Processing method and device for evaluating safety and efficiency indexes of vehicle

Abstract

The embodiment of the invention relates to a processing method and device for evaluating safety and efficiency indexes of a vehicle. The method comprises the following steps: setting a vehicle driving route; initializing seven types of tracking counters and four types of efficiency indexes when the vehicle arrives at the initial position of the route, and recording a queue; updating the record queue based on the acquired data and dynamically updating the seven types of tracking counters based on the queue in the process that the vehicle travels from the starting position to the ending position of the current route; when the vehicle arrives at the end position of the route, stopping updating the seven types of tracking counters and updating the four types of efficiency indexes, and after the indexes are updated, comprehensively evaluating the driving safety, the operation efficiency and the energy consumption level of the vehicle based on the seven types of tracking counters and the four types of efficiency indexes to obtain a vehicle evaluation report and storing the vehicle evaluation report. According to the invention, the evaluation means of the electric vehicle with the automatic / unmanned driving function can be further improved, and the immediate evaluation means of the vehicle on the real road can be supplemented.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a processing method and device for evaluating the safety and performance indicators of a vehicle. Background Art

[0002] With the maturity and development of automatic / unmanned driving technology and new energy battery technology, electric vehicles with automatic / unmanned driving functions have gradually moved from concept to practical application. Such vehicles are an important part of future smart city transportation, but in practical applications, the evaluation methods for their driving safety, operating efficiency, energy consumption level, etc. are still imperfect, especially the lack of real-time evaluation methods on real roads. This is exactly the technical problem that the present invention needs to solve. Summary of the invention

[0003] The purpose of the present invention is to provide a processing method, device, electronic device and computer-readable storage medium for evaluating the safety and performance indicators of a vehicle in view of the defects of the prior art. The present invention sets the vehicle evaluation route before each vehicle to be evaluated starts the road evaluation; then, when the vehicle reaches the starting position of the route, the seven types of tracking counters (sudden acceleration counter, sudden deceleration counter, sharp turn counter, sudden lane change counter, emergency start counter, emergency brake counter and manual takeover counter), four types of performance indicators (total travel time, average speed of the road section, average speed of the intersection and travel power consumption) and a record sequence are initialized; then, during the driving process of the vehicle from the starting position to the end position of the route, on the one hand, the record sequence is dynamically updated through data collection, and on the other hand, the seven types of tracking counters are dynamically updated based on the record queue; finally, when the vehicle reaches the end position of the route, the seven types of tracking counters are stopped from being updated, and the four types of performance indicators are updated based on the record queue, and after the performance indicators are updated, the driving safety, operating efficiency and energy consumption level of the vehicle are instantly evaluated based on the seven types of tracking counters and the four types of performance indicators to obtain the corresponding vehicle evaluation report. The present invention can provide an instant evaluation method on a real road for electric vehicles with automatic / unmanned driving functions, can monitor and count various abnormal events that violate safe driving principles in real time during vehicle driving, and can instantly score the driving safety, operating efficiency and energy consumption level of the vehicle during the road test at the end of the vehicle driving. The present invention can further improve the evaluation method of electric vehicles with automatic / unmanned driving functions, and especially effectively supplement the instant evaluation method of such vehicles on real roads.

[0004] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present invention provides a processing method for evaluating the safety and performance indicators of a vehicle, the method comprising:

[0005] Using the preset vehicle evaluation route as the current driving route of the first vehicle;

[0006] When the first vehicle arrives at the starting position of the current driving route, seven types of tracking counters and four types of performance indicators are set; and the seven types of tracking counters and the four types of performance indicators are initialized to 0; and an empty record queue is initialized as the corresponding first record queue; the seven types of tracking counters include a sudden acceleration counter, a sudden deceleration counter, a sharp turn counter, a sudden lane change counter, an emergency start counter, an emergency brake counter and a manual takeover counter; the four types of performance indicators include the total travel time, the average operating speed of the road section, the average operating speed of the intersection and the travel power consumption;

[0007] During the driving process of the first vehicle from the starting position to the end position of the current driving route, the real-time data of the first vehicle is regularly collected based on the preset first collection frequency to obtain the corresponding first data record, which is added to the first record queue; and the seven types of tracking counters are dynamically updated based on the first record queue; the first data record includes a first timestamp, a first driving speed, a first longitudinal acceleration, a first heading angle, a first yaw angle, a first coordinate, a first traffic intersection type, a first driving mode and a first remaining cruising range; the first traffic intersection type includes an ordinary road section type and an intersection type; the first driving mode includes a manual driving mode and an automatic driving mode;

[0008] When the first vehicle reaches the end position of the current driving route, the updating of the seven types of tracking counters is stopped; and the four types of performance indicators are updated once based on the first record queue; and after completing the update of the performance indicators, the driving safety, operating efficiency and energy consumption level of the first vehicle are comprehensively evaluated based on the seven types of tracking counters and the four types of performance indicators to obtain a corresponding vehicle evaluation report and save it; the vehicle evaluation report includes the seven types of tracking counters, the four types of performance indicators, the driving safety score, the operating efficiency score and the energy consumption level score.

[0009] Preferably, the step of periodically collecting the real-time data of the first vehicle based on a preset first collection frequency to obtain corresponding first data records and adding them to the first record queue specifically includes:

[0010] Based on the first acquisition frequency, the current moment is regularly used as a corresponding first timestamp; and the real-time planned driving direction, real-time driving speed, real-time longitudinal acceleration, real-time heading angle, real-time vehicle coordinates, real-time driving mode and real-time remaining cruising range of the first vehicle at the current moment are identified to obtain the corresponding first planned driving direction, the first driving speed, the first longitudinal acceleration, the first heading angle, the first coordinates, the first driving mode and the first remaining cruising range; and the angle between the first heading angle and the first planned driving direction is calculated to obtain the corresponding first yaw angle; and based on a preset on-board high-precision road map, the type of traffic intersection at the location of the first coordinate is identified to obtain the corresponding first traffic intersection type; and a corresponding first data record consisting of the first timestamp corresponding to the current moment, the first driving speed, the first longitudinal acceleration, the first heading angle, the first yaw angle, the first coordinates, the first traffic intersection type, the first driving mode and the first remaining cruising range is added to the first record queue.

[0011] Preferably, the dynamically updating the seven types of tracking counters based on the first record queue specifically includes:

[0012] Step 31, when each first data record is added to the first record queue, whether a sudden acceleration event, an emergency start event, and a manual takeover event occur to the first vehicle is identified according to the first data record added at that time to obtain corresponding first identification results, second identification results, and third identification results; and when the first identification result is that a sudden acceleration event occurs, the count value of the sudden acceleration counter is increased by 1; and when the second identification result is that an emergency start event occurs, the count value of the emergency start counter is increased by 1; and when the third identification result is that a manual takeover event occurs, the count value of the manual takeover counter is increased by 1;

[0013] The first recognition result includes the occurrence of a sudden acceleration event and the absence of a sudden acceleration event; the second recognition result includes the occurrence of an emergency start event and the absence of an emergency start event; the third recognition result includes the occurrence of a manual takeover event and the absence of a manual takeover event;

[0014] Step 32, when each first data record is added to the first record queue, the first data records whose first timestamps are within the preset first most recent time length in the first record queue are extracted to form a corresponding first time length sequence; and the first data records whose first timestamps are within the preset second most recent time length in the first record queue are extracted to form a corresponding second time length sequence; and the first data records whose first timestamps are within the preset third most recent time length in the first record queue are extracted to form a corresponding third time length sequence; and based on the first time length sequence, whether the first vehicle has a sudden deceleration event and whether an emergency braking event has occurred is identified to obtain a corresponding The fourth recognition result and the fifth recognition result; and based on the second time sequence, whether the first vehicle has a sharp turn event is recognized to obtain a corresponding sixth recognition result; and based on the third time sequence, whether the first vehicle has a sharp lane change event is recognized to obtain a corresponding seventh recognition result; and when the fourth recognition result is a sharp deceleration event, the count value of the sharp deceleration counter is increased by 1; and when the fifth recognition result is an emergency braking event, the count value of the emergency braking counter is increased by 1; and when the sixth recognition result is a sharp turn event, the count value of the sharp turn counter is increased by 1; and when the seventh recognition result is a sharp lane change event, the count value of the sharp lane change counter is increased by 1;

[0015] Among them, the first most recent duration < the second most recent duration < the third most recent duration; the fourth recognition result includes the occurrence of a sudden deceleration event and the absence of a sudden deceleration event; the fifth recognition result includes the occurrence of an emergency braking event and the absence of an emergency braking event; the sixth recognition result includes the occurrence of a sharp turn event and the absence of a sharp turn event; the seventh recognition result includes the occurrence of a sudden lane change event and the absence of a sudden lane change event.

