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Natural notification system for the interior of shared car
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Natural notification system Natural Natural notification notification system system for the interior of shared car Natural notification system for the interior of shared for the interior of shared car car for the interior of shared carckaniˇc Richard Balogh, Michala Lipkov´ a, Viktor Luˇ
Richard Balogh, Michala Lipkov´ a, Viktor Luˇ ckaniˇ c ˇ Richard Balogh,and Michala Lipkov´ a, Viktor Luˇ ckaniˇ c Peter Tapajna ˇ and Peter Tapajna Richard Balogh,and Michala a, Viktor Luˇ ckaniˇ c ˇ PeterLipkov´ Tapajna ˇ and Peter Tapajna Slovak University of Technology in Bratislava, Slovakia Slovak of Slovak University University of Technology Technology in in Bratislava, Bratislava, Slovakia Slovakia (e-mail: {name.surname}@stuba.sk) (e-mail: {name.surname}@stuba.sk) Slovak University of Technology in Bratislava, Slovakia (e-mail: {name.surname}@stuba.sk) (e-mail: {name.surname}@stuba.sk) Abstract: Abstract: The The paper paper describes describes the the design design process, process, hardware hardware prototyping prototyping and and user user testing testing of of Abstract: The paper describes the design process, hardware prototyping and user testing of an innovative user interface notification system for the interior of a shared autonomous car. We We an innovative user interface notification system for the interior of a shared autonomous car. Abstract: paper describes thedesign, design process, prototyping and user testing of an innovative user interface notification system for thehardware interior of a shared autonomous car. We describe theThe idea and need for this its hardware and software software functions, and prototype prototype describe the idea and need for this design, its hardware and functions, and an innovative user interface notification system for the interior of a shared autonomous car. We describe the idea and need for this design, its hardware and software functions, and prototype production. The The key key innovation innovation is is in exploring exploring possibilities possibilities of of applying the the so-called so-called natural natural user user production. describe the ideakey and need foravoiding this its possibilities hardware and software functions, and prototype production. The innovation is in indesign, exploring of applying applying the so-called natural user interface approach -- meaning screen-based interactions and graphical user interfaces in interface approach meaning avoiding screen-based interactions and graphical user interfaces in production. The key innovation isinteraction. in exploring possibilities of applying the so-called natural user interface approach - meaning avoiding screen-based interactions and graphical user interfaces in favor of gesture, voice or glance favor of gesture, voice or glance interaction. interface approach - meaning avoiding screen-based interactions and graphical user interfaces in favor of gesture, voice or glance interaction. © 2019, (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. favor of IFAC gesture, voice or glance interaction. Keywords: natural natural user user interface, interface, automotive mechatronics, mechatronics, digital fabrication, fabrication, shared Keywords: interface, automotive automotive mechatronics, digital digital fabrication, shared shared Keywords:autonomous natural uservehicle mobility, mobility, Keywords: natural uservehicle interface, automotive mechatronics, digital fabrication, shared mobility, autonomous autonomous vehicle mobility, autonomous vehicle 1. INTRODUCTION the the language language of of the the machine. machine. The The principle principle of of NUI NUI should should 1. 1. INTRODUCTION INTRODUCTION the language of the machine. The principle of solutions NUI should achieve the opposite effect – adjust technical to achieve the opposite effect – adjust technical solutions to 1. INTRODUCTION the language ofnatural the machine. The principle of NUI should achieve the opposite effect – adjust technical solutions to react to users words, behaviours or gestures. Digital shift rapidly transforms all aspects of our lives, react users natural words, behaviours or Digital shift rapidly transforms all of our opposite – adjust technical solutions to react to to the users naturaleffect words, behaviours or gestures. gestures. Digital shift rapidly transforms all aspects aspects our lives, lives, including those related to personal personal mobility.of New New own- achieve Good examples of natural interaction aregestures. well-known, including those related to mobility. ownreact to users natural words, behaviours or Digital shift rapidly transforms allAI-powered aspects our lives, examples of natural interaction are well-known, own- Good including those related to personal mobility.of New ership models in combination with paradigm Good examples of natural interaction aresuch well-known, nowadays commercially available products as Amaership models in combination with paradigm including those to personal mobility.asNew own- Good nowadays commercially available products as ership models in related combination with AI-powered AI-powered paradigm completely redefine the automotive automotive industry we knew knew examples of natural interaction aresuch well-known, nowadays commercially available products such as AmaAmazon Echo, Microsoft Kinect or Google’s Nest thermostat, completely redefine the industry as we ership models in combination with AI-powered paradigm zon Echo, Microsoft Kinect or Google’s Nest thermostat, completely redefine the as we knew nowadays it. With With accelerating accelerating the automotive developmentindustry of machine machine learning commercially available products such as Amazon Echo, Microsoft Kinect or Google’s Nest thermostat, see also Kepuska and Bohouta (2018). Relying on voice it. the development of learning completely redefine the automotive as we knew zon see also Kepuska and Bohouta (2018). Relying on voice it. accelerating theas development of machine learning andWith autonomous drive the next next industry step in car car control, Echo, Microsoft Kinect or Google’s Nest thermostat, see also Kepuska and Bohouta (2018). Relying on voice and gesture, these products are one of the first solutions and autonomous drive as the step in control, it. With accelerating the development of machine learning and gesture, these products are (2018). one the first solutions and autonomous drive as the redefinition next step in car control, see the requires a of the Kepuska Bohouta Relying on voice and gesture, these products one of of first the first the industry industry requires a radical radical redefinition of car the existing existing thatalso anticipate theand shift fromaremobilemobileto an ansolutions AI-first and autonomous drive as the redefinition next stepor in control, and that anticipate the shift from first to AI-first the industry requires ahuman-computer radical of the existing human-machine (also man-machine) gesture, these products aremobileone of first the first solutions that anticipate the shift from to an AI-first world. human-machine (also human-computer or man-machine) the industry requires radical redefinition the existing that world. human-machine (also ahuman-computer or of man-machine) interface concepts. world.anticipate the shift from mobile- first to an AI-first interface human-machine (also human-computer or man-machine) world. interface concepts. concepts. interface concepts. 