Experimental Evaluation of a Game-Theoretic Human Driver Steering Control Model.

Abstract

Automated vehicle steering control systems have great potential to improve road safety. The development of such systems calls for mathematical driver models able to represent human drivers' steering behavior in response to automated steering intervention. This article concerns the experimental evaluation of a game-theoretic driver steering control model. The driver model centers on a steering control strategy developed based on the Nash equilibrium of a theoretic noncooperative game between the driver and automated steering controller. The key parameters of the game-theoretic driver model are identified by fitting the model to real driver steering behavior measured from six driver subjects in an experiment using a driving simulator. The game-theoretic driver model is evaluated by compared to a ``conventional'' optimal-control-theoretic driver model, and analyzing their model fitting errors. Results from the analysis demonstrate that the game-theoretic driver model is statistically significantly better than the conventional driver model for representing three out of the six subjects' steering behavior. For the other three subjects, both the two models perform statistically equivalently well.