CN106570560A - Driving style quantitative evaluation method based on standardized driving behaviors and phase space reconstruction - Google Patents
Driving style quantitative evaluation method based on standardized driving behaviors and phase space reconstruction Download PDFInfo
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Abstract
The invention discloses a driving style quantitative evaluation method based on standardized driving behaviors and phase space reconstruction. Based on the method, the influence of the driving environment is eliminated, and the standardization of driving behaviors is realized through the personalized driver model-based test on the standard working condition. After that, different driving styles can be evaluated quantitatively. Meanwhile, the phase space reconstruction for standardized driving behaviors is conducted, and correlation-dimension-based driving style indexes are provided. Therefore, the driving aggressive degree can be quantitatively evaluated.
Description
Technical field
The present invention relates to intelligent transportation field, more particularly to a kind of to be based on standardization driving behavior and phase space reconfiguration
The driving style method for quantitatively evaluating of (Phase Space Reconstruction).
Background technology
Driving style is the key factor of intelligent transportation, safe driving and new car field tests common concern.Driving style
It is main different because of driver personality, while also receiving environmental factorss, it is mainly shown as the manipulation to throttle/brake pedal.Drive wind
Lattice are closely related with vehicle accident and fuel economy, so-called " ten accident nine times fast ", and radical driving is often consumed more
Many fuel oils.Automobile industry generally cannot show any driving style using the pilot model similar to PID controller.But
It is that driving style must take into again, such as, the fuel economy of radical type driver is poor, therefore, motor corporation would generally employ
The driver for hiring different-style is tested to automotive performance on public way.On the other hand, many researchs are devoted to driving
The classification and identification of style, for example, generally can be divided into mild, moderate type, radical type, however, due to the shadow by subjective factorss
Ring, classification results are usually fuzzy and rough.Therefore, objective and quantitative assessment is carried out to driving style and there is important research
Meaning.
The existing more research of identification to driving style.Kedar-Dongarkar is based on energy consumption optimization driving style
Sorting technique, is divided into conservative, moderate type and radical driver by acceleration, brake, speed and throttle opening
Type；Ratios of the Langari by average acceleration and acceleration standard deviation with acceleration is classified to driving style；
Murphey etc. is proposed based on acceleration Style Analysis Methods reciprocal；Qi etc. is according to follow-up time and distance driving style
It is divided into vigilant type, moderate type and radical type；Vaitkus is based on acceleration information and adopts KNN algorithms, realizes driving style oneself
Dynamic identification；Finally, Aljafreh using automobile laterally/norm of longitudinal acceleration and speed, establish based on fuzzy reasoning
Driving style categorizing system.
As can be seen that above-mentioned driver style identification is normally based on different-style driver and is gathered in various environment
Including the driving data including brake pressure, accelerator open degree, throttle opening, acceleration, speed etc., the qualitative classification for being carried out
And identification.In addition, the difference of road conditions can bring difficulty to the identification of driving style, because driving behavior can change therewith, for example,
Mild driver frequently can touch on the brake and throttle in the case of congestion, show certain radical style, and radical type is in height
Relatively stable travel speed, therefore style identification can be kept on fast road to carry out judging just more reasonable under identical operating mode.
The content of the invention
The invention aims to overcome the shortcoming and defect that prior art is present, and one kind is provided and is driven based on standardization
The driving style method for quantitatively evaluating of behavior and phase space reconfiguration is sailed, the impact of environment is eliminated by the method, proposed logical
Crossing carries out standard condition test to realize the standardization of driving behavior based on personalized driving person's model, and then quantitative assessment is different
Driving style, carry out phase space reconfiguration to standardization driving behavior, propose a kind of driving style index based on correlation dimension,
Radical degree is driven for qualitative assessment.