1.1 Natural User User Interface 1.1 1.1 Natural Natural User Interface Interface 1.2 Mobility Mobility shift shift 1.2 1.1 Natural User Interface Conceptual models of interfaces in today’s production 1.2 Mobility shift Conceptual models of in today’s 1.2 Mobility shift Conceptual models of interfaces interfaces of in structured today’s production production cars on graphical cars rely rely heavily heavily on a aofcombination combination of structured graphical The recent transformation of the global automotive inConceptual models interfaces in today’s production cars rely heavily(GUI), on a combination of and structured graphical The recent transformation of global inuser interfaces touchscreens classical haptic The recent transformation of the the global automotive automotive inuser interfaces (GUI), touchscreens and classical haptic dustry is being being shaped by by three three phenomenons – electrifielectrificars rely heavily on a combination of structured graphical user interfaces (GUI), touchscreens and classical haptic The dustry is shaped phenomenons – controls. The emerging concept of natural user interfaces recent transformation of the global automotive industry is being shaped by three phenomenons – electrificontrols. The emerging concept of natural user interfaces cation, automation and digitalisation. According to the user interfaces (GUI), focuses touchscreens and classical haptic cation, automation and digitalisation. According to the controls. The emerging conceptonofcomplete natural user interfaces (NUI) on the contrary understanding dustry is being shaped by three phenomenons – electrification, automation and digitalisation. According to the (NUI) on the focuses on understanding Wish (2016) (2016) Volkswagens Chief Digital Digital Officer Johann Johann controls. emerging concept natural user interfaces (NUI) on The the contrary contrary focuses onofcomplete complete understanding Wish Volkswagens Chief Officer though actions analogous to human automation and digitalisation. According to lies the thoughonintuitive intuitive actions analogous to everyday everyday human cation, Wish (2016) Volkswagens Chief Digital Officer Johann Jungwirth claimed that the groups future success (NUI) the contrary focuses on complete understanding though intuitive actions avoids analogous to everyday human Wish Jungwirth claimed that the groups future success lies behaviour. This approach approach screen-based interactions (2016) Volkswagens Chief Digital Officer Johann Jungwirth claimed that the groups future success lies behaviour. This avoids screen-based interactions in becoming becoming integrated integrated hardware, hardware, software software and and services services though actions analogous to everyday human behaviour. approach screen-based interactions in in favour favourintuitive ofThis gesture, voiceavoids or glance glance interaction – see see e.g. Jungwirth claimed that the are groups futureto success lies in becoming integrated hardware, software and services in of gesture, voice or interaction – e.g. company. Ownership models predicted shift from behaviour. This approach avoids screen-based interactions in favour of gesture, voice or glance interaction – see e.g. company. Ownership models are predicted to shift from Liu (2010). in becoming integrated hardware, software and services Ownership models shift from Liu (2010). privately owned owned vehicles to theare usepredicted of sharedtoservices. services. As in of gesture, voice or glance interaction – see e.g. company. Liufavour (2010). privately vehicles to use of As company. Ownership models are predicted toservices. shift from privately owned vehicles to the the use of shared shared Asa evidence, the United States is currently experiencing At the same time, autonomous vehicle control suggests Liu (2010). evidence, the United States is currently experiencing At the autonomous vehicle control suggests vehicles to the use of shared services. Asaa evidence, the United iswith currently experiencing At the same sameoftime, time, autonomous control(e.g. suggests decrease in inowned a number number ofStates citizens drivers licenses across redefinition the whole whole interiorvehicle architecture Peti privately decrease a of citizens with drivers licenses across redefinition of the interior architecture (e.g. Peti evidence, the United States is currently experiencing At the same time, autonomous vehicle control suggests in a number citizens drivers licenses acrossa redefinition wholeet interior architecture (e.g.based Peti decrease in age age groups groups from 16 16ofto to 70, see seewith Walker (2016). et al. al. (2005), (2005),ofor or the Amditis al. (2006)). (2006)). Technologies in from 70, Walker (2016). et Amditis et al. Technologies based decrease in a number of citizens with drivers licenses across redefinition of the whole interior architecture (e.g. Peti et Amditisintelligence et al. (2006)). based in age groups from 16 to 70, see Walker (2016). on al. the(2005), use of of or artificial offerTechnologies radically different different on the use artificial intelligence offer radically Shifting situation in the automotive industry – from in age groups from 16 to 70, see Walker (2016). et al. (2005), or Amditis et al. (2006)). Technologies based on the use of artificial intelligence offer radically different situation in the automotive industry – from scenarios of of user user interaction. interaction. Since Since the the passenger passenger is is not not Shifting Shifting situation in the automotive industry – from scenarios product-oriented companies to service providers – brings on the use ofuser artificial intelligence offer different scenarios interaction. Since theradically passenger is not Shifting product-oriented to service providers – obliged to of act as the the driver of the the vehicle anymore, future situationcompanies in the automotive industry from companies toissues, service providers ––brings brings obliged to act as driver vehicle anymore, future along unexpected unexpected profitability such as cleanliness cleanliness of scenarios of interaction. Since theinteraction passenger is not product-oriented obliged to actuser asarchitecture the driver of of can the vehicle anymore, design future along profitability issues, such as of interior design use product-oriented companies to service providers – brings along unexpected profitability issues, such as cleanliness of interior design architecture can use interaction design shared self-driving cars. The issue is unavoidable, weather obliged to act as the driver of the vehicle anymore, future interior architecture can use interaction design shared self-driving cars. The issue is weather scenariosdesign based on previously impossible levels of and and user along unexpected profitability issues, such as cleanliness of shared self-driving cars. Theor issue is unavoidable, unavoidable, weather scenarios based previously levels user related to sickness simply as of interior design architecture can use interaction design scenarios based on on previously impossible impossible levels of of and user shared related self-driving to motion motion cars. sickness or simply as aa side side effect effect of engagement. The issue is unavoidable, weather related to motion sickness