Abstract:

To simulate human decisionmaking in steering to follow a planned path, we modeled the driver’s learning process by using an idea of target position. The proposed model dealt with the driver’s decisionmaking mechanisms in tracking a target position by means of a NeuroFuzzy system. Here, a cubic Bspline curve was used to generate more flexible paths of lanechange to a target position. Furthermore, a learning algorithm was proposed to emulate a driver’s selflearning skill from his driving experience by splitting the fuzzy area into a number of linear systems to approximate the nonlinear function locally and online. Results from the simulation of the obstacle avoidance showed the capability of the proposed model to simulate a driver’s steering behavior with emphasis on learned skill.

Key words: cubic Bspline curve; lane change; target position; neurofuzzy system