自然驾驶工况的驾驶员紧急转向变道行为

Analysis of Driver Emergency Steering Lane Changing Behavior Based on Naturalistic Driving Data

摘要:

基于中国自然驾驶工况数据，提出了紧急工况下驾驶员转向变道行为的特征规律.分析了紧急转向变道避撞、侧移和稳定阶段的驾驶员转向特征，研究了转向持续时间、方向盘转速和转角的线性关系，定义了用高斯函数拟合的转向基元来表征各阶段的转向行为.研究结果表明，转向基元表征了驾驶员转向行为的一般特征，单个转向基元的方向盘最高转速和转角变化线性相关，持续时间恒定，符合人体行为学中趋向行为（reaching behavior）的特征规律.驾驶员的紧急转向变道行为是由多个转向基元组合而成，每个转向基元都是一个开环模型，可通过方向盘最高转速预判驾驶员的转向行为.

关键词:自然驾驶工况; 紧急变道; 转向; 驾驶行为

Abstract:

The general characteristics of driver emergency steering lane change behaviors based on the China naturalistic driving data were proposed in this paper. The emergency steering characteristic was analyzed respectively in collision avoidance, lateral movement and steering stabilization phases, focusing on the steering duration time, the relationship between steering wheel rate and steering wheel deflection. The steering behaviors in three phases were described by using the steering primitive fitting by Gaussian function. The research results show that the steering primitive represents the general characteristics of driver steering behaviors. A linear relationship was found between the maximum steering wheel rate and the steering wheel deflection, and the steering time for a single steering primitive is constant. The driver emergency steering behaviors follow the characteristics of the reaching behavior. The driving emergency steering lane change is composed of steering primitives, while the single steering primitive is an opencontrol model, which indicates that the steering angle is predetermined using the maximum steering wheel rate.

Key words:naturalistic driving data; emergency lane change; steering; driver behavior