Wheel Loader Driving Intention Recognition with Gaussian Mixture - Hidden Markov Model

Institute of Mechanical and Electronic Engineering, School of mechanical and energy engineering, Tongji University, Shanghai 200029, China

^a Corresponding author: wanganlin@tongji.edu.cn

Abstract

Accurate recognition of driving intentions can delay upshifts under the intention of quick acceleration to maximize vehicle power performance; avoid frequent gear changes in automatic transmissions for rapid deceleration intention and make all power to flow to the bucket in the desire for fast motion of cylinders. However, due to the ambiguity of the human intentions and multiple meanings of depressing on the accelerator pedal in wheel loader, it is difficult to recognize driving intention. Nevertheless, the driver’s intentions are directly reflected in the accelerator pedal, brake pedal and hydraulic valve control handle. By detecting these observable signals such as the signals of acceleration pedal’s displacement and velocity, brake pedal’s displacement and velocity and valve status Gaussian Mixture – Hidden Markov Model(MGHMM) can recognize the unobservable driving intentions. The experiment is done in Simulink and the results show that MGHMM can recognize driving intentions as expected.