Forward collision warning based on a driver model to increase drivers’ acceptance

Abstract

Objective: Systems that can warn the driver of a possible collision with a vulnerable road user (VRU) have significant safety benefits. However, incorrect warning times can have adverse effects on the driver. If the warning is too late, drivers might not be able to react; if the warning is too early, drivers can become annoyed and might turn off the system. Currently, there are no methods to determine the right timing for a warning to achieve high effectiveness and acceptance by the driver. This study aims to validate a driver model as the basis for selecting appropriate warning times. The timing of the forward collision warnings (FCWs) selected for the current study was based on the comfort boundary (CB) model developed during a previous project, which describes the moment a driver would brake. Drivers’ acceptance toward these warnings was analyzed. The present study was conducted as part of the European research project PROSPECT (“Proactive Safety for Pedestrians and Cyclists”).

Methods: Two warnings were selected: One inside the CB and one outside the CB. The scenario tested was a cyclist crossing scenario with time to arrival (TTA) of 4?s (it takes the cyclist 4?s to reach the intersection). The timing of the warning inside the CB was at a time to collision (TTC) of 2.6?s (asymptotic value of the model at TTA = 4?s) and the warning outside the CB was at TTC = 1.7?s (below the lower 95% value at TTA = 4?s). Thirty-one participants took part in the test track study (between-subjects design where warning time was the independent variable). Participants were informed that they could brake any moment after the warning was issued. After the experiment, participants completed an acceptance survey.

Results: Participants reacted faster to the warning outside the CB compared to the warning inside the CB. This confirms that the CB model represents the criticality felt by the driver. Participants also rated the warning inside the CB as more disturbing, and they had a higher acceptance of the system with the warning outside the CB. The above results confirm the possibility of developing wellsaccepted warnings based on driver models.

Conclusions: Similar to other studies’ results, drivers prefer warning times that compare with their driving behavior. It is important to consider that the study tested only one scenario. In addition, in this study, participants were aware of the appearance of the cyclist and the warning. A further investigation should be conducted to determine the acceptance of distracted drivers.     

Comprehension and hazard communication of three pictorial symbols designed for flight manual warnings

Military flight manuals contain three types of warnings; WARNING, CAUTION and NOTE messages convey personal injury or loss of life hazards, material damage hazards and essential information respectively. Effectiveness of these warning messages is crucial for flight safety. A way to enhance warning effectiveness is pairing warning messages with compatible symbols. However, no symbol was used with warning messages in current flight manuals. In this study, three pictorial symbols were designed for flight manual warnings. Comprehension and hazard perception of designed symbols were tested through matching test and psychometric rating, respectively, by Turkish military pilots. Results showed that comprehension and hazard perception of the symbols were sufficient and compatible with content of warning messages in flight manuals. It was concluded that accompanying warning messages with these symbols could contribute to effectiveness of flight manual warnings.     

Explicitness of consequence information in warnings

Four experiments were carried out to assess effects of product warning explicitness on purchase preferences and caution in use. Explicitness was defined as the specificity or detail with which potential injury consequences were described. All experiments employed a paradigm in which warnings varying in explicitness were described for familiar products. Subjects rated various perceptions of the products, purchase preferences, and intent to act cautiously in using the product. Results indicated that more explicit warnings were associated with greater levels of perceived dangerousness, hazard understanding, injury severity, and manufacturers' concern. While explicit warnings were also associated with an increased intent to act cautiously in using products, no clear relationship was found between explicitness and purchase preferences. It is recommended that product warnings should be explicit regarding injury consequences, especially where injuries may be severe. Given such information, product users, particularly those less familiar with a product, are more likely to exercise greater caution during use. Further, manufacturers' concern that explicit warnings may negatively impact sales appears to be unwarranted.     

Field effectiveness evaluation of advanced driver assistance systems

Abstract

Objective: Advanced driver assistance systems (ADAS) are a class of vehicle technologies designed to increase safety by providing drivers with timely warnings and autonomously intervening to avoid hazardous situations. Though laboratory testing suggests that ADAS technologies will greatly impact crash involvement rates, real-world evidence that characterizes their effectiveness is still limited. This study evaluates and quantifies the association of ADAS technologies with the likelihood of a moderate or severe crash for new-model BMWs in the United States.

