Investigating the impact of HMI on drivers' merging performance in intelligent connected vehicle environment.

Intelligent Connected Vehicle (ICV) is considered one of the most promising active safety technologies to address current transportation challenges. Human-Machine Interface (HMI) plays a vital role in enhancing user driving experience with ICV technology. However, in an ICV environment, drivers may exhibit excessive reliance on HMI, resulting in diminished proactive observation and analysis of the road environment, and subsequently leading to a potential decrease in drivers' situational awareness. This reduced situational awareness may consequently lead to a decline in their overall engagement in driving tasks. Therefore, to comprehensively investigate the impact of HMI on driver performance in various ICV environments, this study incorporates three distinct HMI systems: Control group, Warning group, and Guidance group. The Control group provides basic information, the Warning group adds front vehicle icon and real-time headway information, while the Guidance group further includes speed and voice guidance features. Additionally, the study considers three types of mainline vehicle gaps, namely, 30 m, 20 m, and 15 m. Through our self-developed ICV testing platform, we conducted driving simulation experiments on 43 participants in a freeway interchange merging area. The findings reveal that, drivers in the Guidance group exhibited explicit acceleration while driving on the ramp. Drivers in the Guidance and Warning groups demonstrated smoother speed change trends and lower mean longitudinal acceleration upon entering the acceleration lane compared to the Control group, indicating a preference for more cautious driving strategies. During the pre-merging section, drivers in the Warning group demonstrated a more cautious and smooth longitudinal acceleration. The Guidance group's HMI system assisted drivers in better speed control during the post-merging section. Differences in mainline vehicle gaps did not significantly impact the merging positions of participants across the three HMI groups. Drivers in the Guidance group merged closest to the left side of the taper section, while the Control group merged farthest. The research findings offer valuable insights for developing dynamic human-machine interfaces tailored to specific driving scenarios in the environment of ICVs. Future research should investigate the effects of various HMIs on driver safety, workload, energy efficiency, and overall driving experience. Conducting real-world tests will further validate the findings obtained from driving simulators.

Integrating Surrounding Vehicle Information for Vehicle Trajectory Representation and Abnormal Lane-Change Behavior Detection.

The detection of abnormal lane-changing behavior in road vehicles has applications in traffic management and law enforcement. The primary approach to achieving this detection involves utilizing sensor data to characterize vehicle trajectories, extract distinctive parameters, and establish a detection model. Abnormal lane-changing behaviors can lead to unsafe interactions with surrounding vehicles, thereby increasing traffic risks. Therefore, solely focusing on individual vehicle perspectives and neglecting the influence of surrounding vehicles in abnormal lane-changing behavior detection has limitations. To address this, this study proposes a framework for abnormal lane-changing behavior detection. Initially, the study introduces a novel approach for representing vehicle trajectories that integrates information from surrounding vehicles. This facilitates the extraction of feature parameters considering the interactions between vehicles and distinguishing between different phases of lane-changing. The Light Gradient Boosting Machine (LGBM) algorithm is then employed to construct an abnormal lane-changing behavior detection model. The results indicate that this framework exhibits high detection accuracy, with the integration of surrounding vehicle information making a significant contribution to the detection outcomes.

Lane-Level Regional Risk Prediction of Mainline at Freeway Diverge Area.

Real-time regional risk prediction can play a crucial role in preventing traffic accidents. Thus, this study established a lane-level real-time regional risk prediction model. Based on observed data, the least squares-support vector machines (LS-SVM) algorithm was used to identify each lane region of the mainline, and the initial traffic parameters and surrogate safety measures (SSMs) were extracted and aggregated. The negative samples that characterized normal traffic and the positive samples that characterized regional risk were identified. Mutual information (MI) was used to determine the information gain of various feature variables in the samples, and the key feature variables affecting the regional conditions were tested and screened by means of binary logit regression analysis. Upon screening the variables and corresponding labels, the construction and verification of a lane-level regional risk prediction model was completed using the catastrophe theory. The results showed that lane difference is an important parameter to reduce the uncertainty of regional risk, and its odds ratio (OR) was 16.30 at the 95% confidence level. The 10%-quantile modified time to collision (MTTC) inverse, the speed difference between lanes, and 10%-quantile headway (DHW) had an obvious influence on regional status. The model achieved an overall accuracy of 86.50%, predicting 84.78% of regional risks with a false positive rate of 13.37% and 86.63% of normal traffic with a false positive rate of 15.22%. The proposed model can provide a basis for formulating individualized active traffic control strategies for different lanes.

