Study on Driver Model Parameters Distribution for Fatigue Driving Levels Based on Quantum Genetic Algorithm

Transcription

1 Snd Ordrs for Rprns o rprns@bnhamscnc.a Th Opn Cybrncs & Sysmcs Journal, 5, 9, Opn Accss Sudy on Drvr Modl Paramrs Dsrbuon for Fagu Drvng Lvls Basd on Quanum Gnc Algorhm ShuanFng Zhao * X an Unvrsy of Scnc and Tchnology, School of Mchancal Engnrng, 754, X an, P.R. Chna Absrac: Accordng o h assumpon ha fagu sudy canno rval fagu mchansm and nonlnar nflunc facors of vhcl drvng closd-loop sysm dfcs, hs papr proposs a drvr modl nvrson mhod for sudyng h drvr's fagu dagnoss. Furhrmor, h nw mhod s dvdd no wo sps:. By usng h forcas of nural nwork modl o buld h drvr-vhcl-road closd-loop modl, whch s adapd o h complx road condons. Bsds, and h modl was usd o sudy h changs n h closd-loop car sysm paramr n whch h drvr s n a sa of fagu.. By dfnng spcfc movmn rack hrough h dgr of approxmaon of horcal daa and akng s daa as h objcv funcon, h drvr paramr nvrs problm was brokn no mulpl arg opmzaon problms. A mhod of ral-codd chaoc muaon of quanum gnc algorhm (GA) opmzaon s usd o fnd h global opmal soluon. Th drvng smulaon s rsuls show ha undr h condon of complx road condons, h proposd algorhm n acual drvng paramr nvrson of h algnmn s supror o h radonal gnc algorhm (GA) and h radonal quanum gnc algorhm (QGA). Fnally, h rlaonshp bwn plo modl paramrs and fagu facors s sablshd. Kywords: Fagu drvng, Quanum gnc algorhm, Th drvr modl.. INTRODUCTION A numbr of domsc and forgn scnfc and chncal rsarchrs hav commd o work on h chnqus of drvng fagu dagnoss and dagnosc qupmn, and hy oband a numbr of mporan rsarch rsuls. As a rsul, h fagu dagnoss chnology has also go rapd progrss, and on hs bass mulpl yps of fagu sng qupmn hav bn dvlopd, whch ar appld o h ngnrng pracc, yldng gra conomc and socal bnfs. Howvr, h currn fagu dagnoss chnology and h subsqun dvlopmn of dagnosc qupmn ar manly basd on xprnc or daabas, such as h drvng fagu monorng mhod sablshd on h bass of h physcal characrscs [],.g. by monorng h facal xprsson faur, h puls, har ra changs and ndvdual dffrncs whn h fagu gnras. In ordr o undrsand h characrscs of drvng fagu producd by h dffrncs, f no consdrng h plo of h ndvdual, s dffcul o xplan h racon rgulary of fagu drvng. Howvr, for h whol cars drvr closd-loop sysm, h nflunc of car-drvr- nvronmn mchansm on h complx nonlnar sysm has no y bn fully rvald. A prsn, h scnfc and chnologcal workrs n h domsc and forgn hav carrd ou a lo of rsarch by usng nonlnar hory and mhod on h dynamc characrscs of closd-loop auomobl drvng sysm, such as h srng whl angl sgnal whn drvng fagu appars n chaos [], *Addrss corrspondnc o hs auhor a h X an unvrsy of Scnc and Tchnology, School of Mchancal Engnrng, 754, X an, RR chna; Tl: ; E-mal: zsf@xus.du.cn 874-X/5 h closd-loop auomobl drvng sysm n h road nvronmn, gradd and muaon rsarch [3] and so on. All hs hav mad a srs of mporan rsarch rsuls basd on auomobl drvng and drvng fagu dagnoss and prdcon. Also, provds cran horcal bass. Bu hr ar sll many mporan qusons rmanng o b solvd, of whch h wo mos mporan