize useless conflicts between the driver and the assistance. To deal with, this paper proceeds in two stages. The first is concerned with feedforward synthesis in a new way, by identifying mainly the geometric part of driving from real driver data. The torque to apply to the steering wheel and more generally the reference trajectory is thus obtained from a second order model fed by the road curvature. Then, the feedback is designed based on a driver-vehicle-road model, using a mixed í µí°» 2 /í µí°» ∞ control synthesis involving both lane following performance and sharing capabilities indicators. Finally, the shared control strategy is simulated on Matlab/Simulink using a vehicle-road model. The results obtained show good features both in terms of lane following and sharing performances. This control strategy seems then to be an interesting candidate for haptic shared control.

Published
2019
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48. List of Contributors

Author

Nounagnon F. Agbangla, Atahan Agrali, Cédric T. Albinet, Awad Aljuaid, Guillaume Andéol, Jean M. André, Pietro Aricò, Branthomme Arnaud, Romain Artico, Michel Audiffren, Hasan Ayaz, Fabio Babiloni, Wendy Baccus, Carryl L. Baldwin, Hubert Banville, Klaus Bengler, Bruno Berberian, Jérémy Bergeron-Boucher, Ali Berkol, Pierre Besson, Siddharth Bhatt, Arianna Bichicchi, Martijn Bijlsma, Nikolai W.F. Bode, Vincent Bonnemains, Gianluca Borghini, Guillermo Borragán, Marc-André Bouchard, Angela Bovo, Eric Brangier, Anne-Marie Brouwer, Heinrich H. Bülthoff, Christopher Burns, Vincent Cabibel, Tuna E. Çakar, Daniel Callan, Aurélie Campagne, Travis Carlson, William D. Casebeer, Deniz Zengin Çelik, Cindy Chamberland, Caroline P.C. Chanel, Peter Chapman, Luc Chatty, Laurent Chaudron, Philippe Chevrel, Lewis L. Chuang, Caterina Cinel, Bernard Claverie, Antonia S. Conti, Yves Corson, Johnathan Crépeau, Adrian Curtin, Frédéric Dehais, Arnaud Delafontaine, Gaétane Deliens, Arnaud Delorme, Stefano I. Di Domenico, Gianluca Di Flumeri, Jean-Marc Diverrez, Manh-Cuong Do, Mengxi Dong, Andrew T. Duchowski, Anirban Dutta, Lydia Dyer, Sonia Em, Kate Ewing, Stephen Fairclough, Brian Falcone, Tiago H. Falk, Sara Feldman, Ying Xing Feng, Victor S. Finomore, Nina Flad, Alice Formwalt, Alexandra Fort, Paul Fourcade, Marc A. Fournier, Jérémy Frey, C. Gabaude, Olivier Gagey, Marc Garbey, Liliana Garcia, Thibault Gateau, Lukas Gehrke, Nancy Getchell, Evanthia Giagloglou, Christiane Glatz, Kimberly Goodyear, Robert J. Gougelet, Jonas Gouraud, Klaus Gramann, Dhruv Grewal, Carlos Guerrero-Mosquera, Céline Guillaume, Martin Hachet, Alain Hamaoui, Gabriella M. Hancock, Peter A. Hancock, Ahmad Fadzil M. Hani, Amanda E. Harwood, Mitsuhiro Hayashibe, Terry Heiman-Patterson, Girod Hervé, Maarten A.J. Hogervorst, Amy L. Holloway, Jean-Louis Honeine, Keum-Shik Hong, Klas Ihme, Kurtulus Izzetoglu, Meltem Izzetoglu, Philip L. Jackson, Christophe Jallais, Christian P. Janssen, Branislav Jeremic, Meike Jipp, Evelyn Jungnickel, Hélio Kadogami, Gozde Kara, Waldemar Karwowski, Quinn Kennedy, Theresa T. Kessler, Muhammad J. Khan, Rayyan A. Khan, Marius Klug, Amanda E. Kraft, Michael Krein, Ute Kreplin, Bartlomiej Kroczek, Lauens R. Krol, Frank Krueger, Ombeline Labaune, Daniel Lafond, Claudio Lantieri, Paola Lanzi, Amine Laouar, Dargent Lauren, Rachel Leproult, Véronique Lespinet-Najib, Ling-Yin Liang, Fabien Lotte, Ivan Macuzic, Nicolas Maille, Horia A Maior, S. Malin, Alexandre Marois, Franck Mars, Nicolas Martin, Nadine Matton, Magdalena Matyjek, Kevin McCarthy, Ryan McKendrick, Tom McWilliams, Bruce Mehler, Ranjana Mehta, Ranjana K. Mehta, Mathilde Menoret, Yoshihiro Miyake, Alexandre Moly, Rabia Murtza, Makii Muthalib, Mark Muthalib, Noman Naseer, Jordan Navarro, Roger Newport, Anton Nijholt, Michal Ociepka, Morellec Olivier, Ahmet Omurtag, Banu Onaral, Hiroki Ora, Bob Oudejans, Özgürol Öztürk, Martin Paczynski, Nico Pallamin, Raja Parasuraman, Mark Parent, René Patesson, Kou Paul, Philippe Peigneux, Matthias Peissner, G. Pepin, Stephane Perrey, Vsevolod Peysakhovich, Markus Plank, Riccardo Poli, Kathrin Pollmann, Simone Pozzi, Nancy M. Puccinelli, Jean Pylouster, Kerem Rızvanoğlu, Martin Ragot, Bryan Reimer, Emanuelle Reynaud, Joohyun Rhee, Jochem W. Rieger, Anthony J. Ries, Benoit Roberge-Vallières, Achala H. Rodrigo, Anne L. Roggeveen, Ricardo Ron-Angevin, Guillaume Roumy, Raphaëlle N. Roy, Anthony C. Ruocco, Bartlett A. Russell, Jon Russo, Richard M. Ryan, Amanda Sargent, Kelly Satterfield, Ben D. Sawyer, Sébastien Scannella, Menja Scheer, Melissa Scheldrup, Alex Schilder, Nicolina Sciaraffa, Lee Sciarini, Magdalena Senderecka, Sarah Sharples, Tyler H. Shaw, Patricia A. Shewokis, Andrea Simone, Hichem Slama, Alastair D. Smith, Bertille Somon, Hiba Souissi, Moritz Späth, Kimberly L. Stowers, Clara Suied, Junfeng Sun, Rajnesh Suri, Tong Boon Tang, Yingying Tang, Emre O. Tartan, Nadège Tebbache, Franck Techer, Cengiz Terzibas, Catherine Tessier, Claudine Teyssedre, Hayley Thair, Jean-Denis Thériault, Alexander Toet, Shanbao Tong, Jonathan Touryan, Amy Trask, Sébastien Tremblay, Anirudh Unni, François Vachon, Davide Valeriani, Benoît Valéry, Helma van den Berg, Valeria Vignali, Mathias Vukelić, Jijun Wang, Max L. Wilson, Emily Wusch, Petros Xanthopoulos, Eric Yiou, Amad Zafar, Thorsten O. Zander, Matthias D. Ziegler, and Ivana Živanovic-Macuzic