Does a faster takeover necessarily mean it is better? A study on the influence of urgency and takeover-request lead time on takeover performance and safety.

During conditionally automated driving, drivers are sometimes required to take over control of the vehicle if a so-called takeover request (TOR) is issued. TORs are generally issued due to system limitations. This study investigated the effect of different urgency scenarios and takeover-request lead times (TORlts) on takeover performance and safety. The experiment was conducted in a real vehicle-based driving simulator. Manual driving, 7-second TORlt and 5-second TORlt were each tested. Participants experienced three progressively urgent driving scenarios: one cut-in scenario and two obstacle-avoidance scenarios. The results indicate that the TORlt significantly affected takeover performance and safety. Within a certain range, the longer the TORlt, the safer the takeover. However, while takeover reaction time depended mainly on the length of the TORlt and was not significantly related to other factors, such as workload, greater workloads that were caused by the TORlt were associated with shorter reaction times and decreased safety. This is evidence that the reaction time should not be used as the preferred indicator to evaluate takeover performance and safety. Indicators, such as workload, minimum TTC, feature point distribution position and slope of the obstacle avoidance trajectory, can better measure and evaluate takeover performance and safety. This study can provide data support for takeover safety evaluation of conditionally automated driving.

Novel Time-Delay Side-Collision Warning Model at Non-Signalized Intersections Based on Vehicle-to-Infrastructure Communication.

In complex traffic environments, collision warning systems that rely only on in-vehicle sensors are limited in accuracy and range. Vehicle-to-infrastructure (V2I) communication systems, however, offer more robust information exchange, and thus, warnings. In this study, V2I was used to analyze side-collision warning models at non-signalized intersections: A novel time-delay side-collision warning model was developed according to the motion compensation principle. This novel time-delay model was compared with and verified against a traditional side-collision warning model. Using a V2I-oriented simulated driving platform, three vehicle-vehicle collision scenarios were designed at non-signalized intersections. Twenty participants were recruited to conduct simulated driving experiments to test and verify the performance of each collision warning model. The results showed that compared with no warning system, both side-collision warning models reduced the proportion of vehicle collisions. In terms of efficacy, the traditional model generated an effective warning in 84.2% of cases, while the novel time-delay model generated an effective warning in 90.2%. In terms of response time and conflict time difference, the traditional model gave a longer response time of 0.91 s (that of the time-delay model is 0.78 s), but the time-delay model reduced the driving risk with a larger conflict time difference. Based on an analysis of driver gaze change post-warning, the statistical results showed that the proportion of effective gaze changes reached 84.3%. Based on subjective evaluations, drivers reported a higher degree of acceptance of the time-delay model. Therefore, the time-delay side-collision warning model for non-signalized intersections proposed herein can improve the applicability and efficacy of warning systems in such complex traffic environments and provide reference for safety applications in V2I systems.

The safety effect of open-median management on one-side widened freeways: A driving simulation evaluation.

INTRODUCTION: Highway expansions and upgrades are often required to increase road network capacity. The widening of one side of a highway, referred to as 'one-side widening,' is sometimes implemented in these highway expansion projects. During one-side widening, to save costs, openings can be configured on existing medians (as opposed to removing the existing medians altogether). The median openings allow vehicles in the outer lanes to enter the inner lanes, but they also raise safety concerns and may require alternate open-median management strategies for traffic authorities. There is little existing research that has evaluated the safety effect of these open-median management strategies. METHOD: To bridge this gap, this study proposes a procedure that evaluates the safety of open-median management strategies for one-side widened highways. The proposed procedure was implemented through driving simulation experiments on a section of Binlai Freeway in Shandong, China. First, the minimum location requirements for median openings were determined by calculating the short length of the weaving segment. Then, simulation tests were carried out to observe driving performance and workload measures. RESULTS: The results indicate that the procedure successfully evaluates the safety effect of open-median management strategies for one-side widened freeways. It was also found that driving performance and workload are sensitive to the opening length and traffic flow. CONCLUSIONS: Therefore, median opening placement should be carefully selected in consideration of not only driving performance and workload but also traffic volume predictions. Practical Applications: The findings in this study can guide open-median management strategies for traffic safety one-side widened highways.

Investigating the Significant Individual Historical Factors of Driving Risk Using Hierarchical Clustering Analysis and Quasi-Poisson Regression Model.

