Exploratory Qualitative Research ON AUTONOMOUS VEHICLES AND THE EXCHANGE OF INFORMATION (INTERACTION) AMONG ROAD USERS
STUDENT: MARJOLEIN KORS COACH: JACQUES TERKEN SEMESTER: M1.2 PROJECT: APPS ON WHEELS
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CONTENT
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CONTENT
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ABSTRACT
8 - 11
INTRODUCTION
12 - 27 12 - 19 14 - 15 16 - 17 18 - 19
METHODS
20 - 27 22 - 23 26 - 27
Context: Japan
28 - 33 30 - 32 32 - 33
ANALYSIS PROCEDURE THE NETHERLANDS & JAPAN
34 - 41
FINDINGS
42 - 44
DISCUSSION AND CONCLUSION
Context: the Netherlands Study 1 - Diary study Study 2 - Covert observation research & Participation research Study 3 - Overt observational research & Semi-structured interview
Study 4 - Covert observation and participation research Study 5 - Overt observational research, Semi-structured interview & Behavioural interview
Analysis part 1: Action-message level Analysis part 2: Interaction level
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LITERATURE CITED
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APPENDIX
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ABSTRACT
In order to explore how fully autonomous vehicles could join the non-autonomous road users in traffic, this study aimed to collect, analyse and synthesize the current way of exchanging information among road users. An exchange which is of importance for all road users, just as well non as fully autonomous, considering that it increases both the flow, providing the possibility to think ahead, as the safety, preventing confusion, of traffic. Only also an exchange which seems to be overlooked and not included in the development of autonomous vehicles. This research provided both insights on this current interaction, thus how, when, why and where does one interacts, as on what this knowledge means for the further development of autonomous vehicles, including requirements and areas which need further research. Practically seen the research consisted out of five separate studies, and included merging into the real setting, observing the interaction among road users and gaining first person perspective data from a diverse group of road users. Not only diverse as in characteristics but also as in context, conducting three studies in the Netherlands and two in Japan. This to explore wherever there might be a universal element in the exchange of information. Subsequently, all gained data was used to explore how the information exchange among road users could be integrated into the future context of autonomous driving.
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INTRODUCTION
WHY: CONTEXT AND RATIONAL
[Research context broad] Autonomous vehicles, a futuristic idea which could soon become .............
reality. The first fully autonomous cars have actually already done their tour on the highway. And expected is that within 40 years the first fully autonomous vehicles are going to be available for the consumer market and used within daily life traffic (driverless-future). Nevertheless there are for now still a lot of uncertainties such as how the transition phase is going to take place, from traffic that contains merely non-autonomous vehicles to a combination and eventually only fully-autonomous vehicles. Meaning that drivers have to give up control and both fully autonomous and non-autonomous vehicles have to share the road. [Research options and rational] What raises two interesting questions for further research. Firstly, how could the shift of control be initiated and facilitated, from driver to car? And secondly, how could fully autonomous cars join the current interaction and information flow within traffic? Considering that the question of control highly relates to the flawlessness, trustworthiness and thus development of the technology it’s at this time still too undefined for a meaningful research. However the importance of the interaction became even more evident, considering that: 1.
Autonomous vehicles will besides in the transition phase also in the future have to share their space with non-autonomous road users. While the information flow expanse further than vehicles alone, affecting also pedestrians and cyclists, which, unless a drastic change occurs, will continue to be part of the group “road users”
2.
The information exchange is needed to ensure the flow of traffic and prevent confusion. It is used to deal with situations in which the rules are inadequate and to base one another’s actions on.
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3.
Existing research does not covers the interaction among road users nor what it means for the development of autonomous vehicles. The current research topics are: [Figure 1] •
Cooperative driving (motorauthority, 2014) (Hanlon, 2006) or car to x communication (Mercedes-Benz, 2013).
•
Sharing emotions (Williams, 2012).
•
Car - driver communication.
All interesting fields but incapable of providing the information which the nonautonomous road users need to base their actions on. Information which as it seems now will be digitalised. Removing it from the visual world and so from the view of the nonautonomous road users. (Williams, How (and How Well) Google’s Self-Driving Cars Get Around, 2012) (Crider, 2012) (autoalliance). Figure 1: Overview of the current research topics in regard to autonomous driving and the interaction among road users.
