CN109583776A - A kind of vehicle body-sensing evaluating method, device, electronic equipment, medium and vehicle - Google Patents
A kind of vehicle body-sensing evaluating method, device, electronic equipment, medium and vehicle Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of vehicle body-sensing evaluating method, device, electronic equipment, medium and vehicles, this method comprises: obtaining the driving parameters of vehicle；Body-sensing parameter is calculated according to the driving parameters, wherein the body-sensing parameter is parameter relevant to vehicle stability；Based on the body-sensing parameter, the body-sensing evaluation and test model obtained using preparatory training provides vehicle body-sensing evaluation result.Due to carrying out the evaluation and test of vehicle body-sensing based on machine learning and objective data, therefore more accurate to the evaluation of the comfort level of automatic driving vehicle, just and objective, meanwhile the body-sensing index of assessment automated driving system can be used as the improved important references of unmanned vehicle driving in real time.
Description
Technical field
The present embodiments relate to unmanned technical field more particularly to a kind of vehicle body-sensing evaluating methods, device, electricity
Sub- equipment, medium and vehicle.
Background technique
Automatic Pilot technology is can to sense its environment and navigation not needing manual operation, realizes Vehicular automatic driving,
With the development of science and technology, automatic driving vehicle gradually enters into the people visual field, and actually use on various occasions.
It is well known that the security performance of vehicle is extremely crucial, in addition to this, it is automatic that the ride experience of passenger also becomes evaluation
The important indicator of vehicle performance is driven, such as can all influence the comfort level of passenger when zig zag or anxious acceleration, that is,
Vehicle is more steady, and comfort level is higher.However, there is presently no evaluate the steady of automatic driving vehicle than more objective means
Property.
Summary of the invention
The embodiment of the present invention provides a kind of vehicle body-sensing evaluating method, device, electronic equipment, medium and vehicle, to solve
The problem of stationarity of automatic driving vehicle is not evaluated than more objective means in the prior art.
In a first aspect, the embodiment of the invention provides a kind of vehicle body-sensing evaluating methods, which comprises
Obtain the driving parameters of vehicle；
Body-sensing parameter is calculated according to the driving parameters, wherein the body-sensing parameter is relevant to vehicle stability
Parameter；
Based on the body-sensing parameter, the body-sensing evaluation and test model obtained using preparatory training provides vehicle body-sensing evaluation result.
Second aspect, the embodiment of the invention also provides a kind of vehicle body-sensing evaluating apparatus, described device includes:
Driving parameters obtain module, for obtaining the driving parameters of vehicle；
Body-sensing parameter acquisition module, for calculating body-sensing parameter according to the driving parameters, wherein the body-sensing parameter
For parameter relevant to vehicle stability；
Evaluation result computing module evaluates and tests model using the body-sensing that preparatory training obtains for being based on the body-sensing parameter
Provide vehicle body-sensing evaluation result.
The third aspect, the embodiment of the invention also provides a kind of electronic equipment, the electronic equipment includes:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes a kind of vehicle body-sensing evaluating method as described in any embodiment of that present invention.
Fourth aspect, it is described the embodiment of the invention also provides a kind of storage medium comprising computer executable instructions
Computer executable instructions as computer processor when being executed for executing a kind of vehicle as described in any embodiment of that present invention
Body-sensing evaluating method.
5th aspect, further includes such as institute of the embodiment of the present invention the embodiment of the invention also provides a kind of vehicle, including car body
The electronic equipment stated.
The driving parameters that the embodiment of the present invention passes through acquisition vehicle；Body-sensing parameter is calculated according to the driving parameters,
In, the body-sensing parameter is parameter relevant to vehicle stability；Based on the body-sensing parameter, the body obtained using preparatory training
Sense evaluation and test model provides vehicle body-sensing evaluation result.Due to carrying out commenting for vehicle body-sensing based on machine learning and objective data
It surveys, therefore more accurate, just and objective to the evaluation of the comfort level of automatic driving vehicle, meanwhile, automatic Pilot is assessed in real time
The body-sensing index of system can be used as unmanned vehicle and drive improved important references.
