Multi-scale driving behavior modeling using hierarchical PWARX model

This paper presents a hierarchical modeling strategy of the driving behavior based on the multiple levels of abstraction of the underlying dynamics. In order to realize this idea, a new mathematical model, Hierarchical PieceWise ARX model (Hi-PWARX model) is proposed. The identification scheme for the Hi-PWARX model is developed by synthesizing the ideas of a feature vector definition revealing the dynamical characteristics and an unsupervised clustering technique. By applying the Hi-PWARX model to the observed driving data, a consistent hierarchical behavior model is obtained without any prior knowledge. The usefulness of the proposed modeling is demonstrated by the analysis of the driving behavior on the express way.