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Analysis of human steering behavior differences in human-in-control and autonomy-in-control driving

Rene Mai, Agung Julius, Sandipan Mishra

TL;DR

It is shown that a single distribution describes the error between predicted human steering behavior and actual human steering behavior when the human's steering inputs are used for state estimation and the vehicle is autonomously controlled, indicating there may be a underlying model for human steering behavior under this type of shared autonomous control.

Abstract

Steering models (such as the generalized two-point model) predict human steering behavior well when the human is in direct control of a vehicle. In vehicles under autonomous control, human control inputs are not used; rather, an autonomous controller applies steering and acceleration commands to the vehicle. For example, human steering input may be used for state estimation rather than direct control. We show that human steering behavior changes when the human no longer directly controls the vehicle and the two are instead working in a shared autonomy paradigm. Thus, when a vehicle is not under direct human control, steering models like the generalized two-point model do not predict human steering behavior. We also show that the error between predicted human steering behavior and actual human steering behavior reflects a fundamental difference when the human directly controls the vehicle compared to when the vehicle is autonomously controlled. Moreover, we show that a single distribution describes the error between predicted human steering behavior and actual human steering behavior when the human's steering inputs are used for state estimation and the vehicle is autonomously controlled, indicating there may be a underlying model for human steering behavior under this type of shared autonomous control. Future work includes determining this shared autonomous human steering model and demonstrating its performance.

Analysis of human steering behavior differences in human-in-control and autonomy-in-control driving

TL;DR

It is shown that a single distribution describes the error between predicted human steering behavior and actual human steering behavior when the human's steering inputs are used for state estimation and the vehicle is autonomously controlled, indicating there may be a underlying model for human steering behavior under this type of shared autonomous control.

Abstract

Steering models (such as the generalized two-point model) predict human steering behavior well when the human is in direct control of a vehicle. In vehicles under autonomous control, human control inputs are not used; rather, an autonomous controller applies steering and acceleration commands to the vehicle. For example, human steering input may be used for state estimation rather than direct control. We show that human steering behavior changes when the human no longer directly controls the vehicle and the two are instead working in a shared autonomy paradigm. Thus, when a vehicle is not under direct human control, steering models like the generalized two-point model do not predict human steering behavior. We also show that the error between predicted human steering behavior and actual human steering behavior reflects a fundamental difference when the human directly controls the vehicle compared to when the vehicle is autonomously controlled. Moreover, we show that a single distribution describes the error between predicted human steering behavior and actual human steering behavior when the human's steering inputs are used for state estimation and the vehicle is autonomously controlled, indicating there may be a underlying model for human steering behavior under this type of shared autonomous control. Future work includes determining this shared autonomous human steering model and demonstrating its performance.
Paper Structure (12 sections, 11 equations, 10 figures)

This paper contains 12 sections, 11 equations, 10 figures.

Table of Contents

  1. Introduction
  2. Vehicle simulation and environment
  3. Mathematical models for control design
  4. Simplified vehicle and sensor model
  5. Generalized two-point human steering model
  6. Steering behavior analysis
  7. Autocorrelation analysis
  8. Kolmogorov-Smirnoff two-sample test
  9. Experimental data collection
  10. Comparison of steering model errors between human-in-control and autonomy-in-control
  11. Conclusion
  12. Acknowledgements

Figures (10)

  • Figure 1: Human-as-advisor architecture, reproduced from mai_human-as-advisor_2023
  • Figure 2: Typical human-in-control architecture used for identifying human steering models
  • Figure 3: Human data collection setup
  • Figure 4: Human-in-the-loop simulation setup and data collection
  • Figure 5: Near-point and far-point illustration with kinematic bicycle model
  • ...and 5 more figures