CN109389702B - Acquisition method of driving parameters for evaluating lane keeping driving level - Google Patents
Acquisition method of driving parameters for evaluating lane keeping driving level Download PDFInfo
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- CN109389702B CN109389702B CN201710671616.5A CN201710671616A CN109389702B CN 109389702 B CN109389702 B CN 109389702B CN 201710671616 A CN201710671616 A CN 201710671616A CN 109389702 B CN109389702 B CN 109389702B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/12—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time in graphical form
Abstract
The invention relates to a method for detecting driving parameters for evaluating a lane-keeping driving level, which is used for detecting driving parameters of a vehicle of a corresponding type which drives on a selected road by means of a lane-keeping system in a lane-keeping mode or drives by a driver in a lane-keeping mode, wherein the driving parameters can be used for evaluating the effect of the lane-keeping system of the vehicle or the driving level of the lane-keeping driving of the corresponding driver. Specifically, a fixed road is selected, rules and a driving scheme are collected, a vehicle keeps driving on the road in a lane, and driving parameters are collected and recorded according to the rules.
Description
Technical Field
The invention relates to a method for collecting driving parameters for evaluating a lane keeping driving level, and belongs to the field of driving evaluation.
Background
With the increasing requirements of people on vehicle safety and intellectualization, active safety and intelligent driving technologies are receiving more and more attention, and the lane keeping system is used as a solution for transverse safety and automatic control of the vehicle, can effectively assist a driver to avoid driving risks, reduces the burden and fatigue of the driver in long-distance driving, is a future vehicle technology development trend, is more and more emphasized by the automobile industry, is the key point of research of various host plants and component plants, and with the continuous progress of the technology, various new technical schemes are also appearing continuously.
In the prior art, a method for evaluating the effects of different lane keeping systems is lacked in the prior lane keeping system based on various sensing technologies and driving assisting technologies; meanwhile, the using effect of the same lane keeping system on different vehicle types and different road conditions is good, and an evaluation method based on the same rule and the same standard does not exist, so that various vehicle manufacturers can not select various lane keeping systems, and can not judge which lane keeping system is more suitable for a certain vehicle type; accordingly, the vehicle-purchasing clients with more important lane keeping function are difficult to decide and judge. The lack of lane keeping evaluation methods also makes it difficult for a supplier of lane keeping solutions to select an improved own lane keeping system that is directional and even specific to a particular vehicle type, according to a standard.
The chinese utility model patent document with publication number CN 205506410U discloses a calibration and test system for lane assist system, which utilizes a series of cameras covering the test site comprehensively to obtain the lane keeping effect of the vehicle under test. The obtained images can only simply and fundamentally judge the performance of the lane keeping system, for example, whether a line is pressed at a certain position of a lane or not and the condition of exceeding the lane cannot be analyzed and compared in detail based on specific parameter data, and the effect evaluation of the lane keeping function can be obtained. In order to realize the quantitative evaluation of the lane keeping function based on specific parameters, the driving parameters of the vehicle during lane keeping driving need to be collected on a certain premise.
Disclosure of Invention
The invention aims to provide a method for acquiring driving parameters for evaluating a lane keeping driving level, which is used for solving the problem that a lane keeping system is difficult to evaluate due to the lack of a driving parameter acquisition method based on a unified rule in the prior art.
In order to achieve the above object, the scheme of the invention comprises:
the invention relates to a method for acquiring driving parameters for evaluating the level of a lane keeping system, which is characterized by comprising the following steps of:
1) selecting a standard lane, wherein the standard lane at least comprises a straight road section and a curved road section, and all the road sections are smoothly connected;
2) setting a driving scheme, wherein the driving scheme comprises a starting point position, a test road section, a terminal point position and corresponding driving principle parameter requirements;
3) according to said settings and requirements, the vehicle is caused to travel at least 1 time in a selected road holding lane by means of a lane keeping system;
4) according to a set acquisition rule, acquiring and recording corresponding driving parameters on each set point corresponding to each driving along the way;
5) and processing the acquired data into to-be-measured evaluation parameters which correspond to the acquisition points and can reflect the level of the corresponding lane keeping system.
