Multi-target and multi-index V2X automobile networking safety performance evaluation method and system in electromagnetic interference environment

Abstract

The invention provides a multi-target and multi-index V2X automobile network connection safety performance evaluation method and system in an electromagnetic interference environment. The method specifically comprises the steps of obtaining multiple index data of various tests of multiple V2X automobiles in the electromagnetic interference environment; constructing a multi-index parameter matrix based on the multiple index data of each test of all V2X automobiles, wherein the elements of the multi-index parameter matrix are each index value of each V2X automobile under each test; performing standardized dimensionless processing on the multi-index parameter matrix to obtain a standardized dimensionless matrix; calculating a weight matrix including the weight of each index of each test of each vehicle based on the standardized dimensionless matrix; and multiplying the standardized dimensionless matrix by the weight matrix to obtain an evaluation result of each V2X automobile. According to the method, the influence of electromagnetic interference on the evaluation result is effectively reduced, the operation is simple and convenient, the calculation is efficient, and a comprehensive and simple network connection performance evaluation result can be quickly output.

Description

Technical Field

[0001] The present invention relates to the field of automobile electromagnetic anti-interference performance analysis, and in particular to a multi-target and multi-indicator V2X automobile network safety performance evaluation method and system in an electromagnetic interference environment. Background Art

[0002] In the prior art, the V2X vehicle networking performance application layer is mainly evaluated through the following steps:

[0003] First, select a test environment with electromagnetic radiation, which can be a real road environment or a simulated virtual road condition, depending on the specific needs and conditions of the test. Secondly, set a series of prescribed command actions, which should cover various possible driving situations, such as starting, accelerating, decelerating, turning, stopping, etc., in order to comprehensively evaluate the network performance of the V2X vehicle. In the process of executing these command actions in the electromagnetic radiation test environment, the key indicators of the V2X vehicle are monitored in real time through a professional test system. These indicators may include the vehicle's bit error rate, positioning accuracy, system receiving sensitivity, etc., as well as data related to network performance, such as bit error rate, communication delay, data transmission speed, etc. Finally, based on the results of these indicators, the network performance of the V2X vehicle is evaluated item by item. For example, for the forward collision warning system, the accuracy and timeliness of its warning can be evaluated based on its performance during the test; for the intersection collision warning system, its reaction speed and warning effect under complex road conditions can be evaluated.

[0004] However, with the continuous increase in multiple objectives and indicators, this method of evaluating each indicator item by item can no longer form a comprehensive and concise network performance evaluation result for V2X vehicles. Summary of the invention

[0005] In order to overcome the defects existing in the above-mentioned prior art, the purpose of the present invention is to provide a multi-objective and multi-indicator V2X vehicle network safety performance evaluation method and system in an electromagnetic interference environment.

[0006] In order to achieve the above-mentioned object of the present invention, the present invention provides a multi-objective and multi-indicator V2X vehicle network safety performance evaluation method under an electromagnetic interference environment, characterized in that it includes the following steps:

[0007] Obtain multiple indicator data of various tests of multiple V2X vehicles in electromagnetic radiation environments;

[0008] A multi-index parameter matrix is ​​constructed based on multiple index data of various tests of all V2X vehicles, and the elements of the multi-index parameter matrix are the index values ​​of each V2X vehicle under each test;

[0009] Performing dimensionless standardization on the multi-index parameter matrix to obtain a dimensionless standardized matrix;

[0010] Based on the normalized dimensionless matrix, calculating a weight matrix including weights of each indicator of each test for each vehicle;

[0011] The standardized dimensionless matrix and the weight matrix are multiplied to obtain the evaluation result of each V2X vehicle.

[0012] Optionally, multiple indicators for each test include communication distance, system delay time, positioning accuracy and bit error rate.

[0013] Optionally, after obtaining multiple indicator data of various tests of multiple V2X vehicles in an electromagnetic radiation environment, the data are screened:

[0014] Set “inapplicable limits” for different types of tests and exclude V2X vehicles involving “inapplicable limits”.

[0015] Optionally, multiple indicator data of various tests of each V2X vehicle in an electromagnetic radiation environment are numbered and sorted in sequence to construct a multi-indicator parameter matrix.

