A driving data processing method, device and equipment based on V2X technology

Abstract

The present invention discloses a driving data processing method, device and equipment based on V2X technology, which obtains driving data collected by V2X equipment, and calculates indicators based on vehicle safety data, vehicle acceleration data and vehicle fuel consumption data of the driving data, thereby obtaining safety indicators, comfort indicators and environmental protection indicators, and obtains safety weights, comfort weights and environmental protection weights through hierarchical analysis, thereby performing weighted calculations, and obtaining evaluation results of driving data according to weighted calculations, and generating abnormal reminder signals when the evaluation results are less than preset values. Compared with the prior art that evaluates the safety of vehicle driving, the present invention evaluates driving behavior from three dimensions of safety, comfort and environmental protection based on vehicle safety data, vehicle acceleration data and vehicle fuel consumption data, thereby improving the evaluation accuracy of commercial vehicle driving behavior, facilitating vehicle control according to the evaluation results, and improving the efficiency of vehicle driving.

Description

Technical Field

[0001] The present invention relates to the field of electrical data processing, and in particular to a driving data processing method, device and equipment based on V2X technology. Background Art

[0002] With the development of intelligent transportation technology, commercial vehicles have become the main means of transportation for passenger and freight transportation, thus ensuring people's travel and the circulation of goods. Modern transportation technology (V2X technology) includes onboard terminals (Onboard Unit, OBU) and roadside equipment (Roadside Unit, RSU), which can collect the status data and driving trajectory data of commercial vehicles in real time.

[0003] Since some commercial vehicles carry a lot of cargo and have high inertia, they pose a great challenge to traffic management, which in turn leads to problems such as traffic safety and energy consumption. The existing technology only evaluates the driving behavior of commercial vehicles by assessing their safety, but cannot meet the evaluation of whether the driving behavior is comfortable and environmentally friendly, resulting in low accuracy of the driver's driving behavior.

[0004] Therefore, there is an urgent need for a driving data processing strategy based on V2X technology to solve the problem of low accuracy in evaluating the driver's driving behavior. Summary of the invention

[0005] Embodiments of the present invention provide a driving data processing method, device and equipment based on V2X technology to improve the evaluation accuracy of the driver's driving behavior.

[0006] In order to solve the above problem, an embodiment of the present invention provides a driving data processing method based on V2X technology, including:

[0007] Receiving driving data of a target vehicle collected by a V2X device; the driving data includes: vehicle safety data, vehicle acceleration data, and vehicle fuel consumption data;

[0008] Substituting the vehicle safety data, the vehicle acceleration data and the vehicle fuel consumption data into an index calculation formula to calculate a safety index, a comfort index and an environmental protection index;

[0009] According to a preset hierarchical analysis method, weight values ​​of the safety index, the comfort index and the environmental protection index are calculated to obtain a safety weight, a comfort weight and an environmental protection weight;

[0010] According to the safety weight, the comfort weight and the environmental weight, the safety index, the comfort index and the environmental index are weightedly calculated to obtain an evaluation result of the driving data, and the evaluation result is judged. When the evaluation result is less than a preset value, an abnormal reminder signal is generated to enable the user to make driving adjustments to the target vehicle according to the abnormal reminder signal.

[0011] As an improvement to the above solution, the vehicle safety data, the vehicle acceleration data and the vehicle fuel consumption data are substituted into the index calculation formula to calculate the safety index, the comfort index and the environmental protection index, which are specifically:

[0012] The index calculation formulas are specifically: safety index calculation formula, comfort index calculation formula and environmental protection index calculation formula;

[0013] Substituting the vehicle safety data into the safety index calculation formula to obtain the safety index;

[0014] Substitute the vehicle acceleration data into the comfort index calculation formula to calculate the comfort index;

[0015] Substitute the vehicle fuel consumption data into the environmental protection index calculation formula to obtain the environmental protection index.

[0016] As an improvement to the above solution, the vehicle safety data is substituted into the safety index calculation formula to calculate the safety index, which is specifically:

[0017] The vehicle safety data is specifically: the instantaneous first speed of the vehicle, the headway, the free sliding time, the delay distance and the headway difference of the preceding vehicle; the safety index calculation formula is specifically: the predicted headway calculation formula and the safety index function;

[0018] Substituting the instantaneous first speed of the vehicle, the headway time, the free sliding time and the delay distance into the predicted vehicle distance calculation formula to calculate the predicted vehicle distance;

[0019] Substitute the predicted distance difference with the measured distance of the preceding vehicle into the safety index function to calculate and obtain the safety index.

[0020] As an improvement to the above solution, the vehicle acceleration data is substituted into the comfort index calculation formula to calculate the comfort index, which is specifically:

[0021] The vehicle acceleration data is specifically: the instantaneous first acceleration of the vehicle, the average acceleration of the vehicle, the recording time and the comfort acceleration interference threshold; the comfort index calculation formula is specifically: the interference acceleration calculation formula and the comfort index function;

[0022] Substituting the instantaneous first acceleration of the vehicle, the average acceleration of the vehicle and the recording time into the interference acceleration calculation formula to calculate the interference acceleration;

[0023] The disturbance acceleration and the comfort acceleration disturbance threshold are substituted into the comfort index function to calculate and obtain a comfort index.

[0024] As an improvement to the above solution, the vehicle fuel consumption data is substituted into the environmental protection index calculation formula to calculate the environmental protection index, which is specifically:

[0025] The vehicle fuel consumption data is specifically: the vehicle instantaneous second speed, the vehicle instantaneous second acceleration and the vehicle instantaneous fuel consumption threshold; the environmental protection index calculation formula is specifically: the fuel consumption calculation formula and the environmental protection index function;

[0026] Substituting the instantaneous second speed of the vehicle and the instantaneous acceleration of the vehicle into the fuel consumption calculation formula to calculate the fuel consumption value; wherein the undetermined coefficients in the fuel consumption calculation formula are calculated by the least square method;

[0027] Substitute the fuel consumption value and the instantaneous fuel consumption threshold of the vehicle into an instantaneous environmental protection index function to calculate and obtain an environmental protection index.