or simply as a side effect of engagement. a regular daily commute. According to recent study scenarios based on previously impossible levels of and user a regular daily commute. According to a recent study engagement. to daily motion sickness orcar-sharing simply as aa side effect of a(Broussard regular commute. to companies recent study (2018)), leadingAccording such The term term natural natural user user interface interface is is equivalent equivalent to to the the concon- related engagement. (Broussard (2018)), leading car-sharing companies such The a regular daily commute. According to a recent study (Broussard (2018)), leading car-sharing companies such The term natural user interface is equivalent to the conas Uber, Uber, Waymo, Waymo, Lyft Lyft or or Nix, who who have created created research research cept of of zero user user interface that that was was popularized popularized by by Andy Andy as cept (2018)), leading car-sharing companies such The term natural user interface is equivalent to by the con- (Broussard as Uber, Waymo, Lyft or Nix, Nix, who have have created research cept of zero zero user interface interface that was popularized Andy teams and work towards launching the first generation Goodman, group director of worldwide design agency teams and work towards launching the first generation Goodman, group director of worldwide design agency as Uber, Waymo, Lyft orpart Nix, who have created research cept ofatzero user interface that was popularized Andy work towards launching the first generation teams and Goodman, group director of worldwide designbyin agency of self-driving cars as a of their near future service Fjord San Franciscos OReilly Solid conference 2015 of self-driving cars as of near future service Fjord at San Franciscos OReilly Solid conference in 2015 anddon’t work launching generation Goodman, director of worldwide design agency of self-driving cars as aa apart part of their their nearfirst future service Fjord Sangroup Franciscos OReilly Solid conference in 2015 portfolio, yettowards have solution for the maintenance of such – see see at Brownlee (2015). Goodman argued, that most most of teams portfolio, don’t yet have a solution for maintenance of such – Brownlee (2015). Goodman argued, that of self-driving as a apart of their near future of service Fjord at San Franciscos Solid conference in learn 2015 portfolio, don’tcars yet have solution for maintenance such –thesee Brownlee (2015). OReilly Goodman argued, that most of of vehicles. nowadays man-machine interfaces force users to vehicles. nowadays man-machine interfaces force to –the Brownlee (2015). Goodman argued, that most of portfolio, vehicles. don’t yet have a solution for maintenance of such thesee nowadays man-machine interfaces force users users to learn learn vehicles. the nowadays man-machine interfaces force users to learn 2405-8963 © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. Peer review under responsibility of International Federation of Automatic Control. 10.1016/j.ifacol.2019.12.752
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Fig. 1. Idea of the overall cleaning interior design ˇ 1.3 Skoda Purity concept Autonomous (level 3 – 5 according to the SAE J3016 (2018)) interior architectures and natural interface communication concepts require designing for only recently emerging technologies, what becomes challenging in terms of visualisation, testing and finally evaluation of new design solutions. The case study described in this paper has included different approaches to NUI development and user testing during various stages of the design process: (1) agile hardware prototyping with physical models, exploring HMI (human-machine interface) concepts for gesture and sound, and (2) virtual reality simulations of different vehicle architectures. ˇ The solution described in this paper is a part of Skoda Purity interior design concept, developed during academic year 2018/2019 at the Slovak University of Technology in ˇ Bratislava (STU) by the Peter Tapajna, as a part of the project ”Fit 2”, long-term, ongoing research cooperation ˇ with the Skoda Auto Ltd. and Volkswagen AG companies. To address the previously mentioned issues with shared self-driving mobility services and new car ownership modˇ els, the key objective of the Skoda Purity concept was to design an interior of a self-cleaning shared car, with autonomy level 2-3. ˇ Skoda Purity interior design concept is designed around four main design principles: (1) (2) (3) (4)
Functional design Active cleaning Positive motivation Intelligent assistance
Functional design refers to the design language of the interior, that is using airiness and overall visibility as the main styling principle (avoiding gaps or inaccessible places). Active cleaning is present in the choice of the materials used in the interior (antibacterial upholstery fabrics, perforated and hydrophobic seat covers) and in the mechanical design of particular elements (floor inspired by moving pathways and self-cleaning steering wheel with integrated antibacterial fluid cleaner) – see Fig. 1.
Fig. 2. Proposed notification system model Since the concept is meant to be part of a car-sharing service, positive motivation was suggested as a part of the rating system. Considering the proactivity of the users to be the best prevention against waste being left in the vehicle, the car sharing service would motivate the user to remove their leftovers in order to receive discounts. Intelligent assistance is performed by an AI (Artificial Intelligence) voice assistant, that leads the conversation with the passenger and controls the journey. Elements of the natural user interface communication are part of this solution – the assistant can, for example, remind the user to take their forgotten items. After the initial ideation phase, the interior concept was fully developed in a 3D environment using Maxon Cinema 4D modelling software, with iterative use of real scale virtual reality (VR) simulation. Simulation in virtual reality allowed the team to test the ergonomy and suitability of proportions of individual design components. Selected solutions, focused on the natural interaction of the car with the user, were chosen to be prototyped and tested in physical models with embedded interaction. Realization and testing of one of the solutions – notification system integrated into the front middle console – are described in detail in the following section (see also a Fig. 2). 2. DESCRIPTION OF THE SYSTEM We select the space for our design to be on the border of two from the three essential car interior design spaces – see Meschtscherjakov et al. (2011) – the driver and the front seat passenger areas. Notification system should be placed between the front seats, on the driver’s right side. It consists of two parts – one is for the drink cup and the second one is a dedicated place for mobile phone. In the empty state, the drink cup place shines blue. Placing the cup inside changes the colour onto a green one. After the ride, when the car is switched off, the system detects the presence of the cup and if present, changes the light to red, later adding the
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Fig. 3. Exploded view of the overall design sound signalization to notify the driver to remove leftovers from the car. The same sequence is for the mobile phone. The sensor detects its presence and if necessary, notices the driver.