Current research interaction & autonomous driving
cooperative driving [digital car – car communication]
“What about the non-autonomous road user?”
car – driver communication
communication of emotions 9
WHAT: RESEARCH QUESTION
So what about the non-autonomous road users? How will they in the context of ............................
autonomous driving receive the information they need? Resulting into the following research question:
“WHAT are the social patterns and underlying messages in the interaction among road users1, and HOW could these as a possible universal “language” be integrated into the context of autonomous driving.”
HOW: APPROACH
These “What” and “How” were used to structure the research, “what” covering the ........................................................................
execution of the studies and “how” the analysis and synthesis of the gained data. “What” phase [execution] This phase was about exploring the information exchange among road users by immersing myself into the real setting, observing the interactions among road users and gaining first person perspective data from a diverse group of road users. Not only diverse in characteristics but also in context, conducting three studies in the Netherlands and two in Japan. This to explore wherever there might be a universal element in the way of interacting.
1
Definition “Road users: Anyone who takes part in the
traffic on whatever way, such as a pedestrian, cyclist or motorist.
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“How” phase
reasons why information is exchanged.
[Analysis & synthesizes] This phase was
Considering that one of the aims was to
focussed on analysing and synthesizing the
explore the possibility of a “universal”
interactions to, combined with the insights,
language the research included a special
explore how the information exchange
focus on the influence which a context has
among road users could be integrated into
on the interaction. Therefore just as well
the future context of autonomous driving.
different contexts were sought within the
While thereby defining the requirements
Netherlands as the choice was made to
which autonomous vehicles would have to
compare the Dutch context to the Japanese
meet. A phase which, inter alia, included
context, both similar in economical
searching for patterns, studying the
developed but quite different in context.
influence of contexts and defining the
Figure: Project process overview.
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METHOD | CONTEXT: THE NETHERLANDS To gather interactions and so develop an overview of the ways that information is being exchanged among road users three studies were conducted with the Dutch context. Firstly a Diary study (study(1)) to not only increase the range in gathering the interactions but also gain first person perspective data other than my own on how the interaction is perceived and performed, why interaction takes place, how aware people are of the interactions, how people perform a certain interaction etc. Then secondly a Covert observation and Participation research (study (2)) to develop a wide overview of the interactions and lastly an Overt observational research & Semi-structured interview (study (3)) to explore differences between drivers and their awareness towards interaction.
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CONTEXT: THE NETHERLANDS
STUDY 1. DIARY STUDY
..............................................................
For the duration of one week a selected group of participants kept a diary on the encountered and remembered interactions. Choice of participants
Figure: Diary booklet which was distributed among the participants.
To collect an as complete as possible overview of the interaction among road users, including possible variations, certain characteristics were used to select the participants. These were, inter alia, age, gender, geographical location, years of possessing a driver license, frequency of driving and purpose of driving. These characteristics were not to compare one another but merely to create some variation in contexts. Overall all participants were located in the Netherlands and in the possession of a driver license. Thereby having participants from different contexts made it also possible to explore the
DIARY
influence of one’s context, preliminary to the future studies. Eventually eleven participants were selected of whom nine booklets were successfully
The use of interaction among road users: action, message and context.
(
Het gebruik van interactie tussen verkeersdeelnemers: handeling, boodschap en context.
)
received back. [Appendix A] Materials The booklet provided to each participant was designed for the collection of the interactions which they would come across, or remember, during the duration of the study. It included three sections, each indicated by a colour: blue, red and green. The first part [blue] covered the introduction, general information, consent form and a small questionnaire to document their characteristics. The second part [red] covered the documentation of the encountered interactions, using a sentence completion structure. And the final part [green] covered the possibility to document the interactions which one remembered from prior experiences. Both the observation as the experience section included an example. All eleven booklets were distributed as printed booklets. [Appendix B]
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Procedure
OBSERVATIE
After the participants were arranged and their booklets prepared each participant was introduced to the study, asked if they
21 Maart. Het is ____
agreed to participate and if so provided
Zo juist heb ik binnen de bebouwde kom / buiten de bebouwde kom /
VOORBEELD
ik heb je gezien. Pas op ik sta hier, zie met de onderliggende boodschap: ______________________________ jij mij? _________________________________________________________.
with a personal diary, including an
op de autoweg / op de autosnelweg een interactie meegemaakt tussen
te stoppen met zijn actie Auto 1 Hierop reageerde______________door__________________________
ethical form. The diary would be in their
Twee auto’s __________________________________________________________
____________________________________________________ (actie),
_____________________________(Betrokken verkeersdeelnemers).
jij hebt voorrang, neem je die of laat met de onderliggende boodschap: ______________________________ je mij verder uitparkeren? _________________________________________________________.
possession for approximately one week.
