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自动驾驶卡车路测安全员接管干预行为解析

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为解析和量化评估自动驾驶卡车路测安全员接管干预行为的有效性和安全性,以卡车速度、加速度及角速度等运行指标构造特征参数,联合自动编码机(AE)与K-means++算法构建复合模型,辨识出急减速、急加速、横向右转、横向左转和稳定接管等5种干预运行模式;综合人-车-路-环境多重因素,将接管干预原因分为避险接管、信任接管及优化接管3个类型;针对不同运行模式,结合时变特征分析其接管控制时间并辨析接管原因.基于自动驾驶卡车路测数据,提取了778个接管干预样本,评估验证方法的合理性和有效性.结果表明,受场景风险程度等要素影响,路测阶段急减速和稳定接管干预运行模式的接管控制时间明显少于其他接管干预运行模式;避险接管主要为急减/加速接管干预运行模式,信任接管多表现为横向右转/左转及稳定接管干预运行模式,优化接管仅有急加速接管干预运行模式;避险及信任接管类型占比大于80%,表明安全员在自动驾驶卡车路测中仍以确保路测安全为首要目标.
Analysis of drivers′ intervention behavior in autonomous truck road testing
In order to analyze and quantitatively evaluate the effectiveness and safety of drivers'intervention behavior in autonomous truck road testing,the characteristic parameters were constructed with the truck speed,acceleration and angular velocity as the operational indicators.Autoencoder(AE)and K-means++ algorithm were combined to build a composite mode to identify five intervention operational patterns,including sharp deceleration,sharp acceleration,transverse right turn,transverse left turn and transverse and smooth intervention.Combining multiple factors of human-vehicle-road-environment when drivers took over and intervened,the intervention reasons were divided into three categories:risk-avoiding intervention,trust intervention and optimized intervention.According to different operational patterns and characteristics variation with time,intervention and control time was analyzed,and the reasons for takeover were identified.Based on autonomous truck road testing data,the 778 intervention samples were extracted to evaluate and verify the rationality and effectiveness of the method.The results show that,affected by factors such as the degree of scene risk,intervention and control time of sharp deceleration and smooth intervention operation pattern is significantly less than other intervention operating patterns in the autonomous truck road testing process;risk-avoiding intervention is mainly the sharp acceleration/deceleration intervention operation pattern,trust intervention is mostly manifested as transverse right/left turning and smooth intervention operation pattern,and optimized intervention only has sharp acceleration intervention operation mode;the types of risk-avoiding intervention and trust intervention account for more than 80%,indicating that drivers still take ensuring the safety of road testing as the primary goal in autonomous truck road testing.

engineering of traffic and transportation systemintervention behaviorautoencoderintervention operational patternautonomous truckautonomous vehicle road testing

涂辉招、王万锦、乔鹏、郭静秋、鹿畅、吴海飞

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同济大学 道路与交通工程教育部重点实验室,上海 201804

上海临港科技创新城经济发展有限公司,上海 201306

上研智联智能出行科技(上海)有限公司,上海 201306

交通运输系统工程 接管干预行为 自动编码机 接管干预运行模式 自动驾驶卡车 自动驾驶路测

国家重点研发计划项目上海市社科规划基金项目CAAC Safety Grant

2019YFE01083002020JG008-BCK782OMSA2103

2024

10.13229/j.cnki.jdxbgxb.20220553

吉林大学学报(工学版)
吉林大学

吉林大学学报(工学版)

CSTPCD北大核心
影响因子：0.792
ISSN：1671-5497
年,卷(期)：2024.54(3)
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