Quantitative Driver Acceptance Modeling for Merging Car at Highway Junction and Its Application to the Design of Merging Behavior Control
Quantitative Driver Acceptance Modeling for Merging Car at Highway Junction and Its Application to the Design of Merging Behavior Control
复制标题
高速公路路口合道车辆驾驶员接受定量建模及其在合道行为控制设计中的应用
DOI：
10.1109/tits.2019.2957391
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发表时间：
2021
影响因子：
8.5
通讯作者：
Inoue Satoshi
中科院分区：
文献类型：
--
作者：
Okuda Hiroyuki;Suzuki Tatsuya;Harada Kota;Saigo Shintaro;Inoue Satoshi
本研究模拟了驾驶员在高速公路交叉口是否接受一辆合并车辆的决策特征。然后，提出了该模型在合并行为控制设计中的应用。首先，使用驾驶模拟器观察高速公路交叉口主车道上的驾驶行为，特别关注驾驶员的决策状态（SOD），它代表了对来自合并车道的车辆的合并接受程度。其次，采用logistic回归模型对驾驶员超氧化物歧化酶进行建模，并对模型的预测性能进行验证。最后，设计并车速度控制器，使其能最大限度地接受主车道上的车辆。这里的关键思想是通过优化合并车辆的速度来最小化主干道上驾驶员的SOD熵。这个问题是定量制定使用确定的决策模型，并通过应用随机的方法来优化解决。这使自动车辆能够在高速公路交叉口实现体贴的合并行为。数值实验证明了所提设计方案的有效性。
This study models the decision-making characteristics of a driver regarding whether he accepts a merging car at a highway junction. Then, the application of the modeling to the design of merging behavior control is proposed. First, the driving behavior on the main lane at a highway junction is observed using a driving simulator, particularly focusing on the driver's state of decision (SOD), which represents the acceptance for merging a car coming from the merging lane. Second, the driver's SOD is modeled using a logistic regression model and the prediction performance of the identified model is verified. Finally, the speed controller of the merging car is designed to maximize the acceptance from the cars on the main lane. The key idea here is to minimize the entropy of the SOD of the driver on the main lane by optimizing the speed of a merging vehicle. This problem is quantitatively formulated using an identified decision-making model and addressed by applying a randomized approach to the optimization. This enables the automated vehicle to realize a considerate merging behavior at a highway junction. Numerical experiments are performed to demonstrate the usefulness of the proposed design scheme.