Detailed description of the invention
Fig. 1 is the flow chart of one of embodiment of the present invention one vehicle body-sensing evaluating method；
Fig. 2 is the flow chart of one of embodiment of the present invention two vehicle body-sensing evaluating method；
Fig. 3 is the structural schematic diagram of one of embodiment of the present invention three vehicle body-sensing evaluating apparatus；
Fig. 4 is the structural schematic diagram of one of the embodiment of the present invention four electronic equipment.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for vehicle body-sensing evaluating method that the embodiment of the present invention one provides, and the present embodiment is applicable
In vehicle body-sensing evaluation and test the case where, this method can be executed by a kind of vehicle body-sensing evaluating apparatus, which can pass through software
And/or hardware realization, and it is configurable the electronic equipment can be only fitted on vehicle in the electronic device, such as with control and
The unmanned vehicle etc. of computing capability, as shown in Figure 1, this method comprises:
S110, the driving parameters for obtaining vehicle.
The driving parameters of vehicle are the parameters for describing vehicle motion conditions in the process of moving, may include positioning and
The data of speed, such as position, displacement and speed parameter.It can specifically be obtained from the data that vehicle sensors acquire.And nothing
People drives the sensor that generally will be installed in vehicle there are many type, for acquiring different types of vehicle driving parameter, such as
GPS positioning, the position and traveling that can get vehicle in real time are displaced or distance, velocity sensor can acquire vehicle driving
Direction and corner etc., acceleration transducer can acquire and be calculated the parameters such as vehicle acceleration and speed.In addition, nobody drives
Sailing vehicle can also carry out other vehicle parameters and environment using devices such as video camera, radar sensor and laser rangings
The measurement of parameter, to guarantee that vehicle can drive safely.
S120, calculate body-sensing parameter according to the driving parameters, wherein the body-sensing parameter be and vehicle stability phase
The parameter of pass.
Body-sensing parameter is parameter relevant to vehicle stability, and vehicle stability is the important finger of road holding
Mark can be used as the foundation of evaluation comfort of passenger, reflect the influence in vehicle operation to human feeling.Specifically
, body-sensing parameter may include the parameters such as vehicle acceleration, deceleration, angular acceleration, angular speed and space rate, these parameters
It is related to the stationarity of vehicle, while also influencing the feeling for taking of passenger.
Specifically, body-sensing parameter can be calculated according to existing Kinematics Law and driving parameters, such as can be with
Acceleration is calculated according to the Position, Velocity and Time data of vehicle.Body-sensing parameter and driving parameters can also be preset
Between specific incidence relation, such as certain special road sections when driving, the relationship between body-sensing parameter and driving parameters can
With rule of thumb parameter setting.
Optionally, the driving parameters include at least location data and travel speed；Correspondingly, the body-sensing parameter is at least
It include: acceleration, deceleration, angular acceleration, angular speed and space rate.
Illustratively, acceleration may include automobile longitudinal acceleration, refer to the acceleration of vehicle heading, accelerate
Degree is bigger, and passenger feels that pushing away back feels stronger；A possibility that deceleration (negative value of acceleration) is bigger, and passenger collides with forward can get over
Greatly.In addition to this, further include vehicle lateral acceleration, the acceleration in the direction vertical with vehicle traveling direction is referred to, in vehicle
Carry out acceleration brought by the centrifugal force of generation, that is, the trend of vehicle " being got rid of winged ", this acceleration when turning driving
Bigger car is theoretically easy for " being got rid of " from driving path.Angular acceleration may include centrifugal acceleration, be to leave object
A kind of acceleration that the center of movement is moved to farther place.Centrifugal acceleration is bigger, and passenger feels the feeling got rid of, and adds with lateral
Speed is similar.It can be felt with above-mentioned body-sensing parameter to embody the passenger in vehicle travel process.
S130, it is based on the body-sensing parameter, the body-sensing evaluation and test model obtained using preparatory training is provided vehicle body-sensing and evaluated and tested
As a result.
Vehicle evaluation result can be the evaluation result of vehicle stability situation in driving process, can be evaluated and tested with vehicle etc.
Grade and/or evaluation and test score indicate；It specifically can be understood as the comfort level of passenger in vehicle travel process, for example exist anxious
The experience of passenger when phenomena such as accelerating, suddenly slowing down or take a sudden turn.Illustratively, the Vehicle Speed 50m that brakes in 20m/s stops
It only, can be according to Basic Optical Formula (2a s=v2-v0 2) deceleration in body-sensing parameter is calculated as 4m/s2, this feelings
Since deceleration is excessive under condition, passenger may may feel that bring to a halt caused by the feeling oppressed of heart, then body-sensing evaluation result
It can be and be difficult to endure.
