Driving Behavior Evaluation for Future Mobility: Application of Online Transition Probability Estimation

In future mobility environment, virtual drivers of autonomous vehicles should be monitored for the sake of safety by evaluating their driving behaviors. Evaluating human drivers of non-autonomous vehicles also can be helpful to improve performance of safety control systems. This paper evaluates driving behaviors based on transition probabilities among multiple driving modes. We estimate transition probabilities with likelihoods of multiple modes from an interacting multiple model by proposing an online estimation approach. The proposed approach addresses the numerical issue found in our preliminary work, and it is verified with an extensive simulation. Furthermore, we evaluate driving behaviors by utilizing the estimated transition probabilities. The proposed method of driving behavior evaluation is demonstrated experimentally.