Symbolic modeling of driving behavior based on hierarchical segmentation and formal grammar

Abstract— This paper presents a new hierarchical segmentation of the observed driving behavioral data based on the levels of abstraction of the underlying dynamics. By synthesizing the ideas of a feature vector definition revealing the dynamical characteristics and an unsupervised clustering technique, the hierarchical segmentation is achieved. The identified be regarded as a kind of symbol in the abstract model of the behavior. Second, the grammatical inference technique is introduced to develop the context-dependent grammar of the behavior, i.e., the symbolic dynamics of the human behavior. In addition, the behavior prediction based on the obtained symbolic model is performed.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Ato Nakano, Hiroyuki Okuda, Tatsuya Suzuki, Shinkichi Inagaki, Soichiro Hayakawa
• Keywords: Grammatical Inference Technique, Hierarchical Segmentation, IROS 2009, Robotics, Unsupervised Clustering Technique