Fig. 4. Detail of the load cell
2.1 Hardware To detect the presence of the object, many possible solutions exist. We tried to avoid using contacts or one of those cheap an well known infrared or ultrasonic presence sensors as we don’t want to disturb the device surface with unnecessary holes or openings. This was the reason, why we used standard load cells YZC-133 with four strain gauges in the bridge connection (green blocks on Fig. 3). To accommodate the sensitive area to our requirements, the pieces of plywood were used (see Fig. 4). The diameter of the sensitive area is 7 cm. Two additional pieces are for setting the appropriate height and the larger one serves as a base. The whole sensor assemblies were then integrated into the 3D printed case. For the cup, a separate diffused light circle with light emitting diodes (LED) was designed and produced on a 3D printer with surface finished using successive fill and sand steps (Fig. 5). Semitransparent light cover spreads light uniformly and does not limit the intensity too much. We use the common WS2801 based individually addressable and controllable tri-colour (RGB) LED strips to create various light signals. It uses a single control pin for addressing, colour and intensity setting for all LEDs. In addition, there is a small piezospeaker for sound warning signal. Whole system schematic diagram is on Fig. 6. To convert the strain gages low-level signal, we use the HX711 weighing sensor with 24-bit A/D converter based modules by Avia Semiconductor (2019). It provides the filtered excitation voltage for the bridge and converts the bridge voltage into the appropriate levels. The voltage is then converted by the internal A/D converter into the 24 bits of data in 2s complement format. Such precision is hardly obtained without additional setup and precise design, but we don’t require it. Initial calibration seems to be sufficient for this type of connection and presented application. The chip contains also an internal analogue supply power regulator, so it can be powered from the same digital supply voltage as the rest of the system. Using an internal chip oscillator the nominal output data rate is 10 samples per second which is also sufficient for our application.
Fig. 5. Signalization circle LED
Load Cell A
HX711
4 5
Load Cell B
HX711
9 10
Vcc
7
12
LED strip (WS2801)
Buzzer
Arduino Nano
Fig. 6. System schematic diagram Communication with the microcontroller is simple serial driven one-directional using SCLK and DATA signals. Communication is initiated and maintained by the Arduino Nano controller (see Fig. 6). 2.2 Software As the system controller is an Arduino Nano, we used also the corresponding environment for the programming. Intensive use of existing libraries makes the whole process quick and easy. For LED strip control, the FastLED library was used (see Garcia and Kriegsman (2019)). For the
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3. CONCLUSION LED and buzzer pin settings
During the tests, it shows that the system is sensitive enough to detect even an empty cups and sufficiently reacts to necessary conditions. Users reactions were clearly recognizable and the whole concept shows its advantages and possible integration into the car system.
Obtaining weight values from load cell sensors
Weights for green light
Weight comparison
Weights for red light
Red blinked twice
No
Yes
Weights for blue light
ACKNOWLEDGEMENTS
Buzzer beeping Green lights
The concept proves its usefulness and usability and it can be easily accommodated also to other spaces in the shared car, e.g. side door spaces, or trunk.
Blue lights
The paper describes the process, findings and results of the ongoing multidisciplinary research project Fit 2, initiˇ ated and commissioned by Skoda Design and Volkswagen Group Research in 2018 at the Faculty of Architecture in Bratislava.
One red light blink
Obtaining weight values from load cell sensors
No
Weight values for red light
Yes
Fig. 7. Function and SW diagram load cell sensors, the HX711 library (see Necula (2018)) was used. It also provides the basic routines for sensor calibration. After the necessary initialization and setup, the algorithm subsequently tests conditions for each situation (see Fig. 7): • blue colour – if the cup sensor is empty, the mobile sensor is not tested, • green colour – if the mobile is present and cup inserted, • red colour – if mobile is not present and cup is inserted (i.e. forgotten). When the cup is forgotten in the holder and red colour was not sufficient, after a few seconds an audible alarm is added. At this moment the system is not integrated with the rest of the automobile, i.e. it is not possible to detect the situation when the driver forgets both mobile and cup, as we don’t have any information about the driver presence (either from the keys or from the seat sensor). For behaviour modelling purpose it is sufficient to suppose that the driver takes the mobile phone but forgets the cup. In the future, other sensor inputs can be easily incorporated into the system. It is also clear, that in the real application the system will be designed specifically for a car with proprietary printed circuit board and processor communicating with the rest of the car systems. The interested reader can find all the source codes including the STL files for 3D model and software library at the project web-page (see Luckanic (2019)), together with a video of the real system in operation. As a side note, the physical system model itself was designed, built and tested during the regular course on Digital Fabrication Technologies at the STU.
Presentation and publication of this paper were partially supported also by the grant of the Slovak Research and Development Agency (APVV) No. APVV-17-0190 Development of an autonomous vehicle using open electric car platform (VAVOPEV). REFERENCES Amditis, A., Polychronopoulos, A., Andreone, L., and Bekiaris, E. (2006). Communication and interaction strategies in automotive adaptive interfaces. Cognition, Technology & Work, 8(3), 193–199. Avia Semiconductor (2019). HX711 - 24-Bit Analog-toDigital converter for weigh scales. Datasheet. Available on-line: https://www.mouser.com/ (11-07-2019). Broussard, M. (2018). The dirty truth coming for self-driving cars. Available on-line: https://slate. com/technology/2018/05/who-will-clean-selfdriving-cars.html (11-07-2019). Brownlee, J. (2015). What is Zero UI?. fast company. Available on-line: https://www.fastcompany. com/3048139/what-is-zero-ui-and-why-is-itcrucial-to-the-future-of-design (11-07-2019). Garcia, D. and Kriegsman, M. (2019). FastLED animation library. Available on-line: https://github.com/ FastLED (11-07-2019). Kepuska, V. and Bohouta, G. (2018). Next-generation of virtual personal assistants (microsoft cortana, apple siri, amazon alexa and google home). In 2018 IEEE 8th Annual Computing and Communication Workshop and Conference (CCWC), 99–103. IEEE. Liu, W. (2010). Natural user interface-next mainstream product user interface. In 2010 IEEE 11th International Conference on Computer-Aided Industrial Design & Conceptual Design 1, volume 1, 203–205. IEEE. Luckanic, V. (2019). Notification system - project wiki page. Available on-line: https://bit.ly/2LM3965 (1107-2019). Meschtscherjakov, A., Wilfinger, D., Gridling, N., Neureiter, K., and Tscheligi, M. (2011). Capture the car!: qualitative in-situ methods to grasp the automotive context. In Proceedings of the 3rd International Conference on Automotive User Interfaces and Interactive Vehicular Applications, 105–112. ACM.