Methods: Vehicle ADAS option information for the cohort of model year 2014 and later BMW passenger vehicles sold after January 1, 2014 (n?=?1,063,503), was coded using VIN-identified options data. ADAS technologies of interest include frontal collision warning with autonomous emergency braking, lane departure warning, and blind spot detection. BMW Automated Crash Notification system data (from January 2014 to November 2017) were merged with vehicle data by VIN to identify crashed vehicles (n?=?15,507), including date, crash severity (delta V), and area of impact. Using Cox proportional hazards regression modeling, the study calculates the adjusted hazard ratio for crashing among BMW passenger vehicles with versus without ADAS technologies. The adjusted percentage reduction in moderate and severe crashes associated with ADAS is interpreted as one minus the hazard ratio.

Results: Vehicles equipped with both autonomous emergency braking and lane departure warning were 23% less likely to crash than those not equipped (hazard ratio [HR]?=?0.77; 95% confidence interval [CI], 0.73–0.81), controlling for model year, vehicle size and body type. Autonomous emergency braking and lane departure warning generally occur together, making it difficult to tease apart their individual effects. Blind spot detection was associated with a 14% reduction in crashes after controlling for the presence of autonomous emergency braking and lane departure warning (HR =0.86; 95% CI, 0.744–0.99). Differences were observed by vehicle type and crash type. The combined effect of autonomous emergency braking and lane departure warning was greater in newer model vehicles: Equipped vehicles were 13% less likely to crash (HR =0.87; 95% CI, 0.79–0.95) among 2014 model year vehicles versus 34% less likely to crash (HR =0.66; 95% CI, 0.57–0.77) among 2017 model year vehicles.

Conclusion: This robust cohort study contributes to the growing evidence on the effectiveness of ADAS technologies.     

Effects of an integrated collision warning system on teenage driver behavior

IntroductionCrash warning systems have been shown to provide safety benefits, but no studies have examined how teenagers respond. This study sought to find out whether young, inexperienced drivers change behavior in response to warnings.MethodsForty 16–17 year-olds drove an instrumented vehicle equipped with a system that warned for lane departures and potential rear-end and lane change/merge crashes. Participants were randomly assigned to experimental or control groups, and their driving was monitored for 14 weeks during 2011–12. For the experimental group, this included a treatment period, when crash alerts were received by drivers, and baseline and post-treatment periods, when warnings were recorded but not received. The control group never received warnings. Data were analyzed to determine whether warnings were associated with changes in driving behavior.ResultsA total of 15,039 trips were analyzed. Lane drifts accounted for 73% of warnings. Forward collision warning rates doubled for all drivers during the treatment period and continued at an increased rate post-treatment. This was likely a result of the fact that, as time went on, all drivers spent more time following vehicles at close distances. Receiving alerts was associated with effects on following and lane-changing behavior, including more time spent following at close distances (17%), fewer lateral drifts (37%) and fewer unsignaled lane changes (80%). Receiving warnings wasn't associated with an increased likelihood of engaging in secondary tasks.ConclusionsWarning systems may result in improved lane-keeping and turn-signal behaviors by novice drivers, but there is some indication they may result in more close-following behaviors.Practical applicationsThere is some evidence that lane departure warning may improve turn-signal use for young drivers. While there is no evidence of safety benefits from the other types of warnings, there is some evidence of an increase in close-following behavior but no increase in secondary tasks due to the presence of those capabilities.     

Improving the effectiveness of warnings by increasing the appropriateness of their information content: some hypotheses about human compliance

The ways that warnings are administered vary greatly. A warning may come as a message broadcast on the radio about severe weather, as a flashing light in the cockpit of an airplane, or as an audible smoke alarm. Typically, warnings provide an auditory or visual signal to assist in the detection of an anticipated stimulus. However, warnings tend to operate in an all or none mode: either the warning is present, or it is not. Consequently, the information they provide is limited. If warnings are provided too often, their information content becomes even lower and frequent false alarms render them ineffective because of the “cry-wolf” effect. On the other hand, if warnings are not administered frequently enough, they result in too many potentially costly misses. In this conceptual paper, it is argued that the effectiveness of warnings might be significantly improved if warnings are made more “intelligent” by providing information about the likelihood of the occurrence of the stimulus. Several representative cases are discussed and analyzed in order to demonstrate the advantages of the proposed methods.     

