Modeling Lane Keeping Behavior by Controller Model with Stochastic Parameters

Abstract

Recently, advanced driver assistance systems (ADAS), such as adaptive cruise control, lane keeping assistance and so on are widely spreading and these systems are improving comfortability and decreasing the number of accidents. The systems should be designed considering not only the usability but the acceptability from the driver because some drivers would switch it off if the system is not acceptable from the driver. Since the drivers' behavior is not simple but often varied even in a normal safety driving, there should be a kind of 'distribution' of the allowable driving behavior. This paper tries to construct the driver model which can simulate the variation in driving behavior in order to define distribution of the allowable driving behavior. Stochastic parameters and dead zones were used in the model structure taking into account the human nature. A method for evaluating the distribution of acceptable driving behavior is proposed, and parameter study is done based on the method.