基于驾驶员人因的高速公路长大连续下坡路段线形组合设计方法

为建立基于驾驶员人因的山区高速公路长大连续下坡路段线形组合设计方法,通过大型货车自然驾驶试验,研究了驾驶员动态视觉参数在长大连续下坡路段的分布特性及线形组合对驾驶员视觉的影响规律,提出了长大连续下坡路段线形组合设计控制指标和标准.首先通过长大连续下坡路段自然驾驶行为试验,获取了驾驶员眼动参数;其次利用主成分分析法,建立了长大连续下坡路段驾驶员视觉负荷强度模型;最后提出了基于驾驶员视觉负荷强度的长大连续下坡路段纵坡组合及平纵线形组合设计方法.研究结果表明:传统的陡-缓-陡纵坡组合模式设置的缓坡并没有减轻驾驶员行车过程中的视觉负荷,长大连续下坡路段应尽可能采用单一纵坡模式进行展线;相邻坡段坡度差宜控制在1.5％以内,条件受限时也不应超过2.3％;直坡段宜将直坡组合度控制在0.02 m-1以内,弯坡段宜将弯坡组合度控制在0.25m-1以内、条件受限时应控制在0.45 m-1以内.     

高速公路弯坡组合路段载重车最小安全车距模型

为降低高速公路弯坡组合路段载重车追尾碰撞风险,通过研究不同平纵组合下高速公路弯坡类型,界定弯坡组合路段参数范围,选取具有较强代表性的车型,针对现有最小安全车距模型的缺陷,建立基于载重车制动减速系统且满足驾驶人驾驶行为特性的弯坡组合路段安全车距计算模型并对其参数进行标定;利用载重车仿真软件TruckSim 2016建立弯坡段双车跟驰模型,分析小半径平曲线下载重车爬坡与下坡行车状态时车辆滑移率、行驶速度、车间距等指标,验证该最小安全车距模型的有效性。     

高速公路不同线形组合路段划分研究

通过对27名典型车型驾驶员在高速公路不同线形条件下的运行速度、生理和心理变化等现场试验数据采集、分析,得到驾驶员安全舒适性评价指标(驾驶工作负荷度)在高速公路不同线形组合路段的变化规律;提出高速公路线形变化引起的车辆运行速度和驾驶工作负荷度变化具有提前性,而并非在道路线形变化点同时发生变化,这种提前现象反映出驾驶员对道路线形条件变化认知和决策的适应特性;提出了基于驾驶工作负荷度变化特性的高速公路不同线形组合路段划分标准。研究结论对道路设计、交通安全设施布设和道路运营管理等理论和实践具有一定的参考价值。     

高速公路弯坡路段小客车自由流运行速度模型研究

通过分析驾驶员在我国山区高速公路自由流状态下弯坡路段的信息采集处理过程,认为弯坡路段的平曲线曲中点前后两部分运行速度是受不同信息的影响。探讨弯坡路段车辆运行速度变化规律,用大量的实测数据建立相应的两阶段弯坡路段运行速度统计模型,为绘制运行速度断面曲线图和交通仿真提供理论基础,同时也为正在进行的《高速公路运行速度设计方法和标准》项目提供数据支持,有助于应用设计一致性理念。     

山区高速公路驾驶人加减速行为建模

山区地形地质条件复杂，各类复杂的组合线形设计更为常见，例如直线与平曲线间组合或不同平曲线间组合。驾驶人在相邻组合路段行驶时会感知到线形的变化，引起驾驶行为的改变，最终车辆的纵向加速度也会随之改变。频繁的加减速行为会引起驾驶人不适，甚至形成安全隐患。目前针对相邻组合路段驾驶行为的研究中，关于加速度的研究主要基于路段特殊点进行计算。随着驾驶模拟技术的发展，高仿真驾驶模拟器为高速公路的设计评估提供了更好的数据及试验条件支撑。在高仿真驾驶模拟器中，基于湖南省永吉高速公路道路设计参数及周边地形环境参数，构建山区高速公路的三维虚拟模型，以山区高速公路中的相邻组合路段为研究对象，获取山区高速公路组合线形路段的车辆纵向加速度数据，提取加减速事件后，基于驾驶人的加减速行为，采用混合Logit模型，分别判定道路线形层和驾驶人层的影响，研究组合线形对驾驶人纵向加减速选择的具体影响变量以及变量的影响范围。研究结果表明：下游路段最大曲率、上游路段圆曲线段比例、下游路段变坡点数量、下游路段曲线数量、上游路段平均曲率和当前位置曲率等对驾驶人加减速行为有显著影响；通过对比混合Logit模型和多元Logit模型，指出驾驶人层面对模型结果的影响显著。研究结果提供了一种山区高速公路连续纵向加减速行为的建模方案，并可为研究驾驶人在复杂线形条件下的纵向加速度选择行为提供基础。     