Building Safety indicators: Part 2 – Application,practices and results

Petroleum exploration and production in the Barents Sea is a controversial topic. The Goliat field outside the northern coast of Norway will be the first offshore oil development in this region, with planned production start in 2013–2014. Avoiding major accidents at Goliat is critical; not only to reduce the risks to human lives and the environment, but also to gain political acceptance. Providing early warnings of major accidents for Goliat is one of the main objectives of the research project ‘Building Safety’. The objective of this paper is to describe the development of early warnings in the form of indicators. In addition, the paper includes an overview of current status of early warnings of accidents in other major hazard industries; the nuclear power industry, the chemical process industry, and aviation. Experiences from these industries, including lessons learned from recent major accidents, have been used as important input to the development of early warning indicators.     

Comparison of Expected Crash and Injury Reduction from Production Forward Collision and Lane Departure Warning Systems

Objectives: The U.S. New Car Assessment Program (NCAP) now tests for forward collision warning (FCW) and lane departure warning (LDW). The design of these warnings differs greatly between vehicles and can result in different real-world field performance in preventing or mitigating the effects of collisions. The objective of this study was to compare the expected number of crashes and injured drivers that could be prevented if all vehicles in the fleet were equipped with the FCW and LDW systems tested under the U.S. NCAP.

Methods: To predict the potential crashes and serious injury that could be prevented, our approach was to computationally model the U.S. crash population. The models simulated all rear-end and single-vehicle road departure collisions that occurred in a nationally representative crash database (NASS-CDS). A sample of 478 single-vehicle crashes from NASS-CDS 2012 was the basis for 24,822 simulations for LDW. A sample of 1,042 rear-end collisions from NASS-CDS years 1997–2013 was the basis for 7,616 simulations for FCW. For each crash, 2 simulations were performed: (1) without the system present and (2) with the system present. Models of each production safety system were based on 54 model year 2010–2014 vehicles that were evaluated under the NCAP confirmation procedure for LDW and/or FCW. NCAP performed 40 LDW and 45 FCW tests of these vehicles.

Results: The design of the FCW systems had a dramatic impact on their potential to prevent crashes and injuries. Between 0 and 67% of crashes and 2 and 69% of moderately to fatally injured drivers in rear-end impacts could have been prevented if all vehicles were equipped with the FCW systems. Earlier warning times resulted in increased benefits. The largest effect on benefits, however, was the lower operating speed threshold of the systems. Systems that only operated at speeds above 20 mph were less than half as effective as those that operated above 5 mph with similar warning times. The production LDW systems could have prevented between 11 and 23% of drift-out-of-lane crashes and 13 and 22% of seriously to fatally injured drivers. A majority of the tested LDW systems delivered warnings near the point when the vehicle first touched the lane line, leading to similar benefits. Minimum operating speed also greatly affected LDW effectiveness.

Conclusions: The results of this study show that the expected field performance of FCW and LDW systems are highly dependent on the design and system limitations. Systems that delivered warnings earlier and operated at lower speeds may prevent far more crashes and injuries than systems that warn late and operate only at high speeds. These results suggest that future FCW and LDW evaluation should prioritize early warnings and full-speed range operation. A limitation of this study is that additional crash avoidance features that may also mitigate collisions—for example, brake assist, automated braking, or lane-keeping assistance—were not evaluated during the NCAP tests or in our benefits models. The potential additional mitigating effects of these systems were not quantified in this study.     

Distracting behaviors among teenagers and young,middle-aged,and older adult drivers when driving without and with warnings from an integrated vehicle safety system

