Driver Control Behavior Model for Tracked Vehicle with Stepped Steering Mechanism

WANG Boyang;GONG Jianwei;XIONG Guangming;ZHANG Ruizeng;CHEN Huiyan;XI Junqiang

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  • Sponsored by: China Association for Science and Technology (CAST)

    Editor-In-Chief: Xu Yida

    ISSN 1000-1093

    　

  • Hosted By: China Ordnance Society

    Published By: Acta Armamentarii

    CN 11-2176/TJ

Acta Armamentarii, a Chinese monthly journal, was first published in 1979. The journal is supervised by China Association for Science and Technology, sponsored by China Ordnance Society，and edited and published by Editorial Board of Acta Armamentarii. The Journal is included in all important domestic databases，and also collected by Engineering Index (EI, USA), Chemical Abstracts (CA, USA), Science Abstracts (SA, UK）, Abstract Journal (AJ, Russia), and Current Bibliography on Science and Technology(CBST).Acta Armamentarii has been selected into the journal Of Ordnance Science and Technology (Weapons Industry) Field Of High Quality Scientific and Technological Periodical Classification Catalogue (2022 edition), ranking T1, and the journal of Automotive Engineering Field of High Quality Scientific and technological Periodical classification Catalogue, ranking T2.
Acta Armamentarii ›› 2020, Vol. 41 ›› Issue (12) : 2379-2388. DOI: 10.3969/j.issn.1000-1093.2020.12.002
Paper

Driver Control Behavior Model for Tracked Vehicle with Stepped Steering Mechanism

  • WANG Boyang, GONG Jianwei, XIONG Guangming, ZHANG Ruizeng, CHEN Huiyan, XI Junqiang
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Abstract

For the representation of driving skills at the control level of tracked vehicle with stepped steering mechanism, a driver control behavior model based on control primitive sequence is proposed by utilizing a large amount of collected real driving data. The control primitives are characterized by Gaussian mixture models, and the digraph is applied to complete the extraction and category identification of the driver control primitives sequence. According to the recognition results of different types of control primitive sequence, the driving data is regrouped, and the hidden Markov model-Gaussian mixture model is used to train the driver control behavior model for each type of sequence. The results show that the extracted control primitive sequence can not only represent the driver's steering control primitives switching behavior, but also realize the reasonable division of the trajectory primitive types. Within the predicted time domain corresponding to a given desired trajectory, the proposed model can predict driver control behavior with an average deviation of 4.2% under certain conditions.

Key words

trackedvehicle / drivermodel / controlprimitivesequence / hiddenMarkovmodel-Gaussianmixturemodel

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WANG Boyang, GONG Jianwei, XIONG Guangming, ZHANG Ruizeng, CHEN Huiyan, XI Junqiang. Driver Control Behavior Model for Tracked Vehicle with Stepped Steering Mechanism. Acta Armamentarii. 2020, 41(12): 2379-2388 https://doi.org/10.3969/j.issn.1000-1093.2020.12.002

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