ar:. Th buld of applcabl mul-facor couplng drvr modl; h dnfcaon of plo modl paramrs, ha s o s: whhr h paramr of auomobl drvr's fagu can b calculad hrough analyzng h opraon of h drvr acon and movmn paramr. In h procss of solvng h wo ky qusons, h rsuls of h plo modl conclud h followng aspcs: In, Daro al usd h hory of ACT - R on h drvr's bhavor o forcas modlng [4]. Acadmcan of h Chns scholars, Guo Konghu mad h curv modls namly, h opmal conrol modl and h opmal spln [5]. In h aspcs of paramr dnfcaon on closd-loop drvng sysm, lraur [5] assums ha h plo modl uss a drvng smulaor undr h condon of h smpl pah, and uss h global voluon n h local opmzaon dnfcaon algorhm o dnfy h drvr modl paramrs. Ths papr wll analyz h acual characrscs of h closd-loop sysm of h car-drvr-nvronmn. Bsds, a modl has bn dsgnd whch could rflc h pah n h procss of drvng, xrnal raffc condons (nvronmn), vhcl prformanc as wll as h drvr's rol s consdrd as h cor o sablsh hs popl-cnrd closd-loop drv sysm modl undr complx road condons. In h procss an algorhm has also bn proposd for h drvng 5 Bnham Opn

2 56 Th Opn Cybrncs & Sysmcs Journal, 5, Volum 9 ShuanFng Zhao $ ( ) f ( x( )) f ( x( )) Tps w w w 33 w 44 Lnk of drvr * " d s + T s h F( X ( )) Coordna ransformaons G + Tys + Ty s +... # + Ts + Ts +... y s y y s Coordna ransformaons $ ( ) X ( ) Y( ) Vhcl dynamcs modl Fg. (). Th basc nwork amng o opmz h basc dagram of arfcal nural nwork. paramrs dnfcaon basd on ral-codd quanum gnc algorhm, so ha h drvr paramrs can b rcognzd.. THE CLOSED-LOOP DRIVING MODEL UNDER THE COMPLEX ROAD CONDITIONS Tps Fg. () shows h basc nwork amng o opmz h basc dagram of arfcal nural nwork, and s physcal manng s: F ( X ( )) s h acual pah n h currn m of h absolu coordnas as wll as h w of absolu coordnas nformaon hrough coordna ransformaon, and hus bcomng a rack vhcl n h w of rlav coordnas. Through an amng dvc (ransfr funcon ) and accordng o h orb f ( x( )),h nsananous sa of h vhcl y( ) and h road ahad y ( ), hr wll b an opmal srng whl angl. By usng h plo modl wh h varous npu varabls hrough h arfcal nural nwork bwn nurons and suprposon of h comprhnsv ransfr funcon, h plo wll b smulang o drmn h opmal procss of h srng whl angl. Consdrng h fac ha h acual car drvr s an dal sysm, whch s nvabl o avod hysrss characrscs. Thus d hr s laggng lnk s / ( + Th s), of whch Th s h lag d m of drvr oprang acons, s s h nrvous sysm racon lag of h drvr, d s lag m of nural rspons, s h acual srng angl of h drvr. V ( s) = G + T s + T s y y T s Ts + + Tc = d + Th + T Ty atp / 3 () V ( s) rprsns h vhcl modl as wll as s h scond ordr ransfr funcon of h vhcl laral acclraon y and h srng whl angl. y s laral ds- () placmn rspons. G s h laral acclraon of h sady sa gan; Ty, Ty, T, T ar som consans; a s h followd-ordr numbr. From Fg. (), h modl of plo o conrol h drcon of h sysm (mpy boxs) s a mul-npu sngl oupu sysm. Th npu ar nsan sa y( ), y ( ), y( ) of h vhcls followng h xpcd rajcory and h oupu s h vhcl's srng angl. In h procss of acual drvng, du o h fac ha h naur of popl s nfluncd by physologcal and nvronmnal facors such as psychologcal