[0028] As an improvement to the above solution, the undetermined coefficients in the fuel consumption calculation formula are obtained by least squares method, specifically:

[0029] Obtain instantaneous speeds and accelerations to be trained at several different times;

[0030] Generate a cubic function with several unknown coefficients, velocity, and acceleration;

[0031] A partial derivative is calculated for each undetermined coefficient. When the partial derivative is a preset value, the instantaneous velocities to be trained and the instantaneous accelerations to be trained at several different moments are substituted into a cubic function whose partial derivative is a preset value after the partial derivative is calculated to obtain the values ​​of several undetermined coefficients.

[0032] As an improvement of the above scheme, the weight values ​​of the safety index, the comfort index and the environmental protection index are calculated according to the preset hierarchical analysis method to obtain the safety weight, the comfort weight and the environmental protection weight, which are specifically:

[0033] Constructing a judgment comparison matrix according to the safety index, the comfort index and the environmental protection index;

[0034] According to the comparison matrix, each element in the judgment comparison matrix is ​​sorted by a preset importance scaling method, and then the sorted judgment comparison matrix is ​​calculated to obtain a safety weight, a comfort weight and an environmental weight; wherein the safety weight corresponds to the safety index, the comfort weight corresponds to the comfort index, and the environmental weight corresponds to the environmental index.

[0035] Accordingly, an embodiment of the present invention further provides a driving data processing device based on V2X technology, comprising: a data receiving module, a data calculation module, a weight calculation module and a result generation module;

[0036] The data receiving module is used to receive driving data of the target vehicle collected by the V2X device; the driving data includes: vehicle safety data, vehicle acceleration data and vehicle fuel consumption data;

[0037] The data calculation module is used to substitute the vehicle safety data, the vehicle acceleration data and the vehicle fuel consumption data into an index calculation formula to calculate a safety index, a comfort index and an environmental protection index;

[0038] The weight calculation module is used to calculate the weight values ​​of the safety index, the comfort index and the environmental protection index according to a preset hierarchical analysis method to obtain the safety weight, the comfort weight and the environmental protection weight;

[0039] The result generation module is used to perform weighted calculation on the safety index, the comfort index and the environmental protection index according to the safety weight, the comfort weight and the environmental protection weight, obtain the evaluation result of the driving data, and judge the evaluation result. When the evaluation result is less than a preset value, an abnormal reminder signal is generated to enable the user to make driving adjustments to the target vehicle according to the abnormal reminder signal.

[0040] As an improvement of the above solution, the data calculation module includes: a first calculation unit, a second calculation unit and a third calculation unit;

[0041] The index calculation formulas are specifically: safety index calculation formula, comfort index calculation formula and environmental protection index calculation formula;

[0042] The first calculation unit is used to substitute the vehicle safety data into the safety index calculation formula to calculate and obtain the safety index;

[0043] The second calculation unit is used to substitute the vehicle acceleration data into the comfort index calculation formula to calculate the comfort index;

[0044] The third calculation unit is used to substitute the vehicle fuel consumption data into the environmental protection index calculation formula to calculate the environmental protection index.

[0045] As an improvement to the above solution, the vehicle safety data is substituted into the safety index calculation formula to calculate the safety index, which is specifically:

[0046] The vehicle safety data is specifically: the instantaneous first speed of the vehicle, the headway, the free sliding time, the delay distance and the headway difference of the preceding vehicle; the safety index calculation formula is specifically: the predicted headway calculation formula and the safety index function;

[0047] Substituting the instantaneous first speed of the vehicle, the headway time, the free sliding time and the delay distance into the predicted vehicle distance calculation formula to calculate the predicted vehicle distance;

[0048] Substitute the predicted distance difference with the measured distance of the preceding vehicle into the safety index function to calculate and obtain the safety index.

[0049] As an improvement to the above solution, the vehicle acceleration data is substituted into the comfort index calculation formula to calculate the comfort index, which is specifically:

[0050] The vehicle acceleration data is specifically: the instantaneous first acceleration of the vehicle, the average acceleration of the vehicle, the recording time and the comfort acceleration interference threshold; the comfort index calculation formula is specifically: the interference acceleration calculation formula and the comfort index function;

[0051] Substituting the instantaneous first acceleration of the vehicle, the average acceleration of the vehicle and the recording time into the interference acceleration calculation formula to calculate the interference acceleration;

[0052] The disturbance acceleration and the comfort acceleration disturbance threshold are substituted into the comfort index function to calculate and obtain a comfort index.

[0053] As an improvement to the above solution, the vehicle fuel consumption data is substituted into the environmental protection index calculation formula to calculate the environmental protection index, which is specifically:

[0054] The vehicle fuel consumption data is specifically: the vehicle instantaneous second speed, the vehicle instantaneous second acceleration and the vehicle instantaneous fuel consumption threshold; the environmental protection index calculation formula is specifically: the fuel consumption calculation formula and the environmental protection index function;

[0055] Substituting the instantaneous second speed of the vehicle and the instantaneous acceleration of the vehicle into the fuel consumption calculation formula to calculate the fuel consumption value; wherein the undetermined coefficients in the fuel consumption calculation formula are calculated by the least square method;

[0056] Substitute the fuel consumption value and the instantaneous fuel consumption threshold of the vehicle into an instantaneous environmental protection index function to calculate and obtain an environmental protection index.

