Hybrid system modeling of human driver in the vehicle following task

This paper presents the development of the modeling of human driving behavior based on an expression as a hybrid dynamical system (HDS). In our modeling, the relationship between the measured sensory information and the output of the driver are expressed by the piecewise ARX (PWARX) model. As one of the sensory input, time derivative of the area of the back of the preceding vehicle (called KdB) are considered. By introducing the PWARX model, it becomes possible to find not only parameters appearing in the motion in each mode but also parameters in the logical switching (decision making) conditions among them from the measured driving data. From the obtained results, it is found that the driver appropriately switches some "control laws" according to the sensory information, in particular, the KdB plays an important role in the decision making, i.e., the switching between modes