Andrii Matviienko
Damir Mehmedovic
Florian Müller
Max Mühlhäuser
Skip Abstract Section
Skip Supplemental Material SectionAbstract
We envision a future where self-driving bicycles can take us to our destinations. This allows cyclists to use their time on the bike efficiently for work or relaxation without having to focus their attention on traffic. In the related field of self-driving cars, research has shown that communicating the planned route to passengers plays an important role in building trust in automation and situational awareness. For self-driving bicycles, this information transfer will be even more important, as riders will need to actively compensate for the movement of a self-driving bicycle to maintain balance. In this paper, we investigate maneuver indications for self-driving bicycles: (1) ambient light in a helmet, (2) head-up display indications, (3) speech feedback, (4) vibration on the handlebar, and (5) no assistance. To evaluate these indications, we conducted an outdoor experiment (N = 25) in a proposed tandem simulator consisting of a tandem bicycle with a steering and braking control on the back seat and a rider in full control of it. Our results indicate that riders respond faster to visual cues and focus comparably on the reading task while riding with and without maneuver indications. Additionally, we found that the tandem simulator is realistic, safe, and creates an awareness of a human cyclist controlling the tandem.
Supplemental Material
- David Beattie, Lynne Baillie, Martin Halvey, and Rod McCall. 2014. What's around the Corner? Enhancing Driver Awareness in Autonomous Vehicles via in-Vehicle Spatial Auditory Displays. In Proceedings of the 8th Nordic Conference on Human-Computer Interaction: Fun, Fast, Foundational (Helsinki, Finland) (NordiCHI '14). Association for Computing Machinery, New York, NY, USA, 189--198. https://doi.org/10.1145/2639189.2641206Google Scholar
Digital Library
- Johannes Beller, Matthias Heesen, and Mark Vollrath. 2013. Improving the Driver--Automation Interaction: An Approach Using Automation Uncertainty. Human Factors 55, 6 (2013), 1130--1141. https://doi.org/10.1177/0018720813482327 PMID: 24745204.Google ScholarCross Ref
- Shadan Sadeghian Borojeni, Torben Wallbaum, Wilko Heuten, and Susanne Boll. 2017. Comparing Shape-Changing and Vibro-Tactile Steering Wheels for Take-Over Requests in Highly Automated Driving. In Proceedings of the 9th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (Oldenburg, Germany)(AutomotiveUI '17). Association for Computing Machinery, New York, NY, USA, 221--225. https://doi.org/10.1145/ 3122986.3123003Google ScholarDigital Library
- Shadan Sadeghian Borojeni, Lars Weber, Wilko Heuten, and Susanne Boll. 2018. From Reading to Driving: Priming Mobile Users for Take-over Situations in Highly Automated Driving. In Proceedings of the 20th International Conference on Human-Computer Interaction with Mobile Devices and Services (Barcelona, Spain) (MobileHCI '18). Association for Computing Machinery, New York, NY, USA, Article 14, 12 pages. https://doi.org/10.1145/3229434.3229464Google ScholarDigital Library
- Michael W. Boyce, Jessie Y.C. Chen, Anthony R. Selkowitz, and Shan G. Lakhmani. 2015. Effects of Agent Transparency on Operator Trust. In Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts (Portland, Oregon, USA) (HRI'15 Extended Abstracts). Association for Computing Machinery, New York, NY, USA, 179--180. https://doi.org/10.1145/2701973.2702059Google ScholarDigital Library
- Barry Brown and Eric Laurier. 2017. The Trouble with Autopilots: Assisted and Autonomous Driving on the Social Road. Association for Computing Machinery, New York, NY, USA, 416--429. https://doi.org/10.1145/3025453.3025462Google ScholarDigital Library
