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Takuya Honda,Nobutomo Matsunaga,Hiroshi Okajima 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
The modeling of driving behaviors is important to analyze and design comfortable functions for the driving systems. The estimation method of the non-linear steering model using the eye tracking information was studied using the heuristic search algorithm. However, the model was limited to gaze and the inattentive driving was not modeled. It is considered that the steering model is consists of a hybrid steering model that switches the controllers according to the eye tracking information is classified in the effective/peripheral viewing field. In this paper, an estimation method of the hybrid system focusing on the effective visual field during driving is proposed. The hybrid model is constructed by steering model depending on the gazing distance and simple on-off controller. This estimation algorithm consists of 2-steps; clustering which classifies data by k-means method and the estimation of the parameters by Particle Swarm Optimization. The experiment with the long driving course consisting of five-curves and straight lines is demonstrated by HONDA driving simulator.
Design of Human-Machine System for estimating pattern of white cane walking
Akitoshi Honda,Takayuki Shiose,Yasuhiro Kagiyama,Hiroshi Kawakami,Osamu Katai 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Mobility training uses a white cane for the blind or the visually impaired. Such training, which enhances their own walking ability, is different from an approach that enables them to walk with mechanical equipment. During training, one trainee has one particular trainer, and they work together. After the training, however, trainee anxiousness tends to increase, so some trainees can’t walk on path sorroutes on which they previously walked. Since trainee/trainer interaction can offer psychological care, trainers must maintain contact with trainees and providea dvice. In this study, a new support system is proposed that helps trainers estimate their trainee walking patterns so that they can offer advice without meeting in person when trainees get worried and lose confidence. The system has the following two characteristics: wireless compactac celeration censers togather white cane walking data and apattern recognition technique whose study data are labeled by trainer so that the system cane valuate the trainer judgments and experiences. A subject experiment evaluated the system’s effectiveness with subject pairs comprised of actual trainers and trainees from the Kyoto Lighthouse.