Modeling Methodology of Driver-Vehicle-Environment System Dynamics in Mixed Driving Situation

The interactions between driver, vehicle and environment generate vehicle's behaviors, and the interactions of vehicle groups shape the traffic modes. Therefore, the conditionally or fully automated driving technologies should be developed and tested in the driver-vehicle-environment (DVE) system rather than being developed and tested individually. To build DVE system dynamics, firstly, we propose an architecture to cope with the complicated interactions in automated vehicles (AVs) and in mixed traffic situations. Then we summarize the driver behavior models and compare the differences of intelligence between human driver and automated vehicle. Finally, we summarize the feasible modeling approaches of DVE system into five categories. The primary distinctions are the modeling methods of human drivers' roles, which are realized by human driver per se, human driver's cognitive architecture, psychological motivation model, mechanism imitation, and specific mechanism transfer respectively. Taking the applications of human machine interface and AD strategy developments as examples, we analyze the benefits and drawbacks of these approaches.