CN111707476B - Longitudinal driving capability detection method for automatic driving automobile - Google Patents
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Abstract
The invention relates to a longitudinal driving ability detection method for an automatic driving automobile, which comprises the following steps: acquiring heterogeneous group driving behavior data and constructing a longitudinal driving behavior feature library; aiming at the longitudinal safe distance keeping behavior of the vehicle, a driving capability evaluation index system is constructed by utilizing a longitudinal driving behavior feature library; constructing a longitudinal driving capability multi-factor analysis model by using a quantile regression method and a driving capability evaluation index system; and acquiring the running data of the automatic driving automobile, and carrying out quantitative detection on the driving capability by utilizing a longitudinal driving capability multi-factor analysis model. Compared with the prior art, the method has the advantages that the quantitative positioning of the driving capacity of the automatic driving automobile in human driver groups is realized, the problems that the existing driving capacity evaluation method cannot give consideration to grade division and interpretability are solved, and the evaluation result can support the optimization of the control algorithm of the automatic driving automobile.
Description
Technical Field
The invention relates to the field of automatic driving automobiles, in particular to a longitudinal driving capability detection method for an automatic driving automobile.
Background
Automatic driving is an important direction for a new round of scientific and technological innovation and industry development all over the world. At present, autopilot has entered into the practical development stage, still is in industrialization earlier stage, and autopilot drive test accident takes place occasionally, and the security problem that leads to the fact owing to the driving ability is not enough leads to public to reduce by a wide margin to autopilot's trust, consequently need carry out the driving ability analysis before the autopilot is used, and the autopilot method of application high driving ability goes to control autopilot to guarantee the security of independently dealing with the driving task in complicated traffic environment.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a longitudinal driving capability detection method for an automatic driving automobile.
The purpose of the invention can be realized by the following technical scheme:
a longitudinal driving ability detection method for an automatic driving automobile comprises the following steps:
step S1: acquiring heterogeneous group driving behavior data and constructing a longitudinal driving behavior feature library;
step S2: aiming at the longitudinal safe distance keeping behavior of the vehicle, a driving capability evaluation index system is constructed by utilizing a longitudinal driving behavior feature library;
step S3: constructing a longitudinal driving capability multi-factor analysis model by using a quantile regression method and a driving capability evaluation index system;
step S4: and acquiring the running data of the automatic driving automobile, and carrying out quantitative detection on the driving capability by utilizing a longitudinal driving capability multi-factor analysis model.
The step S1 includes:
step S11: acquiring heterogeneous group driving behavior data, including vehicle motion data, GPS driving track data and vehicle-mounted driving environment perception data;
step S12: fusing heterogeneous group driving behavior data, dividing driving segments, extracting the driving segments of another vehicle in the driving forward direction from the driving segments to obtain driving capability evaluation segments;
step S13: and calculating travel characteristics, running characteristics and road characteristics by taking the driving ability evaluation segment as a basic analysis unit, and constructing a longitudinal driving behavior characteristic library.
The travel characteristic indexes are duration of the driving ability assessment segment, whether peak travel is performed or not and whether night travel is performed or not, the operation characteristic indexes are average speed and standard deviation of speed, and the road characteristic indexes are main road types.
The driving ability evaluation index system comprises longitudinal risk exposure pexposureAnd longitudinal risk degree pseverityTwo indices, the longitudinal risk exposure pexposureComprises the following steps:
wherein, tauiInterval for driving behavior data acquisition, deltaiIs tauiThe state of the vehicle in the time interval, d is the distance between the vehicle and another adjacent vehicle in the forward direction, and dmin(ti) At a minimum safe distance, d (t)i)＜dmin(ti) Time deltai1, i is the total time period number, t is the duration of the driving ability evaluation segment, and exposure is the sum of the durations of the vehicle in the potential risk state;
the longitudinal riskDegree pseverityComprises the following steps:
wherein, the term "visibility" refers to d (t) when the host vehicle is in a risk potential statei) And dmin(ti) The sum of the differences of (a).
D ismin(ti) Comprises the following steps:
wherein v ise(ti) And vl(ti) The speeds of the own vehicle and the forward adjacent other vehicle, a, respectively, during the period imax,aIs the maximum acceleration of the vehicle, amin,bMinimum deceleration of the vehicle, bmax,bρ is the reaction time of the driver of the vehicle/autonomous vehicle for the maximum deceleration of the forward adjacent other vehicle.