And body-sensing evaluation and test model can be it is trained in advance for according to body-sensing parameter identifying corresponding vehicle body-sensing
It is by a large amount of correlated samples data trained to can use machine learning algorithm or neural network model for the model of evaluation result
It arrives.Obtained body-sensing parameter can be input in trained body-sensing evaluation and test model, vehicle body-sensing evaluation and test knot can be obtained
Fruit.Vehicle body-sensing evaluation result can indicate comfort of passenger situation, for example, 1 grade be it is comfortable, 2 grades for that can endure, 3 grades is cannot
It endures.Optionally, it is based on the body-sensing parameter, the body-sensing evaluation and test model obtained using preparatory training is provided vehicle body-sensing and evaluated and tested
As a result after, the method also includes:
The driving parameters, body-sensing parameter and the vehicle body-sensing evaluation result are uploaded onto the server, so as to the clothes
Business device is compared between body-sensing evaluation result of the vehicle in different moments or the body-sensing evaluation result in different vehicle.
Server, can be right after receiving the data such as driving parameters, body-sensing parameter and the vehicle body-sensing evaluation result
The body-sensing evaluation results of vehicle different moments carries out longitudinal comparison, obtains the corresponding evaluation result of different body-sensing parameters, Yi Jike
To carry out longitudinal comparison to vehicle driving system version.Meanwhile to different vehicles, such as model, brand can be done laterally right
Than obtaining body-sensing evaluation result of the different vehicle under identical body-sensing parameter, these can be used as unmanned research and development industry
Important evidence.
The technical solution of the present embodiment, by the driving parameters for obtaining vehicle；Body-sensing is calculated according to the driving parameters
Parameter, wherein the body-sensing parameter is parameter relevant to vehicle stability；Based on the body-sensing parameter, preparatory training is utilized
Obtained body-sensing evaluation and test model provides vehicle body-sensing evaluation result.Due to carrying out vehicle body based on machine learning and objective data
The evaluation and test of sense, thus it is more accurate, just and objective to the evaluation of the comfort level of automatic driving vehicle, meanwhile, assessment in real time is certainly
The body-sensing index of dynamic control loop can be used as unmanned vehicle and drive improved important references.In addition, cloud visual means, it can
Intuitive data analysis is provided, and can be compared with other Vehicular systems.
Embodiment two
Fig. 2 is a kind of flow chart of the vehicle body-sensing evaluating method provided in the embodiment of the present invention two, in above-described embodiment
On the basis of, optionally, further optimization is done to this method, as shown in Fig. 2, this method specifically includes:
S210, the driving parameters for obtaining vehicle.
S220, according to the location data and travel speed, obtain the driving trace of vehicle using the method for interpolation, and
Each moment corresponding travel speed on driving trace.
Wherein, it if interpolation method is to be inserted into the functional value done in certain section using function f (x), makes appropriate specific
Function takes given value on these aspects, uses the value of this specific function as the approximation of function f (x) on other aspects in section.
Due to including corresponding vehicle location and speed under different moments in location data and travel speed, it can use difference
The available vehicle of method driving trace and corresponding travel speed of each moment.Driving trace can refer to vehicle from
The position feature for the route composition that starting position is passed through until terminating, driving trace may be straight line, curve and/or straight line
With the combination of curve.
S230, straightway and turnaround section are determined according to the driving trace.
On the basis of determining driving trace, can determine which section track belongs to directly in which section time according to driving trace
Line segment, which section track belong to turnaround section.
S240, according to the straightway and its corresponding travel speed, space rate, acceleration and deceleration is calculated
Degree.
In straightway, straightway starting velocity v can be learnt according to corresponding travel speed0, terminal speed in straightway
Spend v1, can further calculate acceleration a during straightway traveling1And/or deceleration a2And in the straightway
The relationship of each moment speed v and time and acceleration.Illustratively, if it is in even accelerator, the acceleration time is t1, then
a1=(v1-v0)/t1, and v=v0+a1t1.Certainly, in the actual process generally be not it is even acceleration or at the uniform velocity, specifically can basis
On geometric locus the tangential direction of certain moment corresponding location point determines the directional velocity at the moment, further determines whether one
It is directly in straightway, the size of acceleration can be calculated according to the instantaneous velocity of different moments.S250, according to the turning
Section and its corresponding travel speed, are calculated angular speed and angular acceleration.