[0057] As an improvement to the above solution, the undetermined coefficients in the fuel consumption calculation formula are obtained by least squares method, specifically:

[0058] Obtain instantaneous speeds and accelerations to be trained at several different times;

[0059] Generate a cubic function with several unknown coefficients, velocity, and acceleration;

[0060] A partial derivative is calculated for each undetermined coefficient. When the partial derivative is a preset value, the instantaneous velocities to be trained and the instantaneous accelerations to be trained at several different moments are substituted into a cubic function whose partial derivative is a preset value after the partial derivative is calculated to obtain the values ​​of several undetermined coefficients.

[0061] As an improvement of the above solution, the weight calculation module includes: a matrix construction unit and a weight calculation unit;

[0062] The matrix construction unit is used to construct a judgment comparison matrix according to the safety index, the comfort index and the environmental protection index;

[0063] The weight calculation unit is used to sort each element in the judgment comparison matrix according to the comparison matrix by a preset importance scaling method, and then calculate the sorted judgment comparison matrix to obtain the safety weight, comfort weight and environmental protection weight; wherein the safety weight corresponds to the safety index, the comfort weight corresponds to the comfort index, and the environmental protection weight corresponds to the environmental protection index.

[0064] Correspondingly, an embodiment of the present invention further provides a computer terminal device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, a driving data processing method based on V2X technology as described in the present invention is implemented.

[0065] Correspondingly, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute a driving data processing method based on V2X technology as described in the present invention.

[0066] As can be seen from the above, the present invention has the following beneficial effects:

[0067] The present invention provides a driving data processing method based on V2X technology, which obtains driving data collected by V2X equipment and calculates indicators based on vehicle safety data, vehicle acceleration data and vehicle fuel consumption data of the driving data, thereby obtaining safety indicators, comfort indicators and environmental protection indicators, and obtains safety weights, comfort weights and environmental protection weights through hierarchical analysis, thereby performing weighted calculations, and obtaining evaluation results of driving data according to weighted calculations, and generating abnormal reminder signals when the evaluation results are less than preset values. Compared with the prior art that evaluates the safety of vehicle driving, the present invention evaluates driving behavior from three dimensions of safety, comfort and environmental protection based on vehicle safety data, vehicle acceleration data and vehicle fuel consumption data, thereby improving the evaluation accuracy of commercial vehicle driving behavior, facilitating vehicle control according to the evaluation results, and improving the efficiency of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 is a flowchart of a driving data processing method based on V2X technology provided by an embodiment of the present invention;

[0069] Figure 2 is a schematic structural diagram of a driving data processing device based on V2X technology provided by an embodiment of the present invention;

[0070] Figure 3 is a schematic diagram of the structure of the indicator hierarchy provided by an embodiment of the present invention;

[0071] Figure 4 2 is a schematic diagram of an application scenario of a driving data processing method based on V2X technology provided by an embodiment of the present invention;

[0072] Figure 5 It is a schematic diagram of the structure of a terminal device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] Embodiment 1

[0075] See also Figure 1 , Figure 1 is a flow chart of a driving data processing method based on V2X technology provided by an embodiment of the present invention, such as Figure 1 As shown, this embodiment includes steps 101 to 104, and each step is specifically as follows:

[0076] Step 101: receiving driving data of a target vehicle collected by a V2X device; the driving data includes: vehicle safety data, vehicle acceleration data, and vehicle fuel consumption data.

[0077] In this embodiment, the V2X device includes an OBU device and an RSU device, and the vehicle status data and driving trajectory data are collected in real time through the OBU device and the RSU device to obtain driving data.

[0078] In a specific embodiment, the acquired relevant driving state information and driving trajectory data are preprocessed to remove missing and abnormal data.

[0079] Step 102: Substitute the vehicle safety data, the vehicle acceleration data and the vehicle fuel consumption data into an index calculation formula to calculate a safety index, a comfort index and an environmental index.

[0080] In this embodiment, as an improvement of the above solution, the vehicle safety data, the vehicle acceleration data and the vehicle fuel consumption data are substituted into the index calculation formula to calculate the safety index, the comfort index and the environmental protection index, which are specifically:

[0081] The index calculation formulas are specifically: safety index calculation formula, comfort index calculation formula and environmental protection index calculation formula;

[0082] Substituting the vehicle safety data into the safety index calculation formula to obtain the safety index;

[0083] Substitute the vehicle acceleration data into the comfort index calculation formula to calculate the comfort index;

[0084] Substitute the vehicle fuel consumption data into the environmental protection index calculation formula to obtain the environmental protection index.

[0085] As an improvement to the above solution, the vehicle safety data is substituted into the safety index calculation formula to calculate the safety index, which is specifically:

[0086] The vehicle safety data is specifically: the instantaneous first speed of the vehicle, the headway, the free sliding time, the delay distance and the headway difference of the preceding vehicle; the safety index calculation formula is specifically: the predicted headway calculation formula and the safety index function;

[0087] Substituting the instantaneous first speed of the vehicle, the headway time, the free sliding time and the delay distance into the predicted vehicle distance calculation formula to calculate the predicted vehicle distance;

[0088] Substitute the predicted distance difference with the measured distance of the preceding vehicle into the safety index function to calculate and obtain the safety index.

[0089] In a specific embodiment, the safety index is used to evaluate the driving safety of the vehicle based on the minimum safety distance and the variable gap; and the safety index is obtained by analyzing the first instantaneous speed, headway, free sliding time, delay distance and headway difference of the target vehicle, and substituting them into the safety index calculation formula for calculation;

[0090] The safety index calculation formula includes: a prediction vehicle distance calculation formula and a safety index function;

[0091] The calculation formula for predicting vehicle distance is as follows:

[0092]

[0093] Where, d dest is the predicted vehicle distance; v is the first instantaneous speed of the vehicle; t h is the headway time; t s is the free sliding time, and d1 is the delay distance of the commercial vehicle. Considering that a small headway is not conducive to safety, the front and rear vehicles are prone to rear-end collisions; a large headway is prone to being cut in by other vehicles or other traffic safety accidents, so t h The upper and lower limits are constrained, when t h When it is a fixed value, the vehicle spacing is a fixed time interval, otherwise, it is a variable spacing. The minimum safety distance here takes into account the characteristics of commercial vehicles (commercial vehicles have a large cargo capacity, are heavy and have large inertia, and generally have a longer free sliding time than private cars). The vehicle itself has a certain braking delay, so there is a delay distance;

[0094] Substitute the predicted vehicle distance calculated by the predicted vehicle distance calculation formula into the safety index function, as follows:

[0095]

[0096] Where, L distance is the safety index, d real It is the distance difference between this vehicle and the vehicle in front.