chang ovr m, h masurd daa ncluds h chang of srng whl angl, namly drvng dsurbanc. Gnrally spakng, h randomnss of drvng prurbaon can b hough of as wh nos procss. Bu dffrn drvrs drvng dsurbanc n h drvng procss s dffrn, and h dsurbanc amplud s small, whch can b nocd n h paramr dnfcaon durng h procss of masurmn. Du o h fac ha h advancd s and procssng chnology ar usd o nsur h masurmn of h nos sgnal whch s small, and s du o wh nos procss, so ha h random dsurbanc manly dspls h drvr bhavoral characrscs of uncrany n h procss of drvng changs. Th npu and oupu daa prsnd n Fg. (), such as vhcl s drvng m, xpcd rajcory f ( ), h acual srng angl, laral acclraon y, laral vlocy y, laral dsplacmn y, can b masurd by passng h drvng smulaor s. Bsds, s masurmn prcson s hghr. 3. THE IDENTIFICATION OF DRIVER MODEL PA- RAMETERS Th drvr s h crucal lnk n h closd-loop sysm of popl-car-road. Thus, an advanc opmzaon of arfcal nural nwork was carrd ou basd on dnfcaon of h ky paramrs of drvr modl, whch acually blong o h problm of closd-loop sysm paramr dnfcaon. Ac-

3 Sudy on Drvr Modl Paramrs Dsrbuon Th Opn Cybrncs & Sysmcs Journal, 5, Volum 9 56 f ( x( )) y y y Tps (a) Th block dagram of vhcl modl paramr dnfcaon w w w 44 δ * d s + Ts h δ y y y V ( s) s s (b) Th block dagram of drvr modl paramrs dnfcaon Fg. (). Th dagram of cars closd-loop sysm paramr dnfcaon. cordng o h closd-loop sysm dnfcaon hory, f h npu/oupu subsysms of h closd-loop sysm ar masurabl, h suabl mhod of opn-loop dnfcaon can b adopd. Th masurmn of h npu and oupu of h subsysm modl s s up drcly (drc dnfcaon mhod). A prsn, h modl paramr dnfcaon mhod s usually dvdd no frquncy doman and m doman mhod: h frquncy doman mhod s manly hrough Fourr o ransform h orgnal daa. And npu and oupu ransform xs n frquncy doman, and hn h frquncy rspons of h sysm s o smula nonlnar paramrs and h characrscs. Is prcson manly dpnds on h smaon and prcson of h frquncy characrscs. Th basc da of h m doman dnfcaon mpls usng h fn dffrnc modl ARMA (auorgrssv movng avrag) quaon for las squars dnfcaon of npu and oupu daa, and hn do Z ransform o dfn ransfr funcon for a dscr sysm. In hs papr, n h m doman, s by usng quanum gnc algorhm ha h global voluonary opmzaon mhod and dnfcaon of paramrs for modl of drc conrol ovr h plo ar ralzd. Thr s nhr a nd for changs n frquncy doman, nor dvaon from ransformaon o mprov h prcson of paramr dnfcaon accuracy. Mor mporanly, paramrs for h naural drvr ar dnfd o nvolv n h opraon of h objc drvr vhcl modl. Bcaus h acual vhcl modl (or drvng smulaon) nds o b vry complcad du o h unavalably of h h sofwar for h mahmacal dscrpon modl of vhcl. As a rsul, wll no b abl o drcly calcula h plo modl paramrs, whch ar ndd for h vhcl modl. So bfor applyng h plo modl, s ncssary o smplfy h complx vhcl modl. Also, snc h complx vhcl modl s quvaln o wo dgrs of frdom lnar vhcl modl, accordng o h hory of sysm paramr dnfcaon mhod, h plo modl whch s ndd for vhcl knc paramrs dnfcaon of h modl can b calculad. Fg. () llusras h vhcl modl paramr dnfcaon block dagram and s spcfc dnfcaon procss s as follows: slc a ypcal