Context-Aware Driving Assistance: An

Approach for Monitoring-Based Modeling

and Self-learning Cars

Afaf Bouhoute, Rachid Oucheikh and Ismail Berrada

Abstract Recent cars are equipped with a large number of sensors, electronic and
communication devices that collect heterogeneous information about the vehicle, the
environment and the driver. The use of the information coming from all these devices
can highly contribute to the improvement of the vehicle safety as well as the driving
experience. The last few years were marked by the development of a large num-
ber of in-vehicle intelligent systems that use driving behavior models to assist the
driver ubiquitously. However, an important aspect to enhance driving experience is
to make the provided assistance as close as possible to the behavior of the car owner,
hence a need of personal models of drivers learned from their observed behavior.
In this paper, the concept of intelligent and self-learning car is presented and exam-
ples of some cars embedded systems are given. Also, the role of modeling driver
behavior in the design of driving assistance systems is emphasized. Further-more,
the importance of monitoring-based driving behavior model construction to enable
a personalized assistance is brought out together with some potential applications of
formal driving behavior models.

Keywords Intelligent vehicles Driving behavior model Rectangular hybrid

automata Learning In-vehicle monitoring Driving safety Formal verication

1 Introduction

Recent trends in automotive industry make cars look more like robots than physi-
cal systems. From navigational and informational systems to full automatic control,
automakers are all oriented toward the application of computing and information

A. Bouhoute () R. Oucheikh I. Berrada

USMBA University, LIMS, Fez, Morocco
e-mail: afaf.bouhoute@usmba.ac.ma
R. Oucheikh
e-mail: rachid.oucheikh@usmba.ac.ma
I. Berrada
e-mail: ismail.berrada@usmba.ac.ma
Springer Science+Business Media Singapore 2017 587
R. El-Azouzi et al. (eds.), Advances in Ubiquitous Networking 2, Lecture Notes
in Electrical Engineering 397, DOI 10.1007/978-981-10-1627-1_46
588 A. Bouhoute et al.

technologies to transform cars into a Cyber Physical System (CPS). CPS is the
name given to every system that has cyber technologies, both software and hard-
ware, deeply embedded and interacting with physical components [22]. As auto-
motive CPS, new cars are coming tted with a set of powerful embedded sensors
and communication technologies that make them capable of performing complex
driving activities with advanced levels of autonomy. The developments in automo-
tive CPS have been recently appearing at an accelerating pace, ranging from driver
support systems (ABS, adaptive cruise control, lane departure warning) to driver-
less systems (Audis self-parking, Googles self-driving car). Whether in semi-
autonomous or full-autonomous systems, the role of the driver is very important and
cannot be overlooked. Whereas monitoring the driver and his driving behavior is
important in semi-autonomous cars, the driver preferences and his supervisory role
are also to be considered in full autonomous cars. Hence, the need of integrating
driver-in-the-loop considerations in the design of automotive CPS. Driver-in-the-
loop systems integrate the driver with the vehicles cyber systems through various
degrees of autonomy, authority distribution, and systems interaction. From the mon-
itoring of the driver interaction with the car CPS, we can extract a lot of information
characterizing the driver, his driving style and how he reacts to real-time informa-
tional messages. This characterization of the driver enable assistance systems to pro-
vide a personalized assistance and can even make future cars more adapted to their
drivers.
The contribution of this paper consists of an overview and examples of some cars
embedded assistance systems are given, and also the role of modeling driver behavior
in the design of advanced driving assistance systems is emphasized. Furthermore,
the importance of monitoring-based driving behavior model construction to enable
a personalized assistance is brought out together with some potential applications of
formal driving behavior models.
The remainder of this paper is organized as follows: Sect. 2 gives an overview
of what we mean by an intelligent car and of dierent type of driving assistance
systems. In Sect. 3, we present briey our approach for a formal and monitoring-
based modeling. The potential applications of our approach are presented in Sect. 4.
Section 5 concludes the paper and draws perspectives.