Driving risk varies substantially according to many factors related to the driven vehicle, environmental conditions, and drivers. This study explores the contributing historical factors of driving risk with hierarchical clustering analysis and the quasi-Poisson regression model. The dataset of the study was collected from two sources: naturalistic driving experiments and self-reports. The drivers who participated in the naturalistic driving experiment were categorized into four risk groups according to their near-crash frequency with the hierarchical clustering method. Moreover, a quasi-Poisson model was used to identify the essential factors of individual driving risk. The findings of this study indicated that historical driving factors have substantial impacts on individual risk of drivers. These factors include the total number of miles driven, the driver's age, the number of illegal parking (past three years), the number of over-speeding (past three years) and passing red lights (past three years). The outcome of the study can help transportation officials, educators, and researchers to consider the influencing factors on individual driving risk and can give insights and provide suggestions to improve driving safety.

Driving behavior and safety analysis at OSMS section for merged, one-way freeway based on simulated driving safety analysis of driving behaviour.

In order to study driving performance at the opening section of median strip (hereafter OSMS) on the freeway capacity expansion project, this study separately controlled 9 different simulated experimental scenarios of OSMS length and freeway traffic flow. 25 participants were recruited to perform 225 simulated driving tests using the driving simulator, and the analysis of variance (ANOVA) was used to analyze the driving characteristics which can represent the safety context. The results show that the safety parameters of driving are different when the length of OSMS and the traffic flow are different. When the traffic flow is low or moderate, the OSMS length can significantly affect the speed of the vehicle and the maximum values of time to collision. The higher the traffic flow, the smaller the minimum values of time headway. As the length of the OSMS decreases, the vehicles are more generally concentrated at the end of the opening area with the minimum values of time headway. The study also found that when the traffic volume is high, the impact of the OSMS length on driving performance will be weakened. In addition, the OSMS length and the traffic flow have little impact on driving comfort. Additionally, when the traffic flow is low or moderate, the opening length can significantly affect the driving behavior and safety of the vehicle. However, when the traffic volume is high, the impact of the opening length on them will be relatively weakened to some extent. Therefore, it is advised that in the case of freeways with large traffic volume, merely extending the length of the opening section does not necessarily optimize safety. Rather, the actual traffic density of the road should be carefully considered before a design length is adopted.

The effect of gender, occupation and experience on behavior while driving on a freeway deceleration lane based on field operational test data.

Deceleration lanes improve traffic flow by reducing interference, increasing capacity and enhancing safety. However, accident rates are higher on these interchange segments than on other freeway segments. It is important to attempt to reduce traffic accidents on these interchange segments by further exploring the behavior of different types of drivers on a highway deceleration lane. In this study, with field operational test (FOT) data from 89 driving instances (derived from 46 participants driving the test road twice) on a typical freeway deceleration lane, section speed profiles, vehicle trajectories, lane position and other key parameters were obtained. The lane-change characteristics and speed profiles of drivers with different genders, occupations and experiences were analyzed. The significant disparities between them reflects the risk associated with different groups of drivers. The study shows that male drivers changed to the outside lane earlier; professional drivers and experienced drivers made the last lane change as early as possible to enter the deceleration lane; and the speed of the vehicles entering the exit ramp was significantly higher than the speed limit. This research work provides ground truth data for deceleration lane design, driver ability training and off-ramp traffic safety management.

Driving style recognition method using braking characteristics based on hidden Markov model.

Since the advantage of hidden Markov model in dealing with time series data and for the sake of identifying driving style, three driving style (aggressive, moderate and mild) are modeled reasonably through hidden Markov model based on driver braking characteristics to achieve efficient driving style. Firstly, braking impulse and the maximum braking unit area of vacuum booster within a certain time are collected from braking operation, and then general braking and emergency braking characteristics are extracted to code the braking characteristics. Secondly, the braking behavior observation sequence is used to describe the initial parameters of hidden Markov model, and the generation of the hidden Markov model for differentiating and an observation sequence which is trained and judged by the driving style is introduced. Thirdly, the maximum likelihood logarithm could be implied from the observable parameters. The recognition accuracy of algorithm is verified through experiments and two common pattern recognition algorithms. The results showed that the driving style discrimination based on hidden Markov model algorithm could realize effective discriminant of driving style.

Modeling Vehicle Collision Angle in Traffic Crashes Based on Three-Dimensional Laser Scanning Data.

