Abstract
The purpose of this study is to develop and validate a human-like steering model that can capture, not only the mean, but also the intradriver variability (IDV) of steering behavior, in both routine and emergency scenarios. The IDV model proposed in this study is based on the assumption that steering behavior, in both scenarios, is governed by the same principles as performing point-to-point reaching tasks. The optimal feedback control framework that models the reaching tasks, and the presence of signal-dependent noise in motor commands and sensory feedback, are the mainstays of the proposed model. The driver is assumed to have acquired an internal model of system (muscles, arms, and vehicle) dynamics, and has a preview of the upcoming road. The model is validated using simulator-based data from both routine (curve negotiation) and emergency (obstacle avoidance) scenarios. The IDV model could capture mean steering torque behavior in both routine (variance accounted for (VAF) = 92% and emergency (VAF = 74% scenarios, but more prominently, it could capture the standard deviation of the steering torque as well, in both routine (VAF = 83% and emergency (VAF = 65% scenarios. The promising results show that including signal-dependent noise and modeling steering as a reaching task are steps in the right direction in the field of driver modeling. The model, however, poorly captured the lateral deviation behavior, primarily suspected due to the satisficing behavior exhibited by humans. Developing a nonlinear-iterative version of the IDV model could address the limitations.
| Original language | English |
|---|---|
| Pages (from-to) | 291-303 |
| Number of pages | 13 |
| Journal | IEEE Transactions on Human-Machine Systems |
| Volume | 48 |
| Issue number | 3 |
| Early online date | 2 Apr 2018 |
| DOIs | |
| Publication status | Published - Jun 2018 |
Funding
Manuscript received December 1, 2016; revised April 2, 2017, August 18, 2017, and December 19, 2017; accepted January 22, 2018. Date of publication April 2, 2018; date of current version May 15, 2018. The work of S. Kolekar was supported in part by GS-2013 scholarship by the Directorate of Higher Education, Government of Goa, India, and the work of W. Mugge (H-Haptics grant 12160) and D. Abbink (VIDI project 14127) were supported by the Dutch Technology Foundation STW, which is part of the Netherlands Organization for Scientific Research (NWO). This paper was recommended by Associate Editor R. Toledo. (Corresponding author: Sarvesh Kolekar.) S. Kolekar and D. Abbink are with the Department of Biomechanical Engineering, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, 2628 CD Delft, Netherlands (e-mail:, [email protected]; [email protected]).
| Funders | Funder number |
|---|---|
| Directorate of Higher Education, Government of Goa | 12160, 14127 |
| Dutch Technology Foundation STW | |
| Netherlands Organization for Scientific Research | |
| Nederlandse Organisatie voor Wetenschappelijk Onderzoek |
Keywords
- Intradriver variability (IDV)
- sensorimotor control
- signal-dependent noise
- steering as reaching
- steering model
- stochastic optimal feedback