2 Related Work

In the last few years, the automotive industry is being considered as one of the
promising area for the application of computing and networking technologies. Recent
studies are considering cars as smart objects equipped with a powerful set of embed-
ded technologies, and which are capable of perceiving and interacting with their
external environment including other vehicles, roads, and pedestrians. This trans-
formation has opened the oodgates for researches and developments in intelligent
vehicular applications and semi-autonomous driving assistance systems. While some
Context-Aware Driving Assistance: An Approach for Monitoring-Based . . . 589

assistance systems focus merely on perception of the vehicle environment [8, 15],
monitoring of the driver behavior [2, 5, 16] and displaying warnings, other systems
excel this by removing the driver out the loop and performing corrective actions [6,
13]. With the aim of improving driving safety and comfort, developments in auto-
motive systems were oriented to dierent directions that can be regrouped into three
major categories: perception enhancement, driving behavior modeling and control
systems.
In driving, perception is considered as an important issue as it forms the basis
of all driving decisions. For perception enhancement of the driving environment,
researches have focused on the use of information from the automotive sensory
system to increase the awareness about the driving situation. Because of the com-
plexity of the driving environment and the diversity/heterogeneity of its components
(trac signs, obstacles, environmental conditions), dierent perception assistance
systems have emerged that dier by their functionalities and the technologies on
which they are based (vision/camera systems, Lidar/radar technologies, and vehic-
ular communications). For example in [8, 15], vision-based systems using image
processing for trac signs recognition were proposed. Both systems use robust and
fast algorithms that achieve good performance, but the algorithm in [8] is unfortu-
nately restricted to speed signs recognition, while an application as a speed regulator
in an intelligent automated vehicle is proposed in [15] in addition the recognition
system. Aside from trac sign, obstacle (xed or mobile) detection has been the
focus of many papers like in [21] that proposes an approach for a visual processing
system for pedestrian detection to be used in assistance applications. While percep-
tion enhancement is still an open research area, automotive industry is recently full
of commercialized perception based assistance systems like: blind spot monitoring
introduced by Volvo, lane departure warning systems rstly installed on Mercedes
commercial trucks, intersection assistance rst introduced by Toyota.
In addition to environment perception, understanding and modeling the driving
behavior for application in assistance systems has been the topic of dierent stud-
ies. Some of researches in this eld were oriented toward the prediction of driver
intentions. Oliver and Pentland [18] used a trained models, that were created for
dierent driving maneuvers based on collected data from the dierent sensors of
a smart car, for the recognition and prediction of drivers maneuvers. The maneu-
vers that were modeled in [18] are passing another car, changing lane left and right,
turning right and left, starting and stopping. The experiments have shown that the
models are able to recognize and classify the driver maneuver one second before
any signicant change in the car signals. While the models in [18] use the infor-
mation from all sensors (speed, throttle position, brake, gear, steering angle), [20]
presents prediction of cars future trajectories based primarily on the history of steer-
ing wheel angle. The goal of their approach is to create a probabilistic model of the
driver behavior and use formal techniques to verify its properties that guaranty its
safety and liveness. As a rst step, a predictive model is created based on the future
environment surrounding the car, the state of the driver and the history of steering
maneuvers. The predictive model predicts for each environment and driver state a
set of possible future trajectories, which are used as transitions probabilities within
590 A. Bouhoute et al.

the driver model. A formal analysis of driver behavior is then carried out by the
verication of quantitative properties of the constructed model.
The prediction and verication of driver behavior is considered as an important
step for the realization of assistance systems. Based on the assistance provided to the
driver, two categories are dened: passive assistance systems and active assistance
systems. In passive assistance, dierent kinds of warnings (visual, auditory or tactile)
are provided to the driver, alerting him about the current danger and/or possible cor-
rective actions. Lane Departure Warning system (LDW) [9] is an example of passive
assistance systems that, based on perception of the vehicle lateral movement, warns
the driver if he is drifting out of the lane. However, [1] presents an assistance system
as a driver behavior detection system that sends warnings to the driver as well as to
the surrounding vehicles (via vehicular communication technology) when abnormal
driving behaviors are detected. The main characteristic of passive assistance systems
is that they always keep the human in the loop, which means that it always up to the
driver to control it vehicle and the intervention of the system is nothing more that
the provided warning. On the other hand, active assistance systems can in addition
to warnings intervene on the physical level by automatically performing corrective
actions if the driver does not respond to the given warnings. Partially similar to the
lane departure warning, the lane keeping system [14] is an active assistance system
that monitors the lateral movement of the car and automatically takes control of its
steering to keep it on its lane, when the driver is not responding to the systems warn-
ings. Another example of active safety is the system presented in [13] that provides
the driver with brake assistance. The system analyzes the information about the vehi-
cle, environment and driver, identies the need for braking action, and based on the
driver awareness decides if an automatic braking is needed.
Driving assistance systems either passives or actives always consider the driver
as the main controller of the vehicle and intervene only in urgent cases, contrary
to the recent vision of autonomous cars that keeps the driver in the loop for even-
tual intervention in case of system failures. Like in [10], where a formalism for the
realization of a human-in-the-loop controller system that expect human intervention
only for correct operation was presented. The paper focuses particularly on solv-
ing the problem of synthesizing a combination of human and autonomous controller
from high level system specications, and demonstrates its operation in the context
of automated driving assistance.
After the investigation of these papers, we came to the following statements:
The current autonomous and semi-autonomous systems focus on the safety aspect
in a driving situation without considering the personal driving style of drivers to
face this situation. Hence, the need of adjusting, while ensuring safety, the deci-
sions made by these systems to meet drivers proles.
The modeling of the driver, vehicle and environment system is important to under-
stand the behavior and preferences of the driver. Existing modeling approaches
focus merely on modeling specic driving maneuvers, and predict the driver
behavior based only on the current vehicle and driver state without referring to
the history of the driver behavior in similar situations, or based on patterns of
Context-Aware Driving Assistance: An Approach for Monitoring-Based . . . 591