Published
2019
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49. Identification of a Linear Parameter Varying Driver Model for the Detection of Distraction

Author

Ablamvi Ameyoe, Hervé Illy, Franck Mars, Eric Le-Carpentier, and Philippe Chevrel

Subjects
Engineering, business.industry, Network packet, Online identification, Model parameters, Control engineering, Kalman filter, Identification (information), Control and Systems Engineering, Control theory, Distraction, Cybernetics, business, Parametric statistics
Abstract

This study investigates a real-time identification of a LPV Cybernetic Driver Model (CDM), using the Unscented Kalman Filter (UKF). Unlike an iterative identification, dealing with packets of input-output data, the method considered is recursive identification dealing with the actual input-output data, making explicit the parametric changes along time. The two identification schemes are implemented and the cybernetic driver model capability to predict or to estimate the driver steering was evaluated. The possibility of the recursive identification, when applied to the cybernetic model, to help for distraction diagnosis is finally evoked. The variations of the driver model parameters are shown to be significantly associated with driver distraction.

Published
2015
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50. Modelling human control of steering for the design of advanced driver assistance systems

Author

Philippe Chevrel, Franck Mars, Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Commande (Commande), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Structure (mathematical logic), 050210 logistics & transportation, 0209 industrial biotechnology, Engineering, business.industry, 05 social sciences, Behavioural sciences, [SHS.PSY]Humanities and Social Sciences/Psychology, Advanced driver assistance systems, Control engineering, 02 engineering and technology, Steering wheel, Identification (information), 020901 industrial engineering & automation, Control and Systems Engineering, Distraction, 0502 economics and business, Set (psychology), business, Software, ComputingMilieux_MISCELLANEOUS, Haptic technology
Abstract

This paper reviews a set of scientific studies on how driver modelling may serve as the basis for designing advanced driving assistance systems. The work was aimed at explicitly representing the human visual and motor processes involved in the control of steering, and took into account current knowledge in the behavioural sciences. The nature and structure of the model, and its calibration using experimental data (identification), were addressed. Two design applications were considered: 1) estimating the driver state in various conditions of distraction and 2) building an automatic controller for haptic shared control of the steering wheel.

Published
2017
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