Schets hieronder de verkeerssituatie, beschrijven mag eventueel ook: Auto 2 een “ga maar door/ schiet Hierop reageerde______________door__________________________ op” handgebaar te maken ____________________________________________________ (actie),
They were asked to, for the duration of
Ga maar verder, schiet een beetje met de onderliggende boodschap: ______________________________ op, ik wacht op je _________________________________________________________.
the study, self-document all encountered and remembered interactions in their
Auto 1 verder te gaan met Hierop reageerde______________door__________________________ uitparkeren en zijn hand op te steken. ____________________________________________________ (actie),
diary. Indicating for each situation the
Dankje met de onderliggende boodschap: ______________________________
kind of road area and involved road users,
_________________________________________________________.
providing a context sketch (or description)
een geparkeerde auto was van plan Deze interactie ontstond doordat _______________________________ (en eigenlijk al bezig) om uit te parkeren als een tweede auto aan komt __________________________________________________________
Hierop reageerde______________door__________________________
and writing down the interaction in a
rijden. De tweede auto kan er niet langs. _________________________________________________________. snelheid te minderen en te Auto 2 Waarop______________reageerde door_________________________
met de onderliggende boodschap: ______________________________
trigger – action – message – reaction –
____________________________________________________ (actie), _________________________________________________________.
stoppen ____________________________________________________ (actie),
message – etc.… structure. This just as well for the interactions which they observed
Figure: Example page from the Diary booklets for the
as the ones of which they were part of.
documentation of encountered interactions. [Appendix B]
During the study the participants were free
Figure: Example page from the Diary booklets for the
to contact the researcher with any question
documentation of prior experiences.[Appendix B]
concerning their assignment.
ERVARING
At the end of the week the booklets were collected and a debriefing took place concerning their experiences and possible change in awareness towards the interaction among road users.
Beschrijf hieronder zo veel mogelijk interacties tussen verkeersdeelnemers als je kan bedenken. Deze kun je zelf ervaren hebben of geobseerd maar mogelijk ook op algemene kennis gebaseerd BETROKKEN WEGGEBRUIKERS CONTEXT
1 Auto en 1 voetganger
[ ] binnen de bebouwde kom [ ] op de autoweg
zijn. Minimaal moet er wel één auto bij betrokken zijn. Vraag ook aan andere welke zij kennen en noteer die onder vermelding van de gene waar je het aan vroeg. BETROKKEN WEGGEBRUIKERS
[ ] buiten de bebouwde kom [ ] op de autosnelweg
CONTEXT
[ ] binnen de bebouwde kom [ ] op de autoweg
[ ] buiten de bebouwde kom [ ] op de autosnelweg
Ik rij de stad en kom aan bij een zebrapad waar een voetganger op het punt staat om over te steken.
INTENTIE
Ik wil laten zien dat ik de loper heb gezien en zal stoppen.
INTENTIE
ACTIE
Ik begin langzaam te remmen en geef pas weer gas zodra de voetganger overgestoken is.
ACTIE
ONDERLIGGENDE BOODSCHAP
Ik heb je gezien en je mag over.
ONDERLIGGENDE BOODSCHAP
VOORBEELD
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Image: Marjolein Kors
STUDY 2. COVERT OBSERVATIONAL AND PARTICIPATION RESEARCH
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For the duration of five weeks the researcher observed and participated in the context, documenting the interactions. Choice of Research Venue(s) Within the broad frame of the Dutch context different venues were studied to ensure the likeliness of capturing most of the interactions among road users. These venues varied in the kind of road area (binnen de bebouwde kom 1, buiten de bebouwde kom 2, autoweg 3 and autosnelweg 4), the road users that were involved (cars, cyclists, pedestrians or other) and the geographical location (North, Middle and South Holland). In regard to the ethical issue, the study merely describes and collects the interactions without any personal data collected.
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1.
Road within the urban area.
2.
Road outside the urban area.
3.
Dutch road type which is most similar to a
two-lane express-way, 4.