The scheme is based on a unified rule, collects the driving parameters of the vehicle for keeping the lane driving by the lane keeping system, and provides a basic data collection method for evaluating the level of the lane keeping system.
Further, the principle parameter requirements comprise a principle parameter requirement of general lane keeping driving and a principle parameter requirement of constant speed lane keeping driving.
The scheme provides different driving principle parameter requirements, for example, the driving principle parameter requirement of constant speed can be used for directly evaluating the capability of the lane keeping system for keeping lanes on different road condition road sections, and selection can be carried out according to specific evaluation during evaluation, so that the corresponding evaluation is more accurate and targeted.
Further, in step 4), the acquisition rule includes fixed time interval acquisition.
Further, the fixed time interval is collected as: and setting a time interval t, and acquiring the driving parameters every t time.
The collection of fixed time intervals can obtain a set of curves of the driving parameters changing along with time, so that more information references are provided for evaluation, for example, the speed changing along with time curve, and the sudden change point or the over-steep curve reflects the corresponding vehicle state and represents the uncomfortable feeling during riding.
Further, in step 4), the collection rule further includes fixed lane distance interval collection.
Further, the fixed lane distance interval is collected as: and setting a distance interval m, and acquiring the driving parameters at intervals of m on the lane.
Fixed lane distance interval acquisition may be used to obtain the variance of vehicle center point locations, may be used to evaluate the stability of the lane keeping system, and whether there is a pressure line or a lane crossing condition.
Further, in step 4), the acquisition rule further includes fixed travel distance interval acquisition.
Further, the fixed driving distance interval is acquired as: and setting a distance interval n, and acquiring the driving parameters when the vehicle drives for the distance n.
Further, in step 3), the collection rule further includes fixed lane position collection.
Further, the fixed lane position is collected as: and presetting an acquisition point on the lane, and acquiring the driving parameters when the vehicle drives to the acquisition point.
The method comprises the steps of collecting positions of fixed lanes, setting more collection points such as curves and S-shaped curves on specific sections with high representative attention on the lanes, and giving important reference to the performance of a lane keeping system of the sections with high attention in evaluation.
Further, in step 5), the processing is averaging processing.
According to the scheme, the average value processing is carried out on a plurality of sets of data acquired during evaluation, and the obtained driving parameters to be tested reflect the performance of the lane keeping system to be tested when the lane keeping system is used for corresponding vehicle types more accurately.
Further, in step 3), the driving parameters include: the vehicle control system comprises a vehicle central point position S, a vehicle speed v, a real-time steering wheel rotation angle theta and a real-time steering wheel rotation angle change rate phi.
According to the scheme, evaluation parameters for evaluation can be flexibly selected, the effect of the lane keeping system function of the vehicle can be comprehensively evaluated, and an angle can be selected to investigate the performance of the lane keeping system; and if corresponding parameters are selected to reflect the performances of overshoot, response speed, rollover risk, system stability, comfort and the like in the vehicle lane keeping.
Further, in step 4), the recording method is to transmit the driving parameters to a device having a wireless communication module and a memory for storage by means of wireless communication.
The invention relates to a method for acquiring driving parameters for evaluating lane keeping level of a driver, which comprises the following steps:
1) selecting a standard lane, wherein the standard lane at least comprises a straight road section and a curved road section, and all the road sections are smoothly connected;
2) setting a driving scheme, wherein the driving scheme comprises a starting point position, a test road section, a terminal point position and corresponding driving principle parameter requirements;
3) keeping the vehicle driven by the driver to drive the lane on the selected road for at least 1 time according to the setting and the requirement;
4) according to a set acquisition rule, acquiring and recording corresponding driving parameters on each set point corresponding to each driving along the way;
5) and processing the acquired data into a group of to-be-measured evaluation parameters capable of reflecting the lane keeping driving level of the corresponding driver.
The present solution can also be used for the evaluation of the driving level or lane keeping driving level of the driver. An evaluation method is provided for the driving level of the driver.
Further, the principle parameter requirements comprise a principle parameter requirement of general lane keeping driving and a principle parameter requirement of constant speed lane keeping driving.
The scheme provides different driving principle parameter requirements, for example, the driving principle parameter requirement of constant speed can be used for directly evaluating the capability of the lane keeping system for keeping lanes on different road condition road sections, and selection can be carried out according to specific evaluation during evaluation, so that the corresponding evaluation is more accurate and targeted.