- Oliver Carsten and Marieke H Martens. 2019. How can humans understand their automated cars? HMI principles, problems and solutions. Cognition, Technology & Work 21, 1 (2019), 3--20. https://doi.org/10.1007/s10111-018-0484-0Google ScholarDigital Library
- Alexandru Dancu, Velko Vechev, Adviye Ayça Ünlüer, Simon Nilson, Oscar Nygren, Simon Eliasson, Jean-Elie Barjonet, Joe Marshall, and Morten Fjeld. 2015. Gesture Bike: Examining Projection Surfaces and Turn Signal Systems for Urban Cycling. In Proceedings of the 2015 International Conference on Interactive Tabletops & Surfaces (Madeira, Portugal) (ITS '15). Association for Computing Machinery, New York, NY, USA, 151--159. https://doi.org/10.1145/2817721.2817748Google ScholarDigital Library
- Dick De Waard, Ben Lewis-Evans, Bart Jelijs, Oliver Tucha, and Karel Brookhuis. 2014. The effects of operating a touch screen smartphone and other common activities performed while bicycling on cycling behaviour. Transportation Research Part F: Traffic Psychology and Behaviour 22 (2014), 196--206. https://doi.org/10.1016/j.trf.2013.12.003Google ScholarCross Ref
- Henrik Detjen, Sarah Faltaous, Bastian Pfleging, Stefan Geisler, and Stefan Schneegass. 2021. How to Increase Automated Vehicles' Acceptance through In-Vehicle Interaction Design: A Review. International Journal of Human--Computer Interaction 37, 4 (2021), 308--330. https://doi.org/10.1080/10447318.2020.1860517Google ScholarCross Ref
- Henrik Detjen, Maurizio Salini, Jan Kronenberger, Stefan Geisler, and Stefan Schneegass. 2021. Towards Transparent Behavior of Automated Vehicles: Design and Evaluation of HUD Concepts to Support System Predictability Through Motion Intent Communication. Association for Computing Machinery, New York, NY, USA. https://doi.org/10.1145/3447526. 3472041Google ScholarDigital Library
- Mica R Endsley and Daniel J Garland. 2000. Situation awareness analysis and measurement. CRC Press. https: //doi.org/10.1201/b12461Google ScholarCross Ref
- Sarah Faltaous, Martin Baumann, Stefan Schneegass, and Lewis L. Chuang. 2018. Design Guidelines for Reliability Communication in Autonomous Vehicles. In Proceedings of the 10th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (Toronto, ON, Canada) (AutomotiveUI '18). Association for Computing Machinery, New York, NY, USA, 258--267. https://doi.org/10.1145/3239060.3239072Google ScholarDigital Library
- Gregory M. Fitch, Raymond J. Kiefer, Jonathan M. Hankey, and Brian M. Kleiner. 2007. Toward Developing an Approach for Alerting Drivers to the Direction of a Crash Threat. Human Factors 49, 4 (2007), 710--720. https: //doi.org/10.1518/001872007X215782 PMID: 17702222.Google ScholarCross Ref
- Tove Helldin, Göran Falkman, Maria Riveiro, and Staffan Davidsson. 2013. Presenting System Uncertainty in Automotive UIs for Supporting Trust Calibration in Autonomous Driving. In Proceedings of the 5th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (Eindhoven, Netherlands) (AutomotiveUI '13). Association for Computing Machinery, New York, NY, USA, 210--217. https://doi.org/10.1145/2516540.2516554Google ScholarDigital Library
- Cristy Ho, Nick Reed, and Charles Spence. 2007. Multisensory In-Car Warning Signals for Collision Avoidance. Human Factors 49, 6 (2007), 1107--1114. https://doi.org/10.1518/001872007X249965 PMID: 18074709.Google ScholarCross Ref
- Cristy Ho, Valerio Santangelo, and Charles Spence. 2009. Multisensory warning signals: when spatial correspondence matters. Experimental Brain Research 195, 2 (2009), 261--272. https://doi.org/10.1007/s00221-009--1778--5Google ScholarCross Ref
- Cristy Ho and Charles Spence. 2012. The multisensory driver: Implications for ergonomic car interface design. Ashgate Publishing, Ltd.Google Scholar
