Structural equation model of drivers' takeover behaviors in autonomous driving environment
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摘要: 为提取自动驾驶环境下驾驶人接管行为的关键影响因素，使用驾驶模拟器和眼动仪进行自动驾驶环境下驾驶人接管试验；采集了11个受试者对5种接管情境的反应数据，包括车辆运行数据和眼部运动数据，并调查了受试者的个人属性；基于实测数据定性分析和情境差异定量分析的结果，利用AMOS软件建立了描述驾驶人接管行为的结构方程模型；假设纵向接管行为、横向接管行为和眼部运动行为是3个潜在变量，找到可以表征这3个潜在变量的9个观测变量；根据修正指数多次修正得到最终的结构方程模型，由此获得表征驾驶人接管行为的各变量间的关系及对应的参数。研究结果表明：驾驶人接管自动驾驶车辆的全过程可分为5个阶段，即感知反应、减速避让、加速回升、稳定恢复以及稳定运行；当左前方车辆汇入当前车道，此时驾驶人接管风险较高；横向驾驶行为与纵向驾驶行为、眼部运动行为均显著负相关，相关系数分别为-0.226和-0.223，纵向驾驶行为与眼部运动行为正相关，相关系数为0.152；平均速度、总体横摆角均值、一秒内扫视时间可分别高度解释驾驶人接管自动驾驶车辆时纵向、横向及眼部的潜在行为。可见，此模型能有效揭示驾驶人接管自动驾驶车辆的整体行为与局部行为，有助于改进人机交互模式与自动驾驶接管请求提示。Abstract: Tests were conducted to explore the key factors that influence drivers' takeover behaviors in an autonomous driving environment using a driving simulator and an eye movement instrument. Data were collected from 11 participants who responded to 5 takeover scenarios, including vehicle and eye movement data, and the participants' personal attributes were investigated. According to the results of measured data processed by qualitative analysis and situational difference processed by quantitative analysis, a structural equation model was established using AMOS to describe drivers' takeover behaviors. The longitudinal takeover behavior, lateral takeover behavior, and eye movement behavior were the three potential variables. Nine observed variables were identified to represent the three potential variables. Based on the modification indices, the final structural equation model was obtained using multiple amendments. Thus, the relationships between all the variables and the corresponding parameters were obtained to describe the drivers' takeover behaviors. Research results show that the entire process in which a driver takes over an autonomous driving vehicle can be divided into 5 stages, including perception and reaction, deceleration and avoidance, acceleration and ascending, stable recovery, and stable movement. The drivers' takeover risk is higher when a left-front vehicle merges into the current lane. The lateral driving behavior is negatively correlated with the longitudinal driving or eye movement behavior, with correlation coefficients of -0.226 and -0.223, respectively. The longitudinal driving behavior is positively correlated with the eye movement behavior, with a correlation coefficient of 0.152. Average speed, mean of the overall yaw angle, and saccade time in a second can interpret the potential longitudinal, lateral, and eye behaviors, respectively, when drivers takeover autonomous driving vehicles. Therefore, the research can reveal drivers' overall and local behaviors when they takeover autonomous driving vehicles, and can help improve the human-computer interaction mode and takeover request hints in autonomous driving. 10 tabs, 7 figs, 30 refs.