The longitudinal driving ability multi-factor analysis model is as follows:
wherein, yjEvaluating the longitudinal risk exposure p corresponding to the segment j for drivabilityexposureOr longitudinal risk degree pseverityP is the quantitative grade positioning quantile of the designated driving ability, xj＝(Durationj,Peakj,Nightj,Avg.Speedj,Std.Speedj,Roadj) For explaining the vector, the items sequentially correspond to the duration of the driving ability evaluation segment j, whether to travel at peak or not, whether to travel at night or not, the average speed, the standard deviation of the speed and the main road type, betapIs a regression coefficient vector.
The regression coefficient vector betapSolving by weighted residual minimization, and calculating as follows:
where ρ ispIs the weight of the residual under p quantiles, and n is the number of samples.
The step S4 includes:
step S41: acquiring operation data of the automatic driving automobile, wherein the operation data comprises movement data of the automatic driving automobile, GPS (global positioning system) driving track data of the automatic driving automobile and vehicle-mounted driving environment detection data of the automatic driving automobile;
step S42: extracting a driving capability evaluation segment of the automatic driving automobile and calculating a basic characteristic index of driving behavior of the automatic driving automobile and a measured value of the driving capability evaluation index;
step S43: calculating driving ability evaluation index values corresponding to the quantitative grade positioning quantiles of the appointed driving ability for each driving ability evaluation segment of the automatic driving automobile based on the longitudinal driving ability multi-factor analysis model;
step S44: and comparing the driving ability evaluation index value with the driving ability evaluation index measured value, wherein the quantile interval where the measured value is located is the driving ability quantitative detection result.
Compared with the prior art, the invention has the following advantages:
(1) the method is oriented to the 'personification' operation characteristic evaluation requirement of the automatic driving automobile, constructs a driving behavior specific library of heterogeneous drivers, and provides a driving capability evaluation index system suitable for continuous and complex driving environments.
(2) Based on a quantile regression method, driving capacity grading reference values under different traveling, running and road conditions can be determined, and quantitative positioning of the driving capacity of the automatic driving automobile in a human driver group is realized; in addition, the relation between the influence factors such as travel, operation, roads and the like and the driving ability can be known through the quantile regression model result, and the problem that the existing driving ability evaluation method cannot give consideration to automatic classification and interpretability is solved; control of an autonomous vehicle may be optimized.
Drawings
Fig. 1 is a flow chart of the method for detecting the longitudinal driving ability of an autonomous vehicle according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Examples
The invention provides a longitudinal driving ability detection method for an automatic driving automobile, which comprises the following steps:
step S1: acquiring heterogeneous group driving behavior data and constructing a longitudinal driving behavior feature library;
step S2: aiming at the longitudinal safe distance keeping behavior of the vehicle, a driving capability evaluation index system is constructed by utilizing a longitudinal driving behavior feature library;
step S3: constructing a longitudinal driving capability multi-factor analysis model by using a quantile regression method and a driving capability evaluation index system;
step S4: and acquiring the running data of the automatic driving automobile, and carrying out quantitative detection on the driving capability by utilizing a longitudinal driving capability multi-factor analysis model.
TABLE 1 basic characteristic index of driving behavior
| Dimension (d) of | Index (I) |
| Characteristic of trip | Duration, whether to go out at peak or not, and whether to go out at night |
| Operating characteristics | Mean velocity, standard deviation of velocity |
| Road characteristics | Main road type (road type with the highest ratio of distance traveled in the assessment segment) |
Further, the step S1 of acquiring heterogeneous group driving behavior data and constructing the longitudinal driving behavior feature library specifically includes:
(1.1) acquiring heterogeneous group driving behavior data, including vehicle motion data, GPS driving track data and vehicle-mounted driving environment perception data;
(1.2) multi-source driving data fusion: fusing vehicle motion data, GPS driving track data and vehicle-mounted driving environment perception data, and dividing driving segments;
(1.3) extraction of driving ability evaluation fragment: extracting a driving section in which another vehicle is detected to exist in the driving forward direction of the vehicle as a driving ability evaluation section;
(1.4) calculating a driving behavior basic characteristic index: and calculating travel characteristics, running characteristics and road characteristics by taking the driving ability evaluation segment as a basic analysis unit, and constructing a longitudinal driving behavior characteristic library. The driving behavior basic characteristic index is shown in table 1.
