Toward More Realistic Driving Behavior Models for Autonomous Vehicles in Driving Simulators

Abstract

Autonomous vehicles are perhaps the most encountered element in a driving simulator. Their effect on the realism of the simulator is critical. For autonomous vehicles to contribute positively to the realism of the hosting driving simulator, they need to have a realistic appearance and, possibly more importantly, realistic behavior. Addressed is the problem of modeling realistic and humanlike behaviors on simulated highway systems by developing an abstract framework that captures the details of human driving at the microscopic level. This framework consists of four units that together define and specify the elements needed for a concrete humanlike driving model to be implemented within a driving simulator. These units are the perception unit, the emotions unit, the decision-making unit, and the decision-implementation unit. Realistic models of humanlike driving behavior can be built by implementing the specifications set by the driving framework. Four humanlike driving models have been implemented on the basis of the driving framework: ( a) a generic normal driving model, ( b) an aggressive driving model, ( c) an alcoholic driving model, and ( d) an elderly driving model. These driving models provide experiment designers with a powerful tool for generating complex traffic scenarios in their experiments. These behavioral models were incorporated along with three-dimensional visual models and vehicle dynamics models into one entity, which is the autonomous vehicle. Subjects perceived the autonomous vehicles with the described behavioral models as having a positive effect on the realism of the driving simulator. The erratic driving models were identified correctly by the subjects in most cases.