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Bart van Arem

Bart van Arem appears in the imported research catalog. Authorship, coauthor and topic links are available while profile ownership is still unclaimed.

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Artificial Intelligence physics.soc-ph Computer Vision cs.CY eess.IV eess.SY Human-Computer Interaction Machine Learning math.OC Robotics Systems and Control

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preprint2026arXiv

Linking Behaviour and Perception to Evaluate Meaningful Human Control over Partially Automated Driving

Partial driving automation creates a tension: drivers remain legally responsible for vehicle behaviour, yet their active control is significantly reduced. This reduction undermines the engagement and sense of agency needed to intervene safely. Meaningful human control (MHC) has been proposed as a normative framework to address this tension. However, empirical methods for evaluating whether existing systems actually provide MHC remain underdeveloped. In this study, we investigated the extent to which drivers experience MHC when interacting with partially automated driving systems. Twenty-four drivers completed a simulator study involving silent automation failures under two modes - haptic shared control (HSC) and traded control (TC). We derived behavioural metrics from telemetry data, subjective perception scores from post-trial surveys and used them to test hypothesised relations between them derived from the properties of systems under MHC. The confirmatory analysis showed a significant negative correlation between the perception of the automated vehicle (AV) understanding the driver and conflict in steering torques. An exploratory analysis also revealed a surprising positive correlation between reaction times and the perception of sufficient control. Qualitative feedback from open-ended post-experiment questionnaires revealed that mismatches in intentions between the driver and automation, lack of safety, and resistance to driver inputs contribute to the reduction of perceived MHC, while subtle haptic guidance aligned with driver intent had a positive effect. These findings suggest that future designs should prioritise effortless driver interventions, transparent communication of automation intent, and context-sensitive authority allocation to strengthen meaningful human control in partially automated driving.

preprint2022arXiv

A Hybrid Spatial-temporal Deep Learning Architecture for Lane Detection

Accurate and reliable lane detection is vital for the safe performance of lane-keeping assistance and lane departure warning systems. However, under certain challenging circumstances, it is difficult to get satisfactory performance in accurately detecting the lanes from one single image as mostly done in current literature. Since lane markings are continuous lines, the lanes that are difficult to be accurately detected in the current single image can potentially be better deduced if information from previous frames is incorporated. This study proposes a novel hybrid spatial-temporal (ST) sequence-to-one deep learning architecture. This architecture makes full use of the ST information in multiple continuous image frames to detect the lane markings in the very last frame. Specifically, the hybrid model integrates the following aspects: (a) the single image feature extraction module equipped with the spatial convolutional neural network; (b) the ST feature integration module constructed by ST recurrent neural network; (c) the encoder-decoder structure, which makes this image segmentation problem work in an end-to-end supervised learning format. Extensive experiments reveal that the proposed model architecture can effectively handle challenging driving scenes and outperforms available state-of-the-art methods.

preprint2022arXiv

On the Relocation Behaviour of Ride-sourcing Drivers

Ride-sourcing drivers as individual service suppliers can freely adopt their own relocation strategies including waiting, cruising freely, or following the platform recommendations. These decisions substantially impact the balance between supply and demand, and consequently affect system performance. We conducted a stated choice experiment to study the searching behaviour of ride-sourcing drivers and examine novel policies. A unique dataset of 576 ride-sourcing drivers working in the US was collected and a choice modelling approach was used to estimate the effects of multiple existing and hypothetical attributes. The results suggest that relocation strategies of ride-sourcing drivers considerably vary between different groups of drivers. Surge pricing significantly stimulates drivers to head towards the designated areas. However, the distance between the location of drivers and surge or high-demand areas demotivates them to follow the platform repositioning recommendations. We discuss the implications of our findings for various platform policies on real-time information sharing and platform repositioning guidance.

preprint2020arXiv

Managing connected and automated vehicles with flexible routing at "lane-allocation-free'' intersections

Trajectory planning and coordination for connected and automated vehicles (CAVs) have been studied at isolated ``signal-free'' intersections and in ``signal-free'' corridors under the fully CAV environment in the literature. Most of the existing studies are based on the definition of approaching and exit lanes. The route a vehicle takes to pass through an intersection is determined from its movement. That is, only the origin and destination arms are included. This study proposes a mixed-integer linear programming (MILP) model to optimize vehicle trajectories at an isolated ``signal-free'' intersection without lane allocation, which is denoted as ``lane-allocation-free'' (LAF) control. Each lane can be used as both approaching and exit lanes for all vehicle movements including left-turn, through, and right-turn. A vehicle can take a flexible route by way of multiple arms to pass through the intersection. In this way, the spatial-temporal resources are expected to be fully utilized. The interactions between vehicle trajectories are modeled explicitly at the microscopic level. Vehicle routes and trajectories (i.e., car-following and lane-changing behaviors) at the intersection are optimized in one unified framework for system optimality in terms of total vehicle delay. Considering varying traffic conditions, the planning horizon is adaptively adjusted in the implementation procedure of the proposed model to make a balance between solution feasibility and computational burden. Numerical studies validate the advantages of the proposed LAF control in terms of both vehicle delay and throughput with different demand structures and temporal safety gaps.

preprint2014arXiv

Modelling supported driving as an optimal control cycle: Framework and model characteristics

Driver assistance systems support drivers in operating vehicles in a safe, comfortable and efficient way, and thus may induce changes in traffic flow characteristics. This paper puts forward a receding horizon control framework to model driver assistance and cooperative systems. The accelerations of automated vehicles are controlled to optimise a cost function, assuming other vehicles driving at stationary conditions over a prediction horizon. The flexibility of the framework is demonstrated with controller design of Adaptive Cruise Control (ACC) and Cooperative ACC (C-ACC) systems. The proposed ACC and C-ACC model characteristics are investigated analytically, with focus on equilibrium solutions and stability properties. The proposed ACC model produces plausible human car-following behaviour and is unconditionally locally stable. By careful tuning of parameters, the ACC model generates similar stability characteristics as human driver models. The proposed C-ACC model results in convective downstream and absolute string instability, but not convective upstream string instability observed in human-driven traffic and in the ACC model. The control framework and analytical results provide insights into the influences of ACC and C-ACC systems on traffic flow operations.