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Pernestål Brenden, AnnaORCID iD iconorcid.org/0000-0003-2011-6273
Publications (10 of 13) Show all publications
Pernestål Brenden, A. & Kristoffersson, I. (2019). Effects of driverless vehicles - Comparing simulations to get a broader picture. European Journal of Transport and Infrastructure Research, 19(1), 1-23
Open this publication in new window or tab >>Effects of driverless vehicles - Comparing simulations to get a broader picture
2019 (English)In: European Journal of Transport and Infrastructure Research, ISSN 1567-7133, E-ISSN 1567-7141, Vol. 19, no 1, p. 1-23Article in journal (Refereed) Published
Abstract [en]

Driverless vehicles have the potential to significantly affect the transport system, society, and environment. However, there are still many unanswered questions regarding what the development will look like, and there are several contradictory forces. This paper addresses the effects of driverless vehicles by combining the results from 26 simulation studies. Each simulation study focuses on a particular case, e.g. a certain mobility concept or geographical region. By combining and analysing the results from the 26 simulation studies, an overall picture of the effects of driverless vehicles is presented. In the paper, the following perspectives are considered: what types of application of driverless vehicles have been studied in literature; what effects these simulation studies predict; and what research gaps still exist related to the effects of driverless vehicles. The analysis shows that it is primarily driverless taxi applications in urban areas that have been studied. Some parameters, such as trip cost and waiting time, show small variations between the simulation studies. Other parameters, such as vehicle kilometres travelled (VKT), show larger variations and depend heavily on the assumptions concerning value of time and level of sharing. To increase the understanding of system level effects of driverless vehicles, simulations of more complex applications and aspects such as land use, congestion and energy consumption are considered.

Place, publisher, year, edition, pages
EDITORIAL BOARD EJTIR, 2019
Keywords
automated vehicle, autonomous taxi, driverless vehicle, societal effects, traffic simulation
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-251482 (URN)000464970700001 ()
Note

QC 20190522

Available from: 2019-05-22 Created: 2019-05-22 Last updated: 2019-05-22Bibliographically approved
Hesselgren, M., Sjöman, M. & Pernestål, A. (2019). Understanding user practices in mobility service systems: Results from studying large scale corporate MaaS in practice.
Open this publication in new window or tab >>Understanding user practices in mobility service systems: Results from studying large scale corporate MaaS in practice
2019 (English)In: Article in journal (Refereed) Published
Abstract [en]

Mobility as a Service (MaaS), where different shared modes of transportation are bundled into one easily accessible service, plays an important role in the shift towards more sustainable transport systems. In this article, we present empirical research with the aim to understand how the barriers to increased shared travel with MaaS can be lowered. The concept of corporate MaaS (CMaaS) is introduced, and empirical results are presented from a study of CMaaS at a workplace of 14,000 employees in Sweden. The findings are based on 77 interviews with CMaaS users, performed in four iterative rounds using service design methods. Social practice theories are used as analytical lens to attempt to understand travel practices in the context of CMaaS. As CMaaS (and MaaS) are socio-technical systems, several perspectives need to be integrated in order to reach this understanding; all system components, including materials (e.g. the user application, the transport modes), competences (knowledge of how to use the materials), and meanings (understandings of travel habits, lifestyle choices, and employer relations) need to be analysed. Through this analytical lens, three barriers to adoption of CMaaS and sustainable transport were identified: inadequate integration of the internal transport system with external transport systems; corporate policy, culture and norms that conflict with using the services; and system limitations due to laws and regulations. All these barriers are also relevant for understanding MaaS services in general.