driving behavior that were constructed and trained using dierent drivers and thus
are not well-matched to the considered driver. In addition, we notice a lack of a
formal framework for the description of driving behavior that captures the driver
interactions with both the vehicle and environment.
To deal with these shortcomings, a formal framework that enables a holistic
description of driving behavior and an algorithm to record the interactions of a
driver with the vehicle and the driving contexts can be used. The behavior of a
driver in a driving situation can then be predicted based on the collected records of
its behavior in the same situation. And by combining these predictions with safety
measures, autonomous and semi-autonomous cars can mimic the behavior of their
owners while ensuring their safety.

3 Monitoring-Based Modeling for Self-learning Cars

Machine learning algorithms are called self-learning when performed by machine

alone [23]. A car with self-learning skills is thus a car featuring advanced learning
technologies that enable it to learn from the past driving experiences. This concept
was lately brought to light by the cars company jaguar land rover, which developed
a self-learning technology to oer a more personalized driving experience. What
makes the jaguar land rovers car the rst self-learning car is that the technology
developed learns the driver preferences using a range of variables and can take care
of multiple non driving tasks, unlike other technologies that focus only on navigation
and trac prediction. To provide a ubiquitous and personalized assistance, a learning
of the driver behavior in all driving situations is required. In our previous works
[3, 4], we have proposed a new formal framework to represent the driver behavior
within the driver-vehicle-environment (DVE) system. In this section, The framework
is shortly presented and the learning algorithm for the construction of the context-
aware driving behavior model is given.

3.1 Description of the DVE System

The driving behavior is determined by several factors related to the driver, vehicle
and driving environment. These three elements are often referred to as the Driver,
Vehicle, Environment (DVE) system. This latter can be seen as a closed loop system:
in which the driver act autonomously and make decisions based on of the perceived
environment, on the other hand the vehicle as a passive component executes the
driver decisions and move in the environment accordingly. The driver decisions in
the next step are based on the feedback from the vehicle with the information from the
environment [17]. Driving behavior can thus be dened as the activities performed
by the driver to operate a vehicle, it represents the way the driver drives his car.
592 A. Bouhoute et al.

Formally, it can be seen as a change in the dynamic state of the vehicle made by the
driver in response to a specic driving situation. A driving situation consists of a
part of the trac situation experienced by the driver in some unit of time and space
[19], and which can be described as a combination of specic parameters that are
categorized as:
Dynamic parameters that refer to parameters about the behavior of other vehicles,
pedestrians;
Static parameters, which are parameters regarding the constructional characteris-
tics of the road (type of the road, curvature, intersection, type of intersection)
and the infrastructural characteristics (regulation type: implicit rules, road
signs).
A realistic representation of the driving behavior must thus takes into consid-
erations the interactions of the driver within the DVE system. In our framework
information about the dynamic state of the vehicle through the use of variables like
velocity, acceleration, the driver observable action like pressure on pedals, action
on steering wheel, and the driving environment (e.g. the authorized speed, GPS
position) are captured. And the driving behavior is represented as a transition
system between the states of the vehicle enabled by the driver actions and the car
environment situation. For this end, Probabilistic Rectangular Hybrid Input/Output
Automata (PRHIOA) was proposed.

3.2 Modeling Framework: Probabilistic Rectangular Hybrid

Input/Output Automata (PRHIOA)

PRHIOA is an adaptation of hybrid IO automata [11] and rectangular automata [7].