山区高速公路弯坡路段车辆运行速度预测模型

为确定山区高速公路弯坡路段的车辆运行速度特征,提高山区高速公路运营安全管理水平,结合山区高速公路复杂的道路线形条件,研究适用于弯坡路段的运行速度预测模型。文中列举国内外具有代表性的运行速度模型,并分析其局限性;通过调研3条典型山区高速公路,采用气压管式车速检测器对车速数据进行采集,选择路段特征点的运行速度作为分析样本;通过比较偏相关系数,确定模型的自变量参数,利用多元线性回归的方法,分别建立不同车型在山区高速公路弯坡路段的运行速度预测模型,并对模型的拟合度进行验证。结果表明,模型预测值与实测值的平均相对误差在5%以内,模型精度满足要求。     

高速公路连续下坡路段线形指标与视觉特性关系研究

高速公路连续下坡路段平、纵线形指标组合及相邻分路段线形指标是否一致,对行车驾驶员视觉有较大的影响,从而影响行车安全。本文应用雅泸高速公路一段12 km长连续下坡路段,将其制作成驾驶模拟舱里的试验路段,采集驾驶模拟舱里做行车试验驾驶员的视觉指标数据,通过分析,建立线形指标与视觉特性之间关系模型,最终获得了不同的平曲线半径对驾驶员视觉构成不同的压力,不同的分路段线形指标对驾驶员视觉也产生不同的压力,这些成果可用于评价高速公路连续下坡路段线形设计质量。     

山区高速公路连续下坡路段驾驶员特性分析

本文依托四川雅泸高速公路长大纵坡路段行车安全对策研究项目,开展了针对山区高速公路连续下坡路段驾驶员特性分析,重点阐述了货车驾驶员在连续下坡路段驾驶行为特征问卷调查统计结果,以及车辆在连续下坡路段行驶时驾驶员皮温、脉搏、皮肤导电水平等生理指标的变化趋势,以进一步把握山区高速公路连续下坡路段驾驶员特性。分析结果表明货车驾驶员对于长大下坡的危险意识不够,并且存在相当数量的驾驶员有把下坡误认为是平坡或上坡的经历。在下坡过程中驾驶员生理指标总体呈上升趋势,接近坡底时呈下降趋势,驾驶员在连续下坡路段容易出现紧张情绪。     

山路行车技巧

山区公路,地势起伏不平,坡陡弯急的路段比较多.常年行驶在山区和高丘陵地带的驾驶员,如不能正确驾驶车辆,极易发生坠崖翻车事故,因此,掌握一定的山路行车技巧是必不可少的.……     

驾驶模拟条件下高速公路线形指标对驾驶绩效影响特征分析

驾驶绩效是衡量驾驶员维持正常驾驶能力的重要指标。为研究高速公路平、纵线形指标对驾驶员行车过程中纵向和横向驾驶绩效的影响,利用模拟驾驶实验平台开展了模拟驾驶实验。按照几何线形对实验场景进行路段划分,统计分析了不同线形指标路段单元上车辆速度、车道偏移量等驾驶绩效指标的变化规律。实验结果表明,车辆运行速度随着平曲线半径增大而上升;下坡路段车速随着纵坡坡度的增大出现先上升后下降的小幅度变化;车辆横向偏移量随道路线形指标无明显变化规律,其变化受驾驶经验、车速、线形指标等多因素影响。这一研究可为高速公路人性化道路线形设计提供参考。     

On-road assessment of in-vehicle driving workload for older drivers: Design guidelines for intelligent vehicles

There has been recent interest in intelligent vehicle technologies, such as advanced driver assistance systems (ADASs) or in-vehicle information systems (IVISs), that offer a significant enhancement of safety and convenience to drivers and passengers. However, the use of ADAS- and IVIS-based information devices may increase driver distraction and workload, which in turn can increase the chance of traffic accidents. The number of traffic accidents involving older drivers that are due to distraction, misjudgment, and delayed detection of danger, all of which are related to the drivers’ declining physical and cognitive capabilities, has increased. Because the death rate in traffic accidents is higher when older drivers are involved, finding ways to reduce the distraction and workload of older drivers is important. This paper generalizes driver information device operations and assesses the workload while driving by means of experiments involving 40 drivers in real cars under actual road conditions. Five driving tasks (manual only, manual primarily, visual only, visual primarily, and visual-manual) and three age groups (younger (20–29 years of age), middle-aged (40–49 years of age), and older (60–69 years of age)) were considered in investigating the effect of age-related workload difference. Data were collected from 40 drivers who drove in a real car under actual road conditions. The experimental results showed that age influences driver workload while performing in-vehicle tasks.     