Place, publisher, year, edition, pages
Elsevier, 2019
National Category
Other Engineering and Technologies not elsewhere specified
Identifiers
urn:nbn:se:kth:diva-241903 (URN)10.1016/j.tbs.2018.12.005 (DOI)
Note

QC 20190125

Available from: 2019-01-25 Created: 2019-01-25 Last updated: 2019-09-05Bibliographically approved
Pernestål Brenden, A., Kristoffersson, I. & Mattsson, L.-G. (2019). Where will self-driving vehicles take us? Scenarios for the development of automated vehicles with sweden as a case study (1ed.). In: Pierluigi Coppola, Domokos Esztergár-Kiss (Ed.), Autonomous Vehicles and Future Mobility: . Elsevier
Open this publication in new window or tab >>Where will self-driving vehicles take us? Scenarios for the development of automated vehicles with sweden as a case study
2019 (English)In: Autonomous Vehicles and Future Mobility / [ed] Pierluigi Coppola, Domokos Esztergár-Kiss, Elsevier, 2019, 1Chapter in book (Refereed)
Place, publisher, year, edition, pages
Elsevier, 2019 Edition: 1
National Category
Engineering and Technology
Research subject
Transport Science
Identifiers
urn:nbn:se:kth:diva-249687 (URN)9780128176962 (ISBN)
Funder
Integrated Transport Research Lab (ITRL)
Note

QC 20190423

Available from: 2019-04-17 Created: 2019-04-17 Last updated: 2019-05-22Bibliographically approved
Susilo, Y., Chee, P. N., Darwish, R. & Pernestål Brenden, A. (2018). Early Lessons From an Autonomous Bus Deployment on a Public Road in Stockholm. In: : . Paper presented at Nationell konferens I transportforskning 2018, 2018-10-15 2018-10-16.
Open this publication in new window or tab >>Early Lessons From an Autonomous Bus Deployment on a Public Road in Stockholm
2018 (English)Conference paper, Oral presentation only (Refereed)
National Category
Transport Systems and Logistics
Identifiers
urn:nbn:se:kth:diva-248742 (URN)
Conference
Nationell konferens I transportforskning 2018, 2018-10-15 2018-10-16
Funder
Integrated Transport Research Lab (ITRL)
Note

QCR 20191015

Available from: 2019-04-09 Created: 2019-04-09 Last updated: 2019-10-15Bibliographically approved
Chee, P. N., Susilo, Y., Pernestål Brenden, A. & Wong, Y. D. (2018). Investigating the willingness of use autonomous bus as a last-mile travel mode: First evidence from public trial in Kista, Stockholm. In: : . Paper presented at hEART 2018 – 7th Symposium of the European Association for Research in Transportation.
Open this publication in new window or tab >>Investigating the willingness of use autonomous bus as a last-mile travel mode: First evidence from public trial in Kista, Stockholm
2018 (English)Conference paper, Oral presentation only (Refereed)
National Category
Transport Systems and Logistics
Identifiers
urn:nbn:se:kth:diva-249168 (URN)
Conference
hEART 2018 – 7th Symposium of the European Association for Research in Transportation
Funder
Integrated Transport Research Lab (ITRL)
Note

QC 20190514

Available from: 2019-04-10 Created: 2019-04-10 Last updated: 2019-05-14Bibliographically approved
Pernestål Brenden, A. & Hesselgren, M. (2018). Possibilities and barriers in ride-sharing in work commuting – a case study in Sweden. In: : . Paper presented at Transport Research Arena, TRA2018, Vienna , Austria, April 16 -19, 2018.
Open this publication in new window or tab >>Possibilities and barriers in ride-sharing in work commuting – a case study in Sweden
2018 (English)Conference paper, Published paper (Refereed)
Abstract [en]

To understand possibilities and barriers for ride-sharing in work commuting, 451 persons living in the same suburban area and working at the same site were invited to join a ride-sharing program and use a mobile application. Two quantitative web surveys and 16 in-depth interviews have been performed. The results have been analysed using social practice theories as an analytical lens. The participants understood the benefits with the ride-sharing practice, but out of the 451 invited participants, only 8 downloaded the required mobile application for the ride-sharing program. Different to previous results in the literature, trust and security were not seen as issues in this case. Instead the expected loss of flexibility was seen as the main barrier. The participants found a meaning in “being a green commuter” and understood that ride-sharing could contribute to decrease challenges of congestion, environmental impact, and overfull parking places. However, they rated their own current flexibility and convenience in commuting higher than the expected benefits from ride-sharing.

