Name
Title | ||
|---|---|---|
Modeling of driver's collision avoidance maneuver based on controller switching model. |
Abstract | ||
|---|---|---|
This paper presents a modeling strategy of human driving behavior based on the controller switching model focusing on the driver's collision avoidance maneuver. The driving data are collected by using the three-dimensional (3-D) driving simulator based on the 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 Polynomial (PWP) model. Since the PWP 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 PWP 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. In addition, the driving characteristics of the beginner driver and the expert driver are compared and discussed. These results enable us to capture not only the physical meaning of the driving skill but the decision-making aspect (switching conditions) in the driver's collision avoidance maneuver as well. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/TSMCB.2005.850168 | IEEE Transactions on Systems, Man, and Cybernetics, Part B |
Keywords | Field | DocType |
expert driver,driving data,collision avoidance maneuver,piecewise polynomial model,road safety,virtual reality,identification,beginner driver,driver collision avoidance maneuver,traffic engineering computing,decision-making,integer programming,linear programming,index terms— hybrid dynamical system,driving characteristic,control law,controller switching model,milp.,cave,pwp model,human driving behavior,piecewise polynomial techniques,mixed integer linear programming,human driving behavior modeling strategy,human driver,digital simulation,hybrid dynamical system,cave automatic virtual environment,milp,stereoscopic immersive virtual environment,3d driving simulator,collision avoidance,sensory information,driving skill,three dimensional,indexing terms | Control theory,Driving simulator,Computer science,Simulation,Control theory,Cave automatic virtual environment,Collision,Integer programming,Acceleration,Linear programming,Piecewise | Journal |
Volume | Issue | ISSN |
35 | 6 | 1083-4419 |
Citations | PageRank | References |
31 | 2.17 | 4 |
Authors | ||
8 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jonghae Kim | 1 | 101 | 14.95 |
| Soichiro Hayakawa | 2 | 125 | 18.23 |
| Tatsuya Suzuki | 3 | 178 | 42.47 |
| Koji Hayashi | 4 | 31 | 2.17 |
| Shigeru Okuma | 5 | 133 | 31.77 |
| Nuio Tsuchida | 6 | 31 | 2.17 |
| Masayuki Shimizu | 7 | 64 | 8.16 |
| S. Kido | 8 | 33 | 2.61 |