An intelligent networked vehicle ground truth environment evaluation system based on in-vehicle devices

Abstract

The present application provides an intelligent networked vehicle ground truth environment evaluation system based on in-vehicle devices. The system includes: a data acquisition device, configured to collect in real time the ground truth data of the vehicle during the driving process of the vehicle, where the ground truth data includes driving behavior data, external environment data, system health data, and network security data; a data analysis module, configured to perform a simulated scoring on the state of the vehicle based on the ground truth data to obtain a perception score, a decision-making score, and a control score for characterizing the state of the vehicle; and a data search module, configured to generate a ground truth environment evaluation result of the vehicle based on the perception score, the decision-making score, and the control score.

Description

Technical Field

[0001] This application relates to the field of computers, and more specifically, to an intelligent networked vehicle true value environment evaluation system based on in-vehicle devices. Background Art

[0002] With the development of intelligent networked vehicles, it has become increasingly important to accurately evaluate their performance and safety in various complex environments. Traditional evaluation methods often have limitations and cannot fully consider the true value data of vehicles and environmental factors.

[0003] Therefore, this application provides an intelligent networked vehicle true value environment evaluation system based on in-vehicle devices to solve one of the above technical problems. Summary of the Invention

[0004] The purpose of this application is to provide an intelligent networked vehicle true value environment evaluation system based on in-vehicle devices, which can solve at least one of the above-mentioned technical problems. The specific solutions are as follows:

[0005] According to a specific embodiment of this application, in a first aspect, this application provides an intelligent networked vehicle true value environment evaluation system based on in-vehicle devices, including:

[0006] A data acquisition device for real-time collecting the true value data of the vehicle during the vehicle's driving, where the true value data includes driving behavior data, external environment data, system health data, and network security data; a data analysis module for simulating and scoring the state of the vehicle based on the true value data to obtain a perception score, a decision-making score, and a control score for characterizing the state of the vehicle; a data search module for generating a true value environment evaluation result of the vehicle based on the perception score, the decision-making score, and the control score.

[0007] In one embodiment, the data analysis module uses the following formula to perform data analysis on the vehicle to obtain the target score of the vehicle, and the target score is the perception score, the decision-making score, or the control score: Where S is the target score, B, E, H, and N respectively represent driving behavior data, external environment data, system health data, and network security data, and W B , W E , W H , and W N are respectively the weights of driving behavior data, external environment data, system health data, and network security data, and E max , H max , and N max respectively represent the maximum values of external environment data, system health data, and network security data, and WB +W E +W H +W N = 1.

[0008] In one implementation, the target score is the perception score; the sum of the weights of the driving behavior data and the external environment data is greater than or equal to 0.7, and the weight of the driving behavior data is greater than the weight of the external environment data.

[0009] In one implementation, the target score is the decision-making score; the sum of the weights of the driving behavior data and the system health data is greater than or equal to 0.7, and the weight of the system health data is greater than or equal to 0.5.

[0010] In one implementation, the target score is the control score; the weight of the external environment data is less than 0.3, and among the weights of the driving behavior data, the external environment data, the system health data, and the network security data, the weight of the driving behavior data is the largest.

[0011] In one implementation, the data search module generates the true value environment evaluation result of the vehicle based on the perception score, the decision-making score, and the control score in the following manner, including: taking the preset score pool as the first set, and taking the perception score, the decision-making score, and the control score as the second set; based on the intersection search method, searching the second set in all subsets of the first set to obtain a first subset; wherein, the first subset includes at least three scores, and the score difference between any score in the first subset and at least one of the perception score, the decision-making score, and the control score is less than the preset score difference; generating the true value environment evaluation result of the vehicle based on the scores included in the first subset.

[0012] In one implementation, the data search module generates the true value environment evaluation result of the vehicle based on the scores included in the first subset in the following manner, including: if the first subset only includes three scores, then based on the pre-configured mapping relationship between the three scores and the environment evaluation result, mapping the three scores included in the first subset to obtain the environment evaluation result of the vehicle.

[0013] In one implementation, the data search module generates the true value environment evaluation result of the vehicle based on the scores included in the first subset in the following manner, including: if at least four scores are included in the first subset, traverse all the second subsets that can be generated from the first subset; wherein, the second subset only includes three scores in the first subset, and the scores included in different second subsets are not completely the same; based on the pre-configured mapping relationship between the three scores and the environment evaluation result, map the three scores included in each of the second subsets respectively to obtain multiple environment evaluation results; wherein, the number of the multiple environment evaluation results is consistent with the number of the second subsets; for the multiple environment evaluation results, use the environment evaluation result with the most consistent results as the environment evaluation result of the vehicle.

