人类更愿意在自动驾驶车前短距切入,存在安全风险。
Cut-In Gap Acceptance Toward Autonomous vs. Human-Driven Vehicles: Evidence from the Waymo Open Motion Dataset

- 用真实数据对比人类在自动/人工车前切入的间距差异。
- 对自动驾驶车切入间隙中位数为7.58米,比人工车少1.99米。
- 切入速度高37%,68%的切入小于10米,适合交通模拟优化。
自动驾驶车辆(AV)通常采用保守的规则驱动行为,周围驾驶员可据此预测其动向。因此,人类在切入自动驾驶车前接受的纵向间隙可能比切入人工驾驶车辆(HDV)时更短。本研究基于Waymo Open Motion Dataset(WOMD),分析25,906个高速真实场景(10赫兹采样)。通过八项标准车道变道检测器,提取706次HDV→AV和3,172次HDV→HDV的切入事件。结果显示,面对Waymo AV的中位接受间隙为7.58米,而对HDV为9.57米,差距达1.99米,统计显著(p=5.76×10⁻⁸,d=-0.224),且在速度匹配重采样下依然成立。切入AV的速度高出37%(51.7 vs. 37.7 km/h,d=0.502),68.0%的针对AV的切入发生在10米以内,而针对HDV的仅51.8%(χ²=60.5,p<10⁻¹³)。该结果揭示了人类间隙接受行为中的系统性不对称,对自动驾驶运动规划的安全边界与交通仿真建模具有重要启示。
原文摘要 · Abstract (English)
Autonomous vehicles (AVs) are widely known to follow conservative, rule-based motion policies that surrounding drivers can learn to anticipate. A direct consequence is that human drivers may accept shorter longitudinal gaps when cutting in front of an AV than when targeting another human-driven vehicle (HDV). We test this hypothesis using the Waymo Open Motion Dataset (WOMD), which provides 25,906 real-world highway scenarios at 10 hertz. An eight-criterion lane-change detector extracts 706 HDV-to-AV and 3,172 HDV-to-HDV cut-in events from the same traffic environment. The median accepted gap in front of the Waymo AV is 7.58 meters versus 9.57 meters for HDV targets, a 1.99 meter reduction that is statistically significant (p equals 5.76 times 10 to the negative eighth power, d equals negative 0.224) and persists under speed-matched resampling. Cut-in speeds toward the AV are 37 percent higher (51.7 versus 37.7 kilometers per hour, d equals 0.502), and 68.0 percent of AV-targeted cut-ins occur below the 10 meter gap boundary versus 51.8 percent of HDV-targeted events (chi-squared equals 60.5, p is less than 10 to the negative thirteenth power). These results reveal a systematic and safety-relevant asymmetry in human gap-acceptance behavior that warrants AV-specific calibration of both motion-planning safety envelopes and traffic simulation models.
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