In step S2, a driving ability evaluation index system is constructed by using the longitudinal driving behavior feature library for the vehicle longitudinal safe distance maintenance behavior, specifically:
(2.1) for the vehicle longitudinal safe distance keeping behavior, judging the vehicle safe state through an RSS (Responsibility Sensitive Safety) model:
RSS is an IEEE autonomous vehicle safety decision model standard that defines the minimum safe distance of an autonomous vehicle from a forward-adjacent other vehicle:
wherein v ise(ti) And vl(ti) The speeds of the own vehicle and the forward adjacent other vehicle, a, respectively, during the period imax,aIs the maximum acceleration of the vehicle, amin,bMinimum deceleration of the vehicle, bmax,bFor the maximum deceleration of the preceding vehicle, ρ is the reaction time of the driver/autonomous vehicle, if the vehicle is adjacent to another vehicle in the forward direction, d (t)i)＜dmin(ti) Then the vehicle is in a potential risk state;
(2.2) constructing a driving ability evaluation index system based on an RSS model:
drivability assessment index system from longitudinal risk exposure pexposureAnd longitudinal risk degree pseverityThe method comprises the following steps:
wherein, tauiAcquiring intervals for driving behavior data; deltaiIs tauiVehicle state during time period, d (t)i)＜dmin(ti) Time deltai1, the vehicle is in a potentially risky state; t is the duration of the driving ability evaluation segment; exposure is the distance d (t) between the host vehicle and another vehicle adjacent to the host vehicle in the forward direction in the driving ability evaluation segmenti)＜dmin(ti) I.e. sum of time periods that the vehicle is in a potential risk state, longitudinal risk exposure pexposureThe time length proportion of the vehicle in the potential risk state is obtained; "d" (t) when the host vehicle is in a potential risk state "visibilityi) And dmin(ti) Sum of the differences of (a), longitudinal risk degree pseverityD (t) is the time when the vehicle is in a potential risk statei) And dmin(ti) The average of the differences.
In step S3, a longitudinal driving ability multi-factor analysis model is constructed based on the quantile regression analysis method and the driving ability evaluation index system, specifically:
(3.1) selecting a driving ability quantization grade positioning quantile;
(3.2) constructing a longitudinal driving ability multi-factor analysis model based on a quantile regression method and a driving ability evaluation index system:
the longitudinal driving capability multi-factor analysis model comprises the following steps:
wherein x isj＝(Durationj,Peakj,Nightj,Avg.Speedj,Std.Speedj,Roadj) For explaining the vector, the items sequentially correspond to the duration of the driving ability evaluation segment j, whether the vehicle is going out at a peak or not, whether the vehicle is going out at night or not, the average speed, the speed standard deviation and the main road type respectively; response variable yjEvaluating the longitudinal risk exposure p corresponding to the segment j for drivabilityexposureOr longitudinal risk degree pseverity(ii) a p is a designated quantile; beta is apFor the regression coefficient vector, the solution can be performed by weighted residual minimization, i.e.:
where ρ ispIs the weight of the residual under p quantiles, and n is the number of samples. And solving the above formula to obtain the regression coefficient vector of the quantile model, namely obtaining the longitudinal driving capacity multi-factor analysis model.
Step S4 is to quantify the driving ability of the autonomous vehicle operation data using the longitudinal driving ability multi-factor analysis model:
(4.1) acquiring the running data of the automatic driving automobile, wherein the running data comprises the motion data of the automatic driving automobile, the GPS driving track data of the automatic driving automobile, the vehicle-mounted driving environment detection data of the automatic driving automobile and the like;
(4.2) extracting a driving capability evaluation segment of the automatic driving automobile and calculating a basic characteristic index of the driving behavior of the automatic driving automobile, a longitudinal risk exposure amount (measured value) of the automatic driving automobile and a longitudinal risk exposure degree value (measured value) of the automatic driving automobile according to a longitudinal driving behavior feature library construction method;
(4.3) calculating longitudinal risk exposure (estimated value) and longitudinal risk exposure degree value (estimated value) corresponding to each grade (quantile level) under corresponding trip, operation and road characteristics for each driving capacity evaluation segment of automatic driving based on a longitudinal driving capacity multi-factor analytical model;
(4.4) comparing the longitudinal risk exposure amount corresponding to each grade (quantile level) with the longitudinal risk exposure amount of the automatic driving automobile, the longitudinal risk exposure degree value corresponding to each grade (quantile level) and the longitudinal risk exposure degree of the automatic driving automobile, wherein the quantile interval where the longitudinal risk exposure amount of the automatic driving automobile and the longitudinal risk exposure degree of the automatic driving automobile are located is the quantitative grading result of the automatic driving ability; the corresponding grade of the longitudinal risk exposure represents the driving style under specific travel, operation and road characteristics, and the higher the quantile level is, the more aggressive the driving style is; the corresponding grade of the longitudinal risk degree represents the driving skill under specific trip, operation and road characteristics, and the higher the quantile level is, the lower the driving skill is.