[0014] In one implementation, the value range of the perception score, the decision score or the control score is from 0 to 1.

[0015] In one implementation, the preset score difference is 0.1. Description of the Drawings

[0016] Figure 1 Shows a block diagram of an intelligent connected vehicle true value environment evaluation system based on an in-vehicle device according to an embodiment of the present application;

[0017] Figure 2 Shows a method flow chart for the data search module to generate the true value environment evaluation result of the vehicle according to an embodiment of the present application;

[0018] Figure 3 Shows a method flow chart for the data search module to generate the true value environment evaluation result of the vehicle according to an embodiment of the present application. Detailed Implementation Manner

[0019] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0020] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "the" and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. "Multiple" generally includes at least two.

[0021] It should be understood that the term "and / or" used herein is merely a description of the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, the character " / " in this text generally indicates that the associated objects before and after are in an "or" relationship.

[0022] It should be understood that although terms such as first, second, and third may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first can also be referred to as the second, and similarly, the second can also be referred to as the first.

[0023] Depending on the context, the words "if", "when" as used herein can be interpreted as "when...", "while...", "in response to determining", or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (stated condition or event)" can be interpreted as "when determined", "in response to determining", "when detecting (stated condition or event)", or "in response to detecting (stated condition or event)".

[0024] It should also be noted that the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a commodity or device comprising a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such commodity or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the commodity or device comprising the said element.

[0025] It should be particularly noted that symbols and / or numbers existing in the specification, if not marked in the accompanying drawing description, are not reference numerals.

[0026] The optional embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0027] For the embodiments provided by the present application, namely embodiments of an intelligent networked vehicle ground truth environment evaluation system based on in-vehicle devices.

[0028] The following combines Figure 1 The embodiments of the present application will be described in detail.

[0029] Figure 1 The block diagram of an intelligent networked vehicle ground truth environment evaluation system based on in-vehicle devices according to an embodiment of the present application is shown, as Figure 1As shown in the figure, the intelligent networked vehicle ground truth environment evaluation system 1 includes a data acquisition device 11, a data analysis module 12, and a data search module 13.

[0030] The data acquisition device 11 is used to collect the ground truth data of the vehicle in real time during the vehicle driving process.

[0031] Among them, the ground truth data includes driving behavior data, external environment data, system health data, and network security data.

[0032] The data analysis module 12 is used to simulate and score the vehicle state based on the ground truth data, and obtain a perception score, a decision-making score, and a control score for characterizing the vehicle state.

[0033] Among them, the perception score is used to evaluate the perception state of the vehicle during driving, such as accident warning, road monitoring, pedestrian warning, etc.; the decision-making score is used to evaluate the driving plan given by the vehicle during driving, especially when the assisted driving mode is turned on; the control score is used to evaluate the control performance of the vehicle during driving, such as whether the lateral acceleration is too large when turning, whether the longitudinal acceleration is too large when starting, and whether the route deviates when changing lanes.

[0034] The data search module 13 is used to generate the ground truth environment evaluation result of the vehicle based on the perception score, the decision-making score, and the control score.

[0035] In this application, the intelligent networked vehicle ground truth environment evaluation system generates the ground truth environment evaluation result of the vehicle based on the perception score, the decision-making score, and the control score, providing a dynamic solution for the real evaluation of the vehicle state based on the vehicle's actual situation data.

[0036] In one embodiment, the data analysis module 12 can perform data analysis on the vehicle by means of formula calculation to obtain the target score of the vehicle. Among them, the target score can be any one of the perception score, the decision-making score, and the control score. Exemplarily, the formula is as follows.

[0037]

[0038] Among them, S is the target score, B, E, H, and N respectively represent driving behavior data, external environment data, system health data, and network security data, W B 、W E 、W H and W N are respectively the weights of driving behavior data, external environment data, system health data, and network security data, E max 、H max and N max respectively represent the maximum values of external environment data, system health data, and network security data, WB +W E +W H +W N = 1.

[0039] The following exemplary embodiments of this application illustrate the manner in which the intelligent connected vehicle ground truth environment evaluation system obtains each ground truth data. For ease of understanding, a method of obtaining is provided for driving behavior data, external environment data, system health data, and network security data respectively.

[0040] Exemplarily, the driving behavior data can be obtained through the following formula:

[0041]

[0042] where N harsh is the total number of times of behaviors such as hard acceleration, hard deceleration, and sharp turning recorded within a specified time, and N total is the total number of driving times within a specified time.

