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Social-Aware Planning and Control for Automated Vehicles Based on Driving Risk Field and Model Predictive Contouring Control: Driving Through Roundabouts as a Case Study

Zhang, Li (author), Dong, Y. (author), Farah, H. (author), van Arem, B. (author)

The gradual deployment of automated vehicles (AVs) results in mixed traffic where AVs will interact with human-driven vehicles (HDVs). Thus, social-aware motion planning and control while considering interactions with HDVs on the road is critical for AVs' deployment and safe driving under various maneuvers. Previous research mostly focuses on...

conference paper 2023

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Safe, Efficient, Comfort, and Energy-saving Automated Driving through Roundabout Based on Deep Reinforcement Learning

Yuan, Henan (author), Li, Penghui (author), van Arem, B. (author), Kang, Liujiang (author), Farah, H. (author), Dong, Y. (author)

Traffic scenarios in roundabouts pose substantial complexity for automated driving. Manually mapping all possible scenarios into a state space is labor-intensive and challenging. Deep reinforcement learning (DRL) with its ability to learn from interacting with the environment emerges as a promising solution for training such automated driving...

conference paper 2023

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Modeling Gap Acceptance in Overtaking: A Cognitive Process Approach

Mohammad, Samir H.A. (author), Farah, H. (author), Zgonnikov, A. (author)

Driving automation holds significant potential for enhancing traffic safety. However, effectively handling interactions with human drivers in mixed traffic remains a challenging task. Several models exist that attempt to capture human behavior in traffic interactions, often focusing on gap acceptance. However, it is not clear how models of an...

conference paper 2023

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Impact of Automated Highway Autopilot on the Average Network Travel Times and Total Distance Travelled

van der Tuin, M.S. (author), Correia, Gonçalo (author), Farah, H. (author)

Allowing Level 4 Automated Vehicles (AVs) to drive on highways could potentially have an impact on the road network performance. Although it might probably take a while before AVs are on the road, National Road Authorities (NRAs) are already concerned about understanding what changes would be required on their current infrastructure to make it...

conference paper 2020

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Impact of Automated Highway Autopilot on the Performance and Safety of Weaving Sections

van der Tuin, M.S. (author), Farah, H. (author), Correia, Gonçalo (author)

Allowing level 4 Automated Vehicles to drive on highways could significantly impact the traffic efficiency and safety. Although it might probably take a while before AVs are on the road, NRAs (National Road Authorities) are already investigating how to adapt their current infrastructure to make it ready for AVs – while optimizing both traffic...

conference paper 2020

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Assessing Traffic Safety of Dutch Weaving Sections: Validation of the Surrogate Safety Assessment Model combined with VISSIM

Oude Vrielink, Ilse (author), Broeren, Patrick (author), Farah, H. (author), Hoogendoorn, S.P. (author)

Dutch road designers and safety experts are searching for more quantitative methods to evaluate the safety of a (proposed) weaving section than the traditional methods of expert judgement and use of accident records. An alternative would be to determine safety using VISSIM micro-simulation models in combination with the Surrogate Safety...

conference paper 2018

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Continuous-discrete choices of control transitions and speed regulations in full-range adaptive cruise control

Varotto, S.F. (author), Farah, H. (author), Toledo, Tomer (author), van Arem, B. (author), Hoogendoorn, S.P. (author)

Driving assistance systems such as Adaptive Cruise Control (ACC) and automated vehicles can contribute to mitigate traffic congestion, accidents, and levels of emissions. Automated vehicles may increase roadway capacity, improve traffic flow stability, and speed up the outflow from a queue (1). The functionalities of automated systems have been...

conference paper 2018

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WEpod WElly in Delft: Pedestrians’ crossing behavior when interacting with automated vehicles using Virtual Reality

Nuñez Velasco, J.P. (author), Farah, H. (author), van Arem, B. (author), Hagenzieker, Marjan (author)

Automated vehicles could have many impacts on society [1]. Taking the control of vehicles from human drivers, who by their nature make mistakes, and giving it to automated vehicles (AVs), which are believed to be accurate and reliable, could, in theory, increase safety. However, how non-automated road users will react and interact with...

conference paper 2018

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Multi-Level Driver Workload Prediction Using Machine Learning and Off-The-Shelf Sensors

van Gent, P. (author), Melman, T. (author), Farah, H. (author), Nes, Nicole Van (author), van Arem, B. (author)

The present study aims to add to the literature on driver workload prediction using machine learning methods. The main aim is to develop workload prediction on a multi-class basis, rather than a binary high/low distinction as often found in litearature. The presented approach relies on measures that can be obtained unobtrusively in the driving...

conference paper 2018

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Heart Rate Analysis for Human Factors: Development and Validation of an Open Source Toolkit for Noisy Naturalistic Heart Rate Data

van Gent, P. (author), Farah, H. (author), Nes, N (author), van Arem, B. (author)

Heart rate data are collected often in human factors studies. Advances in open hardware platforms and offtheshelf photoplethysmogram (PPG) sensors allow the nonintrusive collection of heart rate data at very low cost. However, the signal is not trivial to analyse, since the morphology of PPG waveforms differs from electrocardiogram (ECG)...

