用神经元放电机制重定义行车安全阈值,更贴近人类反应。
Reinterpreting Safety Thresholds as Neuron Spiking Thresholds

- 将安全指标阈值看作神经元放电阈值,构建脉冲神经网络建模人类刹车行为。
- 实验数据来自3D-CoAutoSim平台的跟车测试,模型能准确捕捉人类刹车起始时刻。
- 不同人对安全风险的感知差异体现在时间敏感性上,而非阈值本身。
代理安全度量(SSMs)广泛用于自动驾驶场景下的交通风险评估。然而,现有方法多采用固定阈值,难以反映人类对持续临界状态的响应或对短暂高风险峰值的反应。本文提出一种生物启发式的重构思路:将SSM阈值重新解释为漏积-放电(LIF)神经元的放电阈值,并将多个SSM输入整合至脉冲神经网络(SNN)中。该SNN通过训练实现与人类刹车起始时刻对齐的放电行为。训练数据基于3D-CoAutoSim平台,在CARLA/Unreal与6自由度运动平台下完成控制性跟车实验,人工诱发了关键事件。结果表明,学习到的脉冲活动在各类场景下定性匹配人类刹车行为,且能捕捉仅靠阈值跨越无法解释的反应。跨被试分析显示,学习到的输入阈值相对稳定,而衰减因子则编码了不同个体对SSMs的时间敏感性差异。研究说明,脉冲动力学或可成为连接客观安全度量与主观人类安全感知的桥梁。
原文摘要 · Abstract (English)
Surrogate Safety Measures (SSMs) are extensively utilised in the evaluation of traffic risk in automated driving contexts. However, the majority of SSM-based evaluations employ fixed thresholds that fail to capture the human response to sustained borderline conditions or the reaction to brief, high-risk peaks. The present work proposes a biologically inspired reinterpretation of SSM thresholds. This is modelled as spiking thresholds of leaky integrate-and-fire (LIF) neurons, with multiple SSM inputs combined into a spiking neural network (SNN). The SNN is trained to emit spikes that are aligned with human braking onsets. The training data was recorded in a controlled car-following experiment using the 3D-CoAutoSim platform with CARLA/Unreal and a 6-DOF motion platform, where induced critical events were generated. The results demonstrate that the learned spiking activity qualitatively aligns with braking behaviour across scenarios and captures reactions that are not consistently explained by threshold crossings alone. Analysis across participants further indicates that learned input thresholds remain relatively consistent, while learned decay factors encode different temporal sensitivities for the SSMs. The findings of this study indicate that spiking dynamics may serve as a mechanism to facilitate the convergence of objective SSMs with subjective human safety perception.
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