別紙41 (課程博士(英文))Date of submission (January 7,2019)
Departmenl

Computer scienceandStudentlD Number

Supervisors

Engineerlng
PphcanfS ηame

OKADAMichio

DB5311KURIYAMA shigel'U

KARATAS Nihan

Abstract (Doct0→
Title ofTlwsis

Interaction Design ofsociable Driving Agents as an E仟ective ln・vehicle lnterface

Approx.80o words
Xvith tl〕e advancelnent ofthe techn010gy, the interaction design of the dashboard ofthe cars havebeen changed a lot in the last years. The a11)ount of buttons have been becoming increasingly
Confusing and sensory overload. on the other hand, a great deal ofresearch has been conducted on
hiσhly autonomous vehicles 、Nhich make their own driving decisions that minimise humaninterventions with t11e vision ofdem'easing human errors a11d achieving a safer, more energy efflcientand more comfortable mode oftransponation. The autonomous cars hold much more fU11Ctionalities
Compared to the cars on the road today.1herefore, the design of the dashboard for the expected
Self、driverless cars should be created in a way that intuitively understa11dable by the wide range ofUsers considering their naivety on the techn010gy a11d cultural backgr01Ⅱld, etc. R has been daimed
thatthe human brain has evolved to be highly adaptive in socialinteractionstherefore, people tend to

ant11ropomorphise the teclm010gy. Fron〕̲ the drivers' perspective, we believe that it is crucial tointeract with a11in、vehicle interface system in such a social, natural and familiar malmer to reduce
mentalworkload and create a more sociable enviromnentinside a car. since human brain has been

evolved to be an expertin socialinteractions, social robots are envisioned as having the ability tointeract 、Nith humans (and others) socia11y in order to achieve their designated goals.工入7ith thisrespect, a socialrobot plaぜorm what would mediate the interactions between a car al)d a driver canbe effective in terms of obtaining envir0111nentalinformation a11d understanding the vehicle'S

intentions while interacting with the driver socia11y.1n this thesis, we address several problems
regarding to the interaction between such a socialinterface and a driver.

Firstly,、Ne propose a socialintaface named NAMIDA thatincorporatesthree conversationalrobots
that ca11 decrease the number of directed utterances towards a driver tl〕rough a turn・taking process

among the robots. First,、Ne evaluated this n〕odel by employing viduaⅡy embodied social agents.
TI)1'ough this model, we show that drivers can gain necessary location・based information 、Nithout
joining the conV飢'sation among the robots. The results ofour pilot study revealed thatthe proposed
multi、party conversation based interaction modelis more effective in a11eviating certain 、Norkload
factors for drivers compared to a conventional one・to‑one communication based approach thatdirectly addresses the driva'. Then,、Ne built and used our robotic driving agents to conduct anexperiment to investigate the lifelikeness a11d distractedness of the interaction of the multi・party
Conversation of t11ree robotic agents and the one・to‑one conversation between one robot with adriver.1n this study, we show that overhearing information 丘om the physica11y embodied
multi、party conversation based driving agent system is perceived as possessing more lifelike
Characteristics compared to a conventional, one・to‑one comm山lication based driving agent that
directly addressesthe driver. AISO,the proposed approach reducedthe distraction level a11d lncreased
the enjoyment ofthe drivers.11)rough these two studies, we demonstrated that a11interaction design
Withthe multi、party conversation ofthe driving agents can be more efficient a11d enjoyable when thedriver's attention is required on driving (mal)ual driving).

Considering the C山rent researches on the autonomy Leve130fthe autonomous vehicles (1imitedlyautonomous), depending on the circumstances along the road (i.e. bad road conditions), the driverShouldtake、overthe controlfromthe autonomous mode as smooth al)d rapid as possible.1herefore,

Our nextstudy investigated aparadigm for keeping the drivers' situation・awareness active d山ing theautonomous driving by utiHsing our socialrobotsystem, NAMIDA.圦le a11alysed the effectiveness
OfNAMIDA on maintainingthe drivers' attentionto theroad, by evaluatingtheresponsetime ofthe
drivers to a criticalsituation on the road. An experiment consisting ofa take over scenario showedthat existence ofNAMIDA signi丘Ca11tly reduced the response time of the drivers with eye gazebehaviours ofthe robots.1n addition, we infened thatthe robots facilitated the driversto putthem inSocial con6nnity where the drivers' attention was on the road more 0丑en when the robots wereal、刃ays watching the road. HO、刃ever,in this study,the effects ofeye gazing behaviours ofthe robots
On the perceptions ofthe drivers in tenns of comprehending the intention of廿le robots and feelingthe autonomous driving saferremained unhlown.
In order to achieve a reliable interaction lNith the autonomous cars,intersubjectivity should be built
between the autonomous car a11d the humal) operator where the human wi11 believe that the car
Possess the salne intentions with the hulna11. one critical social cue for human to U11derstal)d theintentions ofothers is eye gaze behaviours.1n our nextstudy, we demonstrated that when the robots

f0110wed the eye gaze behaviours of the driver, the perception of the intersubjectivity a11d theautonomous car as a social entity were increased. The results of this study also revealed that theautonomous system was perceived safer and more enjoyable compared to the condition with not
Using the robots a11d the condition with using random gazing behaviours ofthe robots, respectively.