[0097] As an improvement to the above solution, the vehicle acceleration data is substituted into the comfort index calculation formula to calculate the comfort index, which is specifically:

[0098] The vehicle acceleration data is specifically: the instantaneous first acceleration of the vehicle, the average acceleration of the vehicle, the recording time and the comfort acceleration interference threshold; the comfort index calculation formula is specifically: the interference acceleration calculation formula and the comfort index function;

[0099] Substituting the instantaneous first acceleration of the vehicle, the average acceleration of the vehicle and the recording time into the interference acceleration calculation formula to calculate the interference acceleration;

[0100] The disturbance acceleration and the comfort acceleration disturbance threshold are substituted into the comfort index function to calculate and obtain a comfort index.

[0101] In a specific embodiment, the driving comfort of a commercial vehicle is affected by factors such as road line shape, vehicle speed, and acceleration. The driving comfort index in this embodiment uses acceleration interference to characterize the comfort of the commercial vehicle during driving. The interference acceleration is expressed as the standard deviation between the vehicle acceleration and the average acceleration during the observation time. The instantaneous first acceleration of the vehicle, the average acceleration of the vehicle, and the recording time are analyzed and substituted into the comfort index calculation formula to obtain the comfort index;

[0102] The comfort calculation formula includes: disturbance acceleration calculation formula and comfort index function;

[0103] The calculation formula of interference acceleration is as follows:

[0104]

[0105] Where, δ is the disturbance acceleration; represents the average acceleration of the vehicle; a(t) represents the instantaneous first acceleration of the vehicle; T represents the recording time;

[0106] Substitute the disturbance acceleration calculated by the disturbance acceleration calculation formula into the comfort index function, as follows:

[0107]

[0108] Where, L comfort is the comfort index; δ0 is the comfort acceleration disturbance threshold obtained by the car manufacturer based on the physical parameters of the vehicle.

[0109] As an improvement to the above solution, the vehicle fuel consumption data is substituted into the environmental protection index calculation formula to calculate the environmental protection index, which is specifically:

[0110] The vehicle fuel consumption data is specifically: the vehicle instantaneous second speed, the vehicle instantaneous second acceleration and the vehicle instantaneous fuel consumption threshold; the environmental protection index calculation formula is specifically: the fuel consumption calculation formula and the environmental protection index function;

[0111] Substituting the instantaneous second speed of the vehicle and the instantaneous acceleration of the vehicle into the fuel consumption calculation formula to calculate the fuel consumption value; wherein the undetermined coefficients in the fuel consumption calculation formula are calculated by the least square method;

[0112] Substitute the fuel consumption value and the instantaneous fuel consumption threshold of the vehicle into an instantaneous environmental protection index function to calculate and obtain an environmental protection index.

[0113] In a specific embodiment, the environmental protection index is indirectly obtained based on fuel consumption, by analyzing the real-time position, speed, acceleration and other parameters of the target vehicle, combined with the dynamic characteristics of the vehicle, to calculate the real-time energy consumption of the vehicle; by analyzing the instantaneous second speed of the vehicle, the instantaneous second acceleration of the vehicle and the instantaneous fuel consumption threshold of the vehicle, and substituting them into the environmental protection index calculation formula for calculation, the environmental protection index is obtained;

[0114] The environmental index calculation formula includes: fuel consumption calculation formula and environmental index function;

[0115] The fuel consumption calculation formula is as follows:

[0116]

[0117] In the formula, F e is the estimated fuel consumption of commercial vehicles at different speeds and accelerations; μ0, μ1, μ2, and μ3 are coefficients to be determined; a is the instantaneous second acceleration of the vehicle at different times; v i is the instantaneous second speed of the vehicle at different times; τ0 is the energy consumption at idle speed;

[0118] The environmental protection index function is as follows:

[0119]

[0120] Where, L energy is the environmental protection index, among which F emin Represented as the vehicle instantaneous fuel consumption threshold of the target vehicle.

[0121] As an improvement to the above solution, the undetermined coefficients in the fuel consumption calculation formula are obtained by least squares method, specifically:

[0122] Obtain instantaneous speeds and accelerations to be trained at several different times;

[0123] Generate a cubic function with several unknown coefficients, velocity, and acceleration;

[0124] A partial derivative is calculated for each undetermined coefficient. When the partial derivative is a preset value, the instantaneous velocities to be trained and the instantaneous accelerations to be trained at several different moments are substituted into a cubic function whose partial derivative is a preset value after the partial derivative is calculated to obtain the values ​​of several undetermined coefficients.

[0125] In a specific embodiment, the undetermined coefficients of the fuel consumption calculation formula are calculated by the objective function of the least squares method, and the objective function of the least squares method is specifically as follows:

[0126]

[0127] In the formula, v i 、a i、F i are the vehicle speed, acceleration, and instantaneous fuel consumption collected at time i; N is the length of the sampled data; partial derivatives of μ0, μ1, μ2, and μ3 are calculated for the four parameters respectively, and the partial derivative is set to 0 (i.e., the preset value described in the claims of the present invention), and the collected instantaneous speed and instantaneous acceleration data to be trained are substituted to obtain the values ​​of the four coefficients.

