论文标题
表征驱动器内部驾驶动力学障碍时的变化
Characterizing Within-Driver Variability in Driving Dynamics During Obstacle Avoidance Maneuvers
论文作者
论文摘要
人类反应的可变性会为人类自动化系统建模和控制带来非平凡的挑战。随着自主权的普遍性,可以适应人类变异性的方法将变得至关重要,以确保效率,安全性和高水平的性能。我们提出了一个易于计算的建模框架,该框架利用度量标准在动态任务中评估单个人类响应的变异性,该任务受试者在几个试验中重复。我们的方法基于观察到的轨迹向繁殖核Hilbert Space的转化,该空间捕获了人类反应的变异性,作为嵌入Hilbert空间中的分布。我们通过最大平均差异评估响应之间的相似性,该差异测量了希尔伯特空间内分布之间的距离。我们将此指标应用于旨在阐明跨受试者的差异的困难驾驶任务。我们在一个高级驾驶模拟器中对6名受试者进行了试点研究,在夜间场景中,在盲人角落围绕盲人拐角处的障碍物发生碰撞的任务,而仅用非优势手来转向。
Variability in human response creates non-trivial challenges for modeling and control of human-automation systems. As autonomy becomes pervasive, methods that can accommodate human variability will become paramount, to ensure efficiency, safety, and high levels of performance. We propose an easily computable modeling framework which takes advantage of a metric to assess variability in individual human response in a dynamic task that subjects repeat over several trials. Our approach is based in a transformation of observed trajectories to a reproducing kernel Hilbert space, which captures variability in human response as a distribution embedded within the Hilbert space. We evaluate the similarity across responses via the maximum mean discrepancy, which measures the distance between distributions within the Hilbert space. We apply this metric to a difficult driving task designed to elucidate differences across subjects. We conducted a pilot study with 6 subjects in an advanced driving simulator, in which subjects were tasked with collision avoidance of an obstacle in the middle of the road, around a blind corner, in a nighttime scenario, while steering only with the non-dominant hand.