For achieving the above object, the technical scheme is that and comprise the following steps：
(1) travelling data that true environment is gathered is standardized into the standardized driving behavior of acquisition, the driving
Data are characterized by throttle opening；
(2) phase space reconfiguration is carried out to the driving behavior after standardization, and calculates correlation dimension, when obtaining throttle opening
Between sequence correlation dimension TDR；
(3) style index StyIn is calculated using formula (1), for the radical degree that qualitative assessment drives
In formulaRepresent that numerical value std_e rounds up, TDR represents throttle opening seasonal effect in time series correlation dimension
Number；Std_e represents the standard deviation of velocity error.
Further setting is described step (1) including following sub-step:
First, based on the Typical Representative RBF Function Networks of locality neutral net, using the direct inverse of study control
Modelling is setting up pilot model；
Secondly, the simulative automobile test of federal test circulation FTP-72 standard conditions is carried out using the pilot model, is surveyed
The rate curve of standard condition FTP-72 is followed during examination, the standardization of driving behavior is realized.
It is that described step (2) specifically includes following sub-step further to arrange:
First, phase space reconfiguration is carried out to the driving behavior after standardization using time-delay technique；
Secondly, correlation dimension is calculated according to G-P algorithms.According to G-P algorithms, attractor correlation dimension is by following correlation intergal
Derive：
In formula, H (u) is Heaviside functions, works as u>0, H (u)=1, works as u<0, H (u)=0；||Xi-Xj| | it is two vectors
Between distance；R is the radius of hypersphere in phase space, is less positive number；N is sequence length.And have
When r → 0 (3)
Wherein, DRAs correlation dimension, DRCan be obtained by following formula
Curve lnr～asymptotes of the lnC (r) at r → 0 is straight line, and its slope is exactly DR。
The invention has the beneficial effects as follows：
1st, the driving behavior standardized system based on personalized driving person's model and standard condition proposed by the invention can
Effectively to eliminate impact of the road conditions to driving style, evaluate driving style more reasonable.
2nd, driving behavior phase space reconfiguration proposed by the present invention then can effectively characterize the feature of driving style, therefore, this
Invention in fact can carry out refinement assessment to driving style, and be not limited to gentle/moderate/radical such rude classification.
3rd, the present invention also provides one for driving behavior living things feature recognition, Deviant Behavior early warning and automotive test etc.
New effective way.
The present invention is described further with reference to specification drawings and specific embodiments.
Description of the drawings
Fig. 1 is the driver style quantitative assessment flow process based on standardization driving behavior and phase space reconfiguration of the present invention
Figure；
Fig. 2 is the driving behavior standardized system block diagram of the present invention；
Phase space reconfiguration track example of original throttle opening (TP) signal of Fig. 3 present invention when Embedded dimensions are equal to 2
Show figure；
Fig. 4 is phase space reconfiguration rail of original throttle opening (TP) signal of the invention when Embedded dimensions are equal to 3 respectively
Mark example shows figure；
Fig. 5 is phase space reconfiguration rail of throttle opening (TP) signal when Embedded dimensions are equal to 2 after standardization of the present invention
Mark example shows figure；
Fig. 6 is phase space reconfiguration track example of the throttle opening (TP) when Embedded dimensions are equal to 3 after standardization of the present invention
Son shows figure.
Specific embodiment
The present invention is specifically described below by embodiment, is served only for being further described the present invention, no
It is understood that for limiting the scope of the present invention, the technician in the field can be according to the content of foregoing invention to the present invention
Make some nonessential modifications and adaptations.
As shown in figures 1 to 6, the present invention is that a kind of driver style based on standardization driving behavior and phase space reconfiguration is fixed
Amount evaluation methodology, the hardware and programming language of method of the present invention carrying out practically are not intended to limit, and being write with any language can
Complete, be that this other mode of operation is repeated no more.
Embodiments of the invention are using a computer with Intel Core-i5 central processing units and 4G byte of memorys
And the work of the driver style quantitative assessment based on standardization driving behavior and phase space reconfiguration has been worked out with Matlab language
Program, realizes the method for the present invention.
Before concrete steps are introduced, we first introduce the meaning of symbol to be used below.
