城市道路环境下自动驾驶车辆接管绩效分析

To examine the effect of non-driving-related tasks (NDRTs) and the urgency of the take-over during highly automated driving in urban road environment conditions, critical take-over scenarios during automated driving were designed using a driving simulator, and an experimental study was conducted. Take-over request times were set at 3 s, 4 s, and 5 s, and NDRTs included reading news, watching videos, and playing games. The automated driving speed was 50 km•h^-1. 49 participants (30 males, 19 females) were recruited for the experiments, and the mean age of the participants was 31.06 years (SD 7.10 years). The participants were asked to engage in NDRTs during the automated driving mode. They were then asked to take back control of the vehicle when a take-over request was given and perform avoidance maneuvers. The results show that, in critical take-over situations, the urgency of the take-over affects the resultant acceleration and minimum time to collision (TTC) but has no effect on take-over time. Moreover, compared to the take-over request time of 5 s, the resultant accelerations with the take-over request times of 3 s and 4 s are significantly higher, whereas the minimum TTC decreases with a shorter take-over request time. NDRTs have an impact on the take-over time and minimum TTC but do not influence the resultant acceleration. In addition, NDRTs can significantly increase the take-over time and decrease the minimum TTC compared to cases when no NDRTs are engaged. Crashes nearly occur when the take-over request times are 3 s and 4 s, and safety can be ensured when the take-over request time is 5 s.