In turnaround section, the angle of turning can be determined according to different moments corresponding travel speed and direction, is utilized
Angle of turn and turning time calculate angular speed, may further calculate angular acceleration using the angular speed of different moments.
S260, it is based on the body-sensing parameter, the body-sensing evaluation and test model obtained using preparatory training is provided vehicle body-sensing and evaluated and tested
As a result.
Optionally, the training process of the body-sensing evaluation and test model includes:
Obtain the historical sample data of vehicle operation, wherein include based on vehicle driving parameter in the sample data
Obtained body-sensing parameter；
The body-sensing grade obtained for the sample data marks, wherein the mark include it is comfortable, can endure or cannot
It endures；
It is marked based on the sample data and its corresponding body-sensing grade, is trained, is obtained using the method for machine learning
Model is evaluated and tested to the body-sensing.
Specifically, historical sample data can be obtained from internet or associated vehicle running data library, and can be right
Corresponding body-sensing parameter carries out body-sensing grade mark in corresponding sample data, including it is comfortable, can endure or be impatient at.When
So, the occupant comfort degree more refined can also be arranged to be labeled, such as snug as a bug in a rug, it is relatively comfortable etc..Body-sensing grade mark
It the specific threshold value of above-mentioned body-sensing parameter corresponding to objective circumstances such as can be comfortable on, can endure, can not endure according to the mankind
It determines.Then, using the method for machine learning, the training that body-sensing evaluates and tests model is carried out based on later sample data is marked.
In a kind of specific embodiment, the absolute value that can set body-sensing longitudinal acceleration is greater than 4m/s2When, passenger
It can feel under the weather.Acceleration a can pass through formula a=(v in specific driving process2-v1)/(t2-t1) calculate, wherein v2And v1
Respectively t2And t1Moment longitudinal direction of car travel speed.For example, t1Moment vehicle driving remains static, at this time v1=0m/s；
t2Moment (is assumed to be distance t1After 2 seconds moment), longitudinal direction of car travel speed is 10m/s.Then longitudinal acceleration is a=(10m-
0m)/2s=5m/s2.It can determine whether to be greater than body-sensing comfort level threshold value for longitudinal acceleration at this time, passenger feels under the weather.For vertical
To the case where bringing to a halt, longitudinal acceleration is negative value (being commonly called as deceleration), and calculation method is similar.Certainly it can also specifically set,
Longitudinal acceleration is greater than 4m/s2Less than 5m/s2, can be endured for passenger；Longitudinal acceleration is greater than 5m/s2, it is impatient at for passenger.
In addition, specific threshold value can also be set for transverse acceleration to confirm that body-sensing grade marks.Transverse acceleration a
Formula a=(v can be passed through2-v1)/(t2-t1) calculated, wherein v2And v1Respectively t2And t1Moment lateral direction of car traveling speed
Degree；Specifically, can decompose Vehicle Speed along the tangent line and normal of track, the speed of normal direction is laterally
Travel speed, and the speed of tangential direction is then longitudinal driving speed.For example, centrifugal acceleration can be set greater than 5m/s2When,
Passenger feels to be impatient at.
In addition, centrifugal acceleration can also set specific threshold value to confirm that body-sensing grade marks.Centrifugal acceleration is bigger,
Passenger feels the feeling got rid of, similar with transverse acceleration.Centrifugal acceleration a can specifically pass through formula a=v2/ r, wherein v
For Vehicle Speed, r is the radius of circle of vehicle driving trace.For example, centrifugal acceleration can be set greater than 5m/s2When, multiply
Visitor feels to be impatient at.Certainly, in some vehicle travel process, above-mentioned a variety of acceleration be may relate to, can also be set corresponding
Threshold value combine to carry out the mark of body-sensing grade, such as be longitudinally, laterally set separately 3,4,5m/s with centrifugal acceleration2, when
Below corresponding threshold value when, passenger is comfortable on；When being greater than corresponding threshold value there are two acceleration, then passenger cannot bear
By, it is of course possible to the mark of other body-sensing grades is carried out according to the actual situation.
