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Tetsushi IKEDA

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Cooperative driving by human and driving system

In automated driving, drivers are detached from the control loop and have difficulty understanding their surroundings. As a result, the problem arises that the driver becomes anxious about the vehicle's behavior. In addition, in emergency situations in Automated Level 3, the drivers who do not understand their surroundings will have difficulty responding quickly. We are conducting research on driver-involved automated driving and quantification of driver anxiety during automated driving.

Cooperative steering control system

We believe that cooperative driving, in which the driver is involved in the driving process while the driving system constantly supports safe driving, is one promising direction for automated driving. We proposed a method in which the driver and the system cooperate to steer the car. The results confirmed that the appropreate system's assistance not only makes driving more accurate, but also tends to improve the drivers' sense of agency, the feeling that they are driving the car by themselves.

Kohei Tatsumi, Akira Utsumi, Tetsushi Ikeda, Yumiko O. Kato, Isamu Nagasawa, Kazuhiko Takahashi, Evaluation of Driver's Sense of Control in Lane Change Maneuvers with a Cooperative Steering Control System, Proc. AutomotiveUI, pp. 107-111, 2021. doi:10.1145/3473682.3480274

Hiroaki Kuramochi, Akira Utsumi, Tetsushi Ikeda, Yumiko O. Kato, Isamu Nagasawa, Kazuhiko Takahashi, Human-Machine Cooperation on Driving Comfort in Highly Automated Steering Maneuvers, Proc. AutomotiveUI, pp. 151-155, 2019. doi:10.1145/3349263.3351498



Cooperative pedaling control system

We proposed a method in which the driver and the system cooperate to control the vehicle speed by operating the pedals for acceleration and deceleration. The results show that the proposed cooperative driving method allows the driver to maintain a high sense of agency when system intervention is relatively weak.

Hirotaka Nishihara, Tetsushi Ikeda, Akira Utsumi, Yumiko O. Kato, Isamu Nagasawa, A Method for Maintaining Sense of Agency Using Auditory Feedback During Cooperative Driving Proc. RoboMech 2023 (In Japanese).



Stress reduction by presenting information to drivers of automated vehicles

During automatic driving, drivers are less motivated to understand their surroundings and may become anxious because they cannot predict the behavior of the vehicle. We have confirmed that the driver's sense of security is improved by communicating the future behavior of the vehicle to the driver. In addition, using a wheelchair robot, we realized driving that adjusts its speed to reduce the user's anxiety in response to the surrounding environment.

Yuki Ishii, Tetsushi Ikeda, Toru Kobayashi, Yumiko O. Kato, Akira Utsumi, Isamu Nagasawa, Satoshi Iwaki, Investigation of the driver's seat that displays future vehicle motion, Proc. IEEE Int. Conf. on Robot & Human Interactive Communication (RO-MAN), pp. 148-153, 2019. [LINK]

Taishi Sawabe, Shohei Ota, Masayuki Kanbara1, Norimichi Ukita, Tetsushi Ikeda, Luis Yoichi Morales Saiki, Atsushi Watanabe, and Norihiro Hagita, "Warning Notification of Potential Collisions for Passenger Anxiety Reduction on Autonomous Wheelchairs," The 16th ITS Asia-Pacific Forum FUKUOKA 2018

Taishi Sawabe, Masayuki Kanbara, Norimichi Ukita, Tetsushi Ikeda, Yoichi Morales, Atsushi Watanabe, Norihiro Hagita, "Comfortable Autonomous Navigation Based on Collision Prediction in Blind Occluded Regions," Proc. IEEE Int. Conf. on Vehicular Electronics and Safety (ICVES), pp. 87-92, 2015.



Measuring stress in drivers of automated driving

In automated driving up to Level 3, the driver must carefully observe the operation and take responsibility for manual operation in emergency situations. Such driving is actually not comfortable and may adversely stress the driver. Using a driving simulator, we measured the behavior of drivers during automated driving and confirmed the conditions under which they experience stress.

Toru Kobayashi, Tetsushi Ikeda, Yumiko O. Kato, Akira Utsumi, Isamu Nagasawa, Satoshi Iwaki, "Evaluation of Mental Stress in Automated Following Driving, " 3rd Int. Conf. on Robotics and Automation Engineering (ICRAE 2018), pp. 131-135, 2018.

Ryohei Hashimoto, Ryota Nomura, Masayuki Kanbara, Norimichi Ukita, Tetsushi Ikeda, Yoichi Morales, Atsushi Watanabe, Kazuhiko Shinozawa, Norihiro Hagita, "Behavior Representation of Robotic Wheelchairs with Physiological Indices for Passenger Comfort, " Proc. IEEE Int. Conf. on Vehicular Electronics and Safety (ICVES), pp. 176-181, 2015.



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Last modified: 2023-5-25 ikeda