[0016] Further, the first data record added at the time is used to identify whether the first vehicle has a sudden acceleration event, whether an emergency start event has occurred, and whether a manual takeover event has occurred to obtain corresponding first recognition results, second recognition results, and third recognition results, specifically including:

[0017] Step 41, taking the first data record added at that time as the corresponding current record;

[0018] Step 42, identifying whether the first longitudinal acceleration currently recorded exceeds a preset first longitudinal acceleration threshold; if so, setting the corresponding first identification result as a sudden acceleration event occurring; if not, setting the corresponding first identification result as no sudden acceleration event occurring;

[0019] Wherein, the first longitudinal acceleration threshold value>0;

[0020] Step 43, identifying the first driving speed and the first longitudinal acceleration currently recorded; if the first driving speed does not exceed a preset first speed threshold and the first longitudinal acceleration exceeds a preset second longitudinal acceleration threshold, setting the corresponding second recognition result as an emergency start event occurring; if the first driving speed exceeds the first speed threshold or the first longitudinal acceleration does not exceed the second longitudinal acceleration threshold, setting the corresponding second recognition result as no emergency start event occurring;

[0021] Wherein, the first speed threshold>0; 0<the second longitudinal acceleration threshold<the first longitudinal acceleration threshold;

[0022] Step 44, identifying whether the current record is the first first data record in the first record queue, if so, setting the corresponding previous driving mode as the manual driving mode, otherwise extracting the first driving mode of the first data record before the current record in the first record queue as the corresponding previous driving mode; and extracting the first driving mode of the current record as the corresponding current driving mode; and comparing the previous driving mode with the current driving mode; if the previous driving mode is the automatic driving mode and the current driving mode is the manual driving mode, setting the corresponding third recognition result as the occurrence of a manual takeover event; if the previous driving mode is the manual driving mode or the current driving mode is the automatic driving mode, setting the corresponding third recognition result as the absence of a manual takeover event;

[0023] Step 45: output the first, second and third recognition results obtained.

[0024] Further, the identifying, based on the first time sequence, whether the first vehicle has a sudden deceleration event and whether an emergency braking event has occurred to obtain a corresponding fourth recognition result and a fifth recognition result specifically includes:

[0025] Step 51, identifying whether the first longitudinal acceleration of all the first data records in the first time sequence does not exceed a preset third longitudinal acceleration threshold; if so, setting the corresponding fourth recognition result as a sudden deceleration event; if not, setting the corresponding fourth recognition result as no sudden deceleration event;

[0026] Wherein, the third longitudinal acceleration threshold value <0;

[0027] Step 52, extracting the first driving speeds of all the first data records in the first time sequence to form a corresponding first speed set, extracting the first longitudinal accelerations of all the first data records in the first time sequence to form a corresponding first acceleration set; and identifying the first speed set and the first acceleration set; if all the first driving speeds of the first speed set do not exceed the preset second speed threshold, and all the first longitudinal accelerations of the first acceleration set do not exceed the third longitudinal acceleration threshold, then setting the corresponding fifth recognition result as an emergency braking event; if at least one of the first driving speeds in the first speed set exceeds the second speed threshold, or at least one of the first longitudinal accelerations in the first acceleration set exceeds the third longitudinal acceleration threshold, then setting the corresponding fifth recognition result as no emergency braking event;

[0028] Wherein, the second speed threshold>the first speed threshold>0;

[0029] Step 53: output the fourth and fifth recognition results.

[0030] Further, the identifying whether the first vehicle has a sharp turn event based on the second time sequence to obtain a corresponding sixth identification result specifically includes:

[0031] Step 61: extract the first driving speeds of all the first data records in the second time sequence to form a corresponding second speed set; and calculate the absolute value of the angle difference between the first heading angles of every two adjacent first data records in the second time sequence to obtain a corresponding first absolute angle difference; and calculate the sum of all the obtained first absolute angle differences to obtain a corresponding first sum angle;

[0032] Step 62, identifying the second speed set and the first total angle; if all the first driving speeds in the second speed set exceed a preset third speed threshold, and the first total angle satisfies a preset first total angle range, setting the corresponding sixth recognition result as a sharp turn event; if at least one of the first driving speeds in the second speed set does not exceed the third speed threshold, or the first total angle does not satisfy the first total angle range, setting the corresponding sixth recognition result as no sharp turn event;

[0033] Wherein, the third speed threshold>the second speed threshold;

[0034] Step 63: output the obtained sixth recognition result.

[0035] Further, the identifying whether the first vehicle has an emergency lane change event based on the third time sequence to obtain a corresponding seventh identification result specifically includes:

[0036] Step 71, calculating the absolute value of the angle difference between the first heading angle of the first and the last first data record of the third time sequence to obtain a corresponding second absolute angle difference; and dividing the second absolute angle difference by the third most recent time sequence to obtain a corresponding first heading change rate;

[0037] Step 72, summing up the first yaw angles of all the first data records in the third time sequence to obtain a corresponding first cumulative yaw angle; and dividing the absolute value of the first cumulative yaw angle by the third most recent time to obtain a corresponding first yaw change rate;

[0038] Step 73, extracting the first driving speeds of all the first data records in the third time sequence to form a corresponding third speed set; and extracting the first longitudinal accelerations of all the first data records in the third time sequence to form a corresponding second acceleration set;

[0039] Step 74, identifying the third speed set, the second acceleration set, the first heading change rate, and the first yaw change rate; if all the first driving speeds in the third speed set exceed a preset fourth speed threshold, and the absolute values ​​of all the first longitudinal accelerations in the second acceleration set do not exceed a preset fourth longitudinal acceleration threshold, and the first heading change rate exceeds a preset first heading change rate threshold, and the first yaw change rate does not exceed a preset first yaw change rate threshold, then setting the corresponding seventh recognition result as an occurrence of an emergency lane change event; if at least one of the first driving speeds in the third speed set does not exceed the fourth speed threshold, or at least one of the absolute values ​​of the first longitudinal acceleration in the second acceleration set exceeds the fourth longitudinal acceleration threshold, or the first heading change rate does not exceed the first heading change rate threshold, or the first yaw change rate exceeds the first yaw change rate threshold, then setting the corresponding seventh recognition result as no occurrence of an emergency lane change event;

[0040] Among them, the fourth speed threshold>the third speed threshold; 0<the fourth longitudinal acceleration threshold<the second longitudinal acceleration threshold; the first heading change rate threshold and the first yaw change rate threshold are both angle change rate thresholds, and the first heading change rate threshold>the first yaw change rate threshold>0;

[0041] Step 75, outputting the seventh recognition result obtained.

[0042] Preferably, the updating of the four types of performance indicators based on the first record queue specifically includes:

[0043] Step 81, calculating the time difference between the first timestamps of the first and last first data records in the first record queue to obtain a corresponding first time difference; and updating the total travel time of the four types of performance indicators based on the first time difference;

[0044] Step 82, calculating the average of the first driving speeds of all the first data records of the first traffic intersection type being a common road section type in the first record queue to obtain a corresponding first average speed; and updating the road section average operating speeds of the four types of performance indicators based on the first average speed;

[0045] Step 83, calculating the average of the first driving speeds of all the first data records of the first traffic intersection type being an intersection type in the first record queue to obtain a corresponding second average speed; and updating the intersection average operating speed of the four types of performance indicators based on the second average speed;

[0046] Step 84, calculate the mileage difference between the first remaining cruising range of the first and last first data records in the first record queue and use the calculation result as the corresponding mileage consumed at the time; and calculate the corresponding first power consumption = (current consumption mileage / vehicle rated cruising range) × vehicle battery rated capacity based on the preset vehicle rated cruising range, the preset vehicle battery rated capacity and the current consumption mileage; and update the trip power consumption of the four types of performance indicators based on the first power consumption.

[0047] Preferably, the comprehensive evaluation of the driving safety, operating efficiency and energy consumption level of the first vehicle based on the seven types of tracking counters and the four types of performance indicators to obtain and save a corresponding vehicle evaluation report specifically includes:

[0048] Step 91, summing up the count values ​​of the seven types of tracking counters and using the calculation result as the corresponding abnormal score; subtracting the abnormal score from the preset full score to obtain the corresponding current remaining score; identifying the current remaining score; if the current remaining score is greater than or equal to 0, setting the corresponding driving safety score to the current remaining score; if the current remaining score is less than 0, setting the corresponding driving safety score to 0;

[0049] Step 92, extract the first timestamps of the first and last first data records in the first record queue to form the corresponding driving period of the current driving time; and query the average driving time of the current driving route in the current driving period on the preset map navigation system to obtain the corresponding first reference time; and calculate the corresponding first parameter = (total travel time / first reference time) × 100% based on the total travel time and the first reference time; and query the speed limit values ​​of all ordinary sections on the current driving route on the map navigation system and form the corresponding first speed limit value set from the query results; and calculate the speed limit values ​​of the current driving route on the map navigation system The speed limit values ​​of all intersections on the road are queried and the query results form a corresponding second speed limit value set; and the speed limit value that appears most times in the first and second speed limit value sets is used as the corresponding first reference speed and second reference speed; and the corresponding second parameter is calculated based on the average operating speed of the road section and the first reference speed = (average operating speed of the road section / first reference speed) × 100%; and the corresponding third parameter is calculated based on the average operating speed of the intersection and the second reference speed = (average operating speed of the intersection / second reference speed) × 100%; and the weighted sum of the first, second and third parameters is calculated and the calculation result is used as the corresponding operation efficiency score;

[0050] Step 93, the straight-line distance between the first coordinates of every two adjacent first data records in the first record queue is calculated to obtain a corresponding first spacing, and the sum of all the obtained first spacings is calculated and the calculation result is used as the corresponding total trip length, where the unit of the total trip length is meter; and based on the trip power consumption and the total trip length, the corresponding power consumption per 100 kilometers is estimated = trip power consumption × (10 5 / total length of the trip); and based on the power consumption per 100 kilometers and the preset fuel consumption per 100 kilometers, the corresponding energy consumption level score is calculated = (power consumption per 100 kilometers / fuel consumption per 100 kilometers) × 100%;

[0051] Step 94, the corresponding vehicle evaluation report is composed of the seven types of tracking counters, the four types of performance indicators, the driving safety score, the operating efficiency score and the energy consumption level score and is saved.

