Abstract
This paper presents a personalized driver assisting system that makes use of the driver's behavior model. First, a PrARX model that describes the driver's vehicle following skill on expressways is identified using a simple gradient algorithm from actual driving data collected on a driving simulator. The obtained PrARX model describes the driver's logical decision making as well as continuous maneuver in a uniform manner. Second, the optimization of the assisting output is formulated by Homotopy method using the identified driver model, and computed online in the model predictive control framework. Thirdly, the proposed as siting system is tested in driving simulator and the usefulness is verified. Finally, the high speed of the calculation by Homotopy method is proved by comparing to the conventional method(MILP).
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