vhcl srng whl angl sgnal (or a s of s daa of h vhcl) hn npu o h vhcl modl of complx sysm, wh laral acclraon a of h vhcl as h oupu of h sysm. And h y sam srng whl angl, hn npu o h quvaln of wo-dgrs-of-frdom vhcl modl, h oupu s h laral acclraon a, and h dffrnc bwn a and y as objcv funcon, so as o opmz h pa- s akn ramrs of vhcl modl. Accordng o h sac condons basd on lraur [6], h quaon can b shown n Fg. () n whch drvr closdloop opmzaon modl of arfcal nural nwork s convrd no opn-loop form, as shown n Fg. (b). Th rlaonshp bwn advancd plo modl and h wghs of opmzd nural nwork s no solad. On h conrary, hr s a cran lnk bwn m lag lnk wh h drvr, car and srucural paramrs. By combnng h nural nwork modl undr h sac condon wh [3], h rlaonshp bwn h drvr moor closd-loop sysm and h paramrs can b oband. # w = " w = w = " T w = K " T $ 3 #& K = Tp / (6% Tq ) 33 p 44 p / From quaon 3, s shown ha hr s clos rlaonshp bwn plo modl wh h valus, paramrs K y (3)

4 56 Th Opn Cybrncs & Sysmcs Journal, 5, Volum 9 ShuanFng Zhao and h drvr's m lag lnk T q (ncludng h drvr modl and h srucural paramrs of h vhcl nformaon). Among hm, h rlaonshp bwn drvr modl paramrs Tq and T q s as follows: " Tq = Th + d + T Ty # $ # T T T T T T T T T & d q = h % + + ( d y) %( h + y) + y Of h quaon 4, T, h d (4) ar h m consans of h plo modl lag; T, T, Ty, T y ar h paramrs of h wo dgrs of frdom vhcl modl. Whn h drvr modl paramrs ar dnfd, h opn-loop drvr modl and vhcl modl ar clos o horcal daa, and h corrspondng s daa shows h opmzaon of objcv funcon. Thrfor, sng h opmzaon goal s ssnal for avodng h srng whl angl rror, for h sum of squars of laral acclraon rror, for h rror sum of squars, for h rror sum of squars of laral dsplacmn and h wghd valus of h hr J. J = w J + w J + w J E 3 3 Of h quaon: J ˆ = # ( ) " d s h srng whl " Angl rror ndcaor; J ˆ = ( y y) d s h laral acclraon rror ndcaor; J ˆ 3 = " ( y y) d s h laral dsplacmn rror ndcaor;, y, y ar h xprmnal daa of a drvng smulaon xprmns. ˆ, y ˆ, y ˆ ar collcd for opn-loop drvr modl and vhcl modl o calcula h horcal daa. Thrfor, w, w, w 3 ar h wghd valus, rspcvly,.8,.,.. 4. QUANTUM-INSPIRED GENETIC ALGORITHM 4.. Chromosom Encodng and Dcodng Encodng and dcodng ar h ky facors n usng gnc algorhm o solv h problm. I s also ralzd ha h plo modl paramrs dnfcaon s h ky o opmz of h objcv funcon. I s ncssary o sablsh all pons n h problm spac of chromosom (candda); Chromosoms n h GA spac corrspond o all h problms of candda soluon spac:.. chromosoms and hr candda soluon. Bcaus h opmzaon problm s nvolvd n h soluon spac dmnson, h adopng qub chromosom wll ak plac of radonal chromosom. In adopng h Qub codng mhod, a qub chromosom can rprsn suprposon sa. Compard wh h radonal gnc algorhm, h nw alogrhm has br dvrsy of populaon [7]. Th quanum chromosom can b dfnd as follows: E (5) #... m $ % " "... " & ' m ( Among hm, (6) + " =, =,,... m and h corr- spondng phas can b xprssd as # = arcan( " ). Consdrng h problm of man analycal funcon of numrcal opmzaon, ral numbr chromosom codng s usd hr. Dffrn from h radonal w of QGA codng, ral quanum codng adops on qub