[0016] Optionally, dimensionless processing is performed on multiple indicator data of each measurement of the multi-indicator parameter matrix, the optimal value is recorded as 1, the worst value is recorded as 0, and the same indicators of each vehicle are discretely distributed in the interval (0, 1);

[0017] For indicators whose values ​​are larger, the better, the following formula is used for dimensionless processing:

[0018]

[0019] For indicators whose values ​​are smaller, the better, the following formula is used for dimensionless processing:

[0020]

[0021] Among them, a m Represents the set of mth index data of all vehicles in the multi-index parameter matrix, a i,m represents the mth indicator data of the i-th V2X vehicle, b i,m Represents a i,m The result of dimensionless processing.

[0022] Optionally, the weight calculation steps for each indicator of each test for each vehicle are:

[0023] Calculate the weight of each indicator of each test for each vehicle and get the weight matrix:

[0024]

[0025] Among them, C i ,m is the proportion of the mth index value of the i-th vehicle.

[0026] Calculate the information entropy of the mth column in the weight matrix:

[0027]

[0028] Calculate the redundancy of the information entropy of the mth column in the weight matrix:

[0029] f m =1-e m

[0030] The weight β of each indicator of each test for each vehicle is calculated as follows:

[0031]

[0032] Among them, β m is the proportion of the mth index value of the ith vehicle.

[0033] The present application also proposes a V2X vehicle network safety performance evaluation system, including a data acquisition unit, a processing unit and a storage unit for acquiring multiple index data of various tests of multiple V2X vehicles in an electromagnetic radiation environment;

[0034] The output end of the data acquisition unit is electrically connected to the processing unit to send the data to the processing unit. The processing unit is electrically connected to the storage unit. The storage unit is used to store at least one executable instruction. The executable instruction enables the processing unit to perform operations corresponding to the multi-target and multi-indicator V2X vehicle network safety performance evaluation method under the electromagnetic interference environment mentioned above to evaluate the V2X vehicle network safety performance.

[0035] The beneficial effects of the present invention are:

[0036] The present invention effectively reduces the impact of electromagnetic interference on the evaluation results by comprehensively considering multiple evaluation dimensions. At the same time, it has the characteristics of simple operation and efficient calculation. It can quickly output a comprehensive and concise network performance evaluation result. The method is simple and accurate. It provides a comprehensive, accurate and practical solution for the network safety performance evaluation of V2X vehicles, and effectively promotes the intelligent and networked development of the automotive industry.

[0037] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. DETAILED DESCRIPTION

[0038] The embodiments of the present invention are described in detail below.

[0039] Embodiment 1

[0040] The present invention provides an embodiment of a multi-target and multi-index V2X vehicle network safety performance evaluation method in an electromagnetic interference environment, where the multi-target refers to multiple vehicles. Specifically, the following steps are included:

[0041] Obtain multiple indicator data of various tests of multiple V2X vehicles in electromagnetic radiation environments.

[0042] This embodiment mainly includes 12 tests: forward collision warning, intersection collision warning, left turn assist, blind spot warning / lane change warning, reverse overtaking warning, emergency braking warning, abnormal vehicle reminder, vehicle loss of control warning, road hazard condition reminder, speed limit warning, red light running warning, and collision warning for vulnerable traffic participants. Each test includes four indicator data: communication distance, system delay time, positioning accuracy and bit error rate.

[0043] The indicators for evaluating the anti-interference network performance of V2X vehicles in electromagnetic radiation environments in the initial selection need to be highly representative. In order to avoid the problems of inapplicability, redundancy and duplication of a large number of information between indicators, this embodiment screens the multiple indicator data of various tests of multiple V2X vehicles in electromagnetic radiation environments. The screening method in this embodiment is: set "inapplicable limits" for different types of tests, and eliminate V2X vehicles involving "inapplicable limits". The settings of inapplicable limits are as follows:

[0044] (i) During the test, if the vehicle speed range exceeds 130 km / h, the following tests are performed: forward collision warning, blind spot warning / lane change warning, emergency braking warning, abnormal vehicle warning, vehicle loss of control warning, road hazard warning, and speed limit warning.

[0045] (ii) During the test, there are tests with a speed range exceeding 70 km / h: left turn assist, blind spot warning / lane change warning, reverse overtaking warning, red light running warning, and collision warning for vulnerable traffic participants.

[0046] (III) During the test, the communication distance is less than 300m for the following tests: forward collision warning, reverse overtaking warning, vehicle loss of control warning, road hazard warning, speed limit warning.

[0047] (IV) During the test, the following tests occurred with a communication distance of less than 150m: intersection collision warning, left turn assist, blind spot warning / lane change warning, emergency braking warning, abnormal vehicle reminder, red light running warning, and collision warning for vulnerable traffic participants.