Keywords
ride-sharing, commuting, travel behavior, case study
National Category
Interaction Technologies
Identifiers
urn:nbn:se:kth:diva-227310 (URN)
Conference
Transport Research Arena, TRA2018, Vienna , Austria, April 16 -19, 2018
Funder
Integrated Transport Research Lab (ITRL)
Note

QC 20180522

Available from: 2018-05-07 Created: 2018-05-07 Last updated: 2018-05-22Bibliographically approved
Svensson, L., Masson, L., Mohan, N., Ward, E., Pernestål Brenden, A., Feng, L. & Törngren, M. (2018). Safe Stop Trajectory Planning for Highly Automated Vehicles:An Optimal Control Problem Formulation. In: 2018 IEEE Intelligent Vehicles Symposium (IV): . Paper presented at 2018 IEEE Intelligent Vehicles Symposium, IV 2018; Changshu, Suzhou; China; 26 September 2018 through 30 September 2018 (pp. 517-522). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8500536.
Open this publication in new window or tab >>Safe Stop Trajectory Planning for Highly Automated Vehicles:An Optimal Control Problem Formulation
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2018 (English)In: 2018 IEEE Intelligent Vehicles Symposium (IV), Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 517-522, article id 8500536Conference paper, Published paper (Refereed)
Abstract [en]

Highly automated road vehicles need the capabilityof stopping safely in a situation that disrupts continued normaloperation, e.g. due to internal system faults. Motion planningfor safe stop differs from nominal motion planning, since thereis not a specific goal location. Rather, the desired behavior isthat the vehicle should reach a stopped state, preferably outsideof active lanes. Also, the functionality to stop safely needs tobe of high integrity. The first contribution of this paper isto formulate the safe stop problem as a benchmark optimalcontrol problem, which can be solved by dynamic programming.However, this solution method cannot be used in real-time. Thesecond contribution is to develop a real-time safe stop trajectoryplanning algorithm, based on selection from a precomputedset of trajectories. By exploiting the particular properties ofthe safe stop problem, the cardinality of the set is decreased,making the algorithm computationally efficient. Furthermore, amonitoring based architecture concept is proposed, that ensuresdependability of the safe stop function. Finally, a proof of conceptsimulation using the proposed architecture and the safe stoptrajectory planner is presented.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-232815 (URN)10.1109/IVS.2018.8500536 (DOI)2-s2.0-85056784560 (Scopus ID)9781538644522 (ISBN)
Conference
2018 IEEE Intelligent Vehicles Symposium, IV 2018; Changshu, Suzhou; China; 26 September 2018 through 30 September 2018
Note

QC 20180806

Available from: 2018-08-02 Created: 2018-08-02 Last updated: 2019-05-22Bibliographically approved
Kristoffersson, I. & Pernestål Brenden, A. (2018). Scenarios for the development of self-driving vehicles in freight transport. In: Proceedings of 7th Transport Research Arena TRA2018: . Paper presented at 7th Transport Research Arena TRA 2018,16-19 April, Vienna.
Open this publication in new window or tab >>Scenarios for the development of self-driving vehicles in freight transport
2018 (English)In: Proceedings of 7th Transport Research Arena TRA2018, 2018Conference paper, Published paper (Refereed)
Abstract [en]

This paper extends previous research by developing future scenarios for self-driving vehicles and their societal impacts in freight transport using Sweden as a case study. Freight experts from vehicle manufacturers, agencies, universities and hauliers were recruited for a workshop where they assessed the benefits, costs, possibilities and barriers for self-driving vehicles in freight transport. The paper shows that reduction in driver and vehicle costs, reduced number of incidents and more fuel-efficient driving are seen as the main benefits of self-driving vehicles in freight transport, and increased vehicle costs, lost jobs, reduced degree of filling and more transport as the main costs. Furthermore, reduced drivers’ costs, more hours-of-service and new business models are identified as the main drivers of the development and traffic management, small hauliers, loading and unloading and cross-border transport as the main barriers. The paper also integrates the description of possible developments of self-driving vehicles in freight transport into the four future scenarios developed for passenger transport in Sweden.