[0052] A second aspect of the embodiment of the present invention provides a device for implementing the processing method for evaluating the safety and efficiency indicators of a vehicle as described in the first aspect, the device being installed on a first vehicle; the device comprising: a route configuration module, a starting evaluation module, a process evaluation module and an evaluation output module;

[0053] The route configuration module is used to use a preset vehicle evaluation route as the current driving route of the first vehicle;

[0054] The starting evaluation module is used to set seven types of tracking counters and four types of performance indicators when the first vehicle arrives at the starting position of the current driving route; and initialize the seven types of tracking counters and the four types of performance indicators to 0; and initialize an empty record queue as the corresponding first record queue; the seven types of tracking counters include a sudden acceleration counter, a sudden deceleration counter, a sharp turn counter, a sudden lane change counter, an emergency start counter, an emergency brake counter and a manual takeover counter; the four types of performance indicators include total travel time, average road section speed, average intersection speed and travel power consumption;

[0055] The process evaluation module is used to collect real-time data of the first vehicle regularly based on a preset first collection frequency during the driving process of the first vehicle from the starting position to the end position of the current driving route, obtain corresponding first data records and add them to the first record queue; and dynamically update the seven types of tracking counters based on the first record queue; the first data record includes a first timestamp, a first driving speed, a first longitudinal acceleration, a first heading angle, a first yaw angle, a first coordinate, a first traffic intersection type, a first driving mode and a first remaining cruising range; the first traffic intersection type includes a normal road section type and an intersection type; the first driving mode includes a manual driving mode and an automatic driving mode;

[0056] The evaluation output module is used to stop updating the seven types of tracking counters when the first vehicle reaches the end position of the current driving route; and to update the four types of performance indicators once based on the first record queue; and after completing the performance indicator update, comprehensively evaluate the driving safety, operating efficiency and energy consumption level of the first vehicle based on the seven types of tracking counters and the four types of performance indicators to obtain and save the corresponding vehicle evaluation report; the vehicle evaluation report includes the seven types of tracking counters, the four types of performance indicators, the driving safety score, the operating efficiency score and the energy consumption level score.

[0057] A third aspect of an embodiment of the present invention provides an electronic device, including: a memory, a processor, and a transceiver;

[0058] The processor is used to be coupled to the memory, read and execute instructions in the memory, so as to implement the method steps described in the first aspect above;

[0059] The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

[0060] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed by a computer, the computer executes the instructions of the method described in the first aspect above.

[0061] The embodiments of the present invention provide a processing method, device, electronic device and computer-readable storage medium for evaluating the safety and performance indicators of a vehicle. It can be seen from the above invention content that the embodiment of the present invention sets the vehicle evaluation route before each vehicle to be evaluated starts the road evaluation; then when the vehicle reaches the starting position of the route, seven types of tracking counters (sudden acceleration counter, sudden deceleration counter, sharp turn counter, sudden lane change counter, emergency start counter, emergency braking counter and manual takeover counter), four types of performance indicators (total travel time, average road section operating speed, average intersection operating speed and travel power consumption) and a record sequence are initialized; then during the vehicle's travel from the starting position to the end position of the route, on the one hand, the record sequence is dynamically updated through data collection, and on the other hand, the seven types of tracking counters are dynamically updated based on the record queue; finally, when the vehicle reaches the end position of the route, the seven types of tracking counters are stopped from being updated, and the four types of performance indicators are updated based on the record queue, and after the performance indicators are updated, the vehicle's driving safety, operating efficiency and energy consumption level are instantly evaluated based on the seven types of tracking counters and the four types of performance indicators to obtain a corresponding vehicle evaluation report. The embodiments of the present invention can provide an instant evaluation method on a real road for electric vehicles with automatic / unmanned driving functions, can monitor and count various types of abnormal events that violate safe driving principles in real time during vehicle driving, and can instantly score the driving safety, operating efficiency and energy consumption level of the vehicle during the road test at the end of the vehicle driving. Through the embodiments of the present invention, the evaluation method of electric vehicles with automatic / unmanned driving functions can be further improved, especially the instant evaluation method of such vehicles on real roads can be effectively supplemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A schematic diagram of a processing method for evaluating the safety and performance indicators of a vehicle provided in the first embodiment of the present invention;

[0063] Figure 2 A module structure diagram of a processing device for evaluating the safety and performance indicators of a vehicle provided in the second embodiment of the present invention;

[0064] Figure 3 A schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all 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.

[0066] A processing method for evaluating the safety and performance indicators of a vehicle is provided in a first embodiment of the present invention, such as Figure 1 A schematic diagram of a processing method for evaluating the safety and performance indicators of a vehicle provided in the first embodiment of the present invention includes the following main steps:

[0067] Step 1: Use the preset vehicle evaluation route as the current driving route of the first vehicle.

[0068] Here, the first vehicle in the embodiment of the present invention is an electric vehicle with automatic / unmanned driving functions; the vehicle evaluation route is a driving route of a driving vehicle set based on a real road.

[0069] Step 2, when the first vehicle arrives at the starting position of the current driving route, set seven types of tracking counters and four types of performance indicators; initialize the seven types of tracking counters and four types of performance indicators to 0; and initialize an empty record queue as the corresponding first record queue.

[0070] Here, the seven types of tracking counters in the embodiment of the present invention include a sudden acceleration counter, a sudden deceleration counter, a sharp turn counter, a sudden lane change counter, an emergency start counter, an emergency braking counter and a manual takeover counter. These seven types of counters are used to count the number of occurrences of seven types of abnormal driving events (sudden acceleration events, sudden deceleration events, sharp turn events, sudden lane change events, emergency start events, emergency braking events, and manual takeover events). The four types of performance indicators in the embodiment of the present invention include total travel time, average road section speed, average intersection speed and travel power consumption; wherein, the total travel time refers to the total driving time of the road test, the average road section speed refers to the average vehicle speed on all ordinary road sections during the road test, the average intersection speed refers to the average vehicle speed on all intersections during the road test, and the travel power consumption refers to the total power consumption of the road test. As can be seen from the following, the first record queue in the embodiment of the present invention is used to store all data records collected during the road test.

[0071] Step 3, during the driving process of the first vehicle from the starting position to the ending position of the current driving route, the real-time data of the first vehicle is regularly collected based on a preset first collection frequency to obtain corresponding first data records and add them to a first record queue; and the seven types of tracking counters are dynamically updated based on the first record queue;

[0072] Specifically, the method comprises: step 31, during the driving process of the first vehicle from the starting position to the ending position of the current driving route, regularly collecting real-time data of the first vehicle based on a preset first collection frequency to obtain corresponding first data records and add them to a first record queue;

[0073] Among them, the first acquisition frequency is a preset time frequency parameter; the first data record includes a first timestamp, a first driving speed, a first longitudinal acceleration, a first heading angle, a first yaw angle, a first coordinate, a first traffic intersection type, a first driving mode and a first remaining cruising range; the first traffic intersection type includes a common road section type and an intersection type; the first driving mode includes a manual driving mode and an automatic driving mode;

[0074] Specifically including: based on the first acquisition frequency, the current moment is regularly used as a corresponding first timestamp; and the real-time planned driving direction, real-time driving speed, real-time longitudinal acceleration, real-time heading angle, real-time vehicle coordinates, real-time driving mode and real-time remaining cruising range of the first vehicle at the current moment are identified to obtain the corresponding first planned driving direction, first driving speed, first longitudinal acceleration, first heading angle, first coordinates, first driving mode and first remaining cruising range; and the angle between the first heading angle and the first planned driving direction is calculated to obtain the corresponding first yaw angle; and based on the preset on-board high-precision road map, the type of traffic intersection at the location of the first coordinate is identified to obtain the corresponding first traffic intersection type; and a corresponding first data record composed of the first timestamp corresponding to the current moment, the first driving speed, the first longitudinal acceleration, the first heading angle, the first yaw angle, the first coordinates, the first traffic intersection type, the first driving mode and the first remaining cruising range is added to the first record queue;

[0075] Here, the embodiment of the present invention can obtain various collected data through the vehicle-mounted system of the first vehicle: real-time planned driving direction, real-time driving speed, real-time longitudinal acceleration, real-time heading angle, real-time vehicle coordinates, real-time driving mode and real-time remaining cruising range; the vehicle-mounted road high-precision map is a pre-set road high-precision map, and the road points at non-intersections on such high-precision maps have corresponding traffic intersection types of ordinary road section types, and the road points at intersections have corresponding traffic intersection types of intersection types;

[0076] Step 32, dynamically updating seven types of tracking counters based on the first record queue;