Hybrid I/O automata allows us to dierentiate input and output actions, while rec-
tangular hybrid automata allows us to dene rectangular inequalities over variables.
Formally, a Probabilistic Rectangular Hybrid I/O Automaton is dened as a tuple
(H, U, Y, X, Q, , inv, E, I, O, D, ), where:
H is a set of internal variables,U is a set of input variables and Y is a set of output
variables. H, U and Y are disjoint from each other and we write X H U Y.
Q val(H) is a set of states, where val(H) is the set of valuations of H.
is a set of initial states.
inv Q Rect(H) is an invariant function, where Rect(H) is the set of all rec-
tangular predicates over H. A rectangular predicate over H is a conjunction of
rectangular inequalities; it denes the set of vectors [[]] = {z n | [H =
z] is true}. A rectangular inequality over H is a formula hi c, where hi H, c
is an integer constant and is one of <, , >, . The function inv maps each state
to its invariant condition.
E, I and O are sets of internal, input and output actions, respectively. An internal
action of E will be denoted later by ?.
Context-Aware Driving Assistance: An Approach for Monitoring-Based . . . 593

D is a set of discrete transitions. A discrete transition is labeled with an action,

and is dened as a triple (q, o, g, q ) where q is a source state, o is an action, g
Rect(H) is a guard on the transition, and q is a target state. To simplify, if the
guard is true we will only refer to a transition as a triple (q, o, q ).
is a transition probability over output actions O is dened such as:

q Q aO (q, a, q ) = 1 for all q Q and all a O.
The semantics of the PRHIOA is a transition system where states represents the
state of the vehicle described by conjunctions of rectangular inequalities over a set
of driving parameters (i.e. internal variables) such as velocity, lane, acceleration.
There are two types of transitions between states; one is triggered by a driver action
(e.g. hit the gas/brake pedal, turn the wheel) also called output action and the other
follows the change of the variables over time (e.g. contextual information) also called
input action. The range of the driving variables values known already, the state space
can be created and we can start the construction phase.

3.3 Algorithm of Construction of the Driving Behavior

Model

In our approach, the driving behavior model describes how the driver behaved in
all road encountered situations. Thus the construction, which consists of a learning
of the transitions relating the states of the model, is performed through a continuous
monitoring of the driver behavior reected in the change of the variables values. The
Algorithm 1 presents the steps of the construction algorithm. To learn and update the
transitions probabilities a reinforcement scheme based on the algorithm of learning
automata is used, the update scheme is illustrated in Algorithm 2.

Algorithm 1 Algorithm of construction

Require: Q: states set, I={I1 , I2 , , In }: input actions sets, O={O1 , O2 , .., Om }: output actions set,
qinitial : initial state
Ensure: D: transitions set, P : set of transitions probabilities
current_state = previous_state = qinitial
While the vehicle in movement Observe the DVE system
if input Ij (i.e. driving environment requirement) then
Add input transition
Update the driving context
Update transitions probabilities
end if
if input Oj (i.e. action of the driver) then
Add output transition
Update current state
Update transitions probabilities
end if
594 A. Bouhoute et al.

Algorithm 2 Transitions probabilities update

Require: T = (q, a, q ) transition to be added, D: transitions set, P : set of transitions probabilities,
r: number of outgoing transition from q
Ensure: D: transitions set, P : set of transitions probabilities
if T is not in D then
P(T) = 1
if r 0 then
p(T) = 1r
p(T ) = (1 1r )p(T ) for T T
end if
else
p(T) = p(T) + 1p(T) r
T in the transitions set D
1
p(T ) = (1 r )p(T ) for T T
end if

Running the algorithm of the model construction for many trips, we can have
one model describing and reporting the driver behavior in the dierent encountered
situations, from which we can retrieve information about his preferences, how he
reacts behind the wheel and also the safety of his driving.
To enable a formal verication of the driving safety using logical properties, we
have represented and captured the contextual information (e.g. input actions) as con-
ditions on the internal variables of the model. A detailed study about how we dene
conditions for roads signs can be found in [4] and also about we update these condi-
tions continuously within the states. Depending on the variables that were used we
can dene logical properties to verify in an automatic way, several driving behavior
like the respect of the speed limit, the safe following distance