IntroductionNegative reinforcement from crash warnings may reduce the likelihood that drivers engage in distracted driving. Alternatively, drivers may compensate for the perceived safety benefit of crash warnings by engaging in distractions more frequently, especially at higher speeds. The purpose of this study was to examine whether warning feedback from an integrated vehicle-based safety system affected the likelihood that various secondary behaviors were present among drivers ages 16–17, 20–30, 40–50, and 60–70.MethodParticipants drove an instrumented sedan with various collision warning systems for an extended period. Ten 5-second video clips were randomly sampled from driving periods at speeds above 25 mph and below 5 mph each week for each driver and coded for the presence of 11 secondary behaviors.ResultsAt least one secondary behavior was present in 46% of video clips; conversing with a passenger (17%), personal grooming (9%), and cellphone conversation (6%) were the most common. The likelihood that at least one secondary behavior was present was not significantly different during periods when drivers received warnings relative to periods without warnings. At least one secondary behavior was 21% more likely to be present at speeds below 5 mph relative to speeds above 25 mph; however, the effect of vehicle speed was not significantly affected by warning presence. Separate models for each of the five most common secondary behaviors also indicated that warnings had no significant effect on the likelihood that each behavior was present.ConclusionsCollision warnings were not associated with significant increases or decreases in the overall likelihood that teen and adult drivers engaged in secondary behaviors or the likelihood of the behaviors at speeds above 25 mph or below 5 mph.Practical applicationsThere was no evidence that forward collision warning and other technologies like those in this study will increase or decrease distracted driving.     

Building Safety indicators: Part 1 – Theoretical foundation

Development of early warning indicators to prevent major accidents – to ‘build safety’ – should rest on a sound theoretical foundation, including basic concepts, main perspectives and past developments, as well as an overview of the present status and ongoing research. In this paper we have established the theoretical basis for development of indicators used as early warnings of major accidents. Extensive work on indicators have been carried out in the past, and this could and should have been better utilized by industry, e.g., by focusing more on major hazard indicators, and less on personal safety indicators. Recent discussions about safety indicators have focused on the distinction between leading and lagging indicators; however, a discussion on terms should not impede the development of useful indicators that can provide (early) warnings about potential major accidents.     

Comprehension and memory for warning symbols: age-related differences and impact of training

Problem: Prior research indicates that many warning symbols are poorly understood, particularly by the elderly. Method: The effectiveness of three different training conditions to improve comprehension and memory for warning symbols was assessed for younger (18–35 years of age) and older (50–67 years of age) participants. All three conditions paired the symbols with associated text during training; however they differed in the extent to which they further elaborated on the meanings of the symbols. Results: Training substantially improved accuracy and speed of responding on a comprehension test; however there was little difference among conditions. Additionally, while the magnitude of the training effect was similar for both age groups, older participants performed much more poorly than younger participants, both before (37% vs. 52% correct) and after training (68% vs. 88% correct on the immediate post-test), and found it more difficult to reject incorrect meanings (55% vs. 68% correct). Conclusion: Relatively simple training conditions can dramatically improve accuracy and speed of responding to warning symbols. Impact on industry: Training should be used to improve warning symbol comprehension since failures to adequately understand warning information may lead to injury or death. Furthermore, attempts should be made to address individual differences in warning processing such as those related to changes in cognitive processing across the lifespan.     

Hazard communication in the workplace

Hazard communication is made up of several basic concepts and key elements. The concepts of risk management, product information, documentation, employee training and compliance are individually discussed providing a basis for developing a program. An important part of any program is effective implementation. One key element, the Material Safety DAta Sheet (MSDS), is used to illustrate the preparation, review, and distribution of hazard communication information. Guidance is given to adapting the MSDS model to the other key elements of purchased products information, special warnings, toxicology summaries and technical bulletins.     

Brake reactions of distracted drivers to pedestrian Forward Collision Warning systems

Introduction: Forward Collision Warning (FCW) can be effective in directing driver attention towards a conflict and thereby aid in preventing or mitigating collisions. FCW systems aiming at pedestrian protection have been introduced onto the market, yet an assessment of their safety benefits depends on the accurate modeling of driver reactions when the system is activated. This study contributes by quantifying brake reaction time and brake behavior (deceleration levels and jerk) to compare the effectiveness of an audio-visual warning only, an added haptic brake pulse warning, and an added Head-Up Display in reducing the frequency of collisions with pedestrians. Further, this study provides a detailed data set suited for the design of assessment methods for car-to-pedestrian FCW systems. Method: Brake response characteristics were measured for heavily distracted drivers who were subjected to a single FCW event in a high-fidelity driving simulator. The drivers maintained a self-regulated speed of 30 km/h in an urban area, with gaze direction diverted from the forward roadway by a secondary task. Results: Collision rates and brake reaction times differed significantly across FCW settings. Brake pulse warnings resulted in the lowest number of collisions and the shortest brake reaction times (mean 0.8 s, SD 0.29 s). Brake jerk and deceleration were independent of warning type. Ninety percent of drivers exceeded a maximum deceleration of 3.6 m/s² and a jerk of 5.3 m/s³. Conclusions: Brake pulse warning was the most effective FCW interface for preventing collisions. In addition, this study presents the data required for driver modeling for car-to-pedestrian FCW similar to Euro NCAP's 2015 car-to-car FCW assessment. Practical applications: Vehicle manufacturers should consider the introduction of brake pulse warnings to their FCW systems. Euro NCAP could introduce an assessment that quantifies the safety benefits of pedestrian FCW systems and thereby aid the proliferation of effective systems.     

