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Modeling Human Steering Behavior During Path Following in Teleoperation of Unmanned Ground Vehicles.
Hossein Mirinejad1, Paramsothy Jayakumar2, Tulga Ersal1
1University of Michigan, Ann Arbor.
Human Factors
|April 18, 2018
Summary
A new behavioral model accurately predicts human steering performance in teleoperated unmanned ground vehicles (UGVs), even with communication delays. This model enables efficient, simulation-based development of UGV technologies.
Area of Science:
- Robotics and Human-Machine Interaction
- Control Systems and Simulation
- Human Factors Engineering
Background:
- Teleoperation of unmanned ground vehicles (UGVs) presents unique challenges compared to onboard driving, including communication delays and limited sensory feedback.
- Accurate mathematical models of human steering performance are crucial for cost-effective, simulation-based development and evaluation of teleoperated UGV systems.
- Existing driver models are often inadequate for the specific conditions encountered in teleoperation.
Purpose of the Study:
- To develop a behavioral model that accurately represents human steering performance in teleoperated UGVs.
- To adapt a cognitive model for highway driving to the teleoperation context, accounting for latency and vehicle speed.
- To provide a simulation tool that can replace human drivers in UGV testing.
Main Methods:
- Adapted a cognitive model originally developed for highway driving scenarios.
- Developed a tuning strategy to adjust model parameters without human data, considering varying latencies and UGV speeds.
- Validated the model using data from a human subject test study on a teleoperated path-following task.
Main Results:
- The tuned model successfully predicted the trend of driver performance changes across different driving conditions.
- The model accurately predicted the optimal steering performance achieved by human subjects under all tested conditions.
- The model demonstrated satisfactory predictive performance for human steering behavior in teleoperated UGV path following.
Conclusions:
- The developed behavioral model effectively captures human steering performance in teleoperated UGVs.
- The model's tuning strategy allows for adaptation to various teleoperation parameters like latency and speed.
- This model serves as a valuable tool for simulation-based studies, enhancing the rapid and cost-effective development of UGV technologies.
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