The technical solution of the present embodiment obtains the row of vehicle using the method for interpolation by obtaining the driving parameters of vehicle
Sail the corresponding travel speed of each moment on track and driving trace；Straightway and turning are determined according to the driving trace
Section；According to the straightway and its corresponding travel speed, space rate, acceleration and deceleration is calculated；According to described
Turnaround section and its corresponding travel speed, are calculated angular speed and angular acceleration；Based on the body-sensing parameter, preparatory instruction is utilized
The body-sensing evaluation and test model got provides vehicle body-sensing evaluation result.Due to determining straightway and/or turning according to driving trace
The body-sensing parameter of section, more accurate and objective, the evaluation and test mould further obtained using the sample data training by largely marking
Type objectively carries out the evaluation and test of vehicle body-sensing, obtains more accurate to the comfort level of automatic driving vehicle, just and objectively comments
Valence.Meanwhile the body-sensing index of assessment automated driving system can be used as the improved important references of unmanned vehicle driving in real time.
Embodiment three
Fig. 3 is a kind of structural schematic diagram for vehicle body-sensing evaluating apparatus that the embodiment of the present invention three provides, as shown in figure 3,
The device can be realized in the form of hardware and/or software, and can be configured in electronic equipment, which includes:
Driving parameters obtain module 310, for obtaining the driving parameters of vehicle；
Body-sensing parameter acquisition module 320, for calculating body-sensing parameter according to the driving parameters, wherein the body-sensing
Parameter is parameter relevant to vehicle stability；
Evaluation result computing module 330 evaluates and tests mould using the body-sensing that preparatory training obtains for being based on the body-sensing parameter
Type provides vehicle body-sensing evaluation result.
Optionally, the driving parameters include at least location data and travel speed；Correspondingly, the body-sensing parameter is at least
It include: acceleration, deceleration, angular acceleration, angular speed and space rate.
Optionally, the body-sensing parameter acquisition module 320, comprising:
Track acquiring unit, for obtaining vehicle using the method for interpolation according to the location data and travel speed
Each moment corresponding travel speed on driving trace and driving trace；
Section determination unit, for determining straightway and turnaround section according to the driving trace；
Space rate computing unit, for straight line speed to be calculated according to the straightway and its corresponding travel speed
Degree, acceleration and deceleration；
Curved segment speed computing unit, for angular speed to be calculated according to the turnaround section and its corresponding travel speed
And angular acceleration.
Optionally, described device further include: evaluation and test model training module, comprising:
Sample data acquiring unit, for obtaining the historical sample data of vehicle operation, wherein wrapped in the sample data
Include the body-sensing parameter being calculated based on vehicle driving parameter；
Grade marks acquiring unit, for obtaining the body-sensing grade mark for being directed to the sample data, wherein the mark
Including it is comfortable, can endure or be impatient at；
Model training unit is evaluated and tested, for marking based on the sample data and its corresponding body-sensing grade, utilizes machine
The method of study is trained, and obtains the body-sensing evaluation and test model.
Optionally, described device further include:
Data uploading module is provided for evaluation result computing module using the body-sensing evaluation and test model that training obtains in advance
After vehicle body-sensing evaluation result, the driving parameters, body-sensing parameter and the vehicle body-sensing evaluation result are uploaded into service
Device, so that the server is to body-sensing evaluation result of the vehicle in different moments or the body-sensing evaluation result in different vehicle
Between compare.
A kind of vehicle body-sensing evaluating apparatus provided by the embodiment of the present invention, executable any embodiment of that present invention are provided
A kind of vehicle body-sensing evaluating method, have the corresponding functional module of execution method and beneficial effect.Not in the present embodiment in detail
The technical detail described to the greatest extent, reference can be made to a kind of vehicle body-sensing evaluating method that any embodiment of that present invention provides.
Example IV
Referring to fig. 4, a kind of electronic equipment 400 is present embodiments provided comprising: one or more processors 420；Storage
Device 410, for storing one or more programs, when one or more of programs are by one or more of processors 420
It executes, so that one or more of processors 420 realize a kind of vehicle body-sensing evaluation and test side provided by the embodiment of the present invention
Method, which comprises
Obtain the driving parameters of vehicle；
Body-sensing parameter is calculated according to the driving parameters, wherein the body-sensing parameter is relevant to vehicle stability
Parameter；
Based on the body-sensing parameter, the body-sensing evaluation and test model obtained using preparatory training provides vehicle body-sensing evaluation result.