Dutch road type which is most similar to a controlled-access highway,
Material
as one of the road users involved, and
To collect the interactions a booklet was
as a whole, gaining the overview of the
created. One based on the “Observation�
happening. In either case, the observation
section of the booklet used within the Diary
was unobtrusive and unknown to the
study (study (1)). The layout was kept the
participants in the context.
same but the capacity increased. This while
For the duration of five weeks both
the study was conducted over a longer
booklets were kept within reach
period of time, with more awareness and
to document all encountered and
included an active search for different
remembered interactions throughout
contexts/interactions. [Appendix C]
daily live. Thereby to increase the amount and variety of interactions the researcher
Procedure
actively participated in different venues,
The study combined two opposite
and thus contexts, as often as possible.
observation stances, the complete
Each interaction was documented in the
participant and the complete observer.
same context, action and message structure
This to study the interactions from within,
as within the Diary study (study (1)).
Images: Marjolein Kors
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STUDY 3. OVERT OBSERVATIONAL RESEARCH & SEMISTRUCTURED INTERVIEW
..............
Simultaneously to study 1 and 2, two
and observed interactions together with
participants were occasionally observed in
the insights gained through the semi-
the act of driving and briefly interviewed
structured interview. [Appendix C]
after each encountered interaction on their awareness of the happening.
Procedure The participants were, on multiple
Choice of participants
occasions, observed and shadowed in the
This study made use of two participants
act of driving. The role of the researcher
which were besides participants in the
was to closely observe the behaviour of the
Diary study (study (1)) also available to
driver in its information exchange with the
be observed and shadowed over a longer
surrounding, to document the interactions
period of time, on multiple occasions.
in the booklet “Observations” and to, after encountering an interaction, conduct a
Image: Marjolein Kors
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Material
brief interview. In advance the participants
The booklet “Observation”, from study (2),
were informed on the study and asked to
was used to document the encountered
sign an ethical form as prove of agreement.
Image: Marjolein Kors
All observations were carried out from the
on the interaction but only after the
driver’s perspective but varied in context,
participant had given its version. The
thus the kind of road area, geographical
insights on the awareness and behaviour
location and road users involved.
were documented on the same page as the
interaction.
The observation occurred
as discrete and unnoticed as possible, directing their attention with a casual conversation. Each time an interaction occurred the researcher, after documenting it, asked the participant questions related to their awareness of the interaction (did they noticed the interaction?) and how they perception it (who were involved? What was the trigger? What were the steps within? Etc.). If requested the researched shared its own information
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METHOD | CONTEXT: JAPAN To truly explore the influence of a context, and thus the possibility of a universal “language�, the research involved not only different venues within the Dutch context but also two completely different but economically similar developed contexts: the Netherlands and Japan. These included a Covert observation and Participation research (study
(4)) to develop a sufficient overview of the interactions, as study (1) achieved within the Dutch context, and an Overt observational research,
Semi-structured interview & Behavioural interview (study (5)) to explore differences between drivers and their awareness towards interaction.
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CONTEXT: JAPAN STUDY 4. COVERT OBSERVATION AND PARTICIPATION RESEARCH
.........
(SIMILAR TO STUDY (2))
Three weeks during participant observation, documenting the interactions among road users encountered throughout daily life and within different geographical locations. Choice of participants Similar to the Covert observation research & Participation research conducted in the Dutch context (study (2)) only then within the Japanese context and as geographical locations the
Figure: Observation booklet, used to document the interaction in the Japanese context.
Kanto, Kyushu and Iwate prefectures. Materials
Photo: Marjolein Kors
The observed interactions were documented in an improved version of the previous used booklet “Observation” (study (2) and (3)) named “Observation, context Japan”. This booklet covered the same information only with the added possibility to include notes at the interaction page and to write down insights at the end. [Appendix D]
OBSERVATION CONTEXT: JAPAN The use of interaction among road users: action, message and context.
(
Het gebruik van interactie tussen verkeersdeelnemers: handeling, boodschap en context.
)
Procedure Similar to study (2) within the Dutch context this study combined two opposite observation stances, the complete participant and the complete observer, to study the interactions from within and as a whole. In either case, the observation was unobtrusive and unknown to the participants in the context. For the duration of three weeks the booklet was kept within reach to document all encountered interactions. Each interaction was documented in the same context, action and message structure as within the Dutch context. Notes were documented at the interaction page itself and insights collected at the end.
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STUDY 5. OVERT OBSERVATIONAL RESEARCH, SEMI-STRUCTURED INTERVIEW & BEHAVIOURAL INTERVIEW
Four participants were observed in the act of driving and briefly interviewed after each
(SIMILAR TO STUDY (3))
two different geographical areas (Kanto and Iwate prefecture) and available to the study.
........................................................................
encountered interaction concerning their awareness of the happening. Thereby each participant was asked about their prior experiences concerning the interaction and knowledge of the way that road users interact in Japan. Choice of participants The study made use of four participants which were frequent drivers (or used to be), from •
Two participants (both Iwate prefecture; frequent drivers) were studied as drivers.