4 Potential Applications of Formal Monitoring-Based

Modeling

One of the important applications that we propose is a monitoring system for drivers
education purposes. Monitoring systems have been recently an important trend for
measuring driving styles. Monitoring systems have been mostly used in eet man-
agement [12], and they have shown promising results thus con-rming the contribut-
ing role of monitoring in the improvement of a range of safety-related behaviors.
Therefore for road safety purposes, monitoring systems must allow the assessment
of the safety of the driver behavior in dierent trac situations. Generally, the exist-
ing monitoring systems focus on the record of time-step driving data (acceleration,
speed) while the contextual details about the driving conditions are either not
recorded or provided as videos of the external environment. Moreover, the large
size of the generated les by these systems makes their analysis more complicated
Context-Aware Driving Assistance: An Approach for Monitoring-Based . . . 595

and increases their processing time. Comparing to the existing monitoring systems,
driving data together with the contextual constraints of the environment are recorded
as one mathematical model, and tools to analyze the convenience of recorded data
to driving conditions are provided. In addition, smaller log les are generated, as
only abstracted states of driver-vehicle with the emphasis on the input/output nature
of the driving behavior are kept instead of storing the time step data of driving.
As driving safety and performance has to be evaluated according to the contextual
driving environment, focus has been put on modeling and recording of the driving
behavior observed with the contextual information expressed as context constraints,
which makes the analysis and verication process less complicated. Therefore, appli-
cations can be found in dierent other sectors with driving safety and driving analysis
concerns can be found.
It can be used for example by insurance companies to reward/punish their cus-
tomers according to the performance of their driving. Insurance companies are
recently using driving monitoring to provide personal payment for car insurance
based on driver habits, and to encourage their customer to improve their driving
performance. The systems that are used until now track the drivers habits (braking
and other data) to gure out if he will receive a good driver discount or not. The
evaluation of driving habits is made primarily on data from the car engine computer.
Yet the system that we propose here combines information from the vehicle with the
information from environment to evaluate how the driver behaves in dierent driving
situations. Information about environment consists of road types, trac regulation,
behavior of other vehicles, obstacles, etc. Insurers can then evaluate the driver habits
in respect to the perceived environment instead of recognizing it from driving data.
Examples of behavior insurers can evaluate are: the velocity of the car taking into
account the road type or curvature and an overtaking maneuver considering the other
vehicles on the road.
As a part of our approach focus on modeling trac rules, trac police can use
it for the detection and generation of infringement notices. Recently, multiple intel-
ligent solutions have been proposed to support trac enforcement such as speed
cameras that capture speeding vehicles, in-vehicle data recorders that record driving
data to be used in a crash analysis,. These solutions contribute to the improvement
of road safety without requiring an increase in human police resources. Our approach
of modeling oer a way to detect road rules infringement without the need of more
intelligent road infrastructure as every vehicle will be able to auto-detect and record
any disobedience to road rules and send data to police center for evaluation. The
formal verication proposed will facilitate the evaluation of recorded data.
Another important application is to use the driver behavior model as a basis of
a personalized driving assistance. The automotive technologies available in recent
cars can be a source of a lot of information that can be used to learn driver prefer-
ences either in terms of driving, navigational or infotainment tasks. This information
gathered from the in-vehicle technologies can be used to enrich the personal behav-
ior model presented in this work. Because this probabilistic model can predict the
driver behavior in the dierent situations that were experienced previously by the
596 A. Bouhoute et al.

driver, we can anticipate and avoid risky behaviors and assistance functions can be
implemented by the design of the controller unit to take control of the physical plant
if a risky behavior is anticipated.

5 Conclusion

Technologies for smart cars are evolving rapidly and manufacturers are focusing
more and more on the satisfaction of the customers hence the emergence of self-
learning cars. This paper aims to elucidate the concept of smart self-learning cars
and present examples of cars embedded technologies that were developed during
the last years. We also emphasize, throughout this paper, the importance of the role
driver in the design of advanced systems and a framework to formally represent the
driving behavior together with a monitoring-based approach for the construction of
personal driving behavior models are presented. In addition, the usefulness of the for-
mal framework for an automatic verication of the safety of driver behavior is illus-
trated. Finally,an insight of some potential applications of formal and monitoring-
based modeling is given.
To support the proposed approach, we are running two dierent simulation
approaches. On one hand, some driving situations are simulated using the open
driving simulator (OPENDS) and the verication tool PRISM is used for the auto-
matic checking of some predened safety properties. On the other hand, tests using
real data from Green research Lab of The Nagoya University, Japan are considered.
Details about the implementation, simulations and their results will be discussed in
a future work.

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