[0077] Specifically, the method comprises: step 321, when each first data record is added to the first record queue, identifying whether a sudden acceleration event, an emergency start event, and a manual takeover event occur in the first vehicle according to the first data record added at that time to obtain corresponding first identification results, second identification results, and third identification results; and when the first identification result is that a sudden acceleration event occurs, the count value of the sudden acceleration counter is increased by 1; and when the second identification result is that an emergency start event occurs, the count value of the emergency start counter is increased by 1; and when the third identification result is that a manual takeover event occurs, the count value of the manual takeover counter is increased by 1;

[0078] Specifically, step 3211, when each first data record is added to the first record queue, identifying whether a sudden acceleration event, an emergency start event, and a manual takeover event occur in the first vehicle according to the first data record added at that time to obtain corresponding first identification results, second identification results, and third identification results;

[0079] The first recognition result includes the occurrence of a sudden acceleration event and the absence of a sudden acceleration event; the second recognition result includes the occurrence of an emergency start event and the absence of an emergency start event; the third recognition result includes the occurrence of a manual takeover event and the absence of a manual takeover event;

[0080] Specifically comprising: step 32111, taking the first data record added at the time as the corresponding current record;

[0081] Step 32112, identifying whether the currently recorded first longitudinal acceleration exceeds a preset first longitudinal acceleration threshold; if so, setting the corresponding first identification result as a sudden acceleration event; if not, setting the corresponding first identification result as no sudden acceleration event;

[0082] Wherein, the first longitudinal acceleration threshold value>0;

[0083] For example, the first longitudinal acceleration threshold is set to 3m / s 2 ,So:

[0084] At the first longitudinal acceleration ≥ 3m / s 2 When the first recognition result = a sudden acceleration event occurs,

[0085] At the first longitudinal acceleration <3m / s 2 When, the first recognition result = no sudden acceleration event occurs;

[0086] Step 32113, identifying the first driving speed and the first longitudinal acceleration currently recorded; if the first driving speed does not exceed the preset first speed threshold and the first longitudinal acceleration exceeds the preset second longitudinal acceleration threshold, setting the corresponding second recognition result as the occurrence of an emergency start event; if the first driving speed exceeds the first speed threshold or the first longitudinal acceleration does not exceed the second longitudinal acceleration threshold, setting the corresponding second recognition result as the occurrence of no emergency start event;

[0087] Wherein, the first speed threshold>0, 0<the second longitudinal acceleration threshold<the first longitudinal acceleration threshold;

[0088] For example, the first speed threshold is set to 5 km / h and the second longitudinal acceleration threshold is set to 2 m / s 2 ,So:

[0089] When the first driving speed is less than 5km / h and the first longitudinal acceleration is greater than or equal to 2m / s 2 When the second identification result = emergency start event occurs,

[0090] When the first driving speed is ≥5km / h and the first longitudinal acceleration is <2m / s 2 When, the second identification result = no emergency start event occurs;

[0091] Step 32114, identifying whether the current record is the first first data record of the first record queue, if so, setting the corresponding previous driving mode as the manual driving mode, otherwise extracting the first driving mode of the previous first data record of the current record in the first record queue as the corresponding previous driving mode; and extracting the first driving mode of the current record as the corresponding current driving mode; and comparing the previous driving mode with the current driving mode; if the previous driving mode is the automatic driving mode and the current driving mode is the manual driving mode, setting the corresponding third recognition result as the occurrence of a manual takeover event; if the previous driving mode is the manual driving mode or the current driving mode is the automatic driving mode, then setting the corresponding third recognition result as the occurrence of no manual takeover event;

[0092] Step 32115, outputting the obtained first, second and third recognition results;

[0093] Step 3212, when the first recognition result is that a sudden acceleration event occurs, the count value of the sudden acceleration counter is increased by 1; when the second recognition result is that an emergency start event occurs, the count value of the emergency start counter is increased by 1; and when the third recognition result is that a manual takeover event occurs, the count value of the manual takeover counter is increased by 1;

[0094] Step 322, when each first data record is added to the first record queue, the first data records whose first timestamps are within the preset first most recent time length in the first record queue are extracted to form a corresponding first time length sequence; and the first data records whose first timestamps are within the preset second most recent time length in the first record queue are extracted to form a corresponding second time length sequence; and the first data records whose first timestamps are within the preset third most recent time length in the first record queue are extracted to form a corresponding third time length sequence; and based on the first time length sequence, whether a sudden deceleration event and an emergency braking event occur in the first vehicle are identified to obtain a corresponding first time length sequence. The fourth recognition result and the fifth recognition result; and based on the second time sequence, whether the first vehicle has a sharp turn event is recognized to obtain a corresponding sixth recognition result; and based on the third time sequence, whether the first vehicle has a sharp lane change event is recognized to obtain a corresponding seventh recognition result; and when the fourth recognition result is a sharp deceleration event, the count value of the sharp deceleration counter is increased by 1; and when the fifth recognition result is an emergency braking event, the count value of the emergency braking counter is increased by 1; and when the sixth recognition result is a sharp turn event, the count value of the sharp turn counter is increased by 1; and when the seventh recognition result is a sharp lane change event, the count value of the sharp lane change counter is increased by 1;

[0095] Specifically comprising: step 3221, when each first data record is added to the first record queue, extracting the first data records in the first record queue whose first timestamps are within a preset first most recent time length to form a corresponding first time length sequence; and extracting the first data records in the first record queue whose first timestamps are within a preset second most recent time length to form a corresponding second time length sequence; and extracting the first data records in the first record queue whose first timestamps are within a preset third most recent time length to form a corresponding third time length sequence;

[0096] Here, the first most recent duration < the second most recent duration < the third most recent duration; for example, the first most recent duration is set to 0.3 seconds, the second most recent duration is set to 4 seconds, and the third most recent duration is set to 5 seconds;

[0097] Step 3222, based on the first time sequence, identifying whether a sudden deceleration event occurs for the first vehicle and whether an emergency braking event occurs to obtain corresponding fourth and fifth recognition results;

[0098] The fourth recognition result includes the occurrence of a sudden deceleration event and the absence of a sudden deceleration event; the fifth recognition result includes the occurrence of an emergency braking event and the absence of an emergency braking event;

[0099] Specifically comprising: step 32221, identifying whether the first longitudinal accelerations of all first data records in the first time sequence do not exceed a preset third longitudinal acceleration threshold; if so, setting the corresponding fourth recognition result as a sudden deceleration event; if not, setting the corresponding fourth recognition result as no sudden deceleration event;

[0100] Wherein, the third longitudinal acceleration threshold value <0;

[0101] For example, the third longitudinal acceleration threshold is set to -4.5 m / s 2 ,So:

[0102] If the first longitudinal acceleration of all first data records in the first time sequence does not exceed the third longitudinal acceleration threshold, that is, the vehicle longitudinal acceleration is always <-4.5m / s in the last 0.3 seconds 2 , set the fourth recognition result = sudden deceleration event;

[0103] If the first longitudinal acceleration of at least one first data record in the first time sequence exceeds the third longitudinal acceleration threshold, that is, the vehicle longitudinal acceleration at at least one time in the last 0.3 seconds is ≥ -4.5 m / s 2 , set the fourth recognition result = no sudden deceleration event occurs;

[0104] Step 32222, extract the first driving speeds of all the first data records in the first time sequence to form a corresponding first speed set, extract the first longitudinal accelerations of all the first data records in the first time sequence to form a corresponding first acceleration set; and identify the first speed set and the first acceleration set; if all the first driving speeds of the first speed set do not exceed the preset second speed threshold, and all the first longitudinal accelerations of the first acceleration set do not exceed the third longitudinal acceleration threshold, then set the corresponding fifth recognition result as an emergency braking event; if at least one first driving speed in the first speed set exceeds the second speed threshold, or at least one first longitudinal acceleration in the first acceleration set exceeds the third longitudinal acceleration threshold, then set the corresponding fifth recognition result as no emergency braking event;

[0105] Wherein, the second speed threshold>the first speed threshold>0;

[0106] For example, if the second speed threshold is set to 10km / h, then:

[0107] If all the first driving speeds of the first speed set do not exceed the second speed threshold and all the first longitudinal accelerations of the first acceleration set do not exceed the third longitudinal acceleration threshold, that is, the vehicle speed is always <10km / h and the vehicle longitudinal acceleration is always <-4.5m / s in the last 0.3 seconds 2, set the fifth recognition result = emergency braking event occurs;

[0108] If at least one first driving speed in the first speed set exceeds the second speed threshold or at least one first longitudinal acceleration in the first acceleration set exceeds the third longitudinal acceleration threshold, that is, within the last 0.3 seconds, at least one moment of vehicle speed ≥ 10 km / h or at least one moment of vehicle longitudinal acceleration ≥ -4.5 m / s 2 , set the fifth recognition result = no emergency braking event occurs;

[0109] Step 32223, outputting the fourth and fifth recognition results;

[0110] Step 3223, identifying whether the first vehicle has a sharp turn event based on the second time sequence to obtain a corresponding sixth recognition result;

[0111] The sixth recognition result includes a sharp turn event and a sharp turn event not occurring;