•
One participant (Kanto prefecture; frequent driver) was studied both as driver and pedestrian.
•
One participant (Kanto prefecture; used to be frequent driver) was studied as pedestrian.
Image: Marjolein Kors
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Materials
Procedure
The observed interactions were together
For the observation and the Semi-
with the insights, gained through the study
structured interview study followed the
itself and the interviews, documented
same procedure as its counterpart within
within the booklet “Observation, context
with the Dutch context (study (3)). Instead
Japan�, same as study (4). The topics
of the casual conversation while driving
within the behavioural interview covered
(study (3)) the behavioural interview was
how, within the Japanese context, road
conducted.
users interact with one another, why they interact, when interactions occur and their experiences in regard to the interaction among road users. [Appendix D]
Image: Marjolein Kors
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ANALYSIS PROCEDURE: THE NETHERLANDS & JAPAN The analysis took place per context, first the Dutch and then the Japanese, and included for both contexts two levels of depth on which the gained data (interactions) was analysed: •
Firstly from the action-message structure, the elements of which the interaction consists. Aim to gain more detailed insights into the actions performed, the mediums used, the messages conveyed and the moments in which information is exchanged.
•
Secondly from the interactions themselves, approaching them as a whole. Aim to explore the bigger picture of an interaction, including the conversation structure, the reason why information is shared and when certain interactions occur.
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ANALYSIS PROCEDURE. THE NETHERLANDS
& JAPAN
To avoid potential limitations in the analysis due to translation the original language was used as long and as much as possible (Nes, Abma, Jonsson, & Deeg, 2010). The data for analysis came from besides the throughout the studies gained insights from the booklets. Of which the completed versions can be found in Appendix B, C and D.
ANALYSIS PART 1: ACTION-MESSAGE
Action-message level ...........................................
Affinity diagramming was used to synthesize and categorize the large amount of data, actions and messages, into a useful overview, providing insights on the reasons why road users interact. In advance all booklets were read and the insights or potential patterns documented on orange post-its, an action which was continued throughout the further analysis of the data. The first step was to go through each booklet and subdivide its interactions into actionmessage couples. Simultaneously each booklet was provided with an alphabetic letter and each action-message couple with a number, creating a letter-number coding system. All actions and messages were then written down on post-its (yellow for actions; pink for messages) together with their code, involved road users and road area. The next step focused primarily on the messages. These were sorted according to the underlying reason to communicate, defining seven main themes. These themes were: performing an action for another, reacting on a favour, sharing intention, giving or asking confirmation of awareness , correcting a mistake, alerting others and sharing a dislike of someone else’s behaviour. Subsequently, the seven themes were placed on the wall with their corresponding actionmassage couples beneath. Within each theme the couples were then sorted according to patterns and subgroups that emerged while studying how they all related to one another,
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concerning the action, medium, message, location and involved road user. Headings, subheadings and insights were added to complete the overview. As final step the findings and insights from the diagram were written down for further use in the exploration of the “how” phase.
ANALYSIS PART 2: INTERACTION
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Interaction level
After creating the matrix the booklets were
Using the insights gained from the
once more studied and the interactions
analysis on the action-message level
plotted. For the documentation each
a pyramid shaped matrix was created
interaction was also given a code,
in which the interactions could be
containing the booklet its letter and the
plotted. One organized according to
number of the concerned interaction.
the kind of interaction (rule based or improvisation), the location of occurring
As final step the interactions were studied,
and the interaction’s structure. The data
searching for recurring patterns, relations,
documented for each interaction included
similarities and such.
thereby also the detailed context, steps and purpose, as documented within the booklets.
RIGHT Figure is a part of the matrix which was used in the analysis on the interaction level. For the complete matric see Appendix E
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FINDINGS As state before the purpose of the research
[Topics] The information that is exchanged among road users can be subdivided into the following topics: 1.
Alerting another.
4.
Reacting on someone else its action.
2.
Sharing intention to inform others, ask
5.
Performing an action for another.
permission or request a favour.
6.
Expressing a dislike or appreciation of
was to explore the social interaction patterns among road users in order
3.
to thereafter further explore how this
Establishing awareness of each other’s presence
someone else its behaviour 7.
Correcting a mistake.
knowledge might shape the development of autonomous vehicles. The insights discussed in this section tackles the first
HOW
part, covering the what, why, how and
[Dialogue structure ] The dialogues of information exchange can follow three different
where in regard to the interaction among
structures:
road users plus the possible of an universal
1.