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Necula, B. (2018). Library to interface the HX711 sensor. Available on-line: https://github.com/bogde/HX711 (11-07-2019). Peti, P., Obermaisser, R., Tagliabo, F., Marino, A., and Cerchio, S. (2005). An integrated architecture for future car generations. In Eighth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing (ISORC’05), 2–13. IEEE. SAE J3016 (2018). Taxonomy and definitions for terms related to driving automation systems for on-road motor vehicles. Available on-line: https://webstore.ansi. org/Standards/SAE/SAE30162018 (11-07-2019). Walker, A. (2016). Its not just millennials. Available on-line: https://gizmodo.com/it-s-not-justmillennials-fewer-americans-of-all-ages1753804136 (11-07-2019). Wish, V. (2016). The car of the future is not a car. In Shift, Volkswagen Sustainability Magazine, 2016, 28–32.
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Natural notification system Natural Natural notification notification system system for the interior of shared car Natural notification system for the interior of shared for the interior of shared car car for the interior of shared carckaniˇc Richard Balogh, Michala Lipkov´ a, Viktor Luˇ
Richard Balogh, Michala Lipkov´ a, Viktor Luˇ ckaniˇ c ˇ Richard Balogh,and Michala Lipkov´ a, Viktor Luˇ ckaniˇ c Peter Tapajna ˇ and Peter Tapajna Richard Balogh,and Michala a, Viktor Luˇ ckaniˇ c ˇ PeterLipkov´ Tapajna ˇ and Peter Tapajna Slovak University of Technology in Bratislava, Slovakia Slovak of Slovak University University of Technology Technology in in Bratislava, Bratislava, Slovakia Slovakia (e-mail: {name.surname}@stuba.sk) (e-mail: {name.surname}@stuba.sk) Slovak University of Technology in Bratislava, Slovakia (e-mail: {name.surname}@stuba.sk) (e-mail: {name.surname}@stuba.sk) Abstract: Abstract: The The paper paper describes describes the the design design process, process, hardware hardware prototyping prototyping and and user user testing testing of of Abstract: The paper describes the design process, hardware prototyping and user testing of an innovative user interface notification system for the interior of a shared autonomous car. We We an innovative user interface notification system for the interior of a shared autonomous car. Abstract: paper describes thedesign, design process, prototyping and user testing of an innovative user interface notification system for thehardware interior of a shared autonomous car. We describe theThe idea and need for this its hardware and software software functions, and prototype prototype describe the idea and need for this design, its hardware and functions, and an innovative user interface notification system for the interior of a shared autonomous car. We describe the idea and need for this design, its hardware and software functions, and prototype production. The The key key innovation innovation is is in exploring exploring possibilities possibilities of of applying the the so-called so-called natural natural user user production. describe the ideakey and need foravoiding this its possibilities hardware and software functions, and prototype production. The innovation is in indesign, exploring of applying applying the so-called natural user interface approach -- meaning screen-based interactions and graphical user interfaces in interface approach meaning avoiding screen-based interactions and graphical user interfaces in production. The key innovation isinteraction. in exploring possibilities of applying the so-called natural user interface approach - meaning avoiding screen-based interactions and graphical user interfaces in favor of gesture, voice or glance favor of gesture, voice or glance interaction. interface approach - meaning avoiding screen-based interactions and graphical user interfaces in favor of gesture, voice or glance interaction. © 2019, (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. favor of IFAC gesture, voice or glance interaction. Keywords: natural natural user user interface, interface, automotive mechatronics, mechatronics, digital fabrication, fabrication, shared Keywords: interface, automotive automotive mechatronics, digital digital fabrication, shared shared Keywords:autonomous natural uservehicle mobility, mobility, Keywords: natural uservehicle interface, automotive mechatronics, digital fabrication, shared mobility, autonomous autonomous vehicle mobility, autonomous vehicle 1. INTRODUCTION the the language language of of the the machine. machine. The The principle principle of of NUI NUI should should 1. 1. INTRODUCTION INTRODUCTION the language of the machine. The principle of solutions NUI should achieve the opposite effect – adjust technical to achieve the opposite effect – adjust technical solutions to 1. INTRODUCTION the language ofnatural the machine. The principle of NUI should achieve the opposite effect – adjust technical solutions to react to users words, behaviours or gestures. Digital shift rapidly transforms all aspects of our lives, react users natural words, behaviours or Digital shift rapidly transforms all of our opposite – adjust technical solutions to react to to the users naturaleffect words, behaviours or gestures. gestures. Digital shift rapidly transforms all aspects aspects our lives, lives, including those related to personal personal mobility.of New New own- achieve Good examples of natural interaction aregestures. well-known, including those related to mobility. ownreact to users natural words, behaviours or Digital shift rapidly transforms allAI-powered aspects our lives, examples of natural interaction are well-known, own- Good including those related to personal mobility.of New ership models in combination with paradigm Good examples of natural interaction aresuch well-known, nowadays commercially available products as Amaership models in combination with paradigm including those to personal mobility.asNew own- Good nowadays commercially available products as ership models in related combination with AI-powered AI-powered paradigm completely redefine the automotive automotive industry we knew knew examples of natural interaction aresuch well-known, nowadays commercially available products such as AmaAmazon Echo, Microsoft Kinect or Google’s Nest thermostat, completely redefine the industry as we ership models in combination with AI-powered paradigm zon Echo, Microsoft Kinect or Google’s Nest thermostat, completely redefine the as we knew nowadays it. With With accelerating accelerating the automotive developmentindustry of machine machine learning commercially available products such as Amazon Echo, Microsoft Kinect or Google’s Nest thermostat, see also Kepuska and Bohouta (2018). Relying on voice it. the development of learning completely redefine the automotive as we knew zon see also Kepuska and Bohouta (2018). Relying on voice it. accelerating theas development of machine learning andWith autonomous drive the next next industry step in car car control, Echo, Microsoft Kinect or Google’s Nest thermostat, see also Kepuska and Bohouta (2018). Relying on voice and gesture, these products are one of the first solutions and autonomous drive as the step in control, it. With accelerating the development of machine learning and gesture, these products are (2018). one the first solutions and autonomous drive as the redefinition next step in car control, see the requires a of the Kepuska Bohouta Relying on voice and gesture, these products one of of first the first the industry industry requires a radical radical redefinition of car the existing existing thatalso anticipate theand shift fromaremobilemobileto an ansolutions AI-first and autonomous drive as the redefinition next stepor in control, and that anticipate the shift from first to AI-first the industry requires ahuman-computer radical of the existing human-machine (also man-machine) gesture, these products aremobileone of first the first solutions that anticipate the shift from to an AI-first world. human-machine (also human-computer or man-machine) the industry requires radical redefinition the existing that world. human-machine (also ahuman-computer or of man-machine) interface concepts. world.anticipate the shift from mobile- first to an AI-first interface human-machine (also human-computer or man-machine) world. interface concepts. concepts. interface concepts. 