Driver Behavior During Overtaking Maneuvers from the 100-Car Naturalistic Driving Study

Objective: Lane changes with the intention to overtake the vehicle in front are especially challenging scenarios for forward collision warning (FCW) designs. These overtaking maneuvers can occur at high relative vehicle speeds and often involve no brake and/or turn signal application. Therefore, overtaking presents the potential of erroneously triggering the FCW. A better understanding of driver behavior during lane change events can improve designs of this human–machine interface and increase driver acceptance of FCW. The objective of this study was to aid FCW design by characterizing driver behavior during lane change events using naturalistic driving study data.

Methods: The analysis was based on data from the 100-Car Naturalistic Driving Study, collected by the Virginia Tech Transportation Institute. The 100-Car study contains approximately 1.2 million vehicle miles of driving and 43,000 h of data collected from 108 primary drivers. In order to identify overtaking maneuvers from a large sample of driving data, an algorithm to automatically identify overtaking events was developed. The lead vehicle and minimum time to collision (TTC) at the start of lane change events was identified using radar processing techniques developed in a previous study. The lane change identification algorithm was validated against video analysis, which manually identified 1,425 lane change events from approximately 126 full trips.

Results: Forty-five drivers with valid time series data were selected from the 100-Car study. From the sample of drivers, our algorithm identified 326,238 lane change events. A total of 90,639 lane change events were found to involve a closing lead vehicle. Lane change events were evenly distributed between left side and right side lane changes. The characterization of lane change frequency and minimum TTC was divided into 10 mph speed bins for vehicle travel speeds between 10 and 90 mph. For all lane change events with a closing lead vehicle, the results showed that drivers change lanes most frequently in the 40–50 mph speed range. Minimum TTC was found to increase with travel speed. The variability in minimum TTC between drivers also increased with travel speed.

Conclusions: This study developed and validated an algorithm to detect lane change events in the 100-Car Naturalistic Driving Study and characterized lane change events in the database. The characterization of driver behavior in lane change events showed that driver lane change frequency and minimum TTC vary with travel speed. The characterization of overtaking maneuvers from this study will aid in improving the overall effectiveness of FCW systems by providing active safety system designers with further understanding of driver action in overtaking maneuvers, thereby increasing system warning accuracy, reducing erroneous warnings, and improving driver acceptance.     

Individual differences in behavioral compliance to warnings representing varying degrees of threat

Research regarding warning compliance has often emphasized the physical aspects of the warning itself. Here, we examine the role of the perceiver in sensation seeking and health orientation as individual difference variables that affect behavioral compliance to a health warning. The experiment used a laboratory-based simulation of a chemistry demonstration that has been used in previous warnings research. In addition, however, individual difference effects of sensation seeking and health orientation were investigated. Among the significant findings were a significant interaction between condition assignment and sensation seeking on compliance outcome and a significant interaction between condition and health orientation. These results indicate that individual difference variables represent significant influences on the degree to which persons comply with warnings.     

The design of child restraint system (CRS) labels and warnings affects overall CRS usability

A study was conducted that assessed the effectiveness of different child restraint system (CRS) label/warning designs on users' installation performance. Forty-eight paid participants installed a convertible CRS in a vehicle, and two child test dummies in a CRS, using one of four label conditions. The label conditions were: (1) no labels, (2) the manufacturer's labels that were already affixed to the CRS ("Current"), (3) labels that were designed according to a combination of the current U.S. regulations concerning CRS labels and recently proposed changes to these regulations ("Proposed"), and (4) labels that were designed according to human factors principles and guidelines, and that were based on a hierarchical behavioral task analysis ("Optimal"). Results demonstrated that, overall, the Optimal labels resulted in higher usability ratings and better task performance. This indicates that labels designed using human factors and task analyses that identify critical task information requirements for label features will result in increased user compliance with instructions, higher usability, and improved task performance. Surprisingly, having no labels on the CRS resulted in better installation performance than when either the Current or the Proposed label conditions were used. This indicates that label design can decrease task performance; the actual physical design of a CRS may be just as critical as label content in the installation choices provided to the user. Collectively, results suggest that implementation of the proposed changes to the U.S. regulations concerning CRS labeling would likely not result in increased performance or usability compared to existing manufacturer labels that follow the current guidelines. In order to achieve significantly better ease-of-use and task performance, it would be necessary to implement features of the Optimal label condition.     