[0112] Specifically, it includes: step 32231, extracting the first driving speeds of all the first data records in the second time sequence to form a corresponding second speed set; and calculating the absolute value of the angle difference between the first heading angles of every two adjacent first data records in the second time sequence to obtain a corresponding first absolute angle difference; and summing up all the obtained first absolute angle differences to obtain a corresponding first sum angle;

[0113] Step 32232, identifying the second speed set and the first total angle; if all the first driving speeds of the second speed set exceed the preset third speed threshold, and the first total angle satisfies the preset first total angle range, then the corresponding sixth recognition result is set as a sharp turn event occurs; if at least one first driving speed in the second speed set does not exceed the third speed threshold, or the first total angle does not satisfy the first total angle range, then the corresponding sixth recognition result is set as no sharp turn event occurs;

[0114] Wherein, the third speed threshold value>the second speed threshold value; the first total angle range is a preset angle range;

[0115] For example, the third speed threshold is set to 20 km / h, and the first total angle range is set to an angle range from 60 to 120 degrees. Then:

[0116] If all the first driving speeds of the second speed set exceed the third speed threshold and the first total angle satisfies the first total angle range, i.e., the vehicle driving speed is always ≥ 20 km / h in the last 4 seconds and the cumulative change value of the vehicle heading angle is within the angle range of 60-120 degrees, set the sixth recognition result = sharp turn event;

[0117] If at least one first driving speed in the second speed set does not exceed the third speed threshold or the first total angle does not satisfy the first total angle range, that is, the vehicle driving speed at at least one moment in the last 4 seconds is less than 20 km / h or the cumulative change value of the vehicle heading angle is not within the angle range of 60-120 degrees, set the sixth recognition result = no sharp turn event;

[0118] Step 32233, outputting the obtained sixth recognition result;

[0119] Step 3224, identifying whether the first vehicle has an emergency lane change event based on the third time sequence to obtain a corresponding seventh recognition result;

[0120] Among them, the seventh recognition result includes the occurrence of an emergency lane change event and the absence of an emergency lane change event;

[0121] Specifically comprising: step 32241, calculating the absolute value of the angle difference between the first heading angle of the first and last first data records of the third time sequence to obtain a corresponding second absolute angle difference; and dividing the second absolute angle difference by the third most recent time to obtain a corresponding first heading change rate;

[0122] Step 32242, summing up the first yaw angles of all first data records of the third time sequence to obtain a corresponding first cumulative yaw angle; and dividing the absolute value of the first cumulative yaw angle by the third most recent time to obtain a corresponding first yaw change rate;

[0123] Step 32243, extracting the first driving speeds of all the first data records in the third time sequence to form a corresponding third speed set; and extracting the first longitudinal accelerations of all the first data records in the third time sequence to form a corresponding second acceleration set;

[0124] Step 32244, identifying the third speed set, the second acceleration set, the first heading change rate, and the first yaw change rate; if all the first driving speeds of the third speed set exceed the preset fourth speed threshold, and the absolute values ​​of all the first longitudinal accelerations of the second acceleration set do not exceed the preset fourth longitudinal acceleration threshold, and the first heading change rate exceeds the preset first heading change rate threshold, and the first yaw change rate does not exceed the preset first yaw change rate threshold, then the corresponding seventh recognition result is set as the occurrence of an emergency lane change event; if at least one of the first driving speeds in the third speed set does not exceed the fourth speed threshold, or the absolute value of at least one of the first longitudinal accelerations in the second acceleration set exceeds the fourth longitudinal acceleration threshold, or the first heading change rate does not exceed the first heading change rate threshold, or the first yaw change rate exceeds the first yaw change rate threshold, then the corresponding seventh recognition result is set as the occurrence of no emergency lane change event;

[0125] Among them, the fourth speed threshold>the third speed threshold; 0<the fourth longitudinal acceleration threshold<the second longitudinal acceleration threshold; the first heading change rate threshold and the first yaw change rate threshold are both angle change rate thresholds, and the first heading change rate threshold>the first yaw change rate threshold>0;

[0126] For example, the fourth speed threshold is set to 30 km / h, and the fourth longitudinal acceleration threshold is set to 0.6 m / s 2 , set the first heading change rate threshold to 8 degrees / second, and the first yaw change rate threshold to 2 degrees / second, then:

[0127] If all first driving speeds of the third speed set exceed the fourth speed threshold, and the absolute values ​​of all first longitudinal accelerations of the second acceleration set do not exceed the fourth longitudinal acceleration threshold, and the first heading change rate exceeds the first heading change rate threshold, and the first yaw change rate does not exceed the first yaw change rate threshold, that is, in the last 5 seconds, the vehicle's driving speed is always ≥ 30 km / h, and the vehicle's longitudinal acceleration is always within ±0.6 m / s 2 If the vehicle heading change rate is always ≥ 8 degrees / second and the vehicle yaw change rate is always < 2 degrees / second, the corresponding seventh recognition result is set to = an emergency lane change event occurs;

[0128] If at least one of the first driving speeds in the third speed set does not exceed the fourth speed threshold, or at least one of the absolute values ​​of the first longitudinal acceleration in the second acceleration set exceeds the fourth longitudinal acceleration threshold, or the first heading change rate does not exceed the first heading change rate threshold, or the first yaw change rate exceeds the first yaw change rate threshold, that is, within the last 5 seconds, at least one moment in time the vehicle's driving speed is <30 km / h or at least one moment in time the vehicle's longitudinal acceleration is not within ±0.6 m / s 2 If the vehicle heading change rate at at least one moment is less than 8 degrees / second or the vehicle yaw change rate at at least one moment is greater than or equal to 2 degrees / second, the corresponding seventh recognition result is set to not occur in the emergency lane change event;

[0129] Step 32245, outputting the seventh recognition result;

[0130] Step 3225, when the fourth recognition result is a sudden deceleration event, the count value of the sudden deceleration counter is increased by 1; when the fifth recognition result is an emergency braking event, the count value of the emergency braking counter is increased by 1; when the sixth recognition result is a sudden turn event, the count value of the sudden turn counter is increased by 1; and when the seventh recognition result is a sudden lane change event, the count value of the sudden lane change counter is increased by 1.

[0131] Step 4: when the first vehicle reaches the end position of the current driving route, stop updating the seven types of tracking counters; and update the four types of performance indicators based on the first record queue; and after completing the performance indicator update, comprehensively evaluate the driving safety, operating efficiency and energy consumption level of the first vehicle based on the seven types of tracking counters and the four types of performance indicators to obtain a corresponding vehicle evaluation report and save it;

[0132] Specifically, the method comprises: step 41, when the first vehicle reaches the end position of the current driving route, stopping updating the seven types of tracking counters;

[0133] Step 42, updating the four types of performance indicators based on the first record queue;

[0134] Step 421, calculating the time difference between the first timestamps of the first and last first data records of the first record queue to obtain a corresponding first time difference; and updating the total travel time of the four types of performance indicators based on the first time difference;

[0135] Step 422, calculating the average of the first driving speeds of all first data records of the first traffic intersection type being the ordinary road section type in the first record queue to obtain a corresponding first average speed; and updating the road section average operating speeds of the four types of performance indicators based on the first average speed;

[0136] Step 423, calculating the average of the first driving speeds of all first data records of the first traffic intersection type of the intersection type in the first record queue to obtain a corresponding second average speed; and updating the intersection average running speed of the four types of performance indicators based on the second average speed;

[0137] Step 424, calculate the mileage difference between the first remaining cruising range of the first and last first data records in the first record queue and use the calculation result as the corresponding current consumption mileage; and calculate the corresponding first power consumption = (current consumption mileage / vehicle rated cruising range) × vehicle battery rated capacity based on the preset vehicle rated cruising range, the preset vehicle battery rated capacity and the current consumption mileage; and update the travel power consumption of the four types of performance indicators based on the first power consumption;

[0138] Step 43, after completing the updating of the performance indicators, comprehensively evaluating the driving safety, operating efficiency and energy consumption level of the first vehicle based on the seven types of tracking counters and the four types of performance indicators to obtain a corresponding vehicle evaluation report and save it;

[0139] Among them, the vehicle evaluation report includes seven types of tracking counters, four types of performance indicators, driving safety score, operating efficiency score and energy consumption level score;

[0140] Specifically, the method comprises: step 431, summing up the count values ​​of the seven types of tracking counters and using the calculation result as the corresponding abnormality score; subtracting the abnormality score from the preset full score to obtain the corresponding current remaining score; identifying the current remaining score; if the current remaining score is greater than or equal to 0, setting the corresponding driving safety score to the current remaining score; if the current remaining score is less than 0, setting the corresponding driving safety score to 0;

[0141] Here, the driving safety score of the embodiment of the present invention generally adopts a percentage system, and the preset full score is 100 points by default; the driving safety of all evaluated vehicles can be compared horizontally through the driving safety score, and the higher the driving safety score, the better the driving safety of the vehicle, and vice versa, the lower the driving safety score, the worse the driving safety of the vehicle;