- Debbie Hopkins and Tim Schwanen. 2021. Talking about automated vehicles: What do levels of automation do? Technology in Society 64 (2021), 101488. https://doi.org/10.1016/j.techsoc.2020.101488Google ScholarCross Ref
- Masao Ichikawa and Shinji Nakahara. 2008. Japanese High School Students' Usage of Mobile Phones While Cycling. Traffic Injury Prevention 9, 1 (2008), 42--47. https://doi.org/10.1080/15389580701718389 PMID: 18338294.Google ScholarCross Ref
- Eric M. Jones, Ted Selker, and Hyemin Chung. 2007. What You Said about Where You Shook Your Head: A Hands-Free Implementation of a Location-Based Notification System. In CHI '07 Extended Abstracts on Human Factors in Computing Systems (San Jose, CA, USA) (CHI EA '07). Association for Computing Machinery, New York, NY, USA, 2477--2482. https://doi.org/10.1145/1240866.1241027Google ScholarDigital Library
- Jeamin Koo, Jungsuk Kwac, Wendy Ju, Martin Steinert, Larry Leifer, and Clifford Nass. 2015. Why did my car just do that? Explaining semi-autonomous driving actions to improve driver understanding, trust, and performance. InternationalJournal on Interactive Design and Manufacturing (IJIDeM) 9, 4 (2015), 269--275. https://doi.org/10.1007/s12008-014- 0227--2Google ScholarCross Ref
- Thomas Kosch, Andrii Matviienko, Florian Müller, Jessica Bersch, Christopher Katins, Dominik Schön, and Max Mühlhäuser. 2022. NotiBike: Assessing Target Selection Techniques for Cyclist Notifications in Augmented Reality. In Proceedings of the 24th international conference on Human-Computer interaction with mobile devices and services (MobileHCI '22). ACM, New York, NY, USA. https://doi.org/10.1145/3546732Google ScholarDigital Library
- Alexander Kunze, Stephen J. Summerskill, Russell Marshall, and Ashleigh J. Filtness. 2019. Automation transparency: implications of uncertainty communication for human-automation interaction and interfaces. Ergonomics 62, 3 (2019), 345--360. https://doi.org/10.1080/00140139.2018.1547842 arXiv:https://doi.org/10.1080/00140139.2018.1547842 PMID: 30501566.Google ScholarCross Ref
- Alexander Kunze, Stephen J. Summerskill, Russell Marshall, and Ashleigh J. Filtness. 2019. Conveying Uncertainties Using Peripheral Awareness Displays in the Context of Automated Driving. In Proceedings of the 11th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (Utrecht, Netherlands) (AutomotiveUI '19). Association for Computing Machinery, New York, NY, USA, 329--341. https://doi.org/10.1145/3342197.3344537Google ScholarDigital Library
- Andreas Löcken, Anna-Katharina Frison, Vanessa Fahn, Dominik Kreppold, Maximilian Götz, and Andreas Riener. 2020. Increasing User Experience and Trust in Automated Vehicles via an Ambient Light Display. Association for Computing Machinery, New York, NY, USA. https://doi.org/10.1145/3379503.3403567Google ScholarDigital Library
- Andrii Matviienko, Swamy Ananthanarayan, Shadan Sadeghian Borojeni, Yannick Feld, Wilko Heuten, and Susanne Boll. 2018. Augmenting Bicycles and Helmets with Multimodal Warnings for Children. In Proceedings of the 20th International Conference on Human-Computer Interaction with Mobile Devices and Services (Barcelona, Spain) (MobileHCI '18). Association for Computing Machinery, New York, NY, USA, Article 15, 13 pages. https://doi.org/10.1145/3229434. 3229479Google ScholarDigital Library
- Andrii Matviienko, Swamy Ananthanarayan, Stephen Brewster, Wilko Heuten, and Susanne Boll. 2019. Comparing Unimodal Lane Keeping Cues for Child Cyclists. In Proceedings of the 18th International Conference on Mobile and Ubiquitous Multimedia (Pisa, Italy) (MUM '19). Association for Computing Machinery, New York, NY, USA, Article 14, 11 pages. https://doi.org/10.1145/3365610.3365632Google ScholarDigital Library
