Modeling of driver's collision avoidance maneuver based on controller switching model
Modeling of driver's collision avoidance maneuver based on controller switching model
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DOI：
10.1109/tsmcb.2005.850168
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发表时间：
2005-12
期刊：
影响因子：
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通讯作者：
Jong-Hae Kim;S. Hayakawa;Tatsuya Suzuki;K. Hayashi;S. Okuma;N. Tsuchida;M. Shimizu;S. Kido
中科院分区：
文献类型：
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作者：
Jong-Hae Kim;S. Hayakawa;Tatsuya Suzuki;K. Hayashi;S. Okuma;N. Tsuchida;M. Shimizu;S. Kido
提出了一种基于控制器切换模型的人的驾驶行为建模策略，重点研究了驾驶员的避碰操作。基于CAVE自动虚拟环境（CAVE）的三维驾驶模拟器采集驾驶数据，提供立体沉浸式虚拟环境。在我们的建模中，人类驾驶员的控制场景，即从驾驶员的感官信息到驾驶员的操作，如加速，制动和转向的映射，是由分段多项式（PWP）模型表示。由于PWP模型既包含了由多项式给出的连续行为，又包含了离散逻辑条件，因此可以将其视为一类混杂动态系统（HDS）。通过将开关条件转化为二进制变量，将PWP模型的辨识问题转化为混合线性规划问题。从所获得的结果中，发现驾驶员根据感觉信息适当地切换“控制律”。此外，还对新手驾驶员和专家驾驶员的驾驶特性进行了比较和讨论。这些结果使我们能够捕捉不仅是驾驶技能的物理意义，但在驾驶员的防撞机动的决策方面（切换条件）。
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.