[0142] Step 432, extract the first timestamps of the first and last first data records in the first record queue to form the corresponding driving period; and query the average driving time of the current driving route in the current driving period on the preset map navigation system to obtain the corresponding first reference time; and calculate the corresponding first parameter = (total travel time / first reference time) × 100% based on the total travel time and the first reference time; and query the speed limit values ​​of all ordinary sections on the current driving route on the map navigation system and form the corresponding first speed limit value set from the query results; and calculate the speed limit values ​​of all ordinary sections on the current driving route on the map navigation system The speed limit value of the intersection is queried and the query result forms a corresponding second speed limit value set; the speed limit value that appears most times in the first and second speed limit value sets is used as the corresponding first reference speed and second reference speed; and the corresponding second parameter is calculated based on the average operating speed of the section and the first reference speed = (average operating speed of the section / first reference speed) × 100%; and the corresponding third parameter is calculated based on the average operating speed of the intersection and the second reference speed = (average operating speed of the intersection / second reference speed) × 100%; and the weighted sum of the first, second and third parameters is calculated and the calculation result is used as the corresponding operation efficiency score;

[0143] Here, the map navigation system of the embodiment of the present invention is a map system that provides multiple query functions, such as the AutoNavi navigation system; the processing method for confirming the first and second reference speeds in the embodiment of the present invention is actually a "mode" identification method, and the speed limit value that appears most times in the first speed limit value set is the mode identified from the first speed limit value set, that is, the first reference speed; the speed limit value that appears most times in the second speed limit value set is the mode identified from the second speed limit value set, that is, the second reference speed; the first, second and third parameters obtained in the embodiment of the present invention are actually three types of normalization coefficients, specifically: the first parameter is related to the driving time The first parameter is a normalized parameter related to the driving speed of the non-intersection section, the second parameter is a normalized parameter related to the driving speed of the intersection section, and the third parameter is a normalized parameter related to the driving speed of the intersection section; the operating efficiency score of the embodiment of the present invention = w1×the first parameter + w2×the second parameter + w3×the third parameter, wherein w1, w2, and w3 are three corresponding weighting coefficients, and the default values ​​are w1=0.4, w2=0.3, and w3=0.3; the operating efficiency score can be used to compare the operating efficiencies of all evaluated vehicles horizontally. If the operating efficiency score is closer to 1, the operating efficiency of the vehicle is better, and conversely, if the operating efficiency score is farther away from 1, the operating efficiency of the vehicle is worse;

[0144] Step 433, the straight-line distance between the first coordinates of every two adjacent first data records in the first record queue is calculated to obtain the corresponding first spacing, and the sum of all the obtained first spacings is calculated and the calculation result is used as the corresponding total length of the trip, and the unit of the total length of the trip is meter; and the corresponding power consumption per 100 kilometers is estimated based on the trip power consumption and the total length of the trip = trip power consumption × (10 5 / total length of the trip); and based on the power consumption per 100 km and the preset fuel consumption per 100 km, the corresponding energy consumption level score is calculated = (power consumption per 100 km / fuel consumption per 100 km) × 100%;

[0145] Here, the fuel consumption per 100 kilometers is a preset fuel consumption, and generally a specific vehicle model's fuel consumption per 100 kilometers is selected to set it; the energy-saving level of all evaluated vehicles can be compared horizontally through the energy consumption level score. The lower the energy consumption level score, the higher the energy-saving level of the vehicle; conversely, the higher the energy consumption level score, the lower the energy-saving level of the vehicle;

[0146] Step 434, a corresponding vehicle evaluation report is formed and saved, which is composed of seven types of tracking counters, four types of performance indicators, driving safety score, operating efficiency score and energy consumption level score.

[0147] Figure 2A module structure diagram of a processing device for evaluating the safety and performance indicators of a vehicle provided in the second embodiment of the present invention. The device is a terminal device or server that implements the aforementioned method embodiment, and may also be a device that enables the aforementioned terminal device or server to implement the aforementioned method embodiment. For example, the device may be a device or chip system of the aforementioned terminal device or server. The processing device 200 for evaluating the safety and performance indicators of a vehicle provided in the second embodiment of the present invention is installed on a test vehicle, i.e., the first vehicle 100 of the aforementioned method embodiment, and is connected to the on-board system of the first vehicle 100 so as to obtain various collected data. Figure 2 As shown, the processing device 200 for evaluating the safety and performance indicators of a vehicle provided in the second embodiment of the present invention includes: a route configuration module 2001, a starting evaluation module 2002, a process evaluation module 2003 and an evaluation output module 2004.

[0148] The route configuration module 2001 is used to use the preset vehicle evaluation route as the current driving route of the first vehicle.

[0149] The starting evaluation module 2002 is used to set seven types of tracking counters and four types of performance indicators when the first vehicle arrives at the starting position of the current driving route; and initialize the seven types of tracking counters and the four types of performance indicators to 0; and initialize an empty record queue as the corresponding first record queue; the seven types of tracking counters include a sudden acceleration counter, a sudden deceleration counter, a sudden turn counter, a sudden lane change counter, an emergency start counter, an emergency braking counter and a manual takeover counter; the four types of performance indicators include the total travel time, the average operating speed of the road section, the average operating speed of the intersection and the travel power consumption.

[0150] The process evaluation module 2003 is used to periodically collect real-time data of the first vehicle based on a preset first collection frequency during the driving process of the first vehicle from the starting position to the end position of the current driving route, obtain corresponding first data records and add them to the first record queue; and dynamically update seven types of tracking counters based on the first record queue; the first data record includes a first timestamp, a first driving speed, a first longitudinal acceleration, a first heading angle, a first yaw angle, a first coordinate, a first traffic intersection type, a first driving mode and a first remaining cruising range; the first traffic intersection type includes an ordinary road section type and an intersection type; the first driving mode includes a manual driving mode and an automatic driving mode.

[0151] The evaluation output module 2004 is used to stop updating the seven types of tracking counters when the first vehicle reaches the end position of the current driving route; and to update the four types of performance indicators based on the first record queue; and after completing the update of the performance indicators, to comprehensively evaluate the driving safety, operating efficiency and energy consumption level of the first vehicle based on the seven types of tracking counters and the four types of performance indicators to obtain and save the corresponding vehicle evaluation report; the vehicle evaluation report includes seven types of tracking counters, four types of performance indicators, driving safety scores, operating efficiency scores and energy consumption level scores.

[0152] An embodiment of the present invention provides a processing device for evaluating the safety and performance indicators of a vehicle, which can execute the method steps in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here.

[0153] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. For example, the route configuration module can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The function of the above-mentioned module is determined. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0154] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more digital signal processors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module above is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0155] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the above method embodiments are generated. The above computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above-mentioned computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the above-mentioned computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, Bluetooth, microwave, etc.) methods. The above-mentioned computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The above-mentioned available medium can be a magnetic medium (such as a floppy disk, a hard disk, a tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0156] Figure 3 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. The electronic device may be a terminal device or a server for implementing the method of the aforementioned embodiment, or may be a terminal device or a server for implementing the method of the aforementioned embodiment connected to the aforementioned terminal device or server. Figure 3As shown, the electronic device may include: a processor 301 (such as a CPU), a memory 302, and a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transceiver 303. Various instructions may be stored in the memory 302 to complete various processing functions and implement the processing steps described in the aforementioned embodiment method. Preferably, the electronic device involved in the embodiment of the present invention also includes: a power supply 304, a system bus 305 and a communication port 306. The system bus 305 is used to realize the communication connection between components. The above-mentioned communication port 306 is used for connecting and communicating between the electronic device and other peripherals.

[0157] exist Figure 3 The system bus 305 mentioned in the figure can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used to realize the communication between the database access device and other devices (such as clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM), and may also include non-volatile memory (Non-Volatile Memory), such as at least one disk storage.

[0158] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (Network Processor, NP), a graphics processing unit (Graphics Processing Unit, GPU), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0159] It should be noted that an embodiment of the present invention further provides a computer-readable storage medium, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the method and processing process provided in the above embodiments.

[0160] The embodiments of the present invention provide a processing method, device, electronic device and computer-readable storage medium for evaluating the safety and performance indicators of a vehicle. It can be seen from the above invention content that the embodiment of the present invention sets the vehicle evaluation route before each vehicle to be evaluated starts the road evaluation; then when the vehicle reaches the starting position of the route, seven types of tracking counters (sudden acceleration counter, sudden deceleration counter, sharp turn counter, sudden lane change counter, emergency start counter, emergency braking counter and manual takeover counter), four types of performance indicators (total travel time, average road section operating speed, average intersection operating speed and travel power consumption) and a record sequence are initialized; then during the vehicle's travel from the starting position to the end position of the route, on the one hand, the record sequence is dynamically updated through data collection, and on the other hand, the seven types of tracking counters are dynamically updated based on the record queue; finally, when the vehicle reaches the end position of the route, the seven types of tracking counters are stopped from being updated, and the four types of performance indicators are updated based on the record queue, and after the performance indicators are updated, the vehicle's driving safety, operating efficiency and energy consumption level are instantly evaluated based on the seven types of tracking counters and the four types of performance indicators to obtain a corresponding vehicle evaluation report. The embodiments of the present invention can provide an instant evaluation method on a real road for electric vehicles with automatic / unmanned driving functions, can monitor and count various types of abnormal events that violate safe driving principles in real time during vehicle driving, and can instantly score the driving safety, operating efficiency and energy consumption level of the vehicle during the road test at the end of the vehicle driving. Through the embodiments of the present invention, the evaluation method of electric vehicles with automatic / unmanned driving functions can be further improved, especially the instant evaluation method of such vehicles on real roads can be effectively supplemented.