基于驾驶工作负荷的高海拔地区隧道照明亮度分析

为研究高海拔地区与平原区驾驶员驾驶工作负荷差异特性以得到适用于高海拔地区的隧道照明亮度需求，以及客观量化高海拔地区公路隧道照明设计与管理标准提供理论、方法与技术依据，基于驾驶员驾驶工作负荷理论，从驾驶视认安全、稳定和舒适性的角度，分别在道路运行条件相似的江西宜安Ⅱ级公路和青藏公路高原青藏段（公路－Ⅱ级）设计实车试验进行定量研究。1）运用CART分类方法分析实地驾驶试验数据，发现海拔高度与驾驶员正常行驶的驾驶工作负荷之间呈正相关关系： 平原区驾驶员驾驶需求最低、驾驶工作负荷度最小，海拔高度3 200～3 300 m驾驶工作负荷度居中，海拔高度4 300～4 400 m驾驶工作负荷度最大。2）通过分析得到高海拔地区驾驶员驾驶工作负荷可根据海拔高度进行修正，得到修正系数和驾驶工作负荷度阈限。3）提出高海拔地区隧道照明视认需求相对于平原区的修正系数，海拔高度3 200～3 300 m时为1.2，海拔高度4 300～4 400 m时为1.8。4）得到不同海拔高度公路隧道各个特征段照明亮度设计标准。     

A methodology to increase driver trust in rear-obstacle warning systems with imperfect sensing results — Proposal for a warning system using sensor reliability information

Driver's workload tends to be increased during driving under complicated traffic environments like lane-changing operation. In such cases, rear collision warning is effective for reduction of cognitive workload. On the other hand, it is pointed out that false alarm or missing alarm caused by sensor errors leads to decrease of driver trust in the warning system and it can result in low efficiency of the system. Suppose that sensor reliability information is provided in real-time. In this paper, we propose a novel warning method to increase driver trust in the system even with low sensor reliability by utilizing sensor reliability information. We investigate the effectiveness of the warning methods in high and low workload situations by driving simulator experiments.     

考虑驾驶人特性的一主多从混合博弈容错控制

为保证线控底盘电动汽车在遭遇执行器失效时的稳定性，并考虑人-车交互行为，提出了以驾驶人为领导者的一主多从（Single-leader-multiple-follower，SLMF）混合博弈容错控制框架。为实现驾驶人-车辆的交互控制，首先建立了两者的耦合模型。其次，将驾驶人及5个底盘子系统即主动前轮转向（Active Front Steering，AFS）系统和4个轮毂电机建模为博弈中的6个参与者，基于Stackelberg主从博弈与多人合作博弈设计了SLMF混合博弈控制框架。考虑驾驶人具有优先控制权限及执行器对驾驶人行为的补偿作用，基于Stackelberg博弈理论建立了驾驶人与底盘子系统的主从博弈模型，其中驾驶人作为领导者通过感知跟随者的行为做出转向决策，而5个底盘子系统被建模为跟随者。由于跟随者追求共同的横向稳定控制目标，因此基于合作博弈理论建立了合作模型，并对领导者的转向策略做出最优响应。最后，为研究跟随者之间追求不同目标导致不合作时的控制效果，设计了非合作Nash博弈与Stackelberg博弈相结合的混合博弈为对比方法，通过实时硬件在环测试验证并对比了2种方法。结果表明：针对不同风格的驾驶人，所设计的方法可以保证遭遇执行器卡死失效车辆的稳定性。与不合作的情况相比，2种不同风格的驾驶人驾驶的车辆在底盘子系统合作时，车辆稳定性分别提升了54.62%和53.78%，驾驶人工作负荷分别降低了31.79%和36.07%。     

