3차원 VR환경하에서 HDS 표현을 기초로 한 운전자의 정지 행동 모델링

Abstract

This paper presents a new framework to understand the modeling strategy of the human driving behavior based on the expression as Hybrid Dynamical System(HDS) model focusing on the driver’s stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE Automatic Virtual Environment(CAVE), which provides stereoscope 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 System (PWPS) model. Since the PWPS model includes both continuous behavior given by polynomials and discrete logical conditions, it can be regarded as a class of Hybrid Dynamical System(HDS). The key idea to solve the identification problem for the PWPS 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 following scenario : At the beginning of the stopping maneuver (just after finding the stopping point), the driver decelerate the vehicle based on the acceleration information, and then switch th toe control law based on the distance to the stop line. These results enable us to capture not only the physical meaning of the driving skill(polynomials), but also the decision-making aspect(switching conditions) in the driver’s stopping maneuver.