Further, in step 4), the acquisition rule includes fixed time interval acquisition.
Further, the fixed time interval is collected as: and setting a time interval t, and acquiring the driving parameters every t time.
The collection of fixed time intervals can obtain a set of curves of the driving parameters changing along with time, so that more information references are provided for evaluation, for example, the speed changing along with time curve, and the sudden change point or the over-steep curve reflects the corresponding vehicle state and represents the uncomfortable feeling during riding.
Further, in step 3), the collection rule further includes fixed lane distance interval collection.
Further, the fixed lane distance interval is collected as: and setting a distance interval m, and acquiring the driving parameters at intervals of m on the lane.
Fixed lane distance interval acquisition may be used to obtain the variance of vehicle center point locations, may be used to evaluate the stability of the lane keeping system, and whether there is a pressure line or a lane crossing condition.
Further, in step 3), the acquisition rule further includes fixed travel distance interval acquisition.
Further, the fixed driving distance interval is acquired as: and setting a distance interval n, and acquiring the driving parameters when the vehicle drives for the distance n.
Further, in step 3), the collection rule further includes fixed lane position collection.
Further, the fixed lane position is collected as: and presetting an acquisition point on the lane, and acquiring the driving parameters when the vehicle drives to the acquisition point.
The method comprises the steps of collecting positions of fixed lanes, setting more collection points such as curves and S-shaped curves on specific sections with high representative attention on the lanes, and giving important reference to the performance of a lane keeping system of the sections with high attention in evaluation.
Further, in step 5), the processing is averaging processing.
According to the scheme, the average value processing is carried out on a plurality of sets of data acquired during evaluation, and the obtained driving parameters to be tested reflect the performance of the lane keeping system to be tested when the lane keeping system is used for corresponding vehicle types more accurately.
Further, in step 3), the driving parameters include: the vehicle control system comprises a vehicle central point position S, a vehicle speed v, a real-time steering wheel rotation angle theta and a real-time steering wheel rotation angle change rate phi.
According to the scheme, evaluation parameters for evaluation can be flexibly selected, the effect of the lane keeping system function of the vehicle can be comprehensively evaluated, and an angle can be selected to investigate the performance of the lane keeping system; and if corresponding parameters are selected to reflect the performances of overshoot, response speed, rollover risk, system stability, comfort and the like in the vehicle lane keeping.
Further, in step 4), the recording method is to transmit the driving parameters to a device having a wireless communication module and a memory for storage by means of wireless communication.
Drawings
Fig. 1 is a flow chart of a method for evaluating driving parameters for a lane-keeping driving level.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
An acquisition method for evaluating a driving parameter of a lane-keeping driving level of the present invention includes the following steps.
1) And selecting a standard lane, wherein the standard lane comprises a straight lane section and a curve end, all the lane sections are connected smoothly, and the same lane adopted when the lane keeping standard driving parameters of the corresponding vehicle type are calibrated is selected.
2) And setting a driving scheme, wherein the setting of the driving scheme comprises setting a starting point position, a test road section and a terminal point position, and corresponding driving principle parameter requirements, and the setting and the requirements are the same when corresponding vehicle type lane keeping standard driving parameters are calibrated based on the evaluation purpose. When a certain vehicle type is tested and evaluated together with a certain lane keeping system, the requirement on the speed is generally set only, and the requirement on the speed is the same as the requirement on the speed in the principle parameter requirement when the standard driving parameters are calibrated; when evaluating the level of the driver keeping the lane driving, all the principle parameter requirements same as those in the calibration are set.
3) When a certain vehicle type is tested and evaluated together with a certain lane keeping system, a tested vehicle is driven on the test road section by means of the lane keeping system according to the principle parameter requirements, specifically, the lane keeping function of the vehicle is turned on, and after the lane keeping system completely identifies the lane, the driver only controls the speed of the vehicle to drive.
And when the driving level of the driver keeping the lane is evaluated, the driver drives the tested vehicle on the test road section to drive the vehicle keeping the lane according to the corresponding principle parameter requirements.