The following description is made in connection with a specific alternative embodiment:
constructing a longitudinal driving behavior feature library based on heterogeneous group driving behavior data:
(1.1) acquiring heterogeneous group driving behavior data, including vehicle motion data, GPS driving track data, vehicle-mounted driving environment perception data and the like;
(1.2) multi-source driving data fusion: fusing vehicle motion data, GPS driving track data and vehicle-mounted driving environment perception data, and dividing driving segments;
(1.3) extraction of driving ability evaluation fragment: extracting a driving segment of another vehicle detected to exist in the driving forward direction of the vehicle, taking the driving segment as a driving ability evaluation segment, extracting 508 driving ability evaluation segments in total, and accumulating 4297km of driving behavior data;
TABLE 2 description of the basic characteristic indexes of specific driving behaviors
(1.4) calculating a driving behavior basic characteristic index: calculating travel characteristics, operation characteristics and road characteristics by taking the driving ability evaluation segment as a basic analysis unit; the concrete driving behavior basic characteristic index descriptions of the examples are shown in table 2.
And (II) aiming at the behavior of keeping the longitudinal safe distance of the vehicle, constructing a driving ability evaluation index system by utilizing a longitudinal driving behavior feature library:
(2.1) for the vehicle longitudinal safe distance keeping behavior, judging the vehicle safe state through an RSS (Responsibility Sensitive Safety) model:
RSS is an IEEE autonomous vehicle safety decision model standard that defines the minimum safe distance of an autonomous vehicle from a forward-adjacent other vehicle:
wherein v ise(ti) And vl(ti) The speeds of the own vehicle and the forward adjacent other vehicle, a, respectively, during the period imax,aIs the maximum acceleration of the vehicle, amin,bMinimum deceleration of the vehicle, bmax,bFor the maximum deceleration of the preceding vehicle, ρ is the reaction time of the driver/autonomous vehicle, if the vehicle is adjacent to another vehicle in the forward direction, d (t)i)＜dmin(ti) Then the vehicle is in a potential risk state;
(2.2) constructing a driving ability evaluation index system based on an RSS model:
drivability assessment index system from longitudinal risk exposure pexposureAnd longitudinal risk degree pseverityThe method comprises the following steps:
wherein, tauiAcquiring intervals for driving behavior data; deltaiIs tauiVehicle state during time period, d (t)i)＜dmin(ti) Time deltai1, the vehicle is in a potentially risky state; t is the duration of the driving ability evaluation segment; exposure is the distance d (t) between the host vehicle and another vehicle adjacent to the host vehicle in the forward direction in the driving ability evaluation segmenti)＜dmin(ti) I.e. sum of time periods that the vehicle is in a potential risk state, longitudinal risk exposure pexposureThe time length proportion of the vehicle in the potential risk state is obtained; "d" (t) when the host vehicle is in a potential risk state "visibilityi) And dmin(ti) Sum of the differences of (a), longitudinal risk degree pseverityD (t) is the time when the vehicle is in a potential risk statei) And dmin(ti) The average of the differences.
And (III) constructing a longitudinal driving ability multi-factor analysis model based on a quantile regression analysis method and a driving ability evaluation index system:
(3.1) selecting a driving ability quantization grade positioning quantile, wherein quantiles 0.1, 0.25, 0.5, 0.75, 0.9 and 0.95 are used as representative quantiles for driving ability grade division in the embodiment;
(3.2) constructing a longitudinal driving capability multi-factor analysis model based on a quantile regression method and human driving behavior data:
wherein x isj＝(Durationj,Peakj,Nightj,Avg.Speedj,Std.Speedj,Roadj) For explaining the vector, respectively corresponding to the duration of the driving ability evaluation segment j, whether to travel at a peak or not, whether to travel at night, the average speed, the speed standard deviation and the main road type; q is model estimation; response variable yjEvaluating the longitudinal risk exposure p corresponding to the segment j for drivabilityexposureOr longitudinal risk degree pseverity(ii) a p is a designated quantile; beta is apFor the regression coefficient vector, the solution can be performed by weighted residual minimization, i.e.:
where ρ ispIs the weight of the residual under p quantiles, and n is the number of samples. The longitudinal driving ability multi-factor analysis model of the present embodiment includes 6 longitudinal driving ability analysis units.
