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arXiv · 2506.00035

Evaluation of "As-Intended" Vehicle Dynamics using the Active Inference Framework

Kazuharu Kidera·Takuma Miyaguchi·Hideyoshi Yanagisawa
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Abstract

We constructed a computational model of the driver's brain for steering tasks using the active inference framework, grounded in the free energy principle - a theory from computational neuroscience. This model enables quantitative estimation of how accurately the brain learns vehicle dynamics and performs appropriate steering, using a measure called variational free energy. Through driving simulator experiments, we observed strong correlations between variational free energy and both expert drivers' subjective "as-intended" scores and general participants' objective control performance. These results suggest that variational free energy provides a promising quantitative metric for evaluating whether a vehicle behaves "as-intended."

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Kazuharu Kidera, Takuma Miyaguchi, Hideyoshi Yanagisawa. 2025-05-27. Evaluation of "As-Intended" Vehicle Dynamics using the Active Inference Framework. https://doi.org/10.1007/978-3-032-16955-6_15

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