[0128] Step 103: According to a preset hierarchical analysis method, weight values ​​of the safety index, the comfort index and the environmental protection index are calculated to obtain a safety weight, a comfort weight and an environmental protection weight.

[0129] In this embodiment, as an improvement of the above scheme, the weight values ​​of the safety index, the comfort index and the environmental protection index are calculated according to the preset hierarchical analysis method to obtain the safety weight, the comfort weight and the environmental protection weight, which are specifically:

[0130] Constructing a judgment comparison matrix according to the safety index, the comfort index and the environmental protection index;

[0131] According to the comparison matrix, each element in the judgment comparison matrix is ​​sorted by a preset importance scaling method, and then the sorted judgment comparison matrix is ​​calculated to obtain a safety weight, a comfort weight and an environmental weight; wherein the safety weight corresponds to the safety index, the comfort weight corresponds to the comfort index, and the environmental weight corresponds to the environmental index.

[0132] In a specific embodiment, Figure 3 As shown, a three-level indicator system is designed, where the first-level indicator is the target layer, the second-level indicator is the indicator layer, and the third-level indicator is the factor layer;

[0133] Based on the three-layer indicator system, a 3*3 judgment comparison matrix A is constructed, and then the 1-9 scaling method is used to determine the importance of each indicator. Finally, the judgment comparison matrix that has passed the consistency check is ranked in order to obtain the weights of the three indicators. The judgment comparison matrix is ​​as follows:

[0134]

[0135] The element in the i-th row (i=1,2,3) and the j-th column (j=1,2,3) of the matrix A is denoted by a ij , and then use the 1-9 scale method to determine the importance of each indicator;

[0136] The elements include: the importance scale between safety indicators and safety indicators, the importance scale between safety indicators and comfort indicators, the importance scale between safety indicators and environmental protection indicators, the importance scale between comfort indicators and safety indicators, the importance scale between comfort indicators and comfort indicators, the importance scale between comfort indicators and environmental protection indicators, the importance scale between environmental protection indicators and safety indicators, the importance scale between environmental protection indicators and comfort indicators, and the importance scale between environmental protection indicators and environmental protection indicators.

[0137] Among them, several indicator training groups with manually marked importance scales are obtained, and the indicator training groups are trained through a preset neural network training model to obtain an importance scale recognition model, so that the two indicators to be identified are input into the importance scale recognition model to obtain the importance scale between the two indicators to be identified.

[0138] The importance of indicators is shown in Table 1:

[0139]

[0140] Table 1

[0141] Then, each layer of the matrix is ​​normalized, and the eigenvector of the matrix, that is, the weights of the three indicators, is calculated to obtain and then determine the safety weight, comfort weight, and environmental protection weight.

[0142] Finally, the judgment matrix is ​​used for consistency test and the consistency index is introduced. CI and consistency test coefficient CR , to test and determine whether the obtained results have satisfactory consistency.

[0143]

[0144]

[0145] Where: RI is the random consistency index; λ max To judge the maximum eigenvalue of the comparison matrix A. When CR≤0.1 is specified, the consistency of the judgment matrix is ​​good, otherwise appropriate modifications should be made until the consistency test passes.

[0146] Step 104: Based on the safety weight, the comfort weight and the environmental weight, the safety index, the comfort index and the environmental index are weightedly calculated to obtain an evaluation result of the driving data, and the evaluation result is judged. When the evaluation result is less than a preset value, an abnormal reminder signal is generated to enable the user to make driving adjustments to the target vehicle according to the abnormal reminder signal.

[0147] In this embodiment, based on the safety index, comfort index, and environmental protection index, different weights ω1, ω2, ω3 are assigned to the three indexes according to their relative importance, and ω1+ω2+ω3=1 is satisfied to evaluate the driver's driving behavior. The weighted calculation formula is as follows:

[0148] H=w1L distance +w2L comfort +w3L energy

[0149] In the formula, weights ω1, ω2, and ω3 are determined using the hierarchical analysis method.

[0150] In a specific embodiment, see Figure 4 , wherein the driving behavior evaluation model applies the driving data processing method based on V2X technology of the present invention, and forms a control signal through a closed-loop control system by comparing the deviation value between the driving state of the vehicle and the ideal state, and controls the vehicle to make it close to the ideal state. When the evaluation result is less than the preset value, an abnormal warning signal is generated, so that the comprehensive driving behavior evaluation model issues a control instruction of the closed-loop control system according to the abnormal warning signal, thereby adjusting the driving state of the vehicle.

[0151] This embodiment obtains driving data collected by V2X equipment, and calculates indicators based on vehicle safety data, vehicle acceleration data and vehicle fuel consumption data of the driving data, thereby obtaining safety indicators, comfort indicators and environmental protection indicators, and obtains safety weights, comfort weights and environmental protection weights through hierarchical analysis, thereby performing weighted calculations, and obtains evaluation results of driving data according to weighted calculations, and generates abnormal reminder signals when the evaluation results are less than preset values. This embodiment takes into account the characteristics of commercial vehicles (such as large cargo loads and large inertia) in constructing a commercial vehicle driving behavior evaluation model, which is targeted, and constructing three different indicators avoids the objectivity of a single indicator, and can well evaluate commercial vehicle driving behavior. This embodiment takes into account the motion state information of multiple front vehicles in the feedback mechanism, and can control the vehicle in combination with the actual driving environment, which is conducive to better collaborative driving and improved driving efficiency.