And (IV) quantifying the driving ability by utilizing a longitudinal driving ability multi-factor analysis model aiming at the running data of the automatic driving automobile:
(4.1) acquiring the running data of the automatic driving automobile, wherein the running data comprises the motion data of the automatic driving automobile, the GPS driving track data of the automatic driving automobile, the vehicle-mounted driving environment detection data of the automatic driving automobile and the like;
(4.2) extracting a driving capability evaluation segment of the automatic driving automobile and calculating a basic characteristic index of the driving behavior of the automatic driving automobile, a longitudinal risk exposure amount (measured value) of the automatic driving automobile and a longitudinal risk exposure degree value (measured value) of the automatic driving automobile according to a longitudinal driving behavior feature library construction method;
(4.3) calculating longitudinal risk exposure (estimated value) and longitudinal risk exposure degree value (estimated value) corresponding to each grade (quantile level) under corresponding trip, operation and road characteristics for each driving capacity evaluation segment of automatic driving based on a longitudinal driving capacity multi-factor analytical model;
(4.4) comparing the longitudinal risk exposure amount corresponding to each grade (quantile level) with the longitudinal risk exposure amount of the automatic driving automobile, the longitudinal risk exposure degree value corresponding to each grade (quantile level) and the longitudinal risk exposure degree of the automatic driving automobile, wherein the quantile interval where the longitudinal risk exposure amount of the automatic driving automobile and the longitudinal risk exposure degree of the automatic driving automobile are located is the quantitative grading result of the automatic driving ability; the corresponding grade of the longitudinal risk exposure represents the driving style under specific travel, operation and road characteristics, and the higher the quantile level is, the more aggressive the driving style is; the corresponding grade of the longitudinal risk degree represents the driving skill under specific trip, operation and road characteristics, and the higher the quantile level is, the lower the driving skill is.
Table 3 shows the driving behavior basic feature indexes, the longitudinal risk exposure or the longitudinal risk degree measured values, and the quantile model estimation values of the 2 driving ability evaluation segments of the autonomous vehicle; by comparing the measured values with the model estimate values for the specified quantile levels, the relative level of quantified driveability can be determined. For example, the quantile intervals corresponding to the longitudinal risk exposure and the longitudinal risk degree of the driving ability evaluation segment 1 are all [25 ]th,50th) In the middle-lower section of the driver group, the autonomous vehicle shows a relatively mild driving style and a relatively middle-upper driving skill in the running section, that is, under the same trip, running and road conditions, the time proportion of the autonomous vehicle in a potential risk state in the running process is relatively low, and the difference between the actual distance from the autonomous vehicle to the adjacent preceding vehicle in an unsafe state and the minimum safe distance of the RSS is relatively small, so the average risk degree is relatively low. Quantile intervals corresponding to the longitudinal risk exposure and the longitudinal risk degree of the driving ability evaluation segment 2 are respectively [75 ]th,90th) And [50 ]th,75th) It is explained that the autonomous vehicle shows an aggressive driving style and a moderate driving skill in this driving segment. In addition, the longitudinal risk exposure and the longitudinal risk degree measured values of the driving ability evaluation segment 1 and the driving ability evaluation segment 2 are similar, and the classification standard and the classification result are different due to the difference of conditions such as travel and operation.
TABLE 3 automated Driving ability quantitative evaluation case
Through the steps, the driving capacity quantification of the automatic driving automobile is completed, parameters such as driving speed and the like can be improved according to the scene of the driving capacity evaluation segment 2, and the optimization control of the automatic driving automobile is realized.
The embodiment has the following advantages:
the method is oriented to the 'personification' operation characteristic evaluation requirement of the automatic driving automobile, constructs a driving behavior specific library of a heterogeneous driver, and provides a driving capability evaluation index system suitable for continuous and complex driving environments; based on a quantile regression method, driving capacity grading reference values under different traveling, running and road conditions can be determined, and quantitative positioning of the driving capacity of the automatic driving automobile in a human driver group is realized; in addition, the relation between the influence factors such as travel, operation, roads and the like and the driving ability can be known through the quantile regression model result, and the problem that the existing driving ability evaluation method cannot give consideration to automatic classification and interpretability is solved; control of an autonomous vehicle may be optimized.
