Chair for Computer Aided Medical Procedures Augmented Reality

Chair for Computer Aided Medical Procedures & Augmented Reality | Fachgebiet Augmented Reality campar.

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Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality Integration of a Component Based Driving Simulator and Design of Experiments on Multimodal Driver Assistance Darya Popiv, popiv@in. tum. de Master Thesis Presentation 12/22/2021 Department of Informatics | Technische Universität München

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality Outline ú Concept of Assisted Driving ú Integrated Multimodal Driver Assistance ú Concept “Aus” ú Concept “Active Cruise Control” ú Concept “Active Gas Pedal” ú ACC/AGP Algorithm ú Fixed-base Driving Simulator ú Future Work CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 2

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality Concept of Assisted Driving: Activity Loop ú ú Major tasks: navigation, stabilization, maneuvering Activity Loop ú “Driver in the loop” vs. “Driver out of the loop” CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 3

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality Concept of Assisted Driving: Related Work ú ú ú Conventional Head-Up Display (HUD) Longitudinal Assistance: ú Active Gas Pedal [1] ú Active Cruise Control [2] ú Braking bar [3] – conformal HUD Lateral assistance: ú Braking bar [3] [1] Lange, C. , Tönnis, M. , Bubb, H. , Klinker, G. (2006). Einfluss eines aktiven Gaspedals auf Akzeptanz, Blickverhalten und Fahrperfomance. Konferenzband der VDI/VW Konferenz, Germany [2] Brookhuis, K. , de Waard, D. (2006). The consequences of automation for driver behaviour and acceptance. Paper presented at IEA Congress, Maastricht, The Netherlands, 9 -14 July 2006. [3] Tönnis, M. et al. (2006) Visual Longitudinal and Lateral Driving Assistance in the Head-Up Displays of Cars. TU-München, Munich, Germany. CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 4

Chair for Computer Aided Medical Procedures & Augmented Reality | Fachgebiet Augmented Reality campar. in. tum. de Concept of Assisted Driving: Levels of Automation 1. Perceptive Cooperation mode 2. Mutual Cooperation mode 2. 1 Warning stage 2. 2 Action suggestion stage 2. 3 Limit stage 2. 4 Correction stage 3. Functional Delegation Cooperation mode 4. Fully Automatic Cooperation mode Driver in the loop Driver out of the loop Adopted from Endsley, M. R. , Kiris, E. O. (1995). The out-of-the-loop perfomance problem and level of control in automation. Human factors, 37 (2), 381 -394. CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 5

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality Integrated Multimodal Driver Assistance: Concept “Aus” - Baseline ú Fully manual control CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 7

Chair for Computer Aided Medical Procedures & Augmented Reality | Fachgebiet Augmented Reality campar. in. tum. de Integrated Multimodal Driver Assistance: Concept “Active Cruise Control” ú Functional Delegation Cooperation mode – “driver out of the loop” ú Two models for visual assistance (symbol vs. contact-analog) a) CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 b) 8

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality Integrated Multimodal Driver Assistance: Concept “Active Gas Pedal” ú Mutual Cooperation mode – “driver in the loop” ú AGP force appliance algorithm (similar to kick-down by the automatic trans) ú Two models for visual assistance (as for “ACC” concept) CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 9

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality ACC/AGP Algorithm Control Circuit CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 11

Chair for Computer Aided Medical Procedures & Augmented Reality | Fachgebiet Augmented Reality campar. in. tum. de ACC/AGP Algorithm: Control System AGP concept Driver Desired Accel error Controller Sugg Gas Pos Vehicle Dynamics Model Accel ACC concept ú Stability of system: Bounded Input/Bounded Output (BIBO) ú Behavior of system: c) b) a) a) under-damped b) over-damped c) critically damped CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 14

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality ACC/AGP Algorithm: PID Controller ú ú Proportional term guarantees the stability of the system Integral term anticipates and rejects a step disturbance Derivative term introduces additional damping of the output KP, KI, KD – to-be-tuned coefficients of proportional, integral, derivative terms CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 15

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality ACC/AGP Algorithm: PID Controller Implementation ú We can neglect the integral term, because in the driving simulator the output signal of system is measured precisely ú We use only proportional term when the car is almost approaching wanted speed (Proportional Controller) ú We use proportional term and derivative term (Proportional. Derivative Controller) when the difference between wanted and current speed is significant (>1 km/h) CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 16

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality ACC/AGP Algorithm: Required Acceleration – Step 1 ú Step 1: derive function representing how actual speed should reach wanted speed over course of time CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 18

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality ACC/AGP Algorithm: Required Acceleration – Step 2 ú Step 2: using Step 1, derive required acceleration function CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 19

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality ACC/AGP Algorithm: Following Distance Rule ú Goal: at required distance, speed of “own” car should be equaled to speed of leading car ú Wanted speed for “our” car: before some threshold, “own” car can travel faster than leading car; after threshold is passed linearly decrease wanted speed CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 22

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality Fixed-base Driving Simulator – OLD CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 24

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality Fixed-base Driving Simulator - NEW CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 25

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality Fixed-base Driving Simulator: Component Structure CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 26

Chair for Computer Aided Medical Procedures & Augmented Reality | campar. in. tum. de Fachgebiet Augmented Reality Future Work ú ú Execution and evaluation of predefined experiments Improvement of following distance rule function Introduction of integral term into PID equation … CAMP-AR | Department of Informatics | Technische Universität München | 12/22/2021 28