Proposes a model of driving environment, driver and vehicle behavior interaction as a tool for analyzing and designing a vehicle controller and vehicle control characteristics adapted to the driving environment and the driver's intentions. This interaction model incorporates transitions representing knowledge of the driver's particular cognitive characteristics. These transitions are expressed using an extended Petri net description method and are adopted among the model rules describing driver behavior. The hierarchical fuzzy integral (HFI) is used as a multipurpose decision-making technique that allows explicit treatment of the driving environment, vehicle behavior and the driver's intentions. The characteristic of the driver's cognition of the driving environment is treated as affordance. As an example, a control procedure designed with the proposed model is applied to automatic engine braking control during downhill coasting. The simulation results show good agreement with driving test results.
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