rahr han mulpl qubs o xprss a chromosom nformaon. Also, by usng h mhod of chaos varabl and h qubs n voluon of crossng probably, h cohrnc of quanum bs and chaos characrscs s fully usd. Th ral quanum codng can b xprssd as follows: " x x $$$ x # N P( ) = % & ' $$$ N ( Among hm, x, =,,... N s subjc o h unform probably x ( a, b ) dsrbuon. (7) s h frs varabl phas angl of h chromosom, whos formula (7) can b xprssd as follows: x " a = arcsn( ) b " a 4.. Th Fnss Funcon and Gnc Opraon () Fnss funcon. Whn apply h voluonary algorhm for h dnfcaon of drvr's paramrs, a par of drvr paramrs s bul o valua h judgng funcon, bcaus h opmzaon goal s o fnd paramrs o mnmz h oal rror ndcaors J E. Howvr, h quanum voluonary opraon s basd on maxmum adapaon. Th fnss funcon valu chosn hr s: f ( x) = / J E. () Th slcon sragy. In hs papr, h nch covoluon sragy basd on probably paron and h opmal mhod o choos h ndvdual, hav bn adopd. Th har of h synrgy voluon sragy s h qubs probably spac, whch s dvdd no h formaon of populaon N ch and nalzaon N ch. Th probably spac s can b carrd ou n accordanc wh h quaon (9), whl quanum ga updas h algorhm whn ach chld populaon voluon. Whn s n global mgraon condons, kp h bs ndvdual o h global opmum; Whn dos no m h global mgraon condons, us h global opmum gudanc for groups and ndvduals o upda quanum ga. $ k % $ k / Nch + " % & ' = ) # k * & ( ( k / Nch + " ) ' ) * (8) (9)

5 Sudy on Drvr Modl Paramrs Dsrbuon Th Opn Cybrncs & Sysmcs Journal, 5, Volum Equaon N ch s h numbr of nch subgroup, s h lm probably of chromosom numbrd or. k s for h sral numbr of nch. (3) Crossovr and muaon. If w suppos ha h gnraon of h bs ndvdual and s phas angl s B( ) and ( ) rspcvly, h corrspondng populaon ar { P ( ), P ( ),, Pn ( ) } { ( ), ( ),, ( ) }, and s phas angl s n """. W g h nx gnraon by adopng h mhod of cross probably. P + = B " # + P " # () ( ) ( ) cos ( ) ( ) sn ( ) " ( ) = ( ) # ( ), $ $ n () In hs papr, chaoc squnc dsurbanc s usd for h currn gnraon of all ral numbrs n h chromosoms of h angl of phas-conrol clppng. Th gnraon of chaoc squnc logsc mappng s usd o g h chaoc squnc C, and h amplud adjuss slf n accordanc wh h adapv valu. Thn, h corrspondng numbr " can b oband: b " f ( x ) b # = $ C( ) () By usng ( quaon) h rvolvng door of quanum gnc algorhm, h varaon of populaon ndvduals can b ralzd Algorhm Sps Th concr mplmnaon sps ar as follows: Sp : Inalzaon: Drmn h populaon sz n, populaon N ch, maxmum algbra Gn max, lm probably and convrgnc judgmn rul. In ach chld s soluon spac, by h us of unform dsrbuon random funcon, w g a ral chromosom P( ) and h nal populaon. And by usng h formula (7), w can g h phas angl of ach chromosom. Sp : Wh h valuaon funcon, h valuaon of of all populaon ndvdual fnss can b oband. Furhrmor, h bs ndvdual mgraon can b savd whn ach spcs. Sp 3: Rsrv h bs ndvdual and s corrspondng phas angl, hn judg whhr can m h rmnaon condons, or s n ln wh h global opmal condons for rnon of h global opmum. Ohrws, w ak h sp (4). Sp 4: For chld populaons, w appld formulas () and (), o mprov h populaon crossd o produc a nw gnraon of populaon