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

doi:10.13229/j.cnki.jdxbgxb.20230371

Abstract

Abstract:

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.

Key words: transportation system engineering, automated driving, recovery of driving performance, traffic oscillation, numerical simulation

CLC Number:

U471.3

Chang-shuai WANG,Cheng-cheng XU,Wei-lin REN,Chang PENG,Hao TONG. Impacts of driving ability recovery state on characteristics of traffic oscillation in automated driving takeover process[J].Journal of Jilin University(Engineering and Technology Edition), 2025, 55(1): 150-161.

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序号	自动驾驶持续时间/s	自动驾驶速度/（m·s^-1）	接管前置时间/s	前车速度 /（m·s^-1）
1	180	22.22	6	18.06
2	60	23.61	6	15.28
3	300	25.00	6	16.67
4	300	22.22	4	15.28
5	180	23.61	4	16.67
6	60	25.00	4	18.06
7	60	22.22	5	16.67
8	300	23.61	5	18.06
9	180	25.00	5	15.28

符号	变量的描述及定义
x₁	每秒内后车的平均纵向速度/（m·s^-1）
x₂	每秒内后车纵向速度的标准差
x₃	每秒内后车的平均纵向加速度/（m·s^-2）
x₄	每秒内后车的平均跟驰距离/m
x₅	每秒内后车跟驰距离的标准差
x₆	每秒内前后车速度差的均值/（m·s^-1）
x₇	每秒内前后车速度差的标准差
x₈	每秒内前后车的平均车头时距/s
x₉	接管后的时间（被试接管车辆的时刻为0时刻）
x₁₀	每秒内后车的平均横向速度/（m·s^-1）
x₁₁	每秒内后车横向速度的标准差
x₁₂	每秒内后车的平均横向加速度/（m·s^-2）
x₁₃	每秒内后车的平均车道偏移量/m
x₁₄	每秒内后车车道偏移量的标准差

参数	含义/单位	最大值	最小值
A	最大加速度/（m·s^-2）	10	0.1
b	期望减速度/（m·s^-2）	10	0.1
v_f	期望速度/（m·s^-1）	40	10
s₀	静止安全距离/m	10	0.1
T	安全车头时距/s	10	1

参数	驾驶能力恢复阶段	正常手动驾驶阶段
A/（m·s^-2）	1.01	0.45
b/（m·s^-2）	5.21	0.67
v_f /（m·s^-1）	25.52	39.98
s₀/m	9.88	9.37
T/s	1.26	1.73

v_δ /（m·s^-1）	时间/s	减速波/（m·s^-1）	加速波/（m·s^-1）	v_δ /（m·s^-1）	时间/s	减速波/（m·s^-1）	加速波/（m·s^-1）
2.78	20	15.53	2.53	8.33	20	17.74	2.40
2.78	24	15.53	2.58	8.33	24	17.74	2.46
2.78	28	15.53	2.69	8.33	28	17.74	2.49
2.78	32	15.53	2.81	8.33	32	17.74	2.47
2.78	36	15.53	2.96	8.33	36	17.74	2.38
2.78	40	15.53	3.12	8.33	40	17.74	2.28
5.56	20	16.77	0.07	11.11	20	18.32	3.70
5.56	24	16.77	0.15	11.11	24	18.32	3.77
5.56	28	16.77	1.75	11.11	28	18.32	3.76
5.56	32	16.77	2.00	11.11	32	18.32	3.65
5.56	36	16.77	2.15	11.11	36	18.32	3.51
5.56	40	16.77	2.24	11.11	40	18.32	3.39

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

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