VS：Car speed (Vehicle Speed)；
TP：Throttle opening (Throttle Position)；
BP：Brake pedal pressure size (Brake Pressure)；
The present invention's is mainly wrapped based on the driver style method for quantitatively evaluating of standardization driving behavior and phase space reconfiguration
Include three below step：Driving behavior standardization, standardization driving behavior phase space reconfiguration, based on correlation dimension formulate style refer to
Number, comprises the following steps that described：
(1) in order to eliminate the impact of environment, propose a kind of driving based on personalized driving person's model and standard condition
Sail behavioral standard method.Which mainly includes：
A) set up personalized driving person's model.As Fig. 2 (a) show the original of the pilot model based on Direct Inverse Model method
Reason block diagram.Highly discrete and local mutability in view of real driving data, allusion quotation of the present invention using Local neural network
Type represents RBF Function Neural Networks for the foundation of pilot model.The speed of hypothesis t is VS (t), now, driver
Operation throttle opening TP (t) or brake pedal BP (t), due to time delay, this operation affects vs (t+k), and (wherein k is represented and is prolonged
The slow time).Using the vs (t+k) and Δ vs (t+k) in actual travelling data=vs (t+k)-vs (t) as the defeated of neutral net
Enter, TP (t) and BP (t) signals are desired output, and repetition training is carried out to RBF networks using actual travelling data, obtain final
Pilot model.
B) driving behavior standardization.Based on pilot model and standard condition, the driving behavior mark as shown in Fig. 2 (b) is set up
Quasi-ization system.First, (t+k) is extracted in the rate curve of the simulative automobile test that FTP-72 standard conditions are circulated from federal test
Desired speed vs of moment speed vs (t+k) as t*(t), and calculate which with actual vehicle speed vs ' difference DELTA vs (t)*
[t]=vs*[t]-vs'[t]；Secondly, with vs*(t) and Δ vs*The input of [t] as pilot model and pilot controller, point
Its output TPm (t), BPm (t) and TPp (t), BPp (t) are not asked for, then TP (t) and BP (t) difference of the output to car model
It is
TP (t)=TPm (t)+TPp (t)
BP (t)=BPm (t)+BPp (t)
Finally, using current vehicle speed vs ' (t) with current throttle opening TP (t) and BP (t) as the defeated of car model
Enter, due to time-lag action (z in Fig. 2 (b)-kIt is shown), TP (t) and BP (t) influences whether speed vs at (t+k) moment ' (t+k)；
Above step repeats, and completes the standardization of driving behavior.
(2) standardization driving behavior phase space reconfiguration.With mild driver #1～#2, moderate type driver #1～#2,
As a example by radical type driver #1～#2.
First pass around step (1) driving behavior standardization.
Then the time-delay technique based on propositions such as Packard carries out phase space to standardization driving behavior (TP) secondly,
Reconstruct.Assume that TP time serieses are { tp (k), k=1,2 ..., N }, then some state vectors reconstructed in phase space can be with
It is expressed as：
TPi=[tp (i), tp (i+ τ) ..., tp (i+ (m-1) τ)] i=1,2 ..., M (5)
Wherein M is that number a little is thought in phase space reconstruction, and M=N- (m-1) τ, m and τ are Embedded dimensions and the time of system respectively
Postpone.
Fig. 5 and Fig. 6 are three kinds of styles after the driving behavior standardization of totally 6 drivers in Embedded dimensions m=2 and m respectively
Phase space reconfiguration trajectory diagram when=3.(such as Fig. 3 and Fig. 4), standard compared with the phase space reconfiguration track of original driving behavior
Change the phase space reconfiguration track of driving behavior for the discrimination of different-style becomes apparent from, while the driving characteristics of identical style are more
Plus it is similar, illustrate that driving behavior standardization can effectively lift the representational of driving characteristics.