- Andrii Matviienko, Swamy Ananthanarayan, Abdallah El Ali, Wilko Heuten, and Susanne Boll. 2019. NaviBike: Comparing Unimodal Navigation Cues for Child Cyclists. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems (Glasgow, Scotland Uk) (CHI '19). Association for Computing Machinery, New York, NY, USA, 1--12. https://doi.org/10.1145/3290605.3300850Google ScholarDigital Library
- Andrii Matviienko, Swamy Ananthanarayan, Raphael Kappes, Wilko Heuten, and Susanne Boll. 2020. Reminding Child Cyclists about Safety Gestures. In Proceedings of the 9TH ACM International Symposium on Pervasive Displays (Manchester, United Kingdom) (PerDis '20). Association for Computing Machinery, New York, NY, USA, 1--7. https: //doi.org/10.1145/3393712.3394120Google ScholarDigital Library
- Andrii Matviienko, Florian Heller, and Bastian Pfleging. 2021. Quantified Cycling Safety: Towards a Mobile Sensing Platform to Understand Perceived Safety of Cyclists. In Extended Abstracts of the 2021 CHI Conference on Human Factors in Computing Systems (Yokohama, Japan) (CHI EA '21). Association for Computing Machinery, New York, NY, USA, Article 262, 6 pages. https://doi.org/10.1145/3411763.3451678Google ScholarDigital Library
- Andrii Matviienko, Andreas Löcken, Abdallah El Ali, Wilko Heuten, and Susanne Boll. 2016. NaviLight: Investigating Ambient Light Displays for Turn-by-Turn Navigation in Cars. In Proceedings of the 18th International Conference on Human-Computer Interaction with Mobile Devices and Services (Florence, Italy) (MobileHCI '16). Association for Computing Machinery, New York, NY, USA, 283--294. https://doi.org/10.1145/2935334.2935359Google ScholarDigital Library
- Andrii Matviienko, Florian Müller, Dominik Schön, Régis Fayard, Salar Abaspur, Yi Li, and Max Mühlhäuser. 2022. E-ScootAR: Exploring Unimodal Warnings for E-Scooter Riders in Augmented Reality. In CHI Conference on Human Factors in Computing Systems Extended Abstracts (New Orleans, LA, USA) (CHI EA '22). Association for Computing Machinery, New York, NY, USA, Article 406, 7 pages. https://doi.org/10.1145/3491101.3519831Google ScholarDigital Library
- Andrii Matviienko, Florian Müller, Dominik Schön, Paul Seesemann, Sebastian Günther, and Max Mühlhäuser. 2022. BikeAR: Understanding Cyclists' Crossing Decision-Making at Uncontrolled Intersections Using Augmented Reality. In CHI Conference on Human Factors in Computing Systems (New Orleans, LA, USA) (CHI '22). Association for Computing Machinery, New York, NY, USA, Article 366, 15 pages. https://doi.org/10.1145/3491102.3517560Google ScholarDigital Library
- Andrii Matviienko, Florian Müller, Marcel Zickler, Lisa Alina Gasche, Julia Abels, Till Steinert, and Max Mühlhäuser. 2022. Reducing Virtual Reality Sickness for Cyclists in VR Bicycle Simulators. In Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems (New Orleans, LA, USA) (CHI '22). Association for Computing Machinery, New York, NY, USA, Article 187, 14 pages. https://doi.org/10.1145/3491102.3501959Google ScholarDigital Library
- Raja Parasuraman, Thomas B. Sheridan, and Christopher D. Wickens. 2008. Situation Awareness, Mental Workload, and Trust in Automation: Viable, Empirically Supported Cognitive Engineering Constructs. Journal of Cognitive Engineering and Decision Making 2, 2 (2008), 140--160. https://doi.org/10.1518/155534308X284417Google ScholarCross Ref
- Martin Pielot, Benjamin Poppinga, Wilko Heuten, and Susanne Boll. 2012. Tacticycle: Supporting Exploratory Bicycle Trips. In Proceedings of the 14th International Conference on Human-Computer Interaction with Mobile Devices and Services (San Francisco, California, USA) (MobileHCI '12). Association for Computing Machinery, New York, NY, USA, 369--378. https://doi.org/10.1145/2371574.2371631Google ScholarDigital Library