Claims (6)
1. A longitudinal driving ability detection method for an automatic driving automobile is characterized by comprising the following steps:
step S1: acquiring heterogeneous group driving behavior data, constructing a longitudinal driving behavior feature library,
step S2: aiming at the longitudinal safe distance keeping behavior of the vehicle, a driving capability evaluation index system is constructed by utilizing a longitudinal driving behavior feature library,
step S3: constructing a longitudinal driving capability multi-factor analysis model by using a quantile regression method and a driving capability evaluation index system,
step S4: acquiring running data of an automatic driving automobile, and carrying out quantitative detection on the driving capacity by utilizing a longitudinal driving capacity multi-factor analysis model;
the driving ability evaluation index system comprises longitudinal risk exposure pexposureAnd longitudinal risk degree pseverityTwo indices, the longitudinal risk exposure pexposureComprises the following steps:
wherein, tauiInterval for driving behavior data acquisition, deltaiIs tauiThe state of the vehicle in the time interval, d is the distance between the vehicle and another vehicle adjacent to the front direction, dmin(ti) At a minimum safe distance, d (t)i)＜dmin(ti) Time deltaiI is the total time period number, t is the duration of the driving ability evaluation segment, exposure is the sum of the time periods of the vehicle in the potential risk state,
the longitudinal risk degree pseverityComprises the following steps:
wherein, the term "visibility" refers to d (t) when the host vehicle is in a risk potential statei) And dmin(ti) The sum of the differences of (a);
the longitudinal driving ability multi-factor analysis model is as follows:
wherein, yjEvaluating the longitudinal risk exposure p corresponding to the segment j for drivabilityexposureOr longitudinal risk degree pseverityP is the quantitative grade positioning quantile of the designated driving ability, xj＝(Durationj,Peakj,Nightj,Avg.Speedj,Std.Speedj,Roadj) Is composed ofInterpreting vectors, wherein the items sequentially correspond to the duration of the driving ability assessment segment j, whether to travel at a peak or not, whether to travel at night or not, the average speed, the speed standard deviation and the main road type, betapIs a regression coefficient vector.
2. The method for detecting the longitudinal driving ability of the automatic driving vehicle according to claim 1, wherein the step S1 comprises:
step S11: acquiring heterogeneous group driving behavior data, including vehicle motion data, GPS driving track data and vehicle-mounted driving environment perception data;
step S12: fusing heterogeneous group driving behavior data, dividing driving segments, extracting the driving segments of another vehicle in the driving forward direction from the driving segments to obtain driving capability evaluation segments;
step S13: and calculating travel characteristics, running characteristics and road characteristics by taking the driving ability evaluation segment as a basic analysis unit, and constructing a longitudinal driving behavior characteristic library.
3. The method as claimed in claim 2, wherein the indexes of the travel characteristics are duration of the driving ability assessment segment, whether peak travel is performed, whether night travel is performed, the indexes of the operation characteristics are average speed and standard deviation of speed, and the indexes of the road characteristics are main road types.
4. The method as claimed in claim 1, wherein d is a measure of the longitudinal drivability of the autonomous vehiclemin(ti) Comprises the following steps:
wherein v ise(ti) And vl(ti) Respectively i time slots own vehicle and forward neighborsSpeed of another vehicle, amax,aIs the maximum acceleration of the vehicle, amin,bMinimum deceleration of the vehicle, bmax,bρ is the reaction time of the driver of the vehicle/autonomous vehicle for the maximum deceleration of the forward adjacent other vehicle.
5. The method of claim 1, wherein the vector of regression coefficients β is a vector of coefficients of regressionpSolving by weighted residual minimization, and calculating as follows:
where ρ ispIs the weight of the residual under p quantiles, and n is the number of samples.
6. The method for detecting the longitudinal driving ability of the automatic driving vehicle according to claim 1, wherein the step S4 comprises:
step S41: acquiring operation data of the automatic driving automobile, wherein the operation data comprises movement data of the automatic driving automobile, GPS (global positioning system) driving track data of the automatic driving automobile and vehicle-mounted driving environment detection data of the automatic driving automobile;
step S42: extracting a driving capability evaluation segment of the automatic driving automobile and calculating a basic characteristic index of driving behavior of the automatic driving automobile and a measured value of the driving capability evaluation index;
step S43: calculating driving ability evaluation index values corresponding to the quantitative grade positioning quantiles of the appointed driving ability for each driving ability evaluation segment of the automatic driving automobile based on the longitudinal driving ability multi-factor analysis model;
step S44: and comparing the driving ability evaluation index value with the driving ability evaluation index measured value, wherein the quantile interval where the measured value is located is the driving ability quantitative detection result.
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