(3) style index is calculated based on correlation dimension.Which mainly includes：
A) driving behavior standardization is obtained by driving behavior TP, BP and VS after standardization, and is counted according to step (1)
Calculate velocity error VS-VSFTPStandard deviation std_e；
B) phase space reconfiguration is carried out according to step (2) to the driving behavior after standardization, and is based on G-P algorithms, calculate TP
Correlation dimension TDR.
C) according to the TDR and std_e for calculating gained, style index StyIn is calculated, i.e.,
Claims (3)
1. a kind of driving style method for quantitatively evaluating based on standardization driving behavior and phase space reconfiguration, it is characterised in that include
Following steps：
(1) by the travelling data that true environment is gathered be standardized standardized driving behavior data TP, BP of acquisition,
VS, and calculating speed error VS-VSFTPStandard deviation std_e, wherein, VS represents that car speed, TP represent throttle opening, BP
Represent brake pedal pressure, VSFTPRepresent the car speed that FTP-72 standard conditions are circulated based on federal test；
(2) phase space reconfiguration is carried out to the driving behavior after standardization, and calculates correlation dimension, obtain throttle opening time sequence
The correlation dimension TDR of row；
(3) style index StyIn is calculated using formula (1), for the radical degree that qualitative assessment drives
In formulaRepresent that numerical value std_e rounds up, TDR represents throttle opening seasonal effect in time series correlation dimension.
2. the driving style quantitative assessment side based on standardization driving behavior and phase space reconfiguration according to claim 1
Method, it is characterised in that：
Described step (1) is including following sub-step:
First, based on the Typical Representative RBF Function Networks of locality neutral net, using the Direct Inverse Model of study control
Method is setting up pilot model；
Secondly, the simulative automobile test of federal test circulation FTP-72 standard conditions is carried out using the pilot model, during test
The rate curve of standard condition FTP-72 is followed, the standardization of driving behavior is realized.
3. the driving style quantitative assessment side based on standardization driving behavior and phase space reconfiguration according to claim 1
Method, it is characterised in that：
Described step (2) specifically includes following sub-step:
First, phase space reconfiguration is carried out to the driving behavior after standardization using time-delay technique；
Secondly, correlation dimension is calculated according to G-P algorithms.
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| CN111547064A (en) * | 2020-05-26 | 2020-08-18 | 吉林大学 | Driving style recognition and classification method for automobile adaptive cruise system |
| CN108926352B (en) * | 2017-05-22 | 2020-10-09 | 北京大学 | Driving fatigue detection method and system |
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| CN108926352B (en) * | 2017-05-22 | 2020-10-09 | 北京大学 | Driving fatigue detection method and system |
| CN107521501B (en) * | 2017-07-11 | 2020-06-30 | 上海蔚来汽车有限公司 | Game theory-based driver assistance system decision method, system and others |
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| CN111126556A (en) * | 2018-10-31 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Training method and device of artificial neural network model |
| CN112035942A (en) * | 2019-06-03 | 2020-12-04 | 上海汽车集团股份有限公司 | Energy consumption simulation method and device based on driving behaviors |
| CN111547064A (en) * | 2020-05-26 | 2020-08-18 | 吉林大学 | Driving style recognition and classification method for automobile adaptive cruise system |
| CN111547064B (en) * | 2020-05-26 | 2022-07-12 | 吉林大学 | Driving style recognition and classification method for automobile adaptive cruise system |
| CN113188814A (en) * | 2021-05-17 | 2021-07-30 | 联合汽车电子有限公司 | Automatic driving reproduction method, system and storage medium |
| CN117698762A (en) * | 2023-12-12 | 2024-03-15 | 海识(烟台)信息科技有限公司 | Intelligent driving assistance system and method based on environment perception and behavior prediction |
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Application publication date: 20170419 Assignee: Wenzhou Jicheng Network Co.,Ltd. Assignor: Wenzhou University Contract record no.: X2023330000909 Denomination of invention: A quantitative evaluation method for driving style based on standardized driving behavior and phase space reconstruction Granted publication date: 20190104 License type: Common License Record date: 20231208 |