- Ioannis Politis, Stephen Brewster, and Frank Pollick. 2013. Evaluating Multimodal Driver Displays of Varying Urgency. In Proceedings of the 5th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (Eindhoven, Netherlands) (AutomotiveUI '13). Association for Computing Machinery, New York, NY, USA, 92--99. https://doi.org/10.1145/2516540.2516543Google ScholarDigital Library
- Ioannis Politis, Stephen Brewster, and Frank Pollick. 2015. Language-Based Multimodal Displays for the Handover of Control in Autonomous Cars. In Proceedings of the 7th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (Nottingham, United Kingdom) (AutomotiveUI '15). Association for Computing Machinery, New York, NY, USA, 3--10. https://doi.org/10.1145/2799250.2799262Google ScholarDigital Library
- Ioannis Politis, Stephen A. Brewster, and Frank Pollick. 2014. Evaluating Multimodal Driver Displays under Varying Situational Urgency. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems (Toronto, Ontario, Canada) (CHI '14). Association for Computing Machinery, New York, NY, USA, 4067--4076. https://doi.org/10.1145/ 2556288.2556988Google ScholarDigital Library
- Benjamin Poppinga, Martin Pielot, and Susanne Boll. 2009. Tacticycle: A Tactile Display for Supporting Tourists on a Bicycle Trip. In Proceedings of the 11th International Conference on Human-Computer Interaction with Mobile Devices and Services (Bonn, Germany) (MobileHCI '09). Association for Computing Machinery, New York, NY, USA, Article 41, 4 pages. https://doi.org/10.1145/1613858.1613911Google ScholarDigital Library
- Elizabeth Quinn and Ian Stephen Paul Nation. 1974. Speed reading: A course for learners of English. Oxford University Press.Google Scholar
- Christina Rödel, Susanne Stadler, Alexander Meschtscherjakov, and Manfred Tscheligi. 2014. Towards Autonomous Cars: The Effect of Autonomy Levels on Acceptance and User Experience. In Proceedings of the 6th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (Seattle, WA, USA) (AutomotiveUI '14). Association for Computing Machinery, New York, NY, USA, 1--8. https://doi.org/10.1145/2667317.2667330Google ScholarDigital Library
- Eldon Schoop, James Smith, and Bjoern Hartmann. 2018. HindSight: Enhancing Spatial Awareness by Sonifying Detected Objects in Real-Time 360-Degree Video. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems (Montreal QC, Canada) (CHI '18). Association for Computing Machinery, New York, NY, USA, 1--12. https://doi.org/10.1145/3173574.3173717Google ScholarDigital Library
- J.J. Scott and Robert Gray. 2008. A Comparison of Tactile, Visual, and Auditory Warnings for Rear-End Collision Prevention in Simulated Driving. Human Factors 50, 2 (2008), 264--275. https://doi.org/10.1518/001872008X250674 PMID: 18516837.Google ScholarCross Ref
- Dustin Stokes, Mohan Matthen, and Stephen Biggs. 2015. Perception and its modalities. Oxford University Press, USA.Google Scholar
- Yiyong Sun, Haotian Zhao, Zhang Chen, Xudong Zheng, Mingguo Zhao, and Bin Liang. 2022. Fuzzy model-based multi-objective dynamic programming with modified particle swarm optimization approach for the balance control of bicycle robot. IET Control Theory & Applications 16, 1 (2022), 7--19. https://doi.org/10.1049/cth2.12199Google ScholarCross Ref
- Yiyong Sun, Mingguo Zhao, Boyi Wang, Xudong Zheng, and Bin Liang. 2020. Polynomial Controller for Bicycle Robot based on Nonlinear Descriptor System. In IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society. 2792--2797. https://doi.org/10.1109/IECON43393.2020.9254572Google ScholarDigital Library
- Marcel Walch, Kristin Lange, Martin Baumann, and Michael Weber. 2015. Autonomous Driving: Investigating the Feasibility of Car-Driver Handover Assistance. In Proceedings of the 7th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (Nottingham, United Kingdom) (AutomotiveUI '15). Association for Computing Machinery, New York, NY, USA, 11--18. https://doi.org/10.1145/2799250.2799268Google ScholarDigital Library
