Towards Human-Centric Evaluation of Interaction-Aware Automated Vehicle Controllers: A Framework and Case Study

As automated vehicles (AVs) increasingly integrate into mixed-traffic environments, evaluating their interaction with human-driven vehicles (HDVs) becomes critical. In most research focused on developing new AV control algorithms (controllers), the performance of these algorithms is assessed solely based on performance metrics such as collision avoidance or lane-keeping efficiency, while largely overlooking the human-centred dimensions of interaction with HDVs. This paper proposes a structured evaluation framework that addresses this gap by incorporating metrics grounded in the human-robot interaction literature. The framework spans four key domains: a) interaction effect, b) interaction perception, c) interaction effort, and d) interaction ability. These domains capture both the performance of the AV and its impact on human drivers around it. To demonstrate the utility of the framework, we apply it to a case study evaluating how a state-of-the-art AV controller interacts with human drivers in a merging scenario in a driving simulator. Measuring HDV-HDV interactions as a baseline, this study included one representative metric per domain: a) perceived safety, b) subjective ratings, specifically how participants perceived the other vehicle's driving behaviour (e.g., aggressiveness or predictability) , c) driver workload, and d) merging success. The results showed that incorporating metrics covering all four domains in the evaluation of AV controllers can illuminate critical differences in driver experience when interacting with AVs. This highlights the need for a more comprehensive evaluation approach. Our framework offers researchers, developers, and policymakers a systematic method for assessing AV behaviour beyond technical performance, fostering the development of AVs that are not only functionally capable but also understandable, acceptable, and safe from a human perspective.

Hybrid Human-Machine Perception via Adaptive LiDAR for Advanced Driver Assistance Systems

Accurate environmental perception is critical for advanced driver assistance systems (ADAS). Light detection and ranging (LiDAR) systems play a crucial role in ADAS; they can reliably detect obstacles and help ensure traffic safety. Existing research on LiDAR sensing has demonstrated that adapting the LiDAR's resolution and range based on environmental characteristics can improve machine perception. However, current adaptive LiDAR approaches for ADAS have not explored the possibility of combining the perception abilities of the vehicle and the human driver, which can potentially further enhance the detection performance. In this paper, we propose a novel system that adapts LiDAR characteristics to human driver's visual perception to enhance LiDAR sensing outside human's field of view. We develop a proof-of-concept prototype of the system in the virtual environment CARLA. Our system integrates real-time data on the driver's gaze to identify regions in the environment that the driver is monitoring. This allows the system to optimize LiDAR resources by dynamically increasing the LiDAR's range and resolution in peripheral areas that the driver may not be attending to. Our simulations show that this gaze-aware LiDAR enhances detection performance compared to a baseline standalone LiDAR, particularly in challenging environmental conditions like fog. Our hybrid human-machine sensing approach potentially offers improved safety and situational awareness in real-time driving scenarios for ADAS applications.