驾驶人跟车风险接受水平对其接管绩效的影响

doi:10.19562/j.chinasae.qcgc.2021.06.003

汽车工程 ›› 2021, Vol. 43 ›› Issue (6): 808-814.doi: 10.19562/j.chinasae.qcgc.2021.06.003

驾驶人跟车风险接受水平对其接管绩效的影响

鲁光泉^1,²,陈发城¹,李鹏辉^3,⁴(),翟俊达¹,谭海天¹,赵鹏云¹

^1.北京航空航天大学交通科学与工程学院，车路协同与安全控制北京市重点实验室，北京 100191
^2.北京航空航天大学，大数据科学与脑机智能高精尖创新中心，北京 100191
^3.清华大学车辆与运载学院，汽车安全与节能国家重点实验室，北京 100086
^4.中国人民公安大学治安与交通管理学院，北京 100038

收稿日期:2020-11-16 修回日期:2021-01-27 出版日期:2021-06-25 发布日期:2021-06-29
通讯作者: 李鹏辉 E-mail:liph2013@163.com
基金资助:
国家自然科学基金委?中国汽车产业创新发展联合基金(U1664262);中国人民公安大学公共安全行为科学实验室开放课题基金(2021SYS01)

Effect of Drivers’ Acceptance Level of Car⁃following Risk on the Takeover Performance

Guangquan Lu^1,²,Facheng Chen¹,Penghui Li^3,⁴(),Junda Zhai¹,Haitian Tan¹,Pengyun Zhao¹

^1.School of Transportation Science and Engineering，Beihang University，Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control，Beijing 100191
^2.Beijing Advanced Innovation Center for Big Data and Brain Computing，Beihang University，Beijing 100191
^3.School of Vehicle and Mobility，Tsinghua University，State Key Laboratory of Automotive Safety & Energy，Beijing 100086
^4.School of Public Security and Traffic Management，People’s Public Security University of China，Beijing 100038

Received:2020-11-16 Revised:2021-01-27 Online:2021-06-25 Published:2021-06-29
Contact: Penghui Li E-mail:liph2013@163.com

摘要/Abstract

摘要：

自动驾驶接管是一种安全性要求很高的手动驾驶操作，可能会受到驾驶人手动驾驶安全习惯的影响。本文基于驾驶模拟器分别设计了手动驾驶跟车和自动驾驶接管实验，研究了驾驶人的手动跟车风险接受水平对其接管绩效的影响，同时考虑了接管时间预算和视觉非驾驶任务的影响。结果表明：在日常驾驶中具有低跟车风险接受水平的驾驶人接管反应时间更短，并且在监控自动驾驶条件下，接管后表现出更低的纵向碰撞风险。此外，当驾驶人处于视觉分心状态时，5 s的接管时间预算会导致驾驶人接管后出现较差的横纵向稳定性和极高的纵向碰撞风险。本研究的结果可为个性化自动驾驶系统的设计提供理论依据。

关键词: 自动驾驶接管, 跟车风险接受水平, 接管时间预算, 视觉非驾驶任务, 接管绩效

Abstract:

Takeover in automated driving is a kind of manual driving operation with high safety requirements， which may be affected by the driver’s manual driving safety habits. Based on a driving simulator，the manual car?following and an automated driving takeover experiments are designed in this paper to study the influence of the driver’ acceptance level of car?following risk on the takeover performance. Meanwhile， the impact of takeover time budget and visual non?driving related task is also investigated. The results indicate that drivers with a low acceptable level of car?following risk in daily driving have shorter takeover reaction time， and show lower longitudinal collision risk after taking over from the condition of monitoring automated driving. In addition， when drivers are in the state of visual distraction， the 5 s takeover time budget leads to poor lateral and longitudinal stability and high longitudinal collision risk. The results of this study can provide a theoretical basis for the design of personalized automated driving system.

Key words: takeover in automated driving, acceptance level of car?following risk, takeover time budget, visual non?driving related task, takeover performance

鲁光泉,陈发城,李鹏辉,翟俊达,谭海天,赵鹏云. 驾驶人跟车风险接受水平对其接管绩效的影响[J]. 汽车工程, 2021, 43(6): 808-814.

Guangquan Lu,Facheng Chen,Penghui Li,Junda Zhai,Haitian Tan,Pengyun Zhao. Effect of Drivers’ Acceptance Level of Car⁃following Risk on the Takeover Performance[J]. Automotive Engineering, 2021, 43(6): 808-814.

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指标		描述
跟车风险接受水平	最小TTC	跟车中，自车距离前车的碰撞时间的最小值，TTC计算为两车车间距除以两车速度差。
跟车风险接受水平	最小TH	跟车中，自车和前车经过同一地点的时间差的最小值，TH计算为两车车头距除以自车速度。
接管绩效	接管反应时间	系统发出接管请求时刻和驾驶人按下接管按钮时刻之间的时间长度。
	接管后最小TTC	驾驶人接管车辆控制权后，自车距离抛锚车辆的碰撞时间最小值，常被用于评价接管安全性。
	最大纵向减速度	驾驶人接管车辆控制权后，自车的纵向减速度最大值，常被用于评价接管纵向稳定性。
	最大横向加速度	驾驶人接管车辆控制权后，自车的横向加速度最大值，常被用于评价接管横向稳定性。

风险接受水平（人数）	年龄（标准差）	性别（男/女）	驾龄（标准差）
低（11）	31.91（8.408）	64%/36%	9.55（8.454）
高（14）	31.14（10.302）	57%/43%	7.79（8.622）
非参数检验	χ²=0.193，	χ²=0.311，	χ²=0.366，
非参数检验	p=0.660	p=0.386	p=0.545

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[2]	王琳岩,张慧珺,胡宏宇. 驾驶经验对L3级自动驾驶接管绩效的影响[J]. 汽车工程, 2022, 44(10): 1521-1526.

驾驶人跟车风险接受水平对其接管绩效的影响

Effect of Drivers’ Acceptance Level of Car⁃following Risk on the Takeover Performance

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