Perceptions of implied hazard for visual and auditory alerting signals

Visual and auditory alerts are increasingly important and have many applications, particularly in the presentation of hazard information in transportation and many industrial systems. This paper is concerned with the factors that govern the relative effectiveness of alerting signals involving various combinations of visual and auditory signals. The visual variables were colour, flash rate, and flash mode, combined with or without an auditory alarm. It was found that the subjects associated different levels of hazard with different alerting light colours, flash rates, flashing modes, and with combinations of auditory and visual alerts. A red flashing light was perceived as the most effective hazard warning colour, with yellow and blue warning lights indicative of less hazardous situations. The faster the flash rate, the greater is the hazard perceived. A flash rate of 60 fpm (flashes per minute) was not as effective as the rates of 180 and 240 fpm, and 240 fpm was the most effective. This implies that hazard warning signal should flash at well above 60 fpm. Having a breakup in the flashing pattern so as to provide a double or triple flash mode also increases the effectiveness of the signal. There were significant interactions between the alert variables used. The difference in perceived hazard levels for the colours blue and yellow were statistically non significant, but blue was more effective in conveying hazard message than yellow at the high flash rates. When accompanied with auditory alarms, blue and yellow were perceived to convey the same perception level of hazard as red without auditory alarms. The effect of colour on perceived hazard was also found to vary with flash mode. As compared to either visual signal alone or a visual signal with other types of acoustic alarms, a siren type of auditory alarm was found more effective for eliciting perception of hazards. There was evidence that presenting alerting signal in triple-flash mode and at high flash rate could be annoying and might not help improving hazard awareness.     

Dynamic approach to risk management: Application to the Hoeganaes metal dust accidents

Several major accidents caused by metal dusts were recorded in the past few years. For instance, in 2011, three accidents caused by iron dust killed five workers at the Hoeganaes Corp. facility in Gallatin, Tennessee (USA). In order to prevent such accidents, a dynamic approach to risk management was defined in this study. The method is able to take into account new risk notions and early warnings and to systematically update the related risk. It may be applied not only in the design phase of a system, but also throughout the system lifetime as a support to a more precise and robust decision making process. The synergy of two specific techniques for hazard identification and risk assessment was obtained: the Dynamic Procedure for Atypical Scenarios Identification (DyPASI) and the Dynamic Risk Assessment (DRA) methods. To demonstrate its effectiveness, this approach was applied to the analysis of Gallatin metal dust accidents. The application allowed collecting a number of risk notions related to the plant, equipment and materials used. The analysis of risk notions by means of this dynamic approach could have led to enhanced hazard identification and dynamic real-time risk assessment. However, the approach described is effective only if associated to a proper safety culture, in order to produce an appropriate and robust decision making response to emerging risk issues.     

SDG-based HAZOP analysis of operating mistakes for PVC process

As modern chemical plants are becoming more complex and bigger in scale, the associated chance of things going wrong is also increasing rapidly. Due to the flammable, explosive, toxic and corrosive nature of chemical process, any single accident may trigger a major catastrophe that brings tremendous environmental, social and economical loss. In order to prevent any accident from happening, hazard and operability (HAZOP) analysis has been brought in to monitor chemical process and provide early warning for signs of accident. However, most existing HAZOP is carried out manually, and there are always obstacles in terms of cost overrun and incompleteness of the analysis. To address the difficulties in current HAZOP method, this paper proposes a signed digraph (SDG)-based HAZOP analysis method. It is used to identify the most likely operating mistakes that may cause certain process variable deviating from its normal value, which is the main source of safety concern. A case study on polyvinyl chloride (PVC) plant is presented to demonstrate the effectiveness of SDG-based HAZOP analysis method in providing complete analysis result.