Original scientific paper
Modeling of Human Driving Behavior Based on Piecewise Linear Model
Jong-Hae Kim
Young-Woo Kim
Don-Ha Hwang
Abstract
This paper presents development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver's stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE Automatic Virtual Environment (CAVE), which provides stereoscopic immersive virtual environment. In our modeling, the control scenario of the human driver, that is, the mapping from the driver's sensory information to the operation of the driver such as acceleration, braking and steering, is expressed by Piecewise Linear (PWL) model. Since the PWL model includes both continuous behaviors given by polynomials and discrete logical conditions, it can be regarded as a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the 'control law' according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver's stopping maneuver.
Keywords
human driving; piecewise linear model; driving simulator; identification
Hrčak ID:
6838
URI
Publication date:
21.12.2005.
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