Statement by performing, “I am going to do or am doing X”; needs no reaction
language. The meaning of these for the
from another road user to be executed; Provides information of your intention so
development of autonomous vehicles is
that other know what to expect, prevents confusion, and which others can use to
addressed later on within the Discussion.
base their actions on and to think ahead, increases the flow. It could but does not
WHAT
Structure: perform the action.
necessary has to result in a reaction. [Awareness] Interaction is moreover an unaware process just well from the
2.
Question by showing intention, “I’m planning to do X, do you give me the
producer perspective as from the receiver.
possibility?”; It can be a request for an action but also for a confirmation. Provides
Even if awareness is triggered, as was
the possibility to gain clarification of someone else’s intention.
done through the booklets, the interaction
Structure: show intention, initiate contact, provide reaction time, gain an answer and
occurs on an unawareness level as an
act accordingly to the answer.
automated process. [Communication] A good and accurate
3.
Anticipated action on a (future) situation, “I see the situation and adjust my actions
communication of ones actions and
in advance: slow down, make way, give priority etc.”; Provides the possibility to solve
intentions is highly important to prevent
situation and interactions before they actually occur and so enhances the flow of
confusion, ensures the safety, and to enable
traffic.
others to think ahead, ensures the flow.
Structure: interpret the situation and perform the action. If the direction or message isn’t clean enough than additional confirmation can be provided through eye contact,
WHY
hand signals, sound or light.
[Main reason] The overall main reason to produce, use or exchange information is
[Dialogue structure example] Two cars approach each other on narrow street “we are
to either on the rational side ensure the
not going to be able to pass each other at the same time, one will need to make way”.
flow and safety (prevent confusion) of
Information on which the other can give way [statement], you can make way [anticipated
traffic and on the emotional side to express
action on the situation] or you can reduce speed, initiates contact and requests the other
an appreciation or dislike of someone’s
to make way [question by showing intention].
behaviour.
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[Background information] All elements including the action and reactions of others in the context of traffic produce a sort of background information. This is information which one uses whenever it becomes relevant to their situation. The trigger for a dialogue is basically a combination of certain background information that has become relevant. For example the following background information could convey: Children playing on the sidewalk
“Watch out, children are unpredictable; be prepared to make an emergency step; adjust your speed” A car wobbling along the lane.
“Watch out, the driver could be texting or drunk and thus less alert; take extra distance” Rain (in the winter)
“be extra careful the road could be slippery; adjust your speed; take extra distance”
In Japan stickers are used to indicate beginner and elder drivers. Beginners have to display the wakaba or green leaf sticker, on the right, and drivers aged 70 or older the koreisha sticker, on the left. Left photo: Haruka Iwao. Right photo: David A. LaSpina
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LEFT Courtesy hand sign to car behind.
[Reaction] The reaction on an offer
Photo: Reebok Crossfit 09
or question can either be positive or
[Mediums] Road users use a variety of
negative. In which a positive reaction or
mediums to perform their actions, such
thus acceptance is shown by reacting
as head lights, direction lights, hand
accordingly, adjusting to the flow as quickly
signals, facial expression and acceleration,
as possible and optimally expressing an
which can be based on the tools or “body
act of “thank you”. A negative reaction or
language” of a vehicle or on the body
rejection is shown by simply not reacting,
language of a person.
eliminating all that could assume otherwise and optionally reacting on an opposite way.
[Actions] The actions performed through the mediums are among others blinking
[“Thank you”] An act of “thank you” (a
with the lights, turning the hazard lights on,
friendly knot, smile, thumps up or a
honking, braking, coming to a standstill,
courtesy wave) conveys your understanding
accelerating, giving a courtesy wave and
and acceptance of the other’s action,
making way.
an apology for the inconvenience and
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a reward for positive behaviour. The
[Improvisation] Some ways of expressing
need to convey “thank you” occurs when
a message are actually forbidden, such as
another sacrifices himself for your ability to
using hazard lights to express “thank you”.
continue and the flow of traffic
[Body language] An action based on human
body language requires the ability to have personal contact. What means that it needs near and slow traffic and therefore occurs mainly within the urban area. [Body language] Body language mostly conveys a confirmation, of for example the awareness of the other´s presence (eye contact), the meaning of your message (hand signs) or the awareness, acceptance and appreciation of someone’s action (hand sign, smile, nod and such). [Direction and meaning] When an action is in the range of what can expected then performing the act often conveys enough information to the receiver in order to understand the direction and the meaning of the message. But if not, then a road user tents to clarify the message and or direction by making eye contact, visualizing the meaning through hand signals or requesting ones awareness through light or sound. This is for example often the case when a vehicle wants to give priority to another road user while it’s already standing still. While it then can’t perform the action, other than continuing standing, an additional clarification will be provided in the form of eye contact (direction) and a hand signal (meaning). RIGHT Eye contact between driver and cyclists at a roundabout. Photo: Leeuwarder Courant
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WHEN [Situations of interaction] There are two kind of situation in traffic: 1.
