交通运输工程与信息学报2026，Vol.24Issue(3)：39-50,12.DOI:10.19961/j.cnki.1672-4747.2025.10.030
有条件自动驾驶横向接管控制行为建模
Modeling of lateral takeover control behavior in conditional automated driving environment
摘要
Abstract
[Background]In conditional automated driving,human drivers must take over when the system capability boundaries are reached.However,control instability and delayed responses often occur during the early takeover phase,compromising vehicle safety and efficiency of human-ma-chine coordination.[Objective]This study aims to characterize drivers'control recovery and envi-ronmental adaptation during takeovers,and to identify the key factors influencing takeover stabili-ty.[Method]A Carla-based driving simulation platform was developed to construct a fog-zone takeover scenario,and the information about participants'driving behavior,eye-tracking data,and subjective evaluations were collected.The sliding-window sample entropy(SW-SampEn)method was used to capture the control dynamics,from which two temporal indicators,takeover instability duration(TID)and environmental adaptation duration(EAD),were defined.A dual-Weibull accel-erated failure time(AFT)model incorporating clustered heterogeneity and gamma frailty was devel-oped to model the lateral takeover control behavior and stability characteristics of drivers.[Result]The results demonstrate that takeover control exhibits a"disruption-adaptation-stabilization"pat-tern of evolution.Synchronized traffic flow significantly prolongs both TID and EAD,while inter-rupted secondary tasks shorten the recovery time.Driving style,gender,experience,and trust in au-tomation significantly affect takeover stability.[Application]The proposed analytical framework provides methodological support and quantitative insights for takeover stability assessment,strate-gy design,and optimization of human-machine coordination,offering theoretical and practical refer-ences for safety management and control strategy development in complex automated driving envi-ronments.关键词
智能交通/接管稳定性/加速失效时间模型/横向接管控制行为/有条件自动驾驶Key words
intelligent transportation/takeover stability/accelerated failure time model/lateral take-over control behavior/conditional automated driving分类
交通工程引用本文复制引用
张俊杰,马永锋,张子煜,康凯,胡布雨..有条件自动驾驶横向接管控制行为建模[J].交通运输工程与信息学报,2026,24(3):39-50,12.基金项目
国家重点研发计划项目(2023YFB4302700) （2023YFB4302700）
国家自然科学基金面上项目(52572371) （52572371）
江苏省研究生科研与实践创新计划项目(SJCX24_0090) （SJCX24_0090）
东南大学博士研究生创新能力提升计划项目(CXJH_SEU24184) （CXJH_SEU24184）