[0048] (V) During the test, the data update frequency of the test is not typically 10 Hz: forward collision warning, intersection collision warning, left turn assist, blind spot warning / lane change warning, reverse overtaking warning, emergency braking warning, abnormal vehicle reminder, and vehicle loss of control warning.

[0049] (VI) During the test, there are tests where the typical value of the data update frequency is not 5 Hz: road hazard warning, red light running warning, and collision warning for vulnerable traffic participants.

[0050] (VII) During the test, if the typical value of the data update frequency is not 1 Hz: speed limit warning.

[0051] (VIII) During the test, the following tests were conducted in which the system delay time was greater than 100ms: forward collision warning, intersection collision warning, left turn assist, blind spot warning / lane change warning, reverse overtaking warning, emergency braking warning, abnormal vehicle reminder, vehicle loss of control warning, road hazard warning, speed limit warning, red light running warning, and collision warning for vulnerable traffic participants.

[0052] (IX) During the test, the following tests were performed with a positioning accuracy greater than 1.5 m: forward collision warning, intersection collision warning, left turn assist, blind spot warning / lane change warning, reverse overtaking warning, emergency braking warning, abnormal vehicle reminder, vehicle loss of control warning, road hazard warning, speed limit warning, red light running warning, and collision warning for vulnerable traffic participants.

[0053] After the data is screened, a multi-index parameter matrix A is constructed based on the screened data. The elements of the multi-index parameter matrix A are the index values ​​of each V2X vehicle under each test in Table 1.

[0054] When constructing the multi-index parameter matrix A, the multiple index data of each test of each V2X vehicle in the electromagnetic radiation environment are numbered and sorted in sequence, and the multi-index parameter matrix A is constructed as follows:

[0055]

[0056] In the formula, n represents the total number of V2X vehicles, i belongs to n, and n is a positive integer greater than 1; M is the product of the number of test items and the number of indicators, m belongs to M, a i,m Represents the mth indicator data of the i-th V2X vehicle. In this embodiment, since 12 tests are performed, each test corresponds to 4 indicators, so M=48.

[0057] The multi-index parameter matrix A is standardized and dimensionless to obtain a standardized dimensionless matrix B. Specifically, the multiple index data of each test in the multi-index parameter matrix A are dimensionless. In this embodiment, the four indicators of communication distance, system delay time, positioning accuracy, and bit error rate of the 12 tests of forward collision warning, intersection collision warning, left turn assistance, blind spot warning / lane change warning, reverse overtaking warning, emergency braking warning, abnormal vehicle reminder, vehicle loss of control warning, road danger condition reminder, speed limit warning, red light running warning, and vulnerable traffic participant collision warning are dimensionless, and the optimal value is recorded as 1, the worst value is recorded as 0, and the similar indicators of each vehicle are discretely distributed in the interval (0, 1).

[0058] For indicators whose values ​​are larger, the better, such as communication distance, the following formula is used for dimensionless processing:

[0059]

[0060] For indicators whose values ​​are smaller, the better, such as system delay time, positioning accuracy, and bit error rate, the following formula is used for dimensionless processing:

[0061]

[0062] In both formulas, a m Represents the set of mth index data of all vehicles in the multi-index parameter matrix, a i,m represents the mth indicator data of the i-th V2X vehicle, b i,m Represents a i,m The result of dimensionless processing.

[0063] The obtained standardized dimensionless matrix B is recorded as:

[0064]

[0065] Then, the weight matrix β containing the weights of each indicator of each test for each vehicle is calculated using the entropy weight method formula and the standardized dimensionless matrix B. The specific steps are:

[0066] First, use the following formula to calculate the weight of each indicator of each test for each vehicle to obtain the weight matrix C:

[0067]

[0068] Among them, C i ,m is the proportion of the mth index value of the i-th vehicle.

[0069] Calculate the information entropy of the mth column in the weight matrix C:

[0070]

[0071] This information entropy is the basis for assigning weights to each column.

[0072] Calculate the redundancy of the information entropy of the mth column in the weight matrix:

[0073] f m =1-e m

[0074] Calculate the weight of each metric for each test for each vehicle:

[0075]

[0076] Among them, β m is the proportion of the mth index value of the ith vehicle.

[0077] Get the weight matrix β:

[0078]

[0079] Finally, the standardized dimensionless matrix and the weight matrix are multiplied together to output a result matrix G, in which the evaluation results of each V2X vehicle can be directly read.