Situations in which the rules are applicable by default, directed from higher hand. Road users simply follow the rules and feel no need to interact
2.
Situations in which the rules are insufficient, unclear, doubted, not optimal for the flow of traffic or non-existing for a specific need, action or favour. Road users use interaction to gain confirmation, arrange priority or give a favour.
If a road user acts unexpected a situation arranged by rules could shift to the second group. For example, when a car approaches a pedestrian crossing with an unexpected high speed a pedestrian could initiate an interaction by showing its intention in order to request additional confirmation of its priority. [Common situation] Situations in which interaction often occurs are crossings, roundabouts, pedestrian crossings, merging roads, narrow streets and parking areas. Overall interaction occurs on all road areas but most of the time it’s within the urban area. [Location] Even while interaction can be found on al road areas most of it occur within the urban area. Which is also the location were traffic does not only exists out of vehicles but also includes cyclists and pedestrians.
Just as well on a roundabout and zebra crossing pedestrians and cyclists feel the need to be acknowledged in their right (making eye contact/ seeing the car slow down) before they take their right. It feels more as a favour from the car and people also often thank the car. Photo: iStock
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HOW DO THE RESULTS TRANSLATES TO AUTONOMOUS CARS? ................
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POSSIBILITY ON A UNIVERSAL LANGUAGE In theory, the actions that road users perform to exchange information just as the medium RIGHT Photo: Marjolein Kors LEFT In Japan is a parking place on the side of the road a rare sight, this in contrast to the Netherlands. Instead Japanese park either illegally, as show on page 29, squeeze themselves into their private garage or use one of the frequently found paid car parks.
which they use and the reason why information is exchanged is similar among road users, no matter their characteristics or context. However in reality, the precise way that an action is performed and also wherever it is indeed performed highly depends on the context, the details of the situation and the individuals that are involved. •
Aspects of the individual involved, such as characteristics, mood, values etc. This differs no more between contexts than between individuals. •
For example, a driver could give priority to a car performing a special manoeuvre simply because the driver feels like it. Appreciation could be shown by flashing the hazard lights instead of a hand sign because the receiver is located behind the car.
•
The situations that occur within the context, determined on larger scale by a country its infrastructure, rules, societal values. •
Photo: Marjolein Kors
For example in Japan, in comparison to the Dutch context, pedestrians have complete thrust in their right at a pedestrian crossing, are much of the roads narrow without a possibility to give way by moving to the side and are cyclists, just as pedestrians in Holland, often not part of the traffic.
•
The details of the situation, determined on a smaller scale by the specific context of the situation at the time such the road area, its road users involved and the details of the context. •
For example, a cyclist with a heavy bag on the steering will most likely only show directing if absolutely needed.
Photo: japangasm
Photo: Marjolein Kors
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DISCUSSION AND CONCLUSION The research aim was to explore the interaction among road users and what it would mean for the development of autonomous vehicles, or in other words how, if it is indeed of importance, it could be integrated into the context of autonomous driving.
The findings confirmed the importance
However in reality, the precise way that an
of a clear and well directed information
action is performed and also wherever it is
exchange among road users. Besides that
indeed performed highly depends on the
it, as assumed, provides non-autonomous
context, the details of the situation and
road users with the information needed
the individuals that are involved, meaning
to base their actions on it actually enables
that each situation is different and requires
all road users to think ahead and to solve
its own approach. A detailed standard
situations in which rules are inadequate,
guideline for autonomous vehicles on how
not existing or simply not ideal for the flow
to interpret or react on a situation or action
of traffic. Besides, it also prevents confusion
is thus rather impossible.
and so increases the safety in traffic.