[0043] Exemplarily, the external environment data can be obtained through the following formula:

[0044]

[0045] where D safe is the total time of maintaining a safe distance from surrounding obstacles during driving, and D total is the total driving time within a specified time.

[0046] Exemplarily, the system health data can be obtained through the following formula:

[0047]

[0048] where S i is the score of the i-th system health indicator, with a value range of 0 to 1, where 1 represents completely healthy and 0 represents completely failed, and n is the number of monitored system indicators.

[0049] Exemplarily, the network security data can be calculated and obtained through the following formula:

[0050]

[0051] where I attack is the number of network attacks within a specified time, and I max is the assumed maximum number of attacks.

[0052] Currently, in existing solutions, driving behavior data, external environment data, system health data, and network security data are usually used for comprehensive evaluation, and finally a comprehensive score is provided for the vehicle's state as the actual performance of the vehicle. Although this method can summarize the vehicle's performance, in the process of actual observation and evaluation of the vehicle, the practicality of the comprehensive evaluation cannot meet the usage requirements. Therefore, the following provides a scoring refinement scheme based on weight allocation to provide further refined data for vehicle evaluation.

[0053] In one implementation, when the target score is the perception score, the sum of the weights of the driving behavior data and the external environment data is greater than or equal to 0.7, and the weight of the driving behavior data is greater than the weight of the external environment data.

[0054] In this application, the perception score is used to evaluate the vehicle's perception state during driving, such as accident warning, road monitoring, pedestrian warning, etc. Considering increasing the weight ratio of the driving behavior data and the external environment data. In actual measurement, when the sum of the weights of the driving behavior data and the external environment data is greater than or equal to 0.7, the perception score basically coincides with the vehicle's actual performance. Further, setting the weight of the driving behavior data to be greater than the weight of the external environment data can make the perception score have a controllable value range on the basis of basically coinciding with the vehicle's actual performance, that is, the value range of the perception score is between 0 and 1.

[0055] In a feasible implementation, the weights of the driving behavior data, the external environment data, the system health data, and the network security data are respectively configured as W B = 0.45, W E = 0.2, W H = 0.15, and W N = 0.2. In a scheme where W N > W H as in this embodiment, it is applicable to driving scenarios with strong communication interference, such as driving scenarios outside the airport, etc., and can provide a perception score that matches the actual state of the vehicle.

[0056] In one implementation, when the target score is the decision-making score, the sum of the weights of the driving behavior data and the system health data is greater than or equal to 0.7, and the weight of the system health data is greater than or equal to 0.5.

[0057] In this application, the decision-making score is used to evaluate the driving plan given by the vehicle during driving, especially when the assisted driving mode is turned on, considering increasing the weight ratio of driving behavior data and system health data. During actual measurement, when the sum of the weights of driving behavior data and system health data is greater than or equal to 0.7, the decision-making score basically matches the actual performance of the vehicle. Further, setting the weight of system health data to be greater than or equal to 0.5 can make the decision-making score have a controllable value range on the basis of basically matching the actual performance of the vehicle, that is, making the value range of the perception score be between 0 and 1.

[0058] In a feasible implementation manner, the weights of driving behavior data, external environment data, system health data, and network security data are respectively configured as W B = 0.15, W E = 0.1, W H = 0.65, and W N = 0.1. In the scheme where both W E and W N are less than 0.1 as in this embodiment, the influence of external environment data and network security data on the decision-making score is relatively small. Of course, since external environment data and network security data basically do not affect vehicle decision-making, the weights of external environment data and network security data can also be set to 0.

[0059] In an implementation manner, when the target score is the control score, the weight of external environment data is less than 0.3, and among the weights of driving behavior data, external environment data, system health data, and network security data, the weight of driving behavior data is the largest.

[0060] In this application, the control score is used to evaluate the control performance of the vehicle during driving, such as whether the lateral acceleration is too large when turning, whether the longitudinal acceleration is too large when starting, and whether the route deviates when changing lanes. Therefore, the influence of external environment data, system health data, and network security data on the control score is relatively small. Among them, controlling the weight of external environment data to be less than 0.3 can make the value range of the control score controllable, that is, making the value range of the control score be between 0 and 1. At the same time, setting the weight of driving behavior data to be the largest among the weights of driving behavior data, external environment data, system health data, and network security data can ensure that the control score matches the actual control situation of the vehicle and provides a fitting control evaluation.

[0061] In this application, the data search module 13 can generate the true value environment evaluation result of the vehicle through set search.

[0062] Figure 2The figure shows a flowchart of a method for a data search module 13 according to an embodiment of the present application to generate a true value environment evaluation result of a vehicle, as Figure 2 shown, including the following steps S201 to step S203.