1.1 Natural User User Interface 1.1 1.1 Natural Natural User Interface Interface 1.2 Mobility Mobility shift shift 1.2 1.1 Natural User Interface Conceptual models of interfaces in today’s production 1.2 Mobility shift Conceptual models of in today’s 1.2 Mobility shift Conceptual models of interfaces interfaces of in structured today’s production production cars on graphical cars rely rely heavily heavily on a aofcombination combination of structured graphical The recent transformation of the global automotive inConceptual models interfaces in today’s production cars rely heavily(GUI), on a combination of and structured graphical The recent transformation of global inuser interfaces touchscreens classical haptic The recent transformation of the the global automotive automotive inuser interfaces (GUI), touchscreens and classical haptic dustry is being being shaped by by three three phenomenons – electrifielectrificars rely heavily on a combination of structured graphical user interfaces (GUI), touchscreens and classical haptic The dustry is shaped phenomenons – controls. The emerging concept of natural user interfaces recent transformation of the global automotive industry is being shaped by three phenomenons – electrificontrols. The emerging concept of natural user interfaces cation, automation and digitalisation. According to the user interfaces (GUI), focuses touchscreens and classical haptic cation, automation and digitalisation. According to the controls. The emerging conceptonofcomplete natural user interfaces (NUI) on the contrary understanding dustry is being shaped by three phenomenons – electrification, automation and digitalisation. According to the (NUI) on the focuses on understanding Wish (2016) (2016) Volkswagens Chief Digital Digital Officer Johann Johann controls. emerging concept natural user interfaces (NUI) on The the contrary contrary focuses onofcomplete complete understanding Wish Volkswagens Chief Officer though actions analogous to human automation and digitalisation. According to lies the thoughonintuitive intuitive actions analogous to everyday everyday human cation, Wish (2016) Volkswagens Chief Digital Officer Johann Jungwirth claimed that the groups future success (NUI) the contrary focuses on complete understanding though intuitive actions avoids analogous to everyday human Wish Jungwirth claimed that the groups future success lies behaviour. This approach approach screen-based interactions (2016) Volkswagens Chief Digital Officer Johann Jungwirth claimed that the groups future success lies behaviour. This avoids screen-based interactions in becoming becoming integrated integrated hardware, hardware, software software and and services services though actions analogous to everyday human behaviour. approach screen-based interactions in in favour favourintuitive ofThis gesture, voiceavoids or glance glance interaction – see see e.g. Jungwirth claimed that the are groups futureto success lies in becoming integrated hardware, software and services in of gesture, voice or interaction – e.g. company. Ownership models predicted shift from behaviour. This approach avoids screen-based interactions in favour of gesture, voice or glance interaction – see e.g. company. Ownership models are predicted to shift from Liu (2010). in becoming integrated hardware, software and services Ownership models shift from Liu (2010). privately owned owned vehicles to theare usepredicted of sharedtoservices. services. As in of gesture, voice or glance interaction – see e.g. company. Liufavour (2010). privately vehicles to use of As company. Ownership models are predicted toservices. shift from privately owned vehicles to the the use of shared shared Asa evidence, the United States is currently experiencing At the same time, autonomous vehicle control suggests Liu (2010). evidence, the United States is currently experiencing At the autonomous vehicle control suggests vehicles to the use of shared services. Asaa evidence, the United iswith currently experiencing At the same sameoftime, time, autonomous control(e.g. suggests decrease in inowned a number number ofStates citizens drivers licenses across redefinition the whole whole interiorvehicle architecture Peti privately decrease a of citizens with drivers licenses across redefinition of the interior architecture (e.g. Peti evidence, the United States is currently experiencing At the same time, autonomous vehicle control suggests in a number citizens drivers licenses acrossa redefinition wholeet interior architecture (e.g.based Peti decrease in age age groups groups from 16 16ofto to 70, see seewith Walker (2016). et al. al. (2005), (2005),ofor or the Amditis al. (2006)). (2006)). Technologies in from 70, Walker (2016). et Amditis et al. Technologies based decrease in a number of citizens with drivers licenses across redefinition of the whole interior architecture (e.g. Peti et Amditisintelligence et al. (2006)). based in age groups from 16 to 70, see Walker (2016). on al. the(2005), use of of or artificial offerTechnologies radically different different on the use artificial intelligence offer radically Shifting situation in the automotive industry – from in age groups from 16 to 70, see Walker (2016). et al. (2005), or Amditis et al. (2006)). Technologies based on the use of artificial intelligence offer radically different situation in the automotive industry – from scenarios of of user user interaction. interaction. Since Since the the passenger passenger is is not not Shifting Shifting situation in the automotive industry – from scenarios product-oriented companies to service providers – brings on the use ofuser artificial intelligence offer different scenarios interaction. Since theradically passenger is not Shifting product-oriented to service providers – obliged to of act as the the driver of the the vehicle anymore, future situationcompanies in the automotive industry from companies toissues, service providers ––brings brings obliged to act as driver vehicle anymore, future along unexpected unexpected profitability such as cleanliness cleanliness of scenarios of interaction. Since theinteraction passenger is not product-oriented obliged to actuser asarchitecture the driver of of can the vehicle anymore, design future along profitability issues, such as of interior design use product-oriented companies to service providers – brings along unexpected profitability issues, such as cleanliness of interior design architecture can use interaction design shared self-driving cars. The issue is unavoidable, weather obliged to act as the driver of the vehicle anymore, future interior architecture can use interaction design shared self-driving cars. The issue is weather scenariosdesign based on previously impossible levels of and and user along unexpected profitability issues, such as cleanliness of shared self-driving cars. Theor issue is unavoidable, unavoidable, weather scenarios based previously levels user related to sickness simply as of interior design architecture can use interaction design