Validation of Stochastic Optimal Control Models for Goal-Directed Human Movements on the Example of Human Driving Behavior

• Published in: IFAC-PapersOnLine 2023-01, Vol.56 (2), p.8320-8326
• Main Authors: Karg, Philipp, Stoll, Simon, Rothfuß, Simon, Hohmann, Sören
• Format: Article
• Language: English
• Subjects: Human Driving Behavior; Human Movement Modeling; Inverse Optimal Control; Inverse Stochastic Optimal Control; Stochastic Optimal Control
• ISSN: 2405-8963; 2405-8963
• DOI: 10.1016/j.ifacol.2023.10.1021

Stochastic Optimal Control models represent the state-of-the-art in modeling goal-directed human movements. The linear-quadratic sensorimotor (LQS) model based on signal-dependent noise processes in state and output equation is the current main representative. With our newly introduced Inverse Stochastic Optimal Control algorithm building upon two bi-level optimizations, we can identify its unknown model parameters, namely cost function matrices and scaling parameters of the noise processes, for the first time. In this paper, we use this algorithm to identify the parameters of a deterministic linear-quadratic, a linear-quadratic Gaussian and a LQS model from human measurement data to compare the models’ capability in describing goal-directed human movements. Human steering behavior in a simplified driving task shown to posses similar features as point-ot-point human hand reaching movements serves as our example movement. The results show that the identified LQS model outperforms the others with statistical significance. Particularly, the average human steering behavior is modeled significantly better by the LQS model. This validates the positive impact of signal-dependent noise processes on modeling human average behavior.