Keywords
Self-driving vehicles, Automated transport, Freight transport, City logistics, Long haulage, Future scenarios, Societal scenarios
National Category
Transport Systems and Logistics
Research subject
Transport Science
Identifiers
urn:nbn:se:kth:diva-226557 (URN)
Conference
7th Transport Research Arena TRA 2018,16-19 April, Vienna
Funder
Integrated Transport Research Lab (ITRL)
Note

QC 20180604

This project was funded by the Integrated Transport Research Lab, KTH Royal Institute ofTechnology, and the Swedish Ministry of Enterprise and Innovation.

Available from: 2018-04-19 Created: 2018-04-19 Last updated: 2018-06-11Bibliographically approved
Pernestål Brenden, A. & Kottenhoff, K. (2018). Self-driving shuttles as a complement to public transport – a characterization and classification. In: Proceedings of 7th Transport Research Arena TRA2018: . Paper presented at Transport Research Arena TRA 2018.
Open this publication in new window or tab >>Self-driving shuttles as a complement to public transport – a characterization and classification
2018 (English)In: Proceedings of 7th Transport Research Arena TRA2018, 2018Conference paper, Published paper (Refereed)
Abstract [en]

Sustainable transportation is a top priority challenge for many cities and urban regions. To reach that, an attractive public transport plays a key role. In this paper an analysis of how the technology of self-driving vehicles, and in particular shuttles for about 6-20 passengers, can complement and improve attractively in public transport. Self-driving shuttles provide a new component to public transport, as smaller vehicles can operate on a higher frequency to a cost of the same order of magnitude as conventional larger buses. Six types of applications of self-driving shuttles in public transport are identified: Feeder line, Truncation of high capacity line, Cross connections, Center line, On-demand feeder line, and Within-area service (line or on demand). The application types are exemplified by two potential cases in Stockholm, and implementation barriers and strategies are discussed. The classification, together with examples from on-going applications, suggests that SD shuttles can contribute to public transport already without being fully self-driving everywhere.

Keywords
Self-driving vehicles, autonomous vehicles, public transport, shuttle
National Category
Transport Systems and Logistics
Research subject
Transport Science
Identifiers
urn:nbn:se:kth:diva-226556 (URN)
Conference
Transport Research Arena TRA 2018
Funder
Stockholm County Council, LS 2016 - 0764Integrated Transport Research Lab (ITRL)
Note

QC 20180515

Available from: 2018-04-19 Created: 2018-04-19 Last updated: 2018-05-22Bibliographically approved
Berends, S., sanchez-Diaz, I. & Pernestål Brenden, A. (2018). The Socio-Economic Benefits of Off-Peak Hour Distribution: The case of Stockholm. In: Urban Logistics. : Management, Policy and Innovation in a Rapidly Changing Environment . Kogan page
Open this publication in new window or tab >>The Socio-Economic Benefits of Off-Peak Hour Distribution: The case of Stockholm
2018 (English)In: Urban Logistics. : Management, Policy and Innovation in a Rapidly Changing Environment , Kogan page, 2018Chapter in book (Refereed)
Place, publisher, year, edition, pages
Kogan page, 2018
National Category
Transport Systems and Logistics
Identifiers
urn:nbn:se:kth:diva-249689 (URN)9780749478711 (ISBN)
Funder
Integrated Transport Research Lab (ITRL)Vinnova
Note

QC 20190617

Available from: 2019-04-17 Created: 2019-04-17 Last updated: 2019-06-17Bibliographically approved
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Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0003-2011-6273

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