Level 3 automated driving systems (ADS) have attracted significant attention and are being commercialized. A level 3 ADS prompts the driver to take control by issuing a request to intervene (RtI) when its operational design domains (ODD) are exceeded. However, complex traffic situations can cause drivers to perceive multiple potential triggers of RtI simultaneously, causing hesitation or confusion during take-over. Therefore, drivers need to clearly understand the ADS's system limitations to ensure safe take-over. This study proposes a voice-based educational human machine interface~(HMI) for providing RtI trigger cues and reason to help drivers understand ADS's system limitations. The results of a between-group experiment using a driving simulator showed that incorporating effective trigger cues and reason into the RtI was related to improved driver comprehension of the ADS's system limitations. Moreover, most participants, instructed via the proposed method, could proactively take over control of the ADS in cases where RtI fails; meanwhile, their number of collisions was lower compared with the other RtI HMI conditions. Therefore, using the proposed method to continually enhance the driver's understanding of the system limitations of ADS through the proposed method is associated with safer and more effective real-time interactions with ADS.

翻译：三级自动驾驶系统已引起广泛关注并逐步实现商业化应用。当系统超出其运行设计域时，三级自动驾驶系统会通过发出干预请求提示驾驶员接管控制。然而，复杂的交通状况可能导致驾驶员同时感知到多个潜在的干预请求触发因素，从而在接管过程中产生犹豫或困惑。因此，驾驶员需要清晰理解自动驾驶系统的运行局限以确保安全接管。本研究提出一种基于语音的教育型人机界面，通过提供干预请求触发提示及原因解释，帮助驾驶员理解自动驾驶系统的运行局限。基于驾驶模拟器的组间实验结果表明，在干预请求中融入有效的触发提示与原因解释，与提升驾驶员对自动驾驶系统局限的认知程度具有相关性。此外，在干预请求失效的场景中，大多数通过本方法指导的参与者能够主动接管自动驾驶系统控制权；同时，与其他干预请求人机界面条件相比，该组参与者的碰撞事故数量更少。因此，通过所提出的方法持续增强驾驶员对自动驾驶系统局限的理解，有助于实现与自动驾驶系统更安全、更有效的实时交互。