[0152] Embodiment 2

[0153] See also Figure 2 , Figure 2 2 is a schematic diagram of a driving data processing device based on V2X technology provided by an embodiment of the present invention, comprising: a data receiving module 201, a data calculation module 202, a weight calculation module 203 and a result generation module 204;

[0154] The data receiving module 201 is used to receive driving data of the target vehicle collected by the V2X device; the driving data includes: vehicle safety data, vehicle acceleration data and vehicle fuel consumption data;

[0155] The data calculation module 202 is used to substitute the vehicle safety data, the vehicle acceleration data and the vehicle fuel consumption data into an index calculation formula to calculate a safety index, a comfort index and an environmental index;

[0156] The weight calculation module 203 is used to calculate the weight values ​​of the safety index, the comfort index and the environmental protection index according to a preset hierarchical analysis method to obtain the safety weight, the comfort weight and the environmental protection weight;

[0157] The result generation module 204 is used to perform weighted calculation on the safety index, the comfort index and the environmental protection index according to the safety weight, the comfort weight and the environmental protection weight, obtain the evaluation result of the driving data, and judge the evaluation result. When the evaluation result is less than a preset value, an abnormal reminder signal is generated to enable the user to make driving adjustments to the target vehicle according to the abnormal reminder signal.

[0158] As an improvement of the above solution, the data calculation module 202 includes: a first calculation unit, a second calculation unit and a third calculation unit;

[0159] The index calculation formulas are specifically: safety index calculation formula, comfort index calculation formula and environmental protection index calculation formula;

[0160] The first calculation unit is used to substitute the vehicle safety data into the safety index calculation formula to calculate and obtain the safety index;

[0161] The second calculation unit is used to substitute the vehicle acceleration data into the comfort index calculation formula to calculate the comfort index;

[0162] The third calculation unit is used to substitute the vehicle fuel consumption data into the environmental protection index calculation formula to calculate the environmental protection index.

[0163] As an improvement to the above solution, the vehicle safety data is substituted into the safety index calculation formula to calculate the safety index, which is specifically:

[0164] The vehicle safety data is specifically: the instantaneous first speed of the vehicle, the headway, the free sliding time, the delay distance and the headway difference of the preceding vehicle; the safety index calculation formula is specifically: the predicted headway calculation formula and the safety index function;

[0165] Substituting the instantaneous first speed of the vehicle, the headway time, the free sliding time and the delay distance into the predicted vehicle distance calculation formula to calculate the predicted vehicle distance;

[0166] Substitute the predicted distance difference with the measured distance of the preceding vehicle into the safety index function to calculate and obtain the safety index.

[0167] As an improvement to the above solution, the vehicle acceleration data is substituted into the comfort index calculation formula to calculate the comfort index, which is specifically:

[0168] The vehicle acceleration data is specifically: the instantaneous first acceleration of the vehicle, the average acceleration of the vehicle, the recording time and the comfort acceleration interference threshold; the comfort index calculation formula is specifically: the interference acceleration calculation formula and the comfort index function;

[0169] Substituting the instantaneous first acceleration of the vehicle, the average acceleration of the vehicle and the recording time into the interference acceleration calculation formula to calculate the interference acceleration;

[0170] The disturbance acceleration and the comfort acceleration disturbance threshold are substituted into the comfort index function to calculate and obtain a comfort index.

[0171] As an improvement to the above solution, the vehicle fuel consumption data is substituted into the environmental protection index calculation formula to calculate the environmental protection index, which is specifically:

[0172] The vehicle fuel consumption data is specifically: the vehicle instantaneous second speed, the vehicle instantaneous second acceleration and the vehicle instantaneous fuel consumption threshold; the environmental protection index calculation formula is specifically: the fuel consumption calculation formula and the environmental protection index function;

[0173] Substituting the instantaneous second speed of the vehicle and the instantaneous acceleration of the vehicle into the fuel consumption calculation formula to calculate the fuel consumption value; wherein the undetermined coefficients in the fuel consumption calculation formula are calculated by the least square method;

[0174] Substitute the fuel consumption value and the instantaneous fuel consumption threshold of the vehicle into an instantaneous environmental protection index function to calculate and obtain an environmental protection index.

[0175] As an improvement to the above solution, the undetermined coefficients in the fuel consumption calculation formula are obtained by least squares method, specifically:

[0176] Obtain instantaneous speeds and accelerations to be trained at several different times;

[0177] Generate a cubic function with several unknown coefficients, velocity, and acceleration;

[0178] A partial derivative is calculated for each undetermined coefficient. When the partial derivative is a preset value, the instantaneous velocities to be trained and the instantaneous accelerations to be trained at several different moments are substituted into a cubic function whose partial derivative is a preset value after the partial derivative is calculated to obtain the values ​​of several undetermined coefficients.

[0179] As an improvement of the above solution, the weight calculation module 203 includes: a matrix construction unit and a weight calculation unit;

[0180] The matrix construction unit is used to construct a judgment comparison matrix according to the safety index, the comfort index and the environmental protection index;

[0181] The weight calculation unit is used to sort each element in the judgment comparison matrix according to the comparison matrix by a preset importance scaling method, and then calculate the sorted judgment comparison matrix to obtain the safety weight, comfort weight and environmental protection weight; wherein the safety weight corresponds to the safety index, the comfort weight corresponds to the comfort index, and the environmental protection weight corresponds to the environmental protection index.

[0182] This embodiment obtains the driving data of the target vehicle through the data receiving module, and inputs the driving data into the data calculation module to calculate the safety index, comfort index and environmental protection index, and calculates the weights of the safety index, comfort index and environmental protection index through the weight calculation module, so that the safety weight, comfort weight and environmental protection weight are weighted and calculated through the result generation module, thereby obtaining the evaluation result of the driving data, and then judging the generation of abnormal reminder signals according to the evaluation result. Compared with the prior art that evaluates the safety of vehicle driving, the present invention evaluates driving behavior from three dimensions of safety, comfort and environmental protection based on vehicle safety data, vehicle acceleration data and vehicle fuel consumption data, which improves the evaluation accuracy of commercial vehicle driving behavior, is conducive to vehicle control according to the evaluation results, and improves the efficiency of vehicle driving.

[0183] Embodiment 3

[0184] See also Figure 5 , Figure 5 It is a schematic diagram of the structure of a terminal device provided in one embodiment of the present invention.

