Siwei Huang, Chenhao Yang, Chuan Hu
Drivers' perception of risk determines their acceptance, trust, and use of the Automated Driving Systems (ADSs). However, perceived risk is subjective and difficult to evaluate using existing methods. To address this issue, a driver's subjective perceived risk (DSPR) model is proposed, regarding perceived risk as a dynamically triggered mechanism with anisotropy and attenuation. 20 participants are recruited for a driver-in-the-loop experiment to report their real-time subjective risk ratings (SRRs) when experiencing various automatic driving scenarios. A convolutional neural network and bidirectional long short-term memory network with temporal pattern attention (CNN-Bi-LSTM-TPA) is embedded into a semi-supervised learning strategy to predict SRRs, aiming to reduce data noise caused by subjective randomness of participants. The results illustrate that DSPR achieves the highest prediction accuracy of 87.91% in predicting SRRs, compared to three state-of-the-art risk models. The semi-supervised strategy improves accuracy by 20.12%. Besides, CNN-Bi-LSTM-TPA network presents the highest accuracy among four different LSTM structures. This study offers an effective method for assessing driver's perceived risk, providing support for the safety enhancement of ADS and driver's trust improvement.