There is an increase in interest to model driving maneuver patterns via the automatic unsupervised clustering of naturalistic sequential kinematic driving data. The patterns learned are often used in transportation research areas such as eco-driving, road safety, and intelligent vehicles. One such model capable of modeling these patterns is the Hierarchical Dirichlet Process Hidden Semi-Markov Model (HDP-HSMM), as it is often used to estimate data segmentation, state duration, and transition probabilities. While this model is a powerful tool for automatically clustering observed sequential data, the existing HDP-HSMM estimation suffers from an inherent tendency to overestimate the number of states. This can result in poor estimation, which can potentially impact impact transportation research through incorrect inference of driving patterns. In this paper, a new robust HDP-HSMM (rHDP-HSMM) method is proposed to reduce the number of redundant states and improve the consistency of the model's estimation. Both a simulation study and a case study using naturalistic driving data are presented to demonstrate the effectiveness of the proposed rHDP-HSMM in identifying and inference of driving maneuver patterns.

提出了一种新的鲁棒HDP-HSMM（rHDP-HSMM）方法，用于减少冗余状态的数量，并改善模型估计的一致性。通过模拟研究和使用自然驾驶数据的案例研究来证明该方法在识别和推断驾驶操纵模式方面的有效性。

使用强韧的隐马尔可夫模型自动识别驾驶行为模式