Analysis and synthesis of driving behavior based on mode segmentation

This paper presents the development of the modeling of human driving behavior based on an expression as a hybrid system (HS) focusing on the driverpsilas vehicle following task. In our modeling, a relationship between the diverpsilas sensory information and the output of driver is expressed by the piecewise ARX (PWARX) model, which is a class of the HS. As the sensory input, the range between vehicles, range rate, and time derivative of the area of the back of the preceding vehicle (called KdB) are considered. Also, the pedal operation is considered as the output. The identification problem for the PWARX model is solved using the clustering based technique. By introducing the PWARX model, it becomes possible to find not only parameters appearing in the operation in each mode but also parameters in the logical switching (decision making) conditions among them from the measured driving data. Furthermore, the obtained model is exploited for the design of assist system especially focusing on the switching condition of the ON/OFF of assist. The usefulness of the proposed assist system is confirmed by experiments.