Driving Behavior Modeling Based on Consistent Variable Selection in a PWARX Model

This paper proposes the hybrid system model identified by a PWARX (piecewise affine autoregressive exogenous) model for modeling human driving behavior. In the proposed model, the mode segmentation is carried out automatically and the optimal number of modes is decided by a novel methodology based o...

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Bibliographic Details
Published inApplied sciences Vol. 11; no. 11; p. 4938
Main Authors Nwadiuto, Jude Chibuike, Okuda, Hiroyuki, Suzuki, Tatsuya
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 27.05.2021
Subjects
Automation
Autoregressive models
Car following
consistent variable selection
Control theory
Decision making
driver model
driving behavior
Feature selection
Flexibility
Global positioning systems
GPS
hybrid system identification
Mimicry
Modelling
Parameter estimation
PWARX model
Role models
Segmentation
Sensors
statistical variable selection
Variables
Vehicles
United States > US
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Summary:This paper proposes the hybrid system model identified by a PWARX (piecewise affine autoregressive exogenous) model for modeling human driving behavior. In the proposed model, the mode segmentation is carried out automatically and the optimal number of modes is decided by a novel methodology based on consistent variable selection. In addition, model flexibility is added within the ARX (autoregressive exogenous) partitions in the form of statistical variable selection. The proposed method is able to capture both the decision-making and motion-control facets of the driving behavior. The resulting model is an optimal basal model which is not affected by the choice of data, where the explanatory variables are allowed to vary within each ARX region, thus, allowing a higher-level understanding of the motion-control aspect of the driving behavior, as well as explaining the driver’s decision-making. The proposed model is applied to model the car-following driving task based on real-road driving data, as well as to ROS-CARLA-based car-following simulation and compared to Gipp’s driver model. Obtained results that show better performance both on prediction performance and mimicking actual real-road driving demonstrates and validates the usefulness of the model.
ISSN:2076-3417
2076-3417
DOI:10.3390/app11114938