Certainly, it will be understood by those skilled in the art that processor 420 can also realize that any embodiment of that present invention is provided
A kind of vehicle body-sensing evaluating method technical solution.
The electronic equipment 400 that Fig. 4 is shown is only an example, should not function and use scope to the embodiment of the present invention
Bring any restrictions.
As shown in figure 4, electronic equipment 400 is showed in the form of universal computing device.The component of electronic equipment 400 can wrap
Include but be not limited to: one or more processor 420, storage device 410 connect different system components (including storage device 410
With processor 420) bus 450.
Bus 450 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Electronic equipment 400 typically comprises a variety of computer system readable media.These media can be it is any can be by
The usable medium that electronic equipment 400 accesses, including volatile and non-volatile media, moveable and immovable medium.
Storage device 410 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 411 and/or cache memory 412.Electronic equipment 400 may further include it is other it is removable/can not
Mobile, volatile/non-volatile computer system storage medium.Only as an example, storage system 413 can be used for reading and writing not
Movably, non-volatile magnetic media (Fig. 4 do not show, commonly referred to as " hard disk drive ").It although not shown in fig 4, can be with
The disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") is provided, and non-volatile to moving
The CD drive of CD (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driving
Device can be connected by one or more data media interfaces with bus 450.Storage device 410 may include at least one journey
Sequence product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform this hair
The function of bright each embodiment.
Program/utility 414 with one group of (at least one) program module 415 can store in such as storage dress
It sets in 410, such program module 415 includes but is not limited to operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.Program module
415 usually execute function and/or method in any embodiment described in the invention.
Electronic equipment 400 can also be with one or more external equipments 460 (such as keyboard, sensing equipment, display 470
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 400 communicate, and/or with make
Any equipment (such as network interface card, the modem that the electronic equipment 400 can be communicated with one or more of the other calculating equipment
Etc.) communication.This communication can be carried out by input/output (I/O) interface 430.Also, electronic equipment 400 can also lead to
Cross network adapter 440 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, example
Such as internet) communication.As shown in figure 4, network adapter 440 is communicated by bus 450 with other modules of electronic equipment 400.
It should be understood that although not shown in the drawings, other hardware and/or software module can not used in conjunction with electronic equipment 400, including but not
Be limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and
Data backup storage system etc..
The program that processor 420 is stored in storage device 410 by operation, thereby executing various function application and number
According to processing, such as realize a kind of vehicle body-sensing evaluating method provided by the embodiment of the present invention.
Embodiment five
The present embodiment provides a kind of storage medium comprising computer executable instructions, the computer executable instructions exist
For executing a kind of vehicle body-sensing evaluating method when being executed by computer processor, this method comprises:
Obtain the driving parameters of vehicle；
Body-sensing parameter is calculated according to the driving parameters, wherein the body-sensing parameter is relevant to vehicle stability
Parameter；
Based on the body-sensing parameter, the body-sensing evaluation and test model obtained using preparatory training provides vehicle body-sensing evaluation result.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The method operation that executable instruction is not limited to the described above, can also be performed a kind of vehicle provided by any embodiment of the invention
Relevant operation in body-sensing evaluating method.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Embodiment six
The embodiment of the present invention six additionally provides a kind of vehicle, including car body, wherein specific body construction can be using existing
There is the structure design in technology；The vehicle further includes electronic equipment as described in the embodiments of the present invention.The storage of the electronic equipment
It is stored with computer program in device, vehicle body-sensing evaluating method described in any embodiment of that present invention can be executed.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (13)
1. a kind of vehicle body-sensing evaluating method, which is characterized in that the described method includes:
Obtain the driving parameters of vehicle；
Body-sensing parameter is calculated according to the driving parameters, wherein the body-sensing parameter is parameter relevant to vehicle stability；
Based on the body-sensing parameter, the body-sensing evaluation and test model obtained using preparatory training provides vehicle body-sensing evaluation result.
2. the method according to claim 1, wherein the driving parameters include at least location data and traveling speed
Degree；Correspondingly, the body-sensing parameter includes at least: acceleration, deceleration, angular acceleration, angular speed and space rate.