驾驶中拨打手机对驾驶人脑力负荷及驾驶行为的影响分析

基于驾驶模拟实验平台,选择高速公路、城市道路2种交通环境,对3名低龄驾驶人正常驾驶与拨打手机驾驶情况下的脑力负荷及驾驶行为表征指标进行了全程监测。每组实验时间约为15min。其中,脑力负荷评估采用心率变异性相关指标,驾驶行为表征采用后视镜使用、转向灯使用、档位变换及速度变化等指标。实验结果表明,相比于正常状态驾驶中拨打手机时心率变异性指标,出现了驾驶人LFNU指标增大、HFNU指标减小、LF/HF比值明显增大、TP增大的现象,规律明显。在排除驾驶疲劳对心电指标产生影响的可能后,可初步判定出现以上现象的原因是拨打手机引起了驾驶人脑力负荷的大幅增加。在驾驶人认知资源有限的情况下,脑力负荷的增大造成了驾驶人在信息获取、转向灯使用、档位变换和车速保持等方面的能力有不同程度的下降。综上所述,驾驶中拨打手机使得驾驶人脑力负荷大幅增加,进而对驾驶行为产生了诸多负面影响,给交通安全带来了隐患。因此,建议相关部门在法律、法规中对驾驶中拨打手机的行为加以限制,以减少交通事故风险。     

Highly reliable driving workload analysis using driver electroencephalogram (EEG) activities during driving

Traffic accidents are caused by various factors, which can be classified into human factors, vehicle factors and environmental factors. Recently, human factors have been drawing particular attention as efforts are being made to enhance the safety performance of vehicles and improve road conditions. Driving distraction caused by an increased driving workload is a representative human factor. Various studies in the past have attempted to quantify the driving workload by using EEG activities. However, they have failed to consider vibration properties generated from vehicle engines. A number of noise signals were included in brainwave signal processing, which resulted in a failure to obtain reliable outcomes. Thus, this study suggests driver EEG activities free of vehicle engine secondary vibration in order to develop a method that analyzes the driving workload with high statistical reliability. By using the analytical method developed in this study, standard values of driving workload for straight and left-turn driving that has statistical significance could be calculated. The analytical method for driving workload created by this study can be applied to HVI and road design.     

基于驾驶员工作负荷的公路线形一致性评价方法研究

通过实验测试驾驶员的注意需求,结果显示注意需求与运行速度差的变化趋势基本相似。结合现行公路线形一致性评价中的相邻路段运行速度差ΔV85,最后得出注意需求与线形一致性的关系。研究结论对现行的《公路项目安全性评价指南》具有一定的补充作用。     

Study of in-vehicle route guidance systems for improvement of right-side drivers in the Japanese traffic system

A country can adopt one of two standards for traffic flow — cars may travel on the left or right side of the road. When drivers who are accustomed to driving on the right side of the road drive on the left side, and vice versa, the mental workload is likely increased due to the driver’s unfamiliarity with a new language, the position of the driver’s seat, different driving directions, and other factors that differ from those of their home country. One method of doing this is to make sure that the in-vehicle route guidance information (RGI) is not overly complicated — thereby assisting drivers in improving their safety. Consequently, the aim of this study was to facilitate mobility and improve safety for natural right-side drivers driving temporarily in left-side traffic. In this study, driver behavior and workload — given various types of RGI — were evaluated in a driving simulator with a variety of prescribable test conditions. This research was composed of two experiments. In the first, various types of in-vehicle route guidance systems were tested and evaluated in terms of their characteristics and associated driver behaviors (while driving). In the second experiment, systemic factors and effectiveness were evaluated by two combined systems, arrow and map-type information, based on the results of the first experiment. In light of both experiments, the various types of route guidance systems were discussed in terms of their results. A navigation system was proposed to alleviate some of the secondary tasks such as route selection.     

In-vehicle display HMI safety evaluation using a driving simulator

Recently, telematics services and in-vehicle display devices such as the CNS (Car Navigation System) have become new causes of traffic accidents. These accidents are caused by ‘Inattention’ from the increase of the driver’s mental workload while he/she is driving. The driver of a vehicle (except for emergency or police vehicles) must not use a hand-held mobile phone while the vehicle is moving. To address this problem, Australia, England, Italy, Brazil and some states in the US have banned the use of hand-held mobile devices during driving. However, there are no restrictions on the use of in-vehicle displays or on the display’s positions. The position of a navigation system in a vehicle should be assessed objectively, and the effect of the position on the driver’s attention should be studied. Some existing research reports that in-vehicle distraction not only leads to reduced speeds and more frequent lane switching, but also more gazing by the driver to the centre of the road. In this study, to develop an assessment method and to propose the proper position of a CNS, an experiment is carried out in a driving simulator environment. Different methods to track the gaze and physical parameters of the driver are used for HMI (Human-Machine Interface) assessment. The experiment is carried out in a driving simulator to observe the glancing distribution during driving according to the position of the navigation system. Fourteen subjects participated in this experiment. Changes in subjects’ physiological signals and glancing distribution rates were collected.