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图 1 自动驾驶环境下驾驶人接管试验所采用的设备
Figure 1. Equipments used for drivers' takeover tests in autonomous driving environment
图 4 受试者面对第6次接管事件时速度随行驶距离的变化
Figure 4. Variations of speeds with distance when participants dealing with sixth takeover event
图 5 受试者面对第6次接管事件时转向灯随行驶距离的变化
Figure 5. Variations of turn lights with distance when participants dealing with sixth takeover event
图 6 第9个受试者面对第6次接管事件时接管行为参数随行驶距离的变化
Figure 6. Variations of takeover behavior parameters with distance when participant 9 dealing with sixth takeover event
表 1 驾驶人操作输入标准差的单因素方差分析
Table 1. ANOVA of standard deviations for drivers' operation inputs
紧急情境 样本量 加速输入标准差 制动输入标准差 转向盘输入标准差 转向盘旋转率标准差 均值 F检验值 p值 均值 F检验值 p值 均值 F检验值 p值 均值 F检验值 p值 情境1 18 0.200 3.551 0.010 0.030 4.410 0.003 0.022 2.808 0.031 0.239 1.894 0.119 情境2 36 0.247 0.070 0.020 0.219 情境3 18 0.252 0.042 0.017 0.191 情境4 9 0.166 0.019 0.023 0.168 情境5 9 0.261 0.055 0.012 0.126 总计 90 0.232 0.050 0.019 0.203 
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表 2 驾驶人眼部运动指标的单因素方差分析
Table 2. ANOVA of drivers' eye movement indicators
组别 样本量 左右眼瞳孔直径均值/mm 一秒内平均注视时间/s 一秒内平均扫视时间/s 每分钟眨眼次数 均值 F检验值 p值 均值 F检验值 p值 均值 F检验值 p值 均值 F检验值 p值 按情境分组 1 18 4.359 0.474 0.755 0.770 2.075 0.091 0.080 1.724 0.152 11.330 1.692 0.159 2 36 4.323 0.790 0.091 12.110 3 18 4.341 0.787 0.100 9.670 4 9 4.272 0.682 0.079 19.330 5 9 4.154 0.693 0.115 9.000 总计 90 4.312 0.765 0.092 11.880 按受试者分组 1 10 4.617 60.686 0.000 0.847 4.678 0.000 0.085 13.930 0.000 2.800 14.331 0.000 2 10 3.800 0.739 0.088 10.000 3 10 4.555 0.830 0.076 21.100 4 10 4.291 0.730 0.095 11.800 6 10 4.553 0.759 0.076 8.700 7 10 4.935 0.828 0.102 8.600 9 10 3.855 0.823 0.143 2.200 10 10 4.187 0.734 0.125 14.300 11 10 4.016 0.596 0.033 27.400 总计 90 4.312 0.765 0.092 11.880
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表 3 观测变量与潜在变量及其关系
Table 3. Observed and latent variables and their relationships
潜在变量 观测变量 纵向接管行为(Y1) 总接管时间(X1) 平均速度(X2) 制动标准差(X3) 横向接管行为(Y2) 总体横摆角均值(X4) 转向盘标准差(X5) 左转横摆角均值(X6) 眼部运动行为(Y3) 一秒内扫视时间(X7) 每秒眨眼次数(X8) 总扫视时间(X9)
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表 4 驾驶人接管行为量表
Table 4. Scales of drivers' takeover behaviors
编号 观测变量 X1 X2 X3 X4 X5 X6 X7 X8 X9 1 3 5 2 2 2 2 4 1 3 2 3 5 2 2 2 2 4 1 3 3 3 5 2 2 2 2 4 1 3 4 2 5 1 3 2 3 3 1 2 5 2 5 1 3 2 3 3 1 2 6 2 5 1 3 2 3 3 1 2 7 1 5 1 4 3 4 2 1 1
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表 5 信度与效度检验
Table 5. Reliability and validity tests
检验项目 检验值 克隆巴赫系数 Y1为0.751, Y2为0.749, Y3为0.739 KMO取样适切性量数 0.605 巴特利特球度检验 近似卡方 598.968 自由度 36 显著性 0.000
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表 6 结构方程模型的拟合指标
Table 6. Fitting indicators of structural equation model
拟合指标 判断准则 拟合值 卡方检验的显著性概率值 >0.05 0.458 卡方与自由度的比值 < 3 1.000 适配度指数 >0.9 0.978 调整后的适配度指数 >0.8 0.950 残差均方和平方根 < 0.08 0.059 渐进残差均方和平方根 < 0.08 0.001 规准适配指数 >0.8 0.922 增值适配指数 >0.9 1.000 比较适配指数 >0.9 1.000
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表 7 驾驶人接管行为测量模型的因子载荷
Table 7. Factor loads of drivers' takeover behaviors obtained by measurement model
潜在变量 观测变量 标准化路径系数 Y1 X1 0.559 X2 -0.878 X3 0.749 Y2 X4 0.941 X5 0.569 X6 0.727 Y3 X7 0.859 X8 -0.499 X9 0.818
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表 8 驾驶人接管行为潜在变量间的路径系数
Table 8. Path coefficients among latent variables for drivers' takeover behaviors
潜在变量之间的关系 标准化路径系数 p值 Y1与Y3 0.152 0.111 Y3与Y2 -0.226 0.012 Y1与Y2 -0.223 0.016
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表 9 驾驶人接管行为观测变量间的路径系数
Table 9. Path coefficients among observed variables for drivers' takeover behaviors
观测变量之间的关系 标准化路径系数 p值 X7影响X6 0.228 0.000 X4影响X3 0.248 0.000
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表 10 驾驶人接管行为观测变量残差项间的协方差
Table 10. Covariances among residuals of observed variables for drivers' takeover behaviors
残差项之间的关系 协方差 p值 e1与e5 -0.394 0.000 e1与e9 0.252 0.005
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