期刊
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
卷 22, 期 2, 页码 782-791出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2019.2956669
关键词
Hidden Markov models; Vehicle dynamics; Vehicles; Estimation; Heuristic algorithms; Safety; Control systems; Driving behavior; transition probability; interacting multiple model; discrete hidden Markov model; future mobility
This paper proposes an online estimation approach based on transition probabilities to monitor virtual drivers of autonomous and non-autonomous vehicles for safety control system performance. The method addresses numerical issues and is validated through experiments.
In future mobility environment, virtual drivers of autonomous vehicles should be monitored for the sake of safety by evaluating their driving behaviors. Evaluating human drivers of non-autonomous vehicles also can be helpful to improve performance of safety control systems. This paper evaluates driving behaviors based on transition probabilities among multiple driving modes. We estimate transition probabilities with likelihoods of multiple modes from an interacting multiple model by proposing an online estimation approach. The proposed approach addresses the numerical issue found in our preliminary work, and it is verified with an extensive simulation. Furthermore, we evaluate driving behaviors by utilizing the estimated transition probabilities. The proposed method of driving behavior evaluation is demonstrated experimentally.
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