[0080] The resulting matrix G is:

[0081]

[0082] In the formula, g i is the evaluation result of the i-th V2X car, and is represented by g i The size of determines the performance of the i-th vehicle. The larger the value, the better the performance.

[0083] Embodiment 2

[0084] This embodiment provides a V2X vehicle network safety performance evaluation system, including a data acquisition unit, a processing unit, and a storage unit for acquiring multiple index data of various tests of multiple V2X vehicles in an electromagnetic radiation environment;

[0085] The output end of the data acquisition unit is electrically connected to the processing unit to send the data to the processing unit. The processing unit is electrically connected to the storage unit. The storage unit is used to store at least one executable instruction. The executable instruction enables the processing unit to perform operations corresponding to the multi-target and multi-indicator V2X vehicle network safety performance evaluation method under the electromagnetic interference environment as described in Example 1, and evaluate the V2X vehicle network safety performance.

[0086] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0087] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A multi-objective and multi-index V2X vehicle network safety performance evaluation method under electromagnetic interference environment, characterized in that: The following steps are involved: Obtain multiple indicator data of various tests of multiple V2X vehicles in electromagnetic radiation environments; A multi-index parameter matrix is ​​constructed based on multiple index data of various tests of all V2X vehicles, and the elements of the multi-index parameter matrix are the index values ​​of each V2X vehicle under each test; Performing dimensionless standardization on the multi-index parameter matrix to obtain a dimensionless standardized matrix; Based on the normalized dimensionless matrix, calculating a weight matrix including weights of each indicator of each test for each vehicle; The standardized dimensionless matrix and the weight matrix are multiplied to obtain the evaluation result of each V2X vehicle.

2. The multi-objective and multi-index V2X vehicle network safety performance evaluation method under electromagnetic interference environment according to claim 1 is characterized in that: The multiple indicators of each test include communication distance, system delay time, positioning accuracy and bit error rate.

3. The multi-objective and multi-index V2X vehicle network safety performance evaluation method under electromagnetic interference environment according to claim 1 is characterized in that: After obtaining multiple index data of various tests of multiple V2X vehicles in an electromagnetic radiation environment, the data are screened: Set "inapplicable limits" for different types of tests and exclude V2X vehicles involving "inapplicable limits".

4. The multi-objective and multi-index V2X vehicle network safety performance evaluation method under electromagnetic interference environment according to claim 1 is characterized in that: The multiple index data of various tests of each V2X vehicle in the electromagnetic radiation environment are numbered and sorted in sequence to construct a multi-index parameter matrix.

5. The multi-objective and multi-index V2X vehicle network safety performance evaluation method under electromagnetic interference environment according to claim 1 is characterized in that: The multiple index data of each measurement of the multi-index parameter matrix are dimensionless, the optimal value is recorded as 1, the worst value is recorded as 0, and the similar indexes of each vehicle are discretely distributed in the interval (0, 1); For indicators whose values ​​are larger, the better, the following formula is used for dimensionless processing: For indicators whose values ​​are smaller, the better, the following formula is used for dimensionless processing: Among them, a m Represents the set of mth index data of all vehicles in the multi-index parameter matrix, a i,m represents the mth indicator data of the i-th V2X vehicle, b i,m Represents a i,m The result of dimensionless processing.

6. The multi-objective and multi-index V2X vehicle network safety performance evaluation method under electromagnetic interference environment according to claim 1 is characterized in that: The weight calculation steps for each indicator of each test for each vehicle are: Calculate the weight of each indicator of each test for each vehicle and get the weight matrix: Among them, C i,m is the proportion of the mth index value of the ith vehicle. Calculate the information entropy of the mth column in the weight matrix: Calculate the information entropy redundancy of the mth column in the weight matrix: fm=1-em The weight β of each indicator of each test for each vehicle is calculated as follows: Among them, βm is the proportion of the mth index value of the i-th vehicle.

7. A V2X vehicle network safety performance evaluation system, characterized in that: It includes a data acquisition unit, a processing unit and a storage unit for acquiring multiple index data of various tests of multiple V2X vehicles in an electromagnetic radiation environment; The output end of the data acquisition unit is electrically connected to the processing unit to send the data to the processing unit. The processing unit is electrically connected to a storage unit. The storage unit is used to store at least one executable instruction. The executable instruction enables the processing unit to perform operations corresponding to the multi-target and multi-indicator V2X vehicle network safety performance evaluation method under an electromagnetic interference environment as described in any one of claims 1 to 6, and evaluate the V2X vehicle network safety performance.

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