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.
authors.affiliation: Department of Electrical Engineering and Computer Science, Nagoya University, Japan. kimjh@okuma.nuee.nagoya-u.ac.jp
authors.forename: Jong-Hae
authors.initials: JH
authors.lastname: Kim
authors.forename: Soichiro
authors.initials: S
authors.lastname: Hayakawa
authors.forename: Tatsuya
authors.initials: T
authors.lastname: Suzuki
authors.forename: Koji
authors.initials: K
authors.lastname: Hayashi
authors.forename: Shigeru
authors.initials: S
authors.lastname: Okuma
authors.forename: Nuio
authors.initials: N
authors.lastname: Tsuchida
authors.forename: Masayuki
authors.initials: M
authors.lastname: Shimizu
authors.forename: Shigeyuki
authors.initials: S
authors.lastname: Kido
mesh_terms: D000063:Accidents, Traffic / Q000517:prevention & control*; D001185:Artificial Intelligence; D001334:Automobile Driving; D003198:Computer Simulation; D003657:Decision Making / Q000502:physiology*; D003661:Decision Support Techniques; D006801:Humans; D008954:Models, Biological; D009068:Movement / Q000502:physiology*