In order to analyze the effect of different early-warning-prompt level (high early-warning-prompt, low early-warning-prompt and none early-warning-prompt) on the take-over performance during the process of automated driving, the automated driving take-over experiment is simulated by CARLA driving simulator. Take-over request time were set to 5 seconds in this experiment, the non-driving-related-task（NDRT） is video viewing. There are 40 participants in this experiment(28 males and 12 females) the average age of participants is 28.33 years (SD is 6.51 years). In process of the experiment, the participants will take over the control of the vehicle after the prompt of the request for take-over and take the emergency avoidance measures. Besides, the participants perform NDRT during the automated driving. The research results show that the direction offset of vehicle head and the take-over time in high and low early-warning-prompt is much smaller than the none early- warning-prompt. On the other hands, the direction offset of vehicle head and the take-over time in high early-warning-prompt is slightly smaller than the low early-warning-prompt. Besides, the minimum TTC increases with the decreases of the take-over time. The high and low early-warning- prompt have significant preventive effect on vehicle collision, most collisions occur without early-warning-prompt.

CICTP