CN113379333A - Intelligent grade evaluation method for auxiliary driving operation vehicle - Google Patents

Intelligent grade evaluation method for auxiliary driving operation vehicle Download PDF

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CN113379333A
CN113379333A CN202110832930.3A CN202110832930A CN113379333A CN 113379333 A CN113379333 A CN 113379333A CN 202110832930 A CN202110832930 A CN 202110832930A CN 113379333 A CN113379333 A CN 113379333A
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刘智超
周炜
李文亮
曹琛
高金
张学文
李臣
张禄
晋杰
张沫
战琦
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Research Institute of Highway Ministry of Transport
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Abstract

The invention discloses an intelligent grade evaluation method for an auxiliary driving operation vehicle, which comprises the steps of firstly, judging the grade of an evaluated vehicle provided with an auxiliary driving system according to the function grading of the auxiliary driving system; then according to national and/or traffic industry regulations, objective test evaluation is carried out on each driving auxiliary system of the evaluated vehicle, and whether the equipped auxiliary driving system is effective is judged; and carrying out subjective evaluation on the effective driving assisting system. The invention integrates subjective and objective evaluation, particularly adopts a two-dimensional weighting coefficient in the subjective evaluation, scientifically grades the commercial vehicles with the auxiliary driving function, and provides guarantee for users, managers and road transportation safety.

