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首页> 外文会议>International Symposium on Systems and Human Science; 20031119-20; Osaka(JP) >Modeling of Driver's Collision Avoidance Behavior Based on Expression as Hybrid Dynamical System
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Modeling of Driver's Collision Avoidance Behavior Based on Expression as Hybrid Dynamical System

机译：基于混合动力系统的驾驶员避撞行为建模

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摘要

This chapter presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Polynomial (PWP) model focusing on the driver's collision avoidance behavior. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver's sensory information and the operation of the driver such as braking and/or steering amount is expressed by PWP model, which is a class of Hybrid Dynamical System. The identification problem for the PWP model is formulated as the Mixed Integer Linear Programming 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. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver's collision avoidance behavior.
机译：本章基于关注驾驶员的避撞行为的分段多项式（PWP）模型，介绍了人类驾驶行为的建模策略的发展。通过使用基于CAVE的三维驾驶模拟器收集驾驶数据，该模拟器提供立体的沉浸式视觉。在我们的建模中，驾驶员的感觉信息与驾驶员的操作之间的关系（例如制动和/或转向量）由PWP模型表示，该模型是混合动力系统的一类。通过将切换条件转换为二进制变量，将PWP模型的识别问题公式化为混合整数线性规划。根据获得的结果，发现驾驶员根据感官信息适当地切换“控制律”。这些结果使我们不仅能够掌握驾驶技能的物理意义，而且能够掌握驾驶员避碰行为中的决策方面（切换条件）。

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