[0161] The professionals should further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0162] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0163] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for evaluating the safety and performance indicators of a vehicle, characterized in that: The method comprises: Using the preset vehicle evaluation route as the current driving route of the first vehicle; When the first vehicle arrives at the starting position of the current driving route, seven types of tracking counters and four types of performance indicators are set; and the seven types of tracking counters and the four types of performance indicators are initialized to 0; and an empty record queue is initialized as the corresponding first record queue; the seven types of tracking counters include a sudden acceleration counter, a sudden deceleration counter, a sharp turn counter, a sudden lane change counter, an emergency start counter, an emergency brake counter and a manual takeover counter; the four types of performance indicators include the total travel time, the average operating speed of the road section, the average operating speed of the intersection and the travel power consumption; During the driving process of the first vehicle from the starting position to the end position of the current driving route, the real-time data of the first vehicle is regularly collected based on the preset first collection frequency to obtain the corresponding first data record, which is added to the first record queue; and the seven types of tracking counters are dynamically updated based on the first record queue; the first data record includes a first timestamp, a first driving speed, a first longitudinal acceleration, a first heading angle, a first yaw angle, a first coordinate, a first traffic intersection type, a first driving mode and a first remaining cruising range; the first traffic intersection type includes an ordinary road section type and an intersection type; the first driving mode includes a manual driving mode and an automatic driving mode; When the first vehicle reaches the end position of the current driving route, the updating of the seven types of tracking counters is stopped; and the four types of performance indicators are updated once based on the first record queue; and after completing the update of the performance indicators, the driving safety, operating efficiency and energy consumption level of the first vehicle are comprehensively evaluated based on the seven types of tracking counters and the four types of performance indicators to obtain a corresponding vehicle evaluation report and save it; the vehicle evaluation report includes the seven types of tracking counters, the four types of performance indicators, the driving safety score, the operating efficiency score and the energy consumption level score.

2. The method for evaluating the safety and performance indicators of a vehicle according to claim 1, characterized in that: The periodically collecting the real-time data of the first vehicle based on a preset first collection frequency to obtain corresponding first data records and adding them to the first record queue specifically includes: Based on the first acquisition frequency, the current moment is regularly used as a corresponding first timestamp; and the real-time planned driving direction, real-time driving speed, real-time longitudinal acceleration, real-time heading angle, real-time vehicle coordinates, real-time driving mode and real-time remaining cruising range of the first vehicle at the current moment are identified to obtain the corresponding first planned driving direction, the first driving speed, the first longitudinal acceleration, the first heading angle, the first coordinates, the first driving mode and the first remaining cruising range; and the angle between the first heading angle and the first planned driving direction is calculated to obtain the corresponding first yaw angle; and based on a preset on-board high-precision road map, the type of traffic intersection at the location of the first coordinate is identified to obtain the corresponding first traffic intersection type; and a corresponding first data record consisting of the first timestamp corresponding to the current moment, the first driving speed, the first longitudinal acceleration, the first heading angle, the first yaw angle, the first coordinates, the first traffic intersection type, the first driving mode and the first remaining cruising range is added to the first record queue.

3. The method for evaluating the safety and performance indicators of a vehicle according to claim 1, characterized in that: The dynamically updating the seven types of tracking counters based on the first record queue specifically includes: Step 31, when each first data record is added to the first record queue, whether a sudden acceleration event, an emergency start event, and a manual takeover event occur to the first vehicle is identified according to the first data record added at that time to obtain corresponding first identification results, second identification results, and third identification results; and when the first identification result is that a sudden acceleration event occurs, the count value of the sudden acceleration counter is increased by 1; and when the second identification result is that an emergency start event occurs, the count value of the emergency start counter is increased by 1; and when the third identification result is that a manual takeover event occurs, the count value of the manual takeover counter is increased by 1; The first recognition result includes the occurrence of a sudden acceleration event and the absence of a sudden acceleration event; the second recognition result includes the occurrence of an emergency start event and the absence of an emergency start event; the third recognition result includes the occurrence of a manual takeover event and the absence of a manual takeover event; Step 32, when each first data record is added to the first record queue, the first data records whose first timestamps are within the preset first most recent time length in the first record queue are extracted to form a corresponding first time length sequence; and the first data records whose first timestamps are within the preset second most recent time length in the first record queue are extracted to form a corresponding second time length sequence; and the first data records whose first timestamps are within the preset third most recent time length in the first record queue are extracted to form a corresponding third time length sequence; and based on the first time length sequence, whether the first vehicle has a sudden deceleration event and whether an emergency braking event has occurred is identified to obtain a corresponding The fourth recognition result and the fifth recognition result; and based on the second time sequence, whether the first vehicle has a sharp turn event is recognized to obtain a corresponding sixth recognition result; and based on the third time sequence, whether the first vehicle has a sharp lane change event is recognized to obtain a corresponding seventh recognition result; and when the fourth recognition result is a sharp deceleration event, the count value of the sharp deceleration counter is increased by 1; and when the fifth recognition result is an emergency braking event, the count value of the emergency braking counter is increased by 1; and when the sixth recognition result is a sharp turn event, the count value of the sharp turn counter is increased by 1; and when the seventh recognition result is a sharp lane change event, the count value of the sharp lane change counter is increased by 1; Among them, the first most recent duration < the second most recent duration < the third most recent duration; the fourth recognition result includes the occurrence of a sudden deceleration event and the absence of a sudden deceleration event; the fifth recognition result includes the occurrence of an emergency braking event and the absence of an emergency braking event; the sixth recognition result includes the occurrence of a sharp turn event and the absence of a sharp turn event; the seventh recognition result includes the occurrence of a sudden lane change event and the absence of a sudden lane change event.

4. The method for evaluating the safety and performance indicators of a vehicle according to claim 3, characterized in that: The identifying, based on the first data record added at the time, whether the first vehicle has a sudden acceleration event, whether an emergency start event has occurred, and whether a manual takeover event has occurred to obtain the corresponding first identification result, second identification result, and third identification result specifically include: Step 41, taking the first data record added at that time as the corresponding current record; Step 42, identifying whether the first longitudinal acceleration currently recorded exceeds a preset first longitudinal acceleration threshold; if so, setting the corresponding first identification result as a sudden acceleration event occurring; if not, setting the corresponding first identification result as no sudden acceleration event occurring; Wherein, the first longitudinal acceleration threshold value>0; Step 43, identifying the first driving speed and the first longitudinal acceleration currently recorded; if the first driving speed does not exceed a preset first speed threshold and the first longitudinal acceleration exceeds a preset second longitudinal acceleration threshold, setting the corresponding second recognition result as an emergency start event occurring; if the first driving speed exceeds the first speed threshold or the first longitudinal acceleration does not exceed the second longitudinal acceleration threshold, setting the corresponding second recognition result as no emergency start event occurring; Wherein, the first speed threshold>0; 0<the second longitudinal acceleration threshold<the first longitudinal acceleration threshold; Step 44, identifying whether the current record is the first first data record in the first record queue, if so, setting the corresponding previous driving mode as the manual driving mode, otherwise extracting the first driving mode of the first data record before the current record in the first record queue as the corresponding previous driving mode; and extracting the first driving mode of the current record as the corresponding current driving mode; and comparing the previous driving mode with the current driving mode; if the previous driving mode is the automatic driving mode and the current driving mode is the manual driving mode, setting the corresponding third recognition result as the occurrence of a manual takeover event; if the previous driving mode is the manual driving mode or the current driving mode is the automatic driving mode, setting the corresponding third recognition result as the absence of a manual takeover event; Step 45: output the first, second and third recognition results obtained.

5. The method for evaluating the safety and performance indicators of a vehicle according to claim 3, characterized in that: The identifying, based on the first time sequence, whether the first vehicle has a sudden deceleration event and whether an emergency braking event has occurred to obtain the corresponding fourth recognition result and fifth recognition result specifically includes: Step 51, identifying whether the first longitudinal acceleration of all the first data records in the first time sequence does not exceed a preset third longitudinal acceleration threshold; if so, setting the corresponding fourth recognition result as a sudden deceleration event; if not, setting the corresponding fourth recognition result as no sudden deceleration event; Wherein, the third longitudinal acceleration threshold value <0; Step 52, extracting the first driving speeds of all the first data records in the first time sequence to form a corresponding first speed set, extracting the first longitudinal accelerations of all the first data records in the first time sequence to form a corresponding first acceleration set; and identifying the first speed set and the first acceleration set; if all the first driving speeds of the first speed set do not exceed the preset second speed threshold, and all the first longitudinal accelerations of the first acceleration set do not exceed the third longitudinal acceleration threshold, then setting the corresponding fifth recognition result as an emergency braking event; if at least one of the first driving speeds in the first speed set exceeds the second speed threshold, or at least one of the first longitudinal accelerations in the first acceleration set exceeds the third longitudinal acceleration threshold, then setting the corresponding fifth recognition result as no emergency braking event; Wherein, the second speed threshold>the first speed threshold>0; Step 53: output the fourth and fifth recognition results.

