抄録
Vehicles with SAE Level 2 or 3 automation rely on the driver to intervene and resume control when failures occur. In cases which the driver must steer upon regaining control, the initial conditions of the vehicle’s state variables can affect the success of the drivers' recovery. Hence, a model to determine the consequences of these initial states could help identify the requirements of shared control to guarantee a smooth recovery after an automation failure. Such a modeling tool should be simple, such as a two-point visual continuous control model of steering. Data to validate such a model were collected from participants driving in the NADS-1 simulator who were placed in a situation similar to an extreme case of automation failure by drifting their vehicle to a target heading angle and lane deviation. This was done while the drivers were distracted with a secondary task that kept their eyes off the road. The maximum lane deviation reached during recovery shows that the initial heading angle and steering wheel angle strongly affected the maximum lane deviation. Moreover, a slightly modified version of the two-point visual control model was used to simulate the drivers' steering profiles. The model was successful at recreating the participants heading angle and lane deviation profiles but failed to replicate the drivers' steering profile. This simple model of steering control could be used to assess the consequences of a vehicle ceding control at various initial conditions, but is not able to reproduce all aspects of steering control.