P( + ). For h corrspondng ndvdual wh wakr fnss, w usd formula (). Sp 5: Muaon of h voluon algbra, whl algorhm gos o sp (). Ths procss dos no sop unl h algorhm ms h rqurmns or xcuon of h prcson gnc. 5. TEST ANALYSIS Ths rsarch maks full us of h car drvng smulaor o carry ou h popl-car-road and nvronmnal closdloop sysm xprmn. Drvng rou aks h complx road nvronmn, ncludng a smooh road and a larg curvaur curv. Thr dffrn sklld fagu drvng workrs ak par n h s and h spd lm s v = ~ 4 m / s. By adopng h cognzanc of drvr's mnal fagu mhod, w us sgnals and h mhod of lraur [8] for objcv valuaon. Thus, fagu sa s dvdd no h non- fagu sa, slgh fagu sa, and modra fagu sa. In h xprmns, w us modls by alrng sx paramrs whch nflunc h sably of vhcl opraon (cnr of mass poson, whls cornrng sffnss, srng sysm sffnss, coffcn of rar axl l, srng ransmsson rao and h roaonal nra of h vhcl around h vrcal axs). Thn, w go 4 dffrn dformaon car rcord daa, ncludng road npu f ( x( )), h srng whl angl, laral acclraon y, laral vlocy y, laral dsplacmn y, h forward spd v, c.. I s worh nod ha h changs n h vlocy of h car wll affc auomobl dynamc characrscs. And snc h gnral cas sudy of a coupld sysm s complx, s xpcd ha n h projc complx sysm can b dcoupld no svral small and ndpndn subsysms. In fac, whn h pr a m (lss han sconds), h vhcl s acual longudnal vlocy changd a ll. Howvr, n hs shor prod of m, s nflunc can b gnord. Accordng o h vhcl s dynamcs modl, h G n quaon () can b rprsnd as follows: G = u l (3) + a ( K ua ) From h abov quaon, can b sn ha hr s a funcon bwn h vhcl longudnal vlocy, laral acclraon of h sady sa G and h srng whl angl. Furhrmor, h grar h vrcal spd s, h grar h sady sa laral acclraon ha s usd o masur h srng whl angl. As a rsul, a modul has bn dscrbd n hs arcl, whch s ncssary o oupu h longudnal vlocy ra fdback o h plo modl. Thus, h dynamc characrscs of sz m vary wh h dynamc chang of longudnal vlocy so ha hy canno only b mor accura n complx suaons bu also can dnfy h plo modl paramrs. In h drvr paramr dnfcaon modul and h opmzaon modul of h quanum gnc algorhm (RCQGA), h ral-codd chaoc muaon and h nalzaon paramr rspcvly, ar s o: n = 6, Nch = 5, Gnmax = 5, =.7. W also ak h rsul of drvng smulaor rcord daa for h drvr modul paramr dnfcaon and h opmzaon mhod. Th basc quanum gnc algorhm (QGA) and gnc algorhm (GA) wr analyzd rspcvly. Th rsuls show ha by usng ral-codd chaoc muaon of quanum gnc

6 564 Th Opn Cybrncs & Sysmcs Journal, 5, Volum 9 ShuanFng Zhao GA.8 QGA RCRGA Fg. (3). Th rlaonshp bwn h voluon algbra and ndx. Fg. (4). Th drvng smulaon s pahs. algorhm, w can dnfy h fac ha h paramrs and acual drvng smulaon machs ar h hghs, so s h orb dnfcaon modl wh hgh accuracy. Fg. (3) llusras a dffrn opmzaon algorhm of rav algbra and h rlaonshp bwn ndx rror. W can fnd ha RCQGA opmzd rav s h las and convrgnc propry s bs. Fg. (4) shows h drvng smulaon s pahs. Fg. (5). shows h conrasng curv bwn car drvng rou n closd-loop drvng xprmns and paramr dnfcaon of h hory. Th pons on h graph ln rprsn road cnr ln, whl h sold lns rprsn h car's acual movmn rack ln. By usng h horcal dnfcaon