6. The method for evaluating the safety and performance indicators of a vehicle according to claim 3, characterized in that: The step of identifying whether the first vehicle has a sharp turn event based on the second time sequence to obtain a corresponding sixth recognition result specifically includes: Step 61: extract the first driving speeds of all the first data records in the second time sequence to form a corresponding second speed set; and calculate the absolute value of the angle difference between the first heading angles of every two adjacent first data records in the second time sequence to obtain a corresponding first absolute angle difference; and calculate the sum of all the obtained first absolute angle differences to obtain a corresponding first sum angle; Step 62, identifying the second speed set and the first total angle; if all the first driving speeds in the second speed set exceed a preset third speed threshold, and the first total angle satisfies a preset first total angle range, setting the corresponding sixth recognition result as a sharp turn event; if at least one of the first driving speeds in the second speed set does not exceed the third speed threshold, or the first total angle does not satisfy the first total angle range, setting the corresponding sixth recognition result as no sharp turn event; Wherein, the third speed threshold>the second speed threshold; Step 63: output the obtained sixth recognition result.

7. The method for evaluating the safety and performance indicators of a vehicle according to claim 3, characterized in that: The identifying whether the first vehicle has an emergency lane change event based on the third time sequence to obtain a corresponding seventh identification result specifically includes: Step 71, calculating the absolute value of the angle difference between the first heading angle of the first and the last first data record of the third time sequence to obtain a corresponding second absolute angle difference; and dividing the second absolute angle difference by the third most recent time sequence to obtain a corresponding first heading change rate; Step 72, summing up the first yaw angles of all the first data records in the third time sequence to obtain a corresponding first cumulative yaw angle; and dividing the absolute value of the first cumulative yaw angle by the third most recent time sequence to obtain a corresponding first yaw change rate; Step 73, extracting the first driving speeds of all the first data records in the third time sequence to form a corresponding third speed set; and extracting the first longitudinal accelerations of all the first data records in the third time sequence to form a corresponding second acceleration set; Step 74, identifying the third speed set, the second acceleration set, the first heading change rate, and the first yaw change rate; if all the first driving speeds in the third speed set exceed a preset fourth speed threshold, and the absolute values ​​of all the first longitudinal accelerations in the second acceleration set do not exceed a preset fourth longitudinal acceleration threshold, and the first heading change rate exceeds a preset first heading change rate threshold, and the first yaw change rate does not exceed a preset first yaw change rate threshold, then setting the corresponding seventh recognition result as an occurrence of an emergency lane change event; if at least one of the first driving speeds in the third speed set does not exceed the fourth speed threshold, or at least one of the absolute values ​​of the first longitudinal acceleration in the second acceleration set exceeds the fourth longitudinal acceleration threshold, or the first heading change rate does not exceed the first heading change rate threshold, or the first yaw change rate exceeds the first yaw change rate threshold, then setting the corresponding seventh recognition result as no occurrence of an emergency lane change event; Among them, the fourth speed threshold>the third speed threshold; 0<the fourth longitudinal acceleration threshold<the second longitudinal acceleration threshold; the first heading change rate threshold and the first yaw change rate threshold are both angle change rate thresholds, and the first heading change rate threshold>the first yaw change rate threshold>0; Step 75, outputting the seventh recognition result obtained.

8. The method for evaluating the safety and performance indicators of a vehicle according to claim 1, characterized in that: The updating of the four types of performance indicators based on the first record queue specifically includes: Step 81, calculating the time difference between the first timestamps of the first and last first data records in the first record queue to obtain a corresponding first time difference; and updating the total travel time of the four types of performance indicators based on the first time difference; Step 82, calculating the average of the first driving speeds of all the first data records of the first traffic intersection type being a common road section type in the first record queue to obtain a corresponding first average speed; and updating the road section average operating speeds of the four types of performance indicators based on the first average speed; Step 83, calculating the average of the first driving speeds of all the first data records of the first traffic intersection type being an intersection type in the first record queue to obtain a corresponding second average speed; and updating the intersection average operating speed of the four types of performance indicators based on the second average speed; Step 84, calculate the mileage difference between the first remaining cruising range of the first and last first data records in the first record queue and use the calculation result as the corresponding mileage consumed at the time; and calculate the corresponding first power consumption = (current consumption mileage / vehicle rated cruising range) × vehicle battery rated capacity based on the preset vehicle rated cruising range, the preset vehicle battery rated capacity and the current consumption mileage; and update the trip power consumption of the four types of performance indicators based on the first power consumption.

9. The method for evaluating the safety and performance indicators of a vehicle according to claim 1, characterized in that: The comprehensive evaluation of the driving safety, operating efficiency and energy consumption level of the first vehicle based on the seven types of tracking counters and the four types of performance indicators to obtain and save a corresponding vehicle evaluation report specifically includes: Step 91, summing up the count values ​​of the seven types of tracking counters and using the calculation result as the corresponding abnormal score; subtracting the abnormal score from the preset full score to obtain the corresponding current remaining score; identifying the current remaining score; if the current remaining score is greater than or equal to 0, setting the corresponding driving safety score to the current remaining score; if the current remaining score is less than 0, setting the corresponding driving safety score to 0; Step 92, extract the first timestamps of the first and last first data records in the first record queue to form the corresponding driving period of the current driving time; and query the average driving time of the current driving route in the current driving period on the preset map navigation system to obtain the corresponding first reference time; and calculate the corresponding first parameter = (total travel time / first reference time) × 100% based on the total travel time and the first reference time; and query the speed limit values ​​of all ordinary sections on the current driving route on the map navigation system and form the corresponding first speed limit value set from the query results; and calculate the speed limit values ​​of the current driving route on the map navigation system The speed limit values ​​of all intersections on the road are queried and the query results form a corresponding second speed limit value set; and the speed limit value that appears most times in the first and second speed limit value sets is used as the corresponding first reference speed and second reference speed; and the corresponding second parameter is calculated based on the average operating speed of the road section and the first reference speed = (average operating speed of the road section / first reference speed) × 100%; and the corresponding third parameter is calculated based on the average operating speed of the intersection and the second reference speed = (average operating speed of the intersection / second reference speed) × 100%; and the weighted sum of the first, second and third parameters is calculated and the calculation result is used as the corresponding operation efficiency score; Step 93, the straight-line distance between the first coordinates of every two adjacent first data records in the first record queue is calculated to obtain a corresponding first spacing, and the sum of all the obtained first spacings is calculated and the calculation result is used as the corresponding total trip length, where the unit of the total trip length is meter; and based on the trip power consumption and the total trip length, the corresponding power consumption per 100 kilometers is estimated = trip power consumption × (10 5 / total length of the trip); and based on the power consumption per 100 kilometers and the preset fuel consumption per 100 kilometers, the corresponding energy consumption level score is calculated = (power consumption per 100 kilometers / fuel consumption per 100 kilometers) × 100%; Step 94, the corresponding vehicle evaluation report is composed of the seven types of tracking counters, the four types of performance indicators, the driving safety score, the operating efficiency score and the energy consumption level score and is saved.

10. A device for executing the processing method for evaluating the safety and performance indicators of a vehicle according to any one of claims 1 to 9, characterized in that: The device is installed on a first vehicle; the device comprises: a route configuration module, a starting evaluation module, a process evaluation module and an evaluation output module; The route configuration module is used to use a preset vehicle evaluation route as the current driving route of the first vehicle; The starting evaluation module is used to set seven types of tracking counters and four types of performance indicators when the first vehicle arrives at the starting position of the current driving route; and initialize the seven types of tracking counters and the four types of performance indicators to 0; and initialize an empty record queue as the corresponding first record queue; the seven types of tracking counters include a sudden acceleration counter, a sudden deceleration counter, a sharp turn counter, a sudden lane change counter, an emergency start counter, an emergency brake counter and a manual takeover counter; the four types of performance indicators include total travel time, average road section speed, average intersection speed and travel power consumption; The process evaluation module is used to collect real-time data of the first vehicle regularly based on a preset first collection frequency during the driving process of the first vehicle from the starting position to the end position of the current driving route, obtain corresponding first data records and add them to the first record queue; and dynamically update the seven types of tracking counters based on the first record queue; the first data record includes a first timestamp, a first driving speed, a first longitudinal acceleration, a first heading angle, a first yaw angle, a first coordinate, a first traffic intersection type, a first driving mode and a first remaining cruising range; the first traffic intersection type includes a normal road section type and an intersection type; the first driving mode includes a manual driving mode and an automatic driving mode; The evaluation output module is used to stop updating the seven types of tracking counters when the first vehicle reaches the end position of the current driving route; and to update the four types of performance indicators once based on the first record queue; and after completing the performance indicator update, comprehensively evaluate the driving safety, operating efficiency and energy consumption level of the first vehicle based on the seven types of tracking counters and the four types of performance indicators to obtain and save the corresponding vehicle evaluation report; the vehicle evaluation report includes the seven types of tracking counters, the four types of performance indicators, the driving safety score, the operating efficiency score and the energy consumption level score.

11. An electronic device, characterized in that: include: memory, processors, and transceivers; The processor is used to couple with the memory, read and execute instructions in the memory, so as to implement the method according to any one of claims 1 to 9; The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a computer, the computer is enabled to execute the method according to any one of claims 1 to 9.

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