基于风险场的不同认知次任务下接管风险评估模型

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. Com⁃ bined 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 accu⁃ rately describing the risk. The research results can provide reference for vehicle operation risk assessment and colli⁃ sion avoidance design in takeover process.