Impact of Two-stage Warning on Takeover Performance of
 L3 Autonomous Vehicles

doi:10.16097/j.cnki.1009-6744.2025.05.003

Abstract

Abstract: To investigate the impact of two-stage warning method on takeover performance in Level 3 autonomous vehicles, the takeover experiments of autonomous driving were conducted on a highway takeover scenario by using a three-degree-of-freedom driving simulator. First, the data on takeover behavior was collected from 25 participants. Second, the impacts from different takeover methods (single-stage and two-stage) and warning time intervals (2, 3, 4 s) were analyzed on takeover time, lane change completion time, maximum steering wheel angle, maximum longitudinal deceleration, and time-to-crossing distance in this study. Finally, based on these metrics, a fuzzy comprehensive evaluation model using the entropy weight method was established to quantitatively assess the takeover performance of different takeover modes. The results indicate that compared to the single-stage takeover mode, the two-stage takeover warning method significantly reduces the time for a driver to take over his/her vehicle, the lane change completion time, and significantly increases the time-distance at the moment of lane crossing. On the premise that the takeover request time is 5 seconds, a 2-second warning time interval in the two-stage warning allows a driver to gain situational awareness and take over, while a 3-second warning time interval is already sufficient to effectively improve the lateral stability of vehicles. Compared to 2-second and 3-second warning intervals, the 4-second warning interval reduced lane change completion time by 6.7% and 9.6%, respectively, and decreased maximum longitudinal deceleration by 64.1% and 56.4%, respectively, with significant differences. In the fuzzy comprehensive evaluation, the two-stage takeover mode with a 4-second warning time interval scored the highest, demonstrating superior takeover performance. The research conclusions provide theoretical references for the application of two-stage warning in the takeover process of Level 3 autonomous vehicles.

Key words: intelligent transportation, takeover performance, driving simulation testing, two-stage takeover, warning time interval; takeover behavior

摘要： 为探究L3级自动驾驶车辆两阶段预警方式对接管绩效的影响，本文基于三自由度驾驶模拟器开展高速公路接管场景下的自动驾驶接管试验。首先，招募并采集25名被试的接管行为数据；其次，分析不同接管方式（单阶段和两阶段）和预警时间间隔(2，3，4s)对接管时间、换道完成时间、方向盘最大转角、最大纵向减速度以及越线时刻时距的影响；最后，基于以上指标建立基于熵权法的模糊综合评价模型，对不同接管模式的接管绩效进行量化分析。结果表明：与单阶段接管模式相比，两阶段接管预警方式下驾驶人接管车辆的时间显著缩短，换道完成时间显著降低，越线时刻时距显著增大。在接管请求时间为5s的前提下，两阶段预警中2s的预警时间间隔可以使驾驶人获取情景意识并接管，3s的预警时间间隔已能有效改善车辆的横向稳定性。与2s和3s预警时间间隔相比，预警时间间隔为4s时，换道完成时间缩短6.7%和9.6%，最大纵向减速度降低64.1%和56.4%，差异显著。模糊综合评价中，预警时间间隔为4s的两阶段接管模式得分最高，接管绩效更优。研究结论能够为两阶段预警在L3级自动驾驶车辆接管过程的应用提供一定的理论参考。

关键词: 智能交通, 接管绩效, 驾驶模拟试验, 两阶段接管, 预警时间间隔, 接管行为

CLC Number:

U491.25

WU Fuwei, YANG Hui, MA Yong, CUI Tongchuan, YAN Shengyu, ZHANG Zhi. Impact of Two-stage Warning on Takeover Performance of L3 Autonomous Vehicles[J]. Journal of Transportation Systems Engineering and Information Technology, 2025, 25(5): 40-49.

吴付威, 杨慧, 马勇, 崔同川, 闫晟煜, 张智. L3级自动驾驶车辆两阶段预警对接管绩效影响研究[J]. 交通运输系统工程与信息, 2025, 25(5): 40-49.

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Impact of Two-stage Warning on Takeover Performance of L3 Autonomous Vehicles

L3级自动驾驶车辆两阶段预警对接管绩效影响研究

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