conference paper 2018

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Interactions between vulnerable road users and automated vehicles: A synthesis of literature and framework for future research

Nuñez Velasco, J.P. (author), Farah, H. (author), van Arem, B. (author), Hagenzieker, Marjan (author)

Partially and fully automated vehicles (AVs) are being developed and tested in different countries. These vehicles are being designed to reduce and ultimately eliminate the role of human drivers in the future. Most fatal accidents of vulnerable road users (VRUs), pedestrians, cyclists and mopeds, involve a motorized vehicle. In addition, most of...

conference paper 2017

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Resuming manual control or not?: Modelling choices of control transitions in full-range adaptive cruise control

Varotto, S.F. (author), Farah, H. (author), Toledo, T (author), van Arem, B. (author), Hoogendoorn, S.P. (author)

Automated vehicles and driving assistance systems such as Adaptive Cruise Control (ACC) are expected to reduce traffic congestion, accidents and levels of emissions. Field Operational Tests have found that drivers may prefer to deactivate ACC in dense traffic flow conditions and before changing lanes. Despite the potential effects of these...

conference paper 2017

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Comparative assessment of safety indicators for vehicle trajectories on the highway

Mullakkal-Babu, F.A. (author), Wang, M. (author), Farah, H. (author), van Arem, B. (author), Happee, R. (author)

Safety measurement and analysis have been a challenging and well-researched topic in transportation. Conventionally, surrogate safety measures have been used as safety indicators in simulation models for safety assessment, in control formulations for driver assistance systems, and in data analysis of naturalistic driving studies. However,...

conference paper 2017

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Assessing traffic safety of Dutch weaving sections: Validation of the Surrogate Safety Assessment Model combined with VISSIM

Oude Vrielink, Ilse (author), Broeren, Patrick (author), Farah, H. (author), Hoogendoorn, S.P. (author)

Nederlandse wegontwerpers en veiligheidsexperts zoeken naar meer kwantitatieve methodes om de veiligheid van een (voorgenomen) weefvak te bepalen dan de traditionele methodes die gebruik maken van expert judgement en ongevalsregistraties. Een alternatieve methode is om de veiligheid te bepalen met behulp van VISSIM micro-simulatiemodellen in...

conference paper 2017

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Towards Real-Time, Nonintrusive Estimation of Driver Workload in a Simulated Environment

van Gent, P. (author), Farah, H. (author), Nes, Nicole Van (author), van Arem, B. (author)

The aim of this research is to work towards building an open-source, platform-independent algorithm capable of predicting driver workload in real-time and in a non-intrusive way. To work towards a system that can also be implemented in on-road settings, we aimed at using off-the-shelf, non-intrusive sensors that could be implemented into the...

conference paper 2017

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The Use of Persuasive In-Car Technology to Persuade Drivers at the Tactical Level

van Gent, P. (author), Farah, H. (author), Nes, Nicole Van (author), van Arem, B. (author)

The use of in-car technology has become more prevalent, both as driver assistance systems as well as connectivity or entertainment systems. Driver assistance systems can be built-in, after-market or run on a smartphone. The challenge however, is to increase drivers’ compliance with these systems. Stimulating the driver to adopt certain...

conference paper 2017

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Advanced Driver Assistence Systems (ADAS) in rijopleiding en rijexamen

Tsapi, Anastasia (author), Gorter, C.M. (author), Morsink, P (author), Hagenzieker, Marjan (author), Farah, H. (author), Claesen, R. (author)

In Nederland is het ongevalsrisico voor beginnende automobilisten hoog. Advanced Driver Assistance Systems kunnen mogelijk bijdragen aan het verminderen van ongelukken onder beginnende bestuurders. Deze studie onderzocht de perceptie van leerling-bestuurders van Adaptive Cruise Control (ACC) en Blind Spot Detection (BSD) en de introductie...

conference paper 2016

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A critical assessment of methodologies for operations and safety evaluations of freeway turbulence

van Beinum, A.S. (author), Farah, H. (author), Wegman, F.C.M. (author), Hoogendoorn, S.P. (author)

Turbulence in traffic is a commonly known phenomenon, but the exact characteristics of this phenomenon are not yet clear. It reflects individual changes in speed, headways, and lanes in the traffic stream. The currently used freeway design guidelines prescribe different measures for handling turbulence, such as sufficient ramp spacing, and...

conference paper 2016

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When do drivers abort an overtaking maneuver 5 on two-lane rural roads

Farah, H. (author)

Overtaking on two-lane roads is a complex driving maneuver. Drivers who desire to overtake a lead vehicle need to evaluate the available gaps in the opposite direction and accept a sufficient gap to successfully complete the overtaking maneuver. However, often drivers realize that the gap they accepted is shorter than what they actually need to...

conference paper 2016

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A crash prediction model for weaving sections in the Netherlands

Iliadi, A. (author), Farah, H. (author), Schepers, P. (author), Hoogendoorn, S.P. (author)

Weaving is defined as the crossing of two streams travelling in the same direction along a significant section of the road without the assistance of traffic control devices. Merging and diverging vehicles need to make one or more lane-changes in a limited space and time, determined by the weaving section length. This situation creates intensive...

conference paper 2016