[0185] A terminal device of this embodiment includes: a processor 501, a memory 502, and a computer program stored in the memory 502 and executable on the processor 501. When the processor 501 executes the computer program, the steps of the above-mentioned driving data processing method based on V2X technology in the embodiment are implemented, for example Figure 1 Alternatively, when the processor executes the computer program, the functions of each module in the above-mentioned device embodiments are realized, for example: Figure 2 All modules of the driving data processing device based on V2X technology are shown.

[0186] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the driving data processing method based on V2X technology as described in any of the above embodiments.

[0187] Those skilled in the art will understand that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0188] The processor 501 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 501 is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0189] The memory 502 can be used to store the computer program and / or module, and the processor 501 realizes various functions of the terminal device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory 502. The memory 502 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0190] Wherein, if the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0191] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0192] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A driving data processing method based on V2X technology, characterized in that: include: Receive driving data of the target vehicle collected by the V2X device; The driving data includes: vehicle safety data, vehicle acceleration data and vehicle fuel consumption data; Substituting the vehicle safety data, the vehicle acceleration data and the vehicle fuel consumption data into an index calculation formula to calculate a safety index, a comfort index and an environmental protection index; According to a preset hierarchical analysis method, weight values ​​of the safety index, the comfort index and the environmental protection index are calculated to obtain a safety weight, a comfort weight and an environmental protection weight; According to the safety weight, the comfort weight and the environmental weight, the safety index, the comfort index and the environmental index are weightedly calculated to obtain an evaluation result of the driving data, and the evaluation result is judged. When the evaluation result is less than a preset value, an abnormal reminder signal is generated, so that the user can make driving adjustments to the target vehicle according to the abnormal reminder signal; Substituting the vehicle safety data, the vehicle acceleration data and the vehicle fuel consumption data into the index calculation formula to calculate the safety index, the comfort index and the environmental protection index is specifically as follows: The index calculation formula is specifically as follows: the safety index calculation formula, the comfort index calculation formula and the environmental protection index calculation formula; Substituting the vehicle safety data into the safety index calculation formula to calculate the safety index; Substituting the vehicle acceleration data into the comfort index calculation formula to calculate the comfort index; Substituting the vehicle fuel consumption data into the environmental protection index calculation formula to calculate the environmental protection index; Wherein, substituting the vehicle safety data into the safety index calculation formula to calculate the safety index is specifically as follows: The vehicle safety data is specifically: the instantaneous first speed of the vehicle, the headway, the free sliding time, the delay distance and the distance difference between the front vehicle and the front vehicle; the safety index calculation formula is specifically: a predicted distance calculation formula and a safety index function; the instantaneous first speed of the vehicle, the headway, the free sliding time and the delay distance are substituted into the predicted distance calculation formula to obtain the predicted distance; the predicted distance and the measured distance difference between the front vehicle are substituted into the safety index function to obtain the safety index; the safety index function satisfies the following conditions: Where, d dest is the predicted vehicle distance; v is the first instantaneous speed of the vehicle; t h is the headway time; t s is the free sliding time, d1 is the delay distance of the commercial vehicle; L distance is the safety index, d real is the distance difference between the vehicle and the preceding vehicle; Substituting the vehicle acceleration data into the comfort index calculation formula to calculate the comfort index is specifically as follows: the vehicle acceleration data is specifically as follows: the instantaneous first acceleration of the vehicle, the average acceleration of the vehicle, the recording time and the comfort acceleration interference threshold; the comfort index calculation formula is specifically as follows: the interference acceleration calculation formula and the comfort index function; substituting the instantaneous first acceleration of the vehicle, the average acceleration of the vehicle and the recording time into the interference acceleration calculation formula to calculate the interference acceleration; substituting the interference acceleration and the comfort acceleration interference threshold into the comfort index function to calculate the comfort index; the comfort index function satisfies the following conditions: Where, δ is the disturbance acceleration; represents the average acceleration of the vehicle; a(t) represents the instantaneous first acceleration of the vehicle; T represents the recording time; L comfort is the comfort index; δ0 is the comfort acceleration disturbance threshold obtained by the car manufacturer based on the physical parameters of the vehicle; The vehicle fuel consumption data is substituted into the environmental protection index calculation formula to calculate the environmental protection index, which is specifically: the vehicle fuel consumption data is specifically: the vehicle instantaneous second speed, the vehicle instantaneous second acceleration and the vehicle instantaneous fuel consumption threshold; the environmental protection index calculation formula is specifically: a fuel consumption calculation formula and an environmental protection index function; the vehicle instantaneous second speed and the vehicle instantaneous second acceleration are substituted into the fuel consumption calculation formula to calculate the fuel consumption value; wherein the undetermined coefficients in the fuel consumption calculation formula are obtained by the least squares method; the fuel consumption value and the vehicle instantaneous fuel consumption threshold are substituted into the environmental protection index function to calculate and obtain the environmental protection index; the environmental protection index function satisfies the following conditions: In the formula, F e is the estimated fuel consumption of commercial vehicles at different speeds and accelerations; μ0, μ1, μ2, and μ3 are coefficients to be determined; a is the instantaneous second acceleration of the vehicle at different times; v i is the instantaneous second speed of the vehicle at different times; τ0 is the energy consumption at idle speed; L energy is the environmental protection index, among which F emin Represented as the vehicle instantaneous fuel consumption threshold of the target vehicle.

2. The driving data processing method based on V2X technology according to claim 1, characterized in that: The undetermined coefficients in the fuel consumption calculation formula are obtained by least squares method, specifically: Obtain instantaneous speeds and accelerations to be trained at several different times; Generate a cubic function with several unknown coefficients, velocity, and acceleration; A partial derivative is calculated for each undetermined coefficient. When the partial derivative is a preset value, the instantaneous velocities to be trained and the instantaneous accelerations to be trained at several different moments are substituted into a cubic function whose partial derivative is a preset value after the partial derivative is calculated to obtain the values ​​of several undetermined coefficients.

