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2020年11月 7日 (土)

Take-over evaluation by driving simulator (4)

After all, automated driving levels 2 and 3 are automated driving systems that can't doze off. Furthermore, it's not good to lose warning while driving. This is because when the level of warning decreases, peripheral surveillance becomes less effective at Level 2, and emergent take-over requests cannot be met at Level 3. In some cases, a planned take-over is carried out in response to an emergent take-over.

Planned take-over refers to a type of take-over that appears in systems that cannot operate automatically on general roads but can operate automatically only on expressways. That is, the exit point of the expressway and the entrance point to the drive-in are known, and the take-over request from the automated drivingn to the manual driving is made in front of them. In this case, since the take-over request is issued with a sufficient margin, it can be expected to return until manual driving can be performed after the take-over request even if the arousal level is lowered. In addition, since the take-over request can be sent to the driver gradually rather than suddenly, the driver's consciousness will gradually increase toward driving.

When executing the planned take-over, the point at which the take-over request is issued is important. The point should be a straight line. This is because the driver does not perform the driving operation until the take-over, so it is necessary to get used to the driving operation. To get used to driving, it's better to drive straight line first.

In a driving simulator experiment conducted in this laboratory in the past, steering wheel operation for lane change was smoother as the vehicle ran on a straight line for a longer period of time in a lane change situation after take-over at the straight line. This indicates that it takes time to get used to driving. Therefore, the take-over request selects a point where the straight line continues for a long time. Automated driving vehicles have digital maps, so we don't have to worry about picking a spot.

However, in an emergent take-over, there is no point to choose. In other words, the point where the take-over request is issued is not necessarily the long straight line. What happens when the emergent take-over is requested at a curve? There are curves on expressways, and there are curves at points with slopes.

In experiments with the driving simulator to see what happens when the driver take-over on the curve, we see that there is a problem. Most drivers wobble after the take-over. The difference between automated driving and driver driving, which was not felt when driving straight, can be felt at curves. The driving style of the curve shows the experience and preference of the driver, and it is unique when entering the curve, during the curve, and at the exit of the curve. For example, at a point where the vehicle enters a curve from a straight line portion, the driver may feel a sense of incongruity in the speed of automated driving and steering control. Therefore, if the driver take-over in the middle of the curve, the driver may feel unsteady because he/she tries to change to his/her own driving line. The emergent take-over seems problematic. It's not just when the take-over occurs at the curve.



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