# Data-Driven Probabilistic Modeling and Verification of Human Driver Behavior

### Dorsa Sadigh, Katherine Driggs Campbell, Alberto Alessandro Angelo Puggelli, Wenchao Li, Victor Shia, Ruzena Bajcsy, Alberto L. Sangiovanni-Vincentelli, S. Shankar Sastry and Sanjit A. Seshia

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EECS Department

University of California, Berkeley

Technical Report No. UCB/EECS-2013-197

December 5, 2013

### http://www.eecs.berkeley.edu/Pubs/TechRpts/2013/EECS-2013-197.pdf

We address the problem of formally verifying quantitative properties of driver models.We first propose a novel stochastic model of the driver behavior based on Convex Markov Chains, i.e., Markov chains in which the transition probabilities are only known to lie in convex uncertainty sets. This formalism captures the intrinsic uncertainty in estimating transition probabilities starting from experimentally-collected data. We then formally verify properties of the model expressed in probabilistic computation tree logic (PCTL). Results show that our approach can correctly predict quantitative information about driver behavior depending on his/her state, e.g., whether he or she is attentive or distracted.

BibTeX citation:

@techreport{Sadigh:EECS-2013-197, Author = {Sadigh, Dorsa and Driggs Campbell, Katherine and Puggelli, Alberto Alessandro Angelo and Li, Wenchao and Shia, Victor and Bajcsy, Ruzena and Sangiovanni-Vincentelli, Alberto L. and Sastry, S. Shankar and Seshia, Sanjit A.}, Title = {Data-Driven Probabilistic Modeling and Verification of Human Driver Behavior}, Institution = {EECS Department, University of California, Berkeley}, Year = {2013}, Month = {Dec}, URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/2013/EECS-2013-197.html}, Number = {UCB/EECS-2013-197}, Abstract = {We address the problem of formally verifying quantitative properties of driver models.We first propose a novel stochastic model of the driver behavior based on Convex Markov Chains, i.e., Markov chains in which the transition probabilities are only known to lie in convex uncertainty sets. This formalism captures the intrinsic uncertainty in estimating transition probabilities starting from experimentally-collected data. We then formally verify properties of the model expressed in probabilistic computation tree logic (PCTL). Results show that our approach can correctly predict quantitative information about driver behavior depending on his/her state, e.g., whether he or she is attentive or distracted.} }

EndNote citation:

%0 Report %A Sadigh, Dorsa %A Driggs Campbell, Katherine %A Puggelli, Alberto Alessandro Angelo %A Li, Wenchao %A Shia, Victor %A Bajcsy, Ruzena %A Sangiovanni-Vincentelli, Alberto L. %A Sastry, S. Shankar %A Seshia, Sanjit A. %T Data-Driven Probabilistic Modeling and Verification of Human Driver Behavior %I EECS Department, University of California, Berkeley %D 2013 %8 December 5 %@ UCB/EECS-2013-197 %U http://www.eecs.berkeley.edu/Pubs/TechRpts/2013/EECS-2013-197.html %F Sadigh:EECS-2013-197