[0063] In step S201, a preset scoring pool is used as the first set, and a perception score, a decision score, and a control score are used as the second set.

[0064] In step S202, based on the intersection search method, the second set is searched in all subsets of the first set to obtain a first subset.

[0065] Among them, the first subset includes at least three scores, and the score difference between any score in the first subset and at least one of the perception score, the decision score, and the control score is less than a preset score difference.

[0066] In step S203, based on the scores included in the first subset, a true value environment evaluation result of the vehicle is generated.

[0067] Figure 3 The figure shows a flowchart of a method for a data search module 13 according to an embodiment of the present application to generate a true value environment evaluation result of a vehicle, as Figure 3 shown, including the following steps S301 to step S303.

[0068] In step S301, a preset scoring pool is used as the first set, and a perception score, a decision score, and a control score are used as the second set.

[0069] In step S302, based on the intersection search method, the second set is searched in all subsets of the first set to obtain a first subset.

[0070] Among them, the first subset includes at least three scores, and the score difference between any score in the first subset and at least one of the perception score, the decision score, and the control score is less than a preset score difference.

[0071] In step S303a, if the first subset only contains three scores, then based on the pre-configured mapping relationship between the three scores and the environment evaluation result, the three scores included in the first subset are mapped to obtain the environment evaluation result of the vehicle.

[0072] In step S303b, if the first subset includes at least four scores, then all second subsets that can be generated by traversing the first subset are traversed.

[0073] Among them, the second subset only contains three scores in the first subset, and the scores included in different second subsets are not exactly the same.

[0074] Exemplarily, if step S303b is executed, then steps S304 and S305 are continued to be executed.

[0075] In step S304, based on the pre-configured mapping relationship between the three scores and the environmental evaluation results, the three scores included in each second subset are respectively mapped to obtain multiple environmental evaluation results.

[0076] Among them, the number of multiple environmental evaluation results is consistent with the number of second subsets.

[0077] In step S305, for the multiple environmental evaluation results, the environmental evaluation result with the most consistent results is used as the environmental evaluation result of the vehicle.

[0078] In this application, the value range of the perception score, the decision-making score or the control score is from 0 to 1.

[0079] In this application, the preset score difference is 0.1.

[0080] The intelligent connected vehicle true value environment evaluation system based on in-vehicle equipment provided by this application has the following advantages:

[0081] 1. The intelligent connected vehicle true value environment evaluation system based on in-vehicle equipment provided by this application can more accurately evaluate the performance and safety of intelligent connected vehicles in different environments by collecting the true value data of the vehicle and adopting specific data analysis algorithms and search modules.

[0082] 2. This system can monitor the driving state and environmental changes of the vehicle in real time, discover potential safety hazards in time, and provide corresponding warnings and suggestions.

[0083] 3. The evaluation system of this application can also provide a reference basis for the research and development and improvement of intelligent connected vehicles, and help automobile manufacturers continuously improve the quality and performance of products.

[0084] 4. In addition, this system can also provide decision-making support for traffic management departments, optimize traffic flow, and improve the level of road traffic safety.

[0085] Although the operations are described in a specific order in the drawings, it should not be understood as requiring the operations to be performed in the specific order shown or in a serial order, or requiring all the operations shown to obtain the desired result. In a specific environment, multitasking and parallel processing may be beneficial.

[0086] The methods and apparatuses of the present application can be accomplished using standard programming techniques, implementing various method steps using rule-based logic or other logics. It should also be noted that the terms "apparatus" and "module" as used herein and in the claims are intended to include implementations using one or more lines of software code and / or hardware implementations and / or devices for receiving inputs.

[0087] Any of the steps, operations, or procedures described herein can be executed or implemented using one or more hardware or software modules, either alone or in combination with other devices. In one embodiment, the software modules are implemented using a computer program product that includes a computer-readable medium containing computer program code, which can be executed by a computer processor to perform any or all of the described steps, operations, or procedures.

[0088] For purposes of illustration and description, the foregoing description of the implementation of the present application has been given. The foregoing description is not exhaustive and is not intended to limit the present application to the exact form disclosed, and various modifications and variations are possible in light of the above teachings, or may be obtained from practice of the present application. These embodiments were chosen and described in order to explain the principles of the present application and its practical application, so that those skilled in the art can utilize the present application in various embodiments and various modifications suitable for the particular purposes contemplated.

[0089] Regarding the apparatuses in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0090] Furthermore, it can be understood that unless otherwise specified, "connection" includes direct connection between two parties without other components therebetween, and also includes indirect connection between two parties with other elements therebetween.

