Abstract
This study models the decision-making characteristics of a driver regarding whether he accepts a merging car at a highway junction. Then, the application of the modeling to the design of merging behavior control is proposed. First, the driving behavior on the main lane at a highway junction is observed using a driving simulator, particularly focusing on the driver’s state of decision (SOD), which represents the acceptance for merging a car coming from the merging lane. Second, the driver’s SOD is modeled using a logistic regression model and the prediction performance of the identified model is verified. Finally, the speed controller of the merging car is designed to maximize the acceptance from the cars on the main lane. The key idea here is to minimize the entropy of the SOD of the driver on the main lane by optimizing the speed of a merging vehicle. This problem is quantitatively formulated using an identified decision-making model and addressed by applying a randomized approach to the optimization. This enables the automated vehicle to realize a considerate merging behavior at a highway junction. Numerical experiments are performed to demonstrate the usefulness of the proposed design scheme.
Highlights
D EVELOPMENT of driving intelligence for the design of an advanced driver assistance system and/or an automated driving system is attracting remarkable attention
We assume that the decision-making and motion control characteristics of the drivers on the main lane play an important role in the design of a merging behavior, which must be represented using a rigorous mathematical model
The average of the resulting success rate at time t is 95.5%. This result indicates that the proposed model can estimate the state of decision (SOD), i.e., whether Car E allows the merging of Car M or not with 95.5% accuracy before Car E reaches the start point of the acceleration area, pβ
Summary
D EVELOPMENT of driving intelligence for the design of an advanced driver assistance system and/or an automated driving system is attracting remarkable attention. The decision-making characteristics of the driver in the main lane must be focused and analyzed for the consensus mechanism design. This perspective is quite useful for the design of an automated merging car. This perspective has never been investigated before and will be a fundamental principle in the controller design of an automated car in an “interactive situation” with other cars Based on these backgrounds, this study aims to verify the concept of consensus making with other cars at an interactive situation, focusing on a conflicting scenario during the merging task with limited and controlled factors. The validity of the proposed design scheme is demonstrated via numerical experiments
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