3. The driving data processing method based on V2X technology according to any one of claims 1 to 2, characterized in that: According to the preset hierarchical analysis method, the weight values ​​of the safety index, the comfort index and the environmental protection index are calculated to obtain the safety weight, the comfort weight and the environmental protection weight, which are specifically: Constructing a judgment comparison matrix according to the safety index, the comfort index and the environmental protection index; According to the comparison matrix, each element in the judgment comparison matrix is ​​sorted by a preset importance scaling method, and then the sorted judgment comparison matrix is ​​calculated to obtain a safety weight, a comfort weight and an environmental weight; wherein the safety weight corresponds to the safety index, the comfort weight corresponds to the comfort index, and the environmental weight corresponds to the environmental index.

4. A driving data processing device based on V2X technology, characterized in that: include: Data receiving module, data calculation module, weight calculation module and result generation module; The data receiving module is used to receive driving data of the target vehicle collected by the V2X device; The driving data includes: vehicle safety data, vehicle acceleration data and vehicle fuel consumption data; The data calculation module is used to substitute the vehicle safety data, the vehicle acceleration data and the vehicle fuel consumption data into an index calculation formula to calculate a safety index, a comfort index and an environmental protection index; The weight calculation module is used to calculate the weight values ​​of the safety index, the comfort index and the environmental protection index according to a preset hierarchical analysis method to obtain the safety weight, the comfort weight and the environmental protection weight; The result generating module is used to perform weighted calculation on the safety index, the comfort index and the environmental protection index according to the safety weight, the comfort weight and the environmental protection weight, obtain the evaluation result of the driving data, and judge the evaluation result. When the evaluation result is less than a preset value, an abnormal reminder signal is generated, so that the user can make driving adjustments to the target vehicle according to the abnormal reminder signal; Substituting the vehicle safety data, the vehicle acceleration data and the vehicle fuel consumption data into the index calculation formula to calculate the safety index, the comfort index and the environmental protection index is specifically as follows: The index calculation formula is specifically as follows: the safety index calculation formula, the comfort index calculation formula and the environmental protection index calculation formula; Substituting the vehicle safety data into the safety index calculation formula to calculate the safety index; Substituting the vehicle acceleration data into the comfort index calculation formula to calculate the comfort index; Substituting the vehicle fuel consumption data into the environmental protection index calculation formula to calculate the environmental protection index; Wherein, substituting the vehicle safety data into the safety index calculation formula to calculate the safety index is specifically as follows: The vehicle safety data is specifically: the instantaneous first speed of the vehicle, the headway, the free sliding time, the delay distance and the distance difference between the front vehicle and the front vehicle; the safety index calculation formula is specifically: a predicted distance calculation formula and a safety index function; the instantaneous first speed of the vehicle, the headway, the free sliding time and the delay distance are substituted into the predicted distance calculation formula to obtain the predicted distance; the predicted distance and the measured distance difference between the front vehicle are substituted into the safety index function to obtain the safety index; the safety index function satisfies the following conditions: Where, d dest is the predicted vehicle distance; v is the first instantaneous speed of the vehicle; t h is the headway time; t s is the free sliding time, d1 is the delay distance of the commercial vehicle; L distance is the safety index, d real is the distance difference between the vehicle and the preceding vehicle; Substituting the vehicle acceleration data into the comfort index calculation formula to calculate the comfort index is specifically as follows: the vehicle acceleration data is specifically as follows: the instantaneous first acceleration of the vehicle, the average acceleration of the vehicle, the recording time and the comfort acceleration interference threshold; the comfort index calculation formula is specifically as follows: the interference acceleration calculation formula and the comfort index function; substituting the instantaneous first acceleration of the vehicle, the average acceleration of the vehicle and the recording time into the interference acceleration calculation formula to calculate the interference acceleration; substituting the interference acceleration and the comfort acceleration interference threshold into the comfort index function to calculate the comfort index; the comfort index function satisfies the following conditions: Where, δ is the disturbance acceleration; represents the average acceleration of the vehicle; a(t) represents the instantaneous first acceleration of the vehicle; T represents the recording time; L comfort is the comfort index; δ0 is the comfort acceleration disturbance threshold obtained by the car manufacturer based on the physical parameters of the vehicle; The vehicle fuel consumption data is substituted into the environmental protection index calculation formula to calculate the environmental protection index, which is specifically: the vehicle fuel consumption data is specifically: the vehicle instantaneous second speed, the vehicle instantaneous second acceleration and the vehicle instantaneous fuel consumption threshold; the environmental protection index calculation formula is specifically: a fuel consumption calculation formula and an environmental protection index function; the vehicle instantaneous second speed and the vehicle instantaneous second acceleration are substituted into the fuel consumption calculation formula to calculate the fuel consumption value; wherein the undetermined coefficients in the fuel consumption calculation formula are obtained by the least squares method; the fuel consumption value and the vehicle instantaneous fuel consumption threshold are substituted into the environmental protection index function to calculate and obtain the environmental protection index; the environmental protection index function satisfies the following conditions: In the formula, F e is the estimated fuel consumption of commercial vehicles at different speeds and accelerations; μ0, μ1, μ2, and μ3 are coefficients to be determined; a is the instantaneous second acceleration of the vehicle at different times; v i is the instantaneous second speed of the vehicle at different times; τ0 is the energy consumption at idle speed; L energy is the environmental protection index, among which F emin Represented as the vehicle instantaneous fuel consumption threshold of the target vehicle.

5. A computer terminal device, characterized in that: It comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, a driving data processing method based on V2X technology as described in any one of claims 1 to 3 is implemented.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute a driving data processing method based on V2X technology as described in any one of claims 1 to 3.

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