scenarios based on on previously impossible impossible levels of of and user shared related self-driving to motion motion cars. sickness or simply as aa side side effect effect of engagement. The issue is unavoidable, weather related to motion sickness or simply as a side effect of engagement. a regular daily commute. According to recent study scenarios based on previously impossible levels of and user a regular daily commute. According to a recent study engagement. to daily motion sickness orcar-sharing simply as aa side effect of a(Broussard regular commute. to companies recent study (2018)), leadingAccording such The term term natural natural user user interface interface is is equivalent equivalent to to the the concon- related engagement. (Broussard (2018)), leading car-sharing companies such The a regular daily commute. According to a recent study (Broussard (2018)), leading car-sharing companies such The term natural user interface is equivalent to the conas Uber, Uber, Waymo, Waymo, Lyft Lyft or or Nix, who who have created created research research cept of of zero user user interface that that was was popularized popularized by by Andy Andy as cept (2018)), leading car-sharing companies such The term natural user interface is equivalent to by the con- (Broussard as Uber, Waymo, Lyft or Nix, Nix, who have have created research cept of zero zero user interface interface that was popularized Andy teams and work towards launching the first generation Goodman, group director of worldwide design agency teams and work towards launching the first generation Goodman, group director of worldwide design agency as Uber, Waymo, Lyft orpart Nix, who have created research cept ofatzero user interface that was popularized Andy work towards launching the first generation teams and Goodman, group director of worldwide designbyin agency of self-driving cars as a of their near future service Fjord San Franciscos OReilly Solid conference 2015 of self-driving cars as of near future service Fjord at San Franciscos OReilly Solid conference in 2015 anddon’t work launching generation Goodman, director of worldwide design agency of self-driving cars as aa apart part of their their nearfirst future service Fjord Sangroup Franciscos OReilly Solid conference in 2015 portfolio, yettowards have solution for the maintenance of such – see see at Brownlee (2015). Goodman argued, that most most of teams portfolio, don’t yet have a solution for maintenance of such – Brownlee (2015). Goodman argued, that of self-driving as a apart of their near future of service Fjord at San Franciscos Solid conference in learn 2015 portfolio, don’tcars yet have solution for maintenance such –thesee Brownlee (2015). OReilly Goodman argued, that most of of vehicles. nowadays man-machine interfaces force users to vehicles. nowadays man-machine interfaces force to –the Brownlee (2015). Goodman argued, that most of portfolio, vehicles. don’t yet have a solution for maintenance of such thesee nowadays man-machine interfaces force users users to learn learn vehicles. the nowadays man-machine interfaces force users to learn 2405-8963 © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. Peer review under responsibility of International Federation of Automatic Control. 10.1016/j.ifacol.2019.12.752
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Fig. 1. Idea of the overall cleaning interior design ˇ 1.3 Skoda Purity concept Autonomous (level 3 – 5 according to the SAE J3016 (2018)) interior architectures and natural interface communication concepts require designing for only recently emerging technologies, what becomes challenging in terms of visualisation, testing and finally evaluation of new design solutions. The case study described in this paper has included different approaches to NUI development and user testing during various stages of the design process: (1) agile hardware prototyping with physical models, exploring HMI (human-machine interface) concepts for gesture and sound, and (2) virtual reality simulations of different vehicle architectures. ˇ The solution described in this paper is a part of Skoda Purity interior design concept, developed during academic year 2018/2019 at the Slovak University of Technology in ˇ Bratislava (STU) by the Peter Tapajna, as a part of the project ”Fit 2”, long-term, ongoing research cooperation ˇ with the Skoda Auto Ltd. and Volkswagen AG companies. To address the previously mentioned issues with shared self-driving mobility services and new car ownership modˇ els, the key objective of the Skoda Purity concept was to design an interior of a self-cleaning shared car, with autonomy level 2-3. ˇ Skoda Purity interior design concept is designed around four main design principles: (1) (2) (3) (4)
Functional design Active cleaning Positive motivation Intelligent assistance
Functional design refers to the design language of the interior, that is using airiness and overall visibility as the main styling principle (avoiding gaps or inaccessible places). Active cleaning is present in the choice of the materials used in the interior (antibacterial upholstery fabrics, perforated and hydrophobic seat covers) and in the mechanical design of particular elements (floor inspired by moving pathways and self-cleaning steering wheel with integrated antibacterial fluid cleaner) – see Fig. 1.
Fig. 2. Proposed notification system model Since the concept is meant to be part of a car-sharing service, positive motivation was suggested as a part of the rating system. Considering the proactivity of the users to be the best prevention against waste being left in the vehicle, the car sharing service would motivate the user to remove their leftovers in order to receive discounts. Intelligent assistance is performed by an AI (Artificial Intelligence) voice assistant, that leads the conversation with the passenger and controls the journey. Elements of the natural user interface communication are part of this solution – the assistant can, for example, remind the user to take their forgotten items. After the initial ideation phase, the interior concept was fully developed in a 3D environment using Maxon Cinema 4D modelling software, with iterative use of real scale virtual reality (VR) simulation. Simulation in virtual reality allowed the team to test the ergonomy and suitability of proportions of individual design components. Selected solutions, focused on the natural interaction of the car with the user, were chosen to be prototyped and tested in physical models with embedded interaction. Realization and testing of one of the solutions – notification system integrated into the front middle console – are described in detail in the following section (see also a Fig. 2). 2. DESCRIPTION OF THE SYSTEM We select the space for our design to be on the border of two from the three essential car interior design spaces – see Meschtscherjakov et al. (2011) – the driver and the front seat passenger areas. Notification system should be placed between the front seats, on the driver’s right side. It consists of two parts – one is for the drink cup and the second one is a dedicated place for mobile phone. In the empty state, the drink cup place shines blue. Placing the cup inside changes the colour onto a green one. After the ride, when the car is switched off, the system detects the presence of the cup and if present, changes the light to red, later adding the
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Fig. 3. Exploded view of the overall design sound signalization to notify the driver to remove leftovers from the car. The same sequence is for the mobile phone. The sensor detects its presence and if necessary, notices the driver.
