论文标题
使用人造风险领域的人类驾驶员的数学模型
Mathematical Models of Human Drivers Using Artificial Risk Fields
论文作者
论文摘要
在本文中,我们使用人工风险领域的概念来预测人类操作员如何控制车辆以应对即将到来的道路情况。风险领域将非负风险措施分配给系统状态,以模拟该状态与违反安全财产的距离,例如击中障碍或离开道路。使用风险字段,我们构建了操作员的随机模型,该模型将各州映射到可能的行动。我们在驾驶任务上展示了我们的方法,要求人类受试者在逼真的驾驶模拟器中驾驶汽车,同时避免在道路上放置障碍。我们表明,通过解决凸优化问题,可以获得驾驶数据最有可能的风险字段。接下来,我们将推断的风险领域应用于产生不同的驾驶行为,同时将预测的轨迹与地面真相测量进行比较。我们观察到,风险场在预测未来的轨迹分布方面非常出色,预测精度高达二十秒预测范围。同时,我们观察到一些挑战,例如无法说明驾驶员如何根据道路条件选择加速/减速。
In this paper, we use the concept of artificial risk fields to predict how human operators control a vehicle in response to upcoming road situations. A risk field assigns a non-negative risk measure to the state of the system in order to model how close that state is to violating a safety property, such as hitting an obstacle or exiting the road. Using risk fields, we construct a stochastic model of the operator that maps from states to likely actions. We demonstrate our approach on a driving task wherein human subjects are asked to drive a car inside a realistic driving simulator while avoiding obstacles placed on the road. We show that the most likely risk field given the driving data is obtained by solving a convex optimization problem. Next, we apply the inferred risk fields to generate distinct driving behaviors while comparing predicted trajectories against ground truth measurements. We observe that the risk fields are excellent at predicting future trajectory distributions with high prediction accuracy for up to twenty seconds prediction horizons. At the same time, we observe some challenges such as the inability to account for how drivers choose to accelerate/decelerate based on the road conditions.