of paramrs and horcal calculaon of h rajcory pah of xprmnal road, and by usng complx srchng of road grad no small and bg curvaur scons, w smulad h acual drvng n h procss of h dffrn nflunc of a road cambr on drvrs' mnd. Th zoom graph shows n dal ha by usng h hory of RCQGA, h paramrs dnfcaon hlp o calcula rajcory and h movmn rack of car ha almos ovrlap. All hs llusra h corrcnss of h drvr paramr dnfcaon mhod. Fg. (6) shows a paramrs modl n whch dffrn lvls of drvrs fagu boh n h gradd road scon (Fıg. 6a) and larg curvaur road scon (Fıg. 6b) ar gvn. And h dsrbuon s Tp, Th, Td. Basd on drvr fagu dgr, 4 dffrn knds of drvng modls undr complx condons ar gvn (as shown n Fg. 4). Th xprmn s rpad for ms, and h drvr's drvng modl paramrs ar dnfd hrough collcd daa. Th dnfcaon rsuls ar dscrbd n h form of hr-dmnsonal spac dsrbuon. And h rsuls wll b usd o analyz varous paramrs of h objc drvr and h sandard dvaon of h avrag sascs. Th frs analyss s carrd ou undr normal drvng condons and basd on h nflunc of h drvr's paramrs. From h conras shown n Fgs. (5a, b), can b sn ha n h cas of normal drvng, bg road curvaur has som nflunc on h drvr's nrvous sysm. Bsds, h rspons m d s grar han h racon m undr h condon of gradd road, suggsng ha whn h drvr s n an unfamlar road nvronmn, rqurs som hnkng m. Bsds, undr h famlar road nvronmn, drvr almos subconscously spd up n h cas of larg curvaur road, so ha drv m Tp wll b smallr han unfamlar road nvronmn dsgn m. Th concluson conforms o h drvr's acual suaon. So, from anohr aspc, llusras h corrcnss of h drvr paramr dnfcaon mhod.

7 Sudy on Drvr Modl Paramrs Dsrbuon Th Opn Cybrncs & Sysmcs Journal, 5, Volum Fg. (5). Th conras bwn normally drvng horcal daa and acual daa. 6 Th nrvs racon m Th nrvs racon m d 6 Normal drvng M ld fagu M odra fagu d..4 Th acon racon m Th Normal drvng M ld fagu 5..4 Th Th acon racon m 4 M odra fagu Th prvw m Tp Th prvw m Normal drvng M ld fagu 4 Tp M odra fagu (a) Gradd road sgmns (a)and gradd road sgmns Fg. (6). Th drvr modl paramrs n dffrn dsrbuons dffrn fagu drvng lvls ( b ) larg curvaur c

8 566 Th Opn Cybrncs & Sysmcs Journal, 5, Volum 9 ShuanFng Zhao Through comparav analyss of dffrn fagu sas as wll as basd on varous drvr paramrs undr dffrn curvaurs, w found ha a drvr s drvng undr h normal sa on gradd road s sgmns s rlavly concnrad n h graphcal dsrbuon compard o h sklld drvr's prformanc. Th chang n h paramrs s mor sabl and h sandard dvaon s small. Bsds, h valuaon funcon of h populaon varanc s small whn h drvr s n fagu sa. And wh ach paramr, h rang s largr, h sandard dvaon s largr, so s h arg populaon varanc. I ndcas ha h drvr, who s n h larg curvaur road nvronmn, has a mor concnrad spr o a cran xn. Alhough drvrs can rss fagu, hr ar cran dffrncs n h lngh of h racon m. I also suggss ha n h condon of fagu drvng, a hgh gradd curvaur nvronmn s mor pron o accdns. CONCLUSION In hs papr, w usd an opmzd drvr modl of arfcal nural nwork and h modl of closd loop vhcl sysm undr h complx road condons. And hn accordng o h sac condon [6], h drvr closd-loop modl, whch s conducv o h plo, s convrd no