A Framework for Modeling Human-like Driving Behaviors for Autonomous Vehicles in Driving Simulators

摘要

A framework for modeling driver behavior within driving simulators is described in this paper. This framework serves as a basis for building human-like driving behavior models for autonomous vehicles operating within the virtual environment of a driving simulator. The framework consists of four units, the Perception Unit, the Emotions Unit, the Decision-making Unit (DMU), and the Decision-implementation Unit (DIU). The Perception Unit defines how the model perceives its environment in local and global terms. The Emotions Unit defines how the model responds emotionally to its environment. The DMU investigates the environment for possible actions that might potentially serve the model's emotional demands. And finally the DIU tries to implement these decisions when a traffic condition, perceived as safe enough for such an implementation, emerges. Each of these units has its own set of fuzzy variables and fuzzy if-then rules. Any driving model, that is based on this framework, should provide membership function parameters for these fuzzy variables in accordance with the category of human driving behavior this model is targeting. Our framework addresses decision making and implementation at the maneuvering and operational levels of the driving task. Decisions at the planning level are addressed through a script-based traffic controller. The present model is limited to simulating human behaviors when driving in a two-lane rural environment.