In road traffic accidents, the analysis of a vehicle's collision angle plays a key role in identifying a traffic accident's form and cause. However, because accurate estimation of vehicle collision angle involves many factors, it is difficult to accurately determine it in cases in which less physical evidence is available and there is a lack of monitoring. This paper establishes the mathematical relation model between collision angle, deformation, and normal vector in the collision region according to the equations of particle deformation and force in Hooke's law of classical mechanics. At the same time, the surface reconstruction method suitable for a normal vector solution is studied. Finally, the estimation model of vehicle collision angle is presented. In order to verify the correctness of the model, verification of multi-angle collision experiments and sensitivity analysis of laser scanning precision for the angle have been carried out using three-dimensional (3D) data obtained by a 3D laser scanner in the collision deformation zone. Under the conditions with which the model has been defined, validation results show that the collision angle is a result of the weighted synthesis of the normal vector of the collision point and the weight value is the deformation of the collision point corresponding to normal vectors. These conclusions prove the applicability of the model. The collision angle model proposed in this paper can be used as the theoretical basis for traffic accident identification and cause analysis. It can also be used as a theoretical reference for the study of the impact deformation of elastic materials.

Driver's Cognitive Workload and Driving Performance under Traffic Sign Information Exposure in Complex Environments: A Case Study of the Highways in China.

Complex traffic situations and high driving workload are the leading contributing factors to traffic crashes. There is a strong correlation between driving performance and driving workload, such as visual workload from traffic signs on highway off-ramps. This study aimed to evaluate traffic safety by analyzing drivers' behavior and performance under the cognitive workload in complex environment areas. First, the driving workload of drivers was tested based on traffic signs with different quantities of information. Forty-four drivers were recruited to conduct a traffic sign cognition experiment under static controlled environment conditions. Different complex traffic signs were used for applying the cognitive workload. The static experiment results reveal that workload is highly related to the amount of information on traffic signs and reaction time increases with the information grade, while driving experience and gender effect are not significant. This shows that the cognitive workload of subsequent driving experiments can be controlled by the amount of information on traffic signs. Second, driving characteristics and driving performance were analyzed under different secondary task driving workload levels using a driving simulator. Drivers were required to drive at the required speed on a designed highway off-ramp scene. The cognitive workload was controlled by reading traffic signs with different information, which were divided into four levels. Drivers had to make choices by pushing buttons after reading traffic signs. Meanwhile, the driving performance information was recorded. Questionnaires on objective workload were collected right after each driving task. The results show that speed maintenance and lane deviations are significantly different under different levels of cognitive workload, and the effects of driving experience and gender groups are significant. The research results can be used to analyze traffic safety in highway environments, while considering more drivers' cognitive and driving performance.

Identification of common features of vehicle motion under drowsy/distracted driving: A case study in Wuhan, China.

Drowsy/distracted driving has become one of the leading causes of traffic crash. Only certain particular drowsy/distracted driving behaviors have been studied by previous studies, which are mainly based on dedicated sensor devices such as bio and visual sensors. The objective of this study is to extract the common features for identifying drowsy/distracted driving through a set of common vehicle motion parameters. An intelligent vehicle was used to collect vehicle motion parameters. Fifty licensed drivers (37 males and 13 females, M=32.5 years, SD=6.2) were recruited to carry out road experiments in Wuhan, China and collecting vehicle motion data under four driving scenarios including talking, watching roadside, drinking and under the influence of drowsiness. For the first scenario, the drivers were exposed to a set of questions and asked to repeat a few sentences that had been proved valid in inducing driving distraction. Watching roadside, drinking and driving under drowsiness were assessed by an observer and self-reporting from the drivers. The common features of vehicle motions under four types of drowsy/distracted driving were analyzed using descriptive statistics and then Wilcoxon rank sum test. The results indicated that there was a significant difference of lateral acceleration rates and yaw rate acceleration between "normal driving" and drowsy/distracted driving. Study results also shown that, under drowsy/distracted driving, the lateral acceleration rates and yaw rate acceleration were significantly larger from the normal driving. The lateral acceleration rates were shown to suddenly increase or decrease by more than 2.0m/s(3) and the yaw rate acceleration by more than 2.5°/s(2). The standard deviation of acceleration rate (SDA) and standard deviation of yaw rate acceleration (SDY) were identified to as the common features of vehicle motion for distinguishing the drowsy/distracted driving from the normal driving. In order to identify a time window for effectively extracting the two common features, a double-window method was used and the optimized "Parent Window" and "Child Window" were found to be 55s and 6s, respectively. The study results can be used to develop a driving assistant system, which can warn drivers when any one of the four types of drowsy/distracted driving is detected.