【摘要】 为有效评估不同认知次任务下L3级自动驾驶车辆接管时的风险，开展了驾驶接管风险评估模型研究。设计了城市快速路紧急接管场景并开展不同认知次任务下的驾驶模拟试验。考虑轨迹场、势能场和行为场因素，构建了接管风险评估模型。采用接管风险指数法，验证了所建模型的有效性。结合实测数据，量化不同认知次任务和回避操作类型对接管风险场场强的影响。结果表明：被试者进行接管操作后1～9 s内模型接管风险指数分布情况的M-W检验和K-S检验结果均为p<0.05，说明模型可以有效评估车辆在接管过程中的接管风险。此外，模型接管风险指数的均方根误差均值（0.062）小于碰撞时间倒数的均方根误差均值（0.098），说明模型在表征风险的准确性方面要优于碰撞时间倒数。研究结果可为接管过程中的车辆运行风险评估和避撞设计提供借鉴和参考。更多还原

【Abstract】 To effectively evaluate the takeover risks of L3 autonomous vehicles under different cognitive secondary tasks, a study on the risk assessment model for driving takeover is carried out. The urban expressway emergency takeover scenario is designed and driving simulation experiments under different cognitive secondary tasks are carried out. The takeover risk assessment model considering trajectory field, potential field and behavior field is established. The validity of the proposed model is verified by adopting the takeover risk index method. Combined with the measured data, the influence of different cognitive secondary tasks and avoidance operation types on the strength of takeover risk field is quantized. The results show that the M-W test and K-S test for the distribution of the takeover risk index between 1 and 9 s after the takeover operation by the participants are both with the result of p<0.05, indicating that the model can effectively assess the takeover risk of the vehicle during the takeover process.In addition, the root mean square error of the takeover risk index(0.062) is smaller than the root mean square error of the inverse time-to-collision(0.098), indicating that the model is better than the inverse time-to-collision in accurately describing the risk. The research results can provide reference for vehicle operation risk assessment and collision avoidance design in takeover process.更多还原