3. according to the method described in claim 2, it is characterized in that, calculating body-sensing parameter according to the driving parameters, comprising:
According to the location data and travel speed, the driving trace and driving trace of vehicle are obtained using the method for interpolation
Above corresponding travel speed of each moment；
Straightway and turnaround section are determined according to the driving trace；
According to the straightway and its corresponding travel speed, space rate, acceleration and deceleration is calculated；
According to the turnaround section and its corresponding travel speed, angular speed and angular acceleration is calculated.
4. the method according to claim 1, wherein the training process of body-sensing evaluation and test model includes:
Obtain the historical sample data of vehicle operation, wherein include calculating in the sample data based on vehicle driving parameter
The body-sensing parameter arrived；
The body-sensing grade obtained for the sample data marks, wherein body-sensing grade mark include it is comfortable, can endure or
It is impatient at；
It is marked based on the sample data and its corresponding body-sensing grade, is trained using the method for machine learning, obtains institute
State body-sensing evaluation and test model.
5. being obtained the method according to claim 1, wherein being based on the body-sensing parameter using preparatory training
After body-sensing evaluation and test model provides vehicle body-sensing evaluation result, the method also includes:
The driving parameters, body-sensing parameter and the vehicle body-sensing evaluation result are uploaded onto the server, so as to the server
It is compared between body-sensing evaluation result of the vehicle in different moments or the body-sensing evaluation result in different vehicle.
6. a kind of vehicle body-sensing evaluating apparatus, which is characterized in that described device includes:
Driving parameters obtain module, for obtaining the driving parameters of vehicle；
Body-sensing parameter acquisition module, for calculating body-sensing parameter according to the driving parameters, wherein the body-sensing parameter be with
The relevant parameter of vehicle stability；
Evaluation result computing module, for being based on the body-sensing parameter, the body-sensing evaluation and test model obtained using preparatory training is provided
Vehicle body-sensing evaluation result.
7. device according to claim 6, which is characterized in that the driving parameters include at least location data and traveling speed
Degree；Correspondingly, the body-sensing parameter includes at least: acceleration, deceleration, angular acceleration, angular speed and space rate.
8. device according to claim 6, which is characterized in that the body-sensing parameter acquisition module, comprising:
Track acquiring unit, for obtaining the traveling of vehicle using the method for interpolation according to the location data and travel speed
Each moment corresponding travel speed on track and driving trace；
Section determination unit, for determining straightway and turnaround section according to the driving trace；
Space rate computing unit, for space rate being calculated, adds according to the straightway and its corresponding travel speed
Speed and deceleration；
Curved segment speed computing unit, for angular speed and angle to be calculated according to the turnaround section and its corresponding travel speed
Acceleration.
9. device according to claim 6, which is characterized in that described device further include: evaluation and test model training module, packet
It includes:
Sample data acquiring unit, for obtaining the historical sample data of vehicle operation, wherein include base in the sample data
In the body-sensing parameter that vehicle driving parameter is calculated；
Grade marks acquiring unit, for obtaining the body-sensing grade mark for being directed to the sample data, wherein the body-sensing grade
Mark includes comfortably, can endure or be impatient at；
Model training unit is evaluated and tested, for marking based on the sample data and its corresponding body-sensing grade, utilizes machine learning
Method be trained, obtain body-sensing evaluation and test model.
10. device according to claim 6, which is characterized in that described device further include:
Data uploading module is providing vehicle using the body-sensing evaluation and test model that training obtains in advance for evaluation result computing module
After body-sensing evaluation result, the driving parameters, body-sensing parameter and the vehicle body-sensing evaluation result are uploaded onto the server, with
Toilet state server between body-sensing evaluation result of the vehicle in different moments or the body-sensing evaluation result in different vehicle into
Row comparison.
11. a kind of electronic equipment, which is characterized in that the electronic equipment includes:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as a kind of vehicle body-sensing evaluating method as claimed in any one of claims 1 to 5.
12. a kind of storage medium comprising computer executable instructions, the computer executable instructions are by computer disposal
For executing a kind of such as vehicle body-sensing evaluating method as claimed in any one of claims 1 to 5 when device executes.
13. a kind of vehicle, including car body, which is characterized in that further include electronic equipment as claimed in claim 11.
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