4) And acquiring parameters according to an acquisition rule in the driving process. The acquisition rule determines the acquisition points of the parameters, and the parameter acquisition rule is generally fixed lane distance interval acquisition, namely, the vehicle is subjected to one-time driving parameter acquisition at certain intervals on a selected lane; the collection rule can also be fixed time interval collection, namely, once the vehicle runs for a fixed time, the running parameter collection is carried out; or fixed running distance acquisition, namely, once the vehicle runs a certain distance, carrying out running parameter acquisition; the method can also be used for collecting the position of a fixed lane, namely, a plurality of representative collecting points are selected on the lane, such as a plurality of collecting points are uniformly distributed on a straight road, a plurality of collecting points are densely distributed on a curved road, and the like.
The collected driving parameters can comprise a vehicle central point position S, a vehicle speed v, a steering wheel real-time rotation angle theta and a steering wheel rotation angle real-time change rate phi. The vehicle speed v can be obtained from the vehicle by connecting an OBD interface, or the vehicle speed v is calculated by a GPS; if the vehicle is integrated with a steering wheel corner sensor, the real-time steering wheel corner theta and the real-time steering wheel corner change rate phi can also be obtained from the vehicle through an OBD interface, if the vehicle is not integrated with the steering wheel corner sensor, the sensor can be additionally arranged before collection, and is connected with the sensor through a sensor interface (1) to obtain the real-time steering wheel corner theta and the real-time steering wheel corner change rate phi; the vehicle central point position S is obtained by comparing the data acquired by the GPS module (6) with the later high-precision map data.
The method comprises the steps of collecting parameters while a vehicle runs, and collecting the running parameters once when the vehicle passes through a collection point determined by a collection rule. Therefore, each acquisition point obtains a series of driving parameter values including a vehicle central point position S, a vehicle speed v, a real-time steering wheel angle theta, a real-time steering wheel angle change rate phi and the like.
The step can be executed for a plurality of times to obtain a plurality of groups of driving parameters, and then mean value processing is carried out on a plurality of values of the same driving parameter of each acquisition point; the data error influence caused by interference or error in driving and collection can be weakened through multiple times of collection, and the evaluation accuracy is improved.
In this embodiment, let us assume that two driving operations are performed on the lane, and the vehicle center point position S, the vehicle speed v, the real-time steering angle θ of the steering wheel, and the real-time steering angle change rate Φ of the steering wheel are collected at each collection point, and the following table is obtained:
5) then, the collected data is subjected to preliminary processing, specifically, an average value is calculated for the same driving parameters of each collection point, and the series of average values are used as the collected driving parameters, as shown in the following table:
the driving parameters collected in each item in the table are the average values of the corresponding driving parameters collected twice.
6) And recording the driving parameters. The recording method can be transmitted to a computer for storage in a wireless communication mode from a test vehicle through a wireless communication module (4) of the driving parameter acquisition device, and is waited for calling.
In the scheme, the collection rule comprises fixed lane position collection, fixed lane distance interval collection, fixed time interval collection or fixed driving distance interval collection, in the fixed time interval collection, if the time interval is small enough, a curve which changes continuously in a coordinate system can be obtained for each driving parameter, and the curve which changes continuously can be stored as the driving parameter and waits for further processing. The present embodiment is not limited to the form and further processing of the driving parameters.
Claims (14)
1. A method for acquiring driving parameters for evaluating the level of a lane keeping system, characterized in that it comprises the following steps:
1) selecting a standard lane, wherein the standard lane at least comprises a straight road section and a curved road section, and all the road sections are smoothly connected;
2) setting a driving scheme, wherein the driving scheme comprises a starting point position, a test road section, a terminal point position and corresponding driving principle parameter requirements; the principle parameter requirements include a requirement for a travel speed;
3) according to said settings and requirements, the vehicle is caused to travel at least 1 time in a selected road holding lane by means of a lane keeping system;
4) according to a set acquisition rule, acquiring and recording corresponding driving parameters on each set point corresponding to each driving along the way; the collection rule comprises: fixed time interval acquisition, fixed lane distance interval acquisition, fixed driving distance interval acquisition and fixed lane position acquisition; the driving parameters include: the method comprises the following steps of (1) obtaining a vehicle central point position S, a vehicle speed v, a steering wheel real-time rotation angle theta and a steering wheel rotation angle real-time change rate phi;
5) processing the acquired driving parameters into to-be-measured evaluation parameters which correspond to the acquisition points and can reflect the level of the corresponding lane keeping system; the processing includes averaging.