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All in all, it’s thus of importance
Instead autonomous vehicles will need to
that autonomous vehicles will have the
gain the ability to independently judge and
ability to actively join and contribute to this
act on a situation. What includes being able
flow of information. What goes beyond
to keep an overview at all time, prioritize
the ability to merely understanding and
on the things which are relevant, make
perform an action. They will have to be able
associations, think ahead of all possible
to recognize, oversee, interpreter and act
outcomes and based on all that information
according to the situation.
(re)act on the appropriate and right way.
In theory creating some sort of guideline
Only in contrary to humans computers
seems to be possible. While that the actions
do not possess this skill, at least not yet.
that road users perform to exchange
Thus if autonomous vehicles are intended
information just as the medium which they
to join traffic, as we know it now, it is of
use and the reason why information is
importance that this skill is developed and
exchanged is similar among road users, no
integrated. Considering that the context
matter their characteristics or context.
is basically a compilation of all kind of
variables a possible option could be to approach it on a decentralized way. Providing the computer with the possibility to interpret and act on each element individually, forming all together a complete reaction perfectly fitting to that particular situation and context.
SOME IMPORTANT ASPECTS FOR THE FURTHER DEVELOPMENT OF AUTONOMOUS VEHICLES
Nevertheless if that problem would be solved, and autonomous vehicle are thus capable of judging a situation and (re)acting accordingly, the following aspects will, inter alia, be of importance:
..............
•
Both the meaning and the direction of a message have to be clear, for just as well the receiver as the bystanders. Thereby is it of value to also have to clear for the driver so that he or she has the possibility to know what to expect and why other react on a certain way.
•
Even while autonomous vehicle do not need it themselves their intentions, thus next step and direction, still have to be visible for bystanders. Meaning that these have to be actively visualized just as sound is faked in an electric car.
•
Autonomous vehicles have to be able to convey and receive (recognize) messages.
•
Autonomous vehicles have to be able to provide additional confirmation of both the meaning and direction of a message when only performing the act isn’t sufficient.
•
Autonomous cars have to be able to recognize situations in which acting according to the rules isn’t the best option for the flow of traffic.
•
Autonomous vehicles have to be able to recognize, process and act on situation in which an exchange of information is needed.
•
Autonomous vehicles have to be able to oversee their context, prioritize on what is relevant and use it all to think ahead, act instead of react.
•
When integrating the possible messages that autonomous vehicles can convey it’s important to besides the practical ones also include the ability to convey just as well appreciation as dislike of someone else’s behavior.
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SOME FURTHER RESEARCH OPPORTUNITIES
..................................................
Overall for further research it’s important to keep in mind that this exchange of information occurs on an unaware level, what counts just as well for the receiver as the producer. Meaning that research has to focus on what people do instead of what they say. Further research could be on: •
How an autonomous vehicle can be enabled to oversee the context at all time, interpret all but prioritize on what relevant and subsequently act accordingly to what is needed. Including the possibility to think ahead and thus act instead of react.
•
How the body language can be translated, redesigned, into the context of autonomous driving. This will stay of importance considering that it provides the additional confirmation of both meaning and direction when only performing the act isn’t sufficient.
•
How the currently performed actions by road users could not just be translated into autonomous vehicles but also improved and optimized to their purpose.
•
The interaction within other contexts that differ in regard to development, population, infrastructure, societal values etc.
•
The possible difference in the behavior of road users when they are and aren’t aware of the fact that the other vehicle is fully autonomous.
•
How autonomous vehicles could recognize the situations which require interaction and thereafter determine what the right action is for that specific situation.
VALIDITY AND RELIABILITY
....................................................................
The eventual significant amount of
collected. Thereby it might be valuable
collected interactions from different
for the judgment on the possibility of a
perspectives (person triangulation),
universal language to expand the research,
context (space triangulation) and
conducting it in other countries.
methods (Method triangulation) make the collected interactions likely to
Thereby the characteristics, documented
be well representative for the Dutch
within the diaries (study (2)), were in
context. However, even while the
this research merely used to control the
research conducted within the Japanese
diversity of the participant group but could,
context was sufficient for the aim of
if studied more in-depth, also provide
the research it could be the case that
interesting findings.
not all interaction or varieties were
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LITERATURE CITED
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APPENDIX
...............................................................................
A: Choice of participants for the Diary study (study (1)) within the Dutch context. LINK:
B: Diary booklet (study (1). Template LINK: Completed LINK:
C: Observation & Experience booklet (study (2) and (3). Template LINK: Completed LINK:
D: Observation, context Japan booklet (study (4) and (5). Template LINK: Completed LINK:
E: Matrix which was created in the second part of the analysis, interaction level. LINK:
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