[0091] Furthermore, it can be understood that although operations are described in a specific order in the drawings in the embodiments of the present application, it should not be construed as requiring these operations to be performed in the specific order shown or in a serial order, or requiring all of the operations shown to obtain the desired result. In certain environments, multitasking and parallel processing may be advantageous.

[0092] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common knowledge or conventional technical means in the field of the present application not disclosed herein. The specification and embodiments are only to be considered as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0093] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

[0094] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A true value environment evaluation system for intelligent connected vehicles based on vehicle-mounted equipment, characterized in that: include: A data acquisition device, used to collect the true value data of the vehicle in real time during the driving process of the vehicle, wherein the true value data includes driving behavior data, external environment data, system health data and network security data; A data analysis module, used to simulate and score the state of the vehicle based on the true value data, and obtain a perception score, a decision score, and a control score for characterizing the state of the vehicle; A data search module, configured to generate a true value environmental evaluation result of the vehicle based on the perception score, the decision score, and the control score; The data analysis module uses the following formula to perform data analysis on the vehicle to obtain a target score for the vehicle, where the target score is the perception score, the decision score, or the control score: Among them, S is the target score, B, E, H and N represent driving behavior data, external environment data, system health data and network security data respectively, and W B , W E , W H and W N They are the weight of driving behavior data, the weight of external environment data, the weight of system health data and the weight of network security data. max , H max and N max They represent the maximum values ​​of external environment data, system health data, and network security data, respectively. B +W E +W H +W N =1.

2. The intelligent connected vehicle true value environment evaluation system based on vehicle-mounted equipment according to claim 1 is characterized in that: The target score is the perception score; The sum of the weights of the driving behavior data and the external environment data is greater than or equal to 0.7, and the weight of the driving behavior data is greater than the weight of the external environment data.

3. The intelligent connected vehicle true value environment evaluation system based on vehicle-mounted equipment according to claim 1 is characterized in that: The target score is the decision score; The sum of the weights of the driving behavior data and the system health data is greater than or equal to 0.7, and the weight of the system health data is greater than or equal to 0.

5.

4. The intelligent connected vehicle true value environment evaluation system based on vehicle-mounted equipment according to claim 1 is characterized by: The target score is the control score; The weight of the external environment data is less than 0.3, and among the weight of the driving behavior data, the weight of the external environment data, the weight of the system health data and the weight of the network security data, the weight of the driving behavior data is the largest.

5. The intelligent connected vehicle true value environment evaluation system based on vehicle-mounted equipment according to claim 1 is characterized in that: The data search module generates a true value environment evaluation result of the vehicle based on the perception score, the decision score, and the control score in the following manner, including: The preset score pool is used as a first set, and the perception score, the decision score and the control score are used as a second set; Based on the intersection search method, the second set is searched in all subsets of the first set to obtain a first subset; wherein the first subset includes at least three scores, and the difference between any score in the first subset and at least one of the perception score, the decision score, and the control score is less than a preset difference; Based on the scores included in the first subset, a true value environment evaluation result of the vehicle is generated.

6. The intelligent connected vehicle true value environment evaluation system based on vehicle-mounted equipment according to claim 5 is characterized in that: The data search module generates a true value environment evaluation result of the vehicle based on the scores included in the first subset in the following manner, including: If the first subset includes only three scores, the three scores included in the first subset are mapped based on a preconfigured mapping relationship between the three scores and the environmental evaluation results to obtain the environmental evaluation result of the vehicle.

7. The intelligent connected vehicle true value environment evaluation system based on vehicle-mounted equipment according to claim 5 is characterized in that: The data search module generates a true value environment evaluation result of the vehicle based on the scores included in the first subset in the following manner, including: If the first subset contains at least four ratings, then all second subsets that can be generated by the first subset are traversed; wherein the second subset contains only three ratings in the first subset, and the ratings contained in different second subsets are not completely the same; Based on the preconfigured mapping relationship between the three scores and the environmental evaluation results, the three scores included in each of the second subsets are mapped respectively to obtain multiple environmental evaluation results; wherein the number of the multiple environmental evaluation results is consistent with the number of the second subsets; Among the plurality of environmental evaluation results, an environmental evaluation result having the most consistent results is used as the environmental evaluation result of the vehicle.

8. The real value environment evaluation system for intelligent connected vehicles based on vehicle-mounted equipment according to any one of claims 1 to 7, characterized in that: The value range of the perception score, the decision score or the control score is 0 to 1.

9. The real value environment evaluation system for intelligent connected vehicles based on vehicle-mounted equipment according to any one of claims 5 to 7, characterized in that: The preset difference is 0.1.

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