2. The method according to claim 1, wherein the principle parameter requirements comprise a principle parameter requirement for general lane keeping driving and a principle parameter requirement for constant speed lane keeping driving.
3. A method for the acquisition of driving parameters for the evaluation of a lane keeping system level according to claim 1, characterized in that the fixed time interval is acquired as: and setting a time interval t, and acquiring the driving parameters every t time.
4. A method for collecting driving parameters for assessing a lane keeping system level according to claim 1, characterized in that the fixed lane distance interval is collected as: and setting a distance interval m, and acquiring the driving parameters at intervals of m on the lane.
5. A method for the acquisition of driving parameters for the evaluation of a lane keeping system level according to claim 1, characterized in that the fixed driving distance interval is acquired as: and setting a distance interval n, and acquiring the driving parameters when the vehicle drives for the distance n.
6. A method for the acquisition of driving parameters for the evaluation of a lane keeping system level according to claim 1, characterized in that the fixed lane position acquisition is: and presetting an acquisition point on the lane, and acquiring the driving parameters when the vehicle drives to the acquisition point.
7. The method for collecting driving parameters for evaluating the level of a lane keeping system according to claim 1, wherein in step 4), the recording method is to transmit the driving parameters to a device with a wireless communication module and a memory for storage by wireless communication.
8. A method for acquiring driving parameters for evaluating a driver's lane keeping level, characterized by the steps of:
1) selecting a standard lane, wherein the standard lane at least comprises a straight road section and a curved road section, and all the road sections are smoothly connected;
2) setting a driving scheme, wherein the driving scheme comprises a starting point position, a test road section, a terminal point position and corresponding driving principle parameter requirements; the principle parameter requirements include a requirement for a travel speed;
3) keeping the vehicle driven by the driver to drive the lane on the selected road for at least 1 time according to the setting and the requirement;
4) according to a set acquisition rule, acquiring and recording corresponding driving parameters on each set point corresponding to each driving along the way; the collection rule comprises: fixed time interval acquisition, fixed lane distance interval acquisition, fixed driving distance interval acquisition and fixed lane position acquisition; the driving parameters include: the method comprises the following steps of (1) obtaining a vehicle central point position S, a vehicle speed v, a steering wheel real-time rotation angle theta and a steering wheel rotation angle real-time change rate phi;
5) processing the collected driving parameters into a group of to-be-measured evaluation parameters capable of reflecting the driving keeping level of the corresponding lane of the driver; the processing includes averaging.
9. The method according to claim 8, wherein the principle parameter requirements include a principle parameter requirement for general lane keeping driving and a principle parameter requirement for constant speed lane keeping driving.
10. A method for collecting driving parameters for assessing the lane keeping level of a driver according to claim 8, characterized in that said fixed time intervals are collected as: and setting a time interval t, and acquiring the driving parameters every t time.
11. The acquisition method of driving parameters for evaluating a driver's lane keeping level according to claim 8, characterized in that the fixed lane distance interval is acquired as: and setting a distance interval m, and acquiring the driving parameters at intervals of m on the lane.
12. The acquisition method of driving parameters for evaluating a driver's lane keeping level according to claim 8, characterized in that the fixed driving distance interval is acquired as: and setting a distance interval n, and acquiring the driving parameters when the vehicle drives for the distance n.
13. The acquisition method of driving parameters for evaluating a driver's lane keeping level according to claim 8, characterized in that the fixed lane position acquisition is: and presetting an acquisition point on the lane, and acquiring the driving parameters when the vehicle drives to the acquisition point.
14. The method for collecting driving parameters for evaluating the lane keeping level of the driver as claimed in claim 8, wherein in step 4), the recording method is to transmit the driving parameters to a device having a wireless communication module and a memory for storage by wireless communication.
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Address after: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province Patentee after: Yutong Bus Co.,Ltd. Address before: 450016 Yutong Industrial Zone, eighteen Li River, Henan, Zhengzhou Patentee before: ZHENGZHOU YUTONG BUS Co.,Ltd. |