In case of considering human-machine systems such as robots, vehicles, etc., it is required to take care of not only human intelligence but also human skill. In this research, racing kart driving is taken as an example of the human-machine systems, and a simulation model of racing kart driving, with respect to a driving agent, is designed. In designing a driving agent, ways of realizing the manner of information processing by human driving on a certain granularity and also representing the factors characterizing the humanness of information processing are newly designed and implemented. Through some computational experiments as well as the actual ones, it is confirmed that the proposed model has a good representation of actual driving, and that the model has a potential for reproducing a variety of driving behaviors including beginners' and experienced drivers' ones.

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本実験ではサーキットを運転中のプロドライバの前頭前野の脳波活動を高精度携帯型脳波計により計測した. その結果, 単独走行と他車との間に追い越しがある混走では前頭前野のα波とβ波の活動が異なることが示唆された. また, 単独走行のβ波とラップタイムの関係のレース車両開発への応用の可能性を検討した.

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This paper describes the vision model which consider with a gaze direction and optical flows while vehicle cornering. For developing a cornering assist system of automatically controlled vehicle, we focus on a relationship between gaze direction and optical flow based on a human visual perception. In this paper, we propose the visual model considering with a gaze direction and an optical flow as visual information using a spherical camera. An optical flow based on a spherical image is corresponding to a flow of light on the human retina. To verify the relationship between a spherical optical flow and gaze direction, we simulate the optical flow when a driver looks at the end of the curve. After that, we perform the actual driving experiment that human driving case and autonomous driving case using our prototype ultra-compact electric vehicle “TORiCLE”. According to the experimental results, we discuss about the explanation of the vehicle cornering by optical flow and the feasibility of a vehicle control system.

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