opn-loop form for paramr dnfcaon. On h drvr paramrs dnfcaon, hs papr pus forward an algorhm usng ral-codd chaoc muaon of quanum gnc algorhm (RCQGA) for drvr paramr dnfcaon n m doman. I mus b pond ou ha hs mhod dos no nd o b ransformd or mprovd for judgng h prcson of paramr dnfcaon. Compard wh h radonal QGA algorhm and GA algorhm, RCQGA codng algorhm s convnn, m-savng, and wh a fas convrgnc m, hav h advanags of global opmzaon ably. As a rsul, s suabl for h soluon of h problm. Th dnfcaon rsuls show ha h horcal valu and xprmnal valu ar conssn. Accordng o h drvr modl paramrs, can br xprss h drvr's drvng bhavor n a shor prod of m (h plo fagu saus has no changd). Th dnfcaon rsuls show ha undr h condon of gradd curvaur and normal drvr, ach paramr changs smoohly. Bsds, rang of ach paramr of h drvr fagu sa s largr. On h larg curvaur roads and undr h condon of fagu, h drvr who s undr varous fagu paramrs rang, dd no dffr sgnfcanly. Howvr, s worh nod ha h lngh of h racon m and s paramrs hav a cran dffrnc. On on hand, suggss ha undr h condon of fagu drvng, hgh gradd curvaur nvronmn s mor pron o accdns, whch s dncal wh our daly lf xprnc. On h ohr hand, llusras h corrcnss of h mhod proposd n hs papr. Bsds, h mhod can no only provd a bass for furhr sudy of vhcl road closd-loop sysm, bu also a nw horcal suppor for h rsarch basd on drvng bhavor and h sa of h vhcl drvng fagu. CONFLICT OF INTEREST Th auhor confrms ha hs arcl conn has no conflc of nrs. ACKNOWLEDGEMENTS Ths work s suppord by Naonal Naural Scnc Foundaon of Chna (Projc ) and Naural Scnc Basc Rsarch Plan n Shaanx provnc of Chna (Program No 3JM7). REFERENCES [] S.K.L. Lal, A. Crag, P. Boord, L. Krkup, and H. Nguyn, Dvlopmn of an Algorhm for An EEG-basd Drvr Fagu Counrmasur, Journal of Safy Rsarch, vl. 34, pp. 3-38, 3. [] Y. Tak, and Y. Furukawa, Esma of Drvr s Fagu hrough Srng Moon, In: Proc. of IEEE Inrnaonal Confrnc on Sysms, Man and Cybrncs, vol. pp , 5. [3] L. Flchr, L. Prsson, and A. Zlnsky, Drvr Asssanc Sysms Basd on Vson n and ou of Vhcls, In: Proc. of h IEEE Inllgn Vhcls Symposum, pp. 3-37, 3. [4] D.D. Salvucc, E.R. Bor, and A. Lu, Toward an ngrad modl of drvr bhavor n a cognv archcur, Transporaon Rsarch Rcord,. [5] J. Cao, H. Lu, K. Guo, and J. Zhang, A drvr modlng basd on h prvw-followr hory and h jrky dynamcs, Mahmacal Problms n Engnrng, Arcl ID 956, 3. [6] D. Haao, K. Guo, W. Fang, J. Cao, and T. Yang, An Analycal Drvr Modl for arbrary Pah Followng a Varyng Vhcl Spd, IJVAS, 4. [7] S. F. Zhao, G. Xu, T. Tao, and L. Ln, Ral-codd Chaoc Quanum-nsprd Gnc Algorhm for Tranng of Fuzzy Nural Nworks, Compurs & Mahmacs wh Applcaons, vol. 57, pp. 9-5, 9. [8] C. Zhang, C. Zhng, X. P, and Q. Y, Powr Spcrum Analyss on h Mulparamr Elcroncphalogram Faurs of Physologcal Mnal Fagu, Journal of Bomdcal Engnrng, vol. 6, pp. 6-68, 9. Rcvd: Jun, 5 Rvsd: July 9, 5 Accpd: Augus 5, 5 ShuanFng Zhao; Lcns Bnham Opn. Ths s an opn accss arcl lcnsd undr h rms of h (hps://cravcommons.org/lcnss/by/4./lgalcod), whch prms unrsrcd, noncommrcal us, dsrbuon and rproducon n any mdum, provdd h work s proprly cd.