- Marcel Walch, Kristin Mühl, Johannes Kraus, Tanja Stoll, Martin Baumann, and Michael Weber. 2017. From Car-DriverHandovers to Cooperative Interfaces: Visions for Driver--Vehicle Interaction in Automated Driving. Springer International Publishing, Cham, 273--294. https://doi.org/10.1007/978--3--319--49448--7_10Google Scholar
- Marcel Walch, Kristin Mühl, Johannes Kraus, Tanja Stoll, Martin Baumann, and Michael Weber. 2017. From car-driverhandovers to cooperative interfaces: Visions for driver--vehicle interaction in automated driving. In Automotive user interfaces. Springer, 273--294. https://doi.org/10.1007/978--3--319--49448--7_10Google Scholar
- Michael Walker, Hooman Hedayati, Jennifer Lee, and Daniel Szafir. 2018. Communicating Robot Motion Intent with Augmented Reality. In Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction (Chicago, IL, USA) (HRI '18). Association for Computing Machinery, New York, NY, USA, 316--324. https://doi.org/10.1145/ 3171221.3171253Google ScholarDigital Library
- Philipp Wintersberger, Anna-Katharina Frison, Andreas Riener, and Tamara von Sawitzky. 2019. Fostering User Acceptance and Trust in Fully Automated Vehicles: Evaluating the Potential of Augmented Reality. PRESENCE: Virtual andugmented Reality 27, 1 (03 2019), 46--62. https://doi.org/10.1162/pres_a_00320 arXiv:https://direct.mit.edu/pvar/articlepdf/27/1/46/1868901/pres_a_00320.pdfGoogle ScholarDigital Library
- Philipp Wintersberger, Andrii Matviienko, Andreas Schweidler, and Florian Michahelles. 2022. Development and Evaluation of a Motion-based VR Bicycle Simulator (MobileHCI '22). Association for Computing Machinery, New York, NY, USA. https://doi.org/10.1145/3546745Google ScholarDigital Library
- Yongchao Yu and Mingguo Zhao. 2018. Steering Control for Autonomously Balancing Bicycle at Low Speed. In 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). 33--38. https://doi.org/10.1109/ROBIO.2018.8665347Google ScholarDigital Library
- Jens Zihsler, Philipp Hock, Marcel Walch, Kirill Dzuba, Denis Schwager, Patrick Szauer, and Enrico Rukzio. 2016. Carvatar: Increasing Trust in Highly-Automated Driving Through Social Cues. In Adjunct Proceedings of the 8th International Conference on Automotive User Interfaces and Interactive Vehicular Applications (Ann Arbor, MI, USA) (AutomotiveUI '16 Adjunct). Association for Computing Machinery, New York, NY, USA, 9--14. https://doi.org/10.1145/ 3004323.3004354Google Scholar
Index Terms
- "Baby, You can Ride my Bike": Exploring Maneuver Indications of Self-Driving Bicycles using a Tandem Simulator
Recommendations
Ride Substitution Using Electric Bike Sharing: Feasibility, Cost, and Carbon Analysis
While ride-sharing has emerged as a popular form of transportation in urban areas due to its on-demand convenience, it has become a major contributor to carbon emissions, with recent studies suggesting it is 47% more carbon-intensive than personal car ...
Inferring bike trip patterns from bike sharing system open data
BIG DATA '15: Proceedings of the 2015 IEEE International Conference on Big Data (Big Data)Understanding bike trip patterns in a bike sharing system is important for researchers designing models for station placement and bike scheduling. By bike trip patterns, we refer to the large number of bike trips observed between two stations. However, ...
Urban Bike Lane Planning with Bike Trajectories: Models, Algorithms, and a Real-World Case Study
Problem definition: We study an urban bike lane planning problem based on the fine-grained bike trajectory data, which are made available by smart city infrastructure, such as bike-sharing systems. The key decision is where to build bike lanes in the ...
Comments