自动驾驶接管过程中驾驶能力恢复状态对交通流振荡特性的影响  

Impacts of driving ability recovery state on characteristics of traffic oscillation in automated driving takeover process

作　　者：王长帅 徐铖铖[1] 任卫林 彭畅 佟昊 WANG Chang-shuai;XU Cheng-cheng;REN Wei-lin;PENG Chang;TONG Hao(School of Transportation,Southeast University,Nanjing 211189,China)

机构地区：[1]东南大学交通学院,南京201196

出　　处：《吉林大学学报(工学版)》2025年第1期150-161,共12页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(52172343);江苏省杰出青年基金项目(BK20211515);江苏省研究生科研与实践创新计划项目(KYCX22_0272)。

摘　　要：利用模拟器开展了自动驾驶接管仿真实验,采集了实验过程中的车辆轨迹数据,利用高斯混合模型将接管后的驾驶状态划分为稳定与不稳定,并确定了被试的驾驶能力恢复时间。随后,利用遗传算法标定了驾驶能力恢复阶段与正常手动驾驶阶段的跟驰模型参数,并通过数值仿真技术,研究了不同扰动强度下驾驶能力恢复时长对交通振荡特性的影响规律。结果表明:接管后驾驶人平均需要27.25 s来恢复驾驶能力;驾驶能力恢复阶段的期望加速度与减速度大于正常手动驾驶阶段,而期望速度要小于正常手动驾驶阶段;接管会引起交通振荡,振荡持续时间与驾驶能力恢复时长和扰动强度正相关,而驾驶能力恢复时长对振荡幅度无显著影响;此外,交通振荡在车队传播过程中其振幅和持续时间会被不断放大。WANG Chang-shuai;XU Cheng-cheng;REN Wei-lin;PENG Chang;TONG Hao;School of Transportation, Southeast University;This study conducted an automated driving takeover test using a driving simulator to collect vehicle trajectory data.Then,participants driving ability recovery time was derived by employing the Gaussian mixture model to classify the driving state as either stable or unstable.Then,the parameters of the intelligent driver car-following model for the driving ability recovery and the norm manual driving state were calibrated using the genetic algorithm.Finally,numerical simulation techniques were employed to explore the impacts of driving ability recovery time on the propagation characteristics of traffic oscillations under various intensities of traffic disturbance.Results indicated that drivers took an average of 27.25 s to recover their driving ability.In the driving ability recovery state,the desired acceleration and deceleration were higher,while the desired speed was lower.Furthermore,the takeover of automated vehicles resulted in traffic oscillation,and the duration was positively linked to the driving ability recovery time and intensity of traffic disturbance.However,the amplitude of traffic oscillation was not significantly affected by the recovery time.Moreover,both the duration and amplitude of oscillation were amplified during its propagation in the simulation fleet.

关 键 词：交通运输系统工程 自动驾驶 驾驶能力恢复状态 交通振荡 数值仿真 

分 类 号：U471.3[机械工程—车辆工程]