Modeling and Analysis of Interactive Driving Behavior Based on Piecewise ARX Model

Abstract

In real-world driving, one of the critical issues to be analyzed is an interaction with other traffic participants. This problem is easily solved in the case that direct communication between agents is available. Such direct communication, however, is not always available due to limited implementation of realtime on-board communication facilities. For sophisticated safety system design, the vehicle is highly requested to implement an interactive intelligence, which is mainly based on an understanding of interaction mechanism between traffic participants from observed sensing signals. In order to analyze the interactive behavior, this paper presents a modeling by using a PieceWise AutoRegressive eXogenous (PWARX) model. Since the PWARX model can describe continuous dynamics and discrete switching, interactive behavior is modeled and understood as the combination of primitive dynamics (operation) and mode transitions (decision making) of them. The usefulness of the proposed scheme is verified by applying to the modeling of interactive task of ‘bidirectional passing by task.’