Fig. 4. Detail of the load cell
2.1 Hardware To detect the presence of the object, many possible solutions exist. We tried to avoid using contacts or one of those cheap an well known infrared or ultrasonic presence sensors as we don’t want to disturb the device surface with unnecessary holes or openings. This was the reason, why we used standard load cells YZC-133 with four strain gauges in the bridge connection (green blocks on Fig. 3). To accommodate the sensitive area to our requirements, the pieces of plywood were used (see Fig. 4). The diameter of the sensitive area is 7 cm. Two additional pieces are for setting the appropriate height and the larger one serves as a base. The whole sensor assemblies were then integrated into the 3D printed case. For the cup, a separate diffused light circle with light emitting diodes (LED) was designed and produced on a 3D printer with surface finished using successive fill and sand steps (Fig. 5). Semitransparent light cover spreads light uniformly and does not limit the intensity too much. We use the common WS2801 based individually addressable and controllable tri-colour (RGB) LED strips to create various light signals. It uses a single control pin for addressing, colour and intensity setting for all LEDs. In addition, there is a small piezospeaker for sound warning signal. Whole system schematic diagram is on Fig. 6. To convert the strain gages low-level signal, we use the HX711 weighing sensor with 24-bit A/D converter based modules by Avia Semiconductor (2019). It provides the filtered excitation voltage for the bridge and converts the bridge voltage into the appropriate levels. The voltage is then converted by the internal A/D converter into the 24 bits of data in 2s complement format. Such precision is hardly obtained without additional setup and precise design, but we don’t require it. Initial calibration seems to be sufficient for this type of connection and presented application. The chip contains also an internal analogue supply power regulator, so it can be powered from the same digital supply voltage as the rest of the system. Using an internal chip oscillator the nominal output data rate is 10 samples per second which is also sufficient for our application.
Fig. 5. Signalization circle LED
Load Cell A
HX711
4 5
Load Cell B
HX711
9 10
Vcc
7
12
LED strip (WS2801)
Buzzer
Arduino Nano
Fig. 6. System schematic diagram Communication with the microcontroller is simple serial driven one-directional using SCLK and DATA signals. Communication is initiated and maintained by the Arduino Nano controller (see Fig. 6). 2.2 Software As the system controller is an Arduino Nano, we used also the corresponding environment for the programming. Intensive use of existing libraries makes the whole process quick and easy. For LED strip control, the FastLED library was used (see Garcia and Kriegsman (2019)). For the
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3. CONCLUSION LED and buzzer pin settings
During the tests, it shows that the system is sensitive enough to detect even an empty cups and sufficiently reacts to necessary conditions. Users reactions were clearly recognizable and the whole concept shows its advantages and possible integration into the car system.
Obtaining weight values from load cell sensors
Weights for green light
Weight comparison
Weights for red light
Red blinked twice
No
Yes
Weights for blue light
ACKNOWLEDGEMENTS
Buzzer beeping Green lights
The concept proves its usefulness and usability and it can be easily accommodated also to other spaces in the shared car, e.g. side door spaces, or trunk.
Blue lights
The paper describes the process, findings and results of the ongoing multidisciplinary research project Fit 2, initiˇ ated and commissioned by Skoda Design and Volkswagen Group Research in 2018 at the Faculty of Architecture in Bratislava.
One red light blink
Obtaining weight values from load cell sensors
No
Weight values for red light
Yes
Fig. 7. Function and SW diagram load cell sensors, the HX711 library (see Necula (2018)) was used. It also provides the basic routines for sensor calibration. After the necessary initialization and setup, the algorithm subsequently tests conditions for each situation (see Fig. 7): • blue colour – if the cup sensor is empty, the mobile sensor is not tested, • green colour – if the mobile is present and cup inserted, • red colour – if mobile is not present and cup is inserted (i.e. forgotten). When the cup is forgotten in the holder and red colour was not sufficient, after a few seconds an audible alarm is added. At this moment the system is not integrated with the rest of the automobile, i.e. it is not possible to detect the situation when the driver forgets both mobile and cup, as we don’t have any information about the driver presence (either from the keys or from the seat sensor). For behaviour modelling purpose it is sufficient to suppose that the driver takes the mobile phone but forgets the cup. In the future, other sensor inputs can be easily incorporated into the system. It is also clear, that in the real application the system will be designed specifically for a car with proprietary printed circuit board and processor communicating with the rest of the car systems. The interested reader can find all the source codes including the STL files for 3D model and software library at the project web-page (see Luckanic (2019)), together with a video of the real system in operation. As a side note, the physical system model itself was designed, built and tested during the regular course on Digital Fabrication Technologies at the STU.
Presentation and publication of this paper were partially supported also by the grant of the Slovak Research and Development Agency (APVV) No. APVV-17-0190 Development of an autonomous vehicle using open electric car platform (VAVOPEV). REFERENCES Amditis, A., Polychronopoulos, A., Andreone, L., and Bekiaris, E. (2006). Communication and interaction strategies in automotive adaptive interfaces. Cognition, Technology & Work, 8(3), 193–199. Avia Semiconductor (2019). HX711 - 24-Bit Analog-toDigital converter for weigh scales. Datasheet. Available on-line: https://www.mouser.com/ (11-07-2019). Broussard, M. (2018). The dirty truth coming for self-driving cars. Available on-line: https://slate. com/technology/2018/05/who-will-clean-selfdriving-cars.html (11-07-2019). Brownlee, J. (2015). What is Zero UI?. fast company. Available on-line: https://www.fastcompany. com/3048139/what-is-zero-ui-and-why-is-itcrucial-to-the-future-of-design (11-07-2019). Garcia, D. and Kriegsman, M. (2019). FastLED animation library. Available on-line: https://github.com/ FastLED (11-07-2019). Kepuska, V. and Bohouta, G. (2018). Next-generation of virtual personal assistants (microsoft cortana, apple siri, amazon alexa and google home). In 2018 IEEE 8th Annual Computing and Communication Workshop and Conference (CCWC), 99–103. IEEE. Liu, W. (2010). Natural user interface-next mainstream product user interface. In 2010 IEEE 11th International Conference on Computer-Aided Industrial Design & Conceptual Design 1, volume 1, 203–205. IEEE. Luckanic, V. (2019). Notification system - project wiki page. Available on-line: https://bit.ly/2LM3965 (1107-2019). Meschtscherjakov, A., Wilfinger, D., Gridling, N., Neureiter, K., and Tscheligi, M. (2011). Capture the car!: qualitative in-situ methods to grasp the automotive context. In Proceedings of the 3rd International Conference on Automotive User Interfaces and Interactive Vehicular Applications, 105–112. ACM.
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