Description

Intelligent grade evaluation method for auxiliary driving operation vehicle
Technical Field
The invention relates to a grade evaluation technology of a commercial vehicle, in particular to a method for carrying out grade evaluation on the intelligent degree of an auxiliary driving commercial vehicle engaged in road transportation production and operation activities.
Background
Intelligent vehicles have become the strategic direction of development of the global vehicle equipment manufacturing industry and the road transportation industry, the global automobile industry is entering the era of intelligent transformation and upgrading, and the global automobile industry pattern is being remodeled. Vehicle intellectualization is a key technology for seeking breakthrough of governments, automobile manufacturing enterprises and the internet at present, is an important field representing the current new round of scientific technology and high-point competition of industrial development in the world, and has very important significance for improving traffic transportation efficiency, enhancing traffic travel safety, relieving traffic jam, reducing air pollution, improving driving and riding comfort and the like in the future.
At present, many domestic enterprises have the capability of manufacturing operating vehicles with different intelligent degrees, various intelligent operating vehicle products exist in the market, and the intelligent operating vehicles of some enterprises are produced in large quantities. However, most of the existing evaluation methods are used for evaluating the intelligent degree of a single system, judging the quality of the system and guiding the development of intelligent products of automobiles aiming at a single vehicle intelligent driving-assisting system, and generally belong to the evaluation of a system level. At present, the intelligent grade division and the intelligent degree evaluation of a plurality of commercial vehicles with auxiliary driving systems are not available, so that a vehicle comprehensive evaluation chain system is perfected, the intuitive understanding of commercial vehicle product users on intelligent technologies is improved, and the effective application of different intelligent grade vehicle products in the commercial market is guided.
Disclosure of Invention
Therefore, in order to further divide the intelligent degree of the commercial vehicles configured with different assistant driving systems and comprehensively evaluate a plurality of assistant driving systems, the invention provides a comprehensive assistant driving commercial vehicle intelligent grade evaluation method, which can effectively guide the orderly popularization and application of the commercial vehicles with intelligent technology in the road transportation industry by quantizing the intelligent levels of the commercial vehicles with different grades.
In the invention, the intelligent degree of the commercial vehicles is graded by taking a driving control main body as a division principle, and a vehicle intelligent star-level evaluation model is established by comprehensively considering various laws and regulations issued at present aiming at the influence of an early warning type auxiliary driving system and a control type auxiliary driving system on the running safety of the commercial vehicles, so that the intelligent levels of the commercial vehicles with different grades are evaluated.
The specific technical scheme is as follows: an intelligent grade evaluation method for an auxiliary driving operation vehicle comprises the following steps:
1) firstly, classifying an assistant driving system into an early warning class assistant driving G1 grade and a control class assistant driving G2 grade according to functions;
2) judging the grade of an evaluated vehicle provided with an auxiliary driving system according to the step 1);
3) according to national and/or traffic industry standard regulations, carrying out a closed field real vehicle test on various driving auxiliary systems of the evaluated vehicle one by one, and judging whether the auxiliary driving systems equipped on the evaluated vehicle are effective or not;
4) for an effective driving assistance system, subjective evaluation is carried out, and the evaluation method comprises the following steps:
firstly, subjective scoring is given from the perspective of safety performance of a vehicle, and corresponding weight scores are given;
secondly, from the perspective of the auxiliary effect on the driver, dividing the control service class and the non-control service class and giving corresponding weight scores;
then calculated according to the following formula:
Figure BDA0003176145690000021
wherein the content of the first and second substances,
Figure BDA0003176145690000022
indicating the weighted score obtained by the i-th driving assistance system in the evaluation in consideration of the safety performance and the assistance effect,
Figure BDA0003176145690000023
means for subjective score, kiAssigning 0-100% to a safety performance weight score corresponding to the mean value of the subjective scores, fiFor the auxiliary effect weight score, the control service class assignment is 100%, and the non-control service class assignment is 50%;
5) and for n effective auxiliary driving systems, comprehensively performing subjective scoring:
calculated according to the following formula:
Figure BDA0003176145690000024
p is the final score obtained;
6) and judging the intellectualization degree of the evaluated vehicle according to the grade.
The early warning type assistant driving G1 level is inevitably provided with a specified FCW system; the control type assistant driving level G2 is inevitably equipped with an AEBS system which meets the requirements.
Further, from the perspective of safety performance of the vehicle, the subjective score corresponds to the following weight scores:
Figure BDA0003176145690000025
Figure BDA0003176145690000031
wherein m is a reference event: for the evaluation of G1 level, the m event is a commercial vehicle of G1 level which is not provided with any other early warning system except FCW; for the G2 level evaluation, the m event is a commercial vehicle of G2 level which is not equipped with any other control system except AEBS;
nG1Xfor comparative events evaluated for the G1 rating, comparative event nG1XUnder the premise of being equipped with the FCW, the utility vehicle is also equipped with at least one other early warning auxiliary driving system;
nG2Xfor comparative events evaluated for the G2 rating, comparative event nG2XThe utility model provides an operation vehicle equipped with at least one other control auxiliary driving system under the condition of being equipped with an AEBS.
Further, from the viewpoint of the driver's assistance effect, the control service type means that the driver's assistance effect is very important, and the non-control service type means that the driver's assistance effect is highly important.
Compared with the prior art, the invention has the advantages that: the intelligent grade evaluation method for the auxiliary driving operation vehicle, which integrates objective test of standard and regulation and subjective experience of a user, is innovatively provided. The method scientifically carries out scientific classification on the current commercial vehicles with the auxiliary driving function, comprehensively considers the effective degree of the auxiliary drivers and the contribution degree of the driving safety from the perspective of guaranteeing the road transportation safety and the practical use of users in different levels, utilizes the dimensionality to provide a scoring weighting coefficient, converts the subjective evaluation result of the users into the evaluation score on the basis of the detection of a rule test, and carries out detailed classification on the intelligent degrees of the early warning type auxiliary driving commercial vehicles and the control type auxiliary driving commercial vehicles at the same level respectively. Compared with other methods of grading and intelligent evaluation, the method adopts a subjective and objective comprehensive evaluation method, innovatively introduces two evaluation dimensions which assist the effective degree of a driver and the contribution degree of driving safety from the perspective of an actual user into the evaluation method in a layered manner, and from the perspective of users and consumers, so that an output evaluation result which is beneficial to the quantitative consideration of the intelligent degree of operating vehicles by the users is obtained, and meanwhile, the method also provides help for selecting proper intelligent vehicle types for road transportation enterprises such as transportation companies and logistics companies and the like.
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FIG. 1 is a flow chart of the evaluation method of the present invention.
Detailed Description
The present invention is described in detail below with reference to the drawings and examples, but it should be understood by those skilled in the art that the following examples are not intended to limit the technical solutions of the present invention, and any equivalent changes or modifications made within the spirit of the technical solutions of the present invention should be considered as falling within the protection scope of the present invention.
Auxiliary driving operation vehicle intelligent degree grading
The vehicle intelligent degree grading is characterized in that the intelligent degree of three driving control systems of braking, steering and driving is used as a core evaluation. The intellectualization of the commercial vehicle is based on the premise and foundation that the intellectualization of a braking system is the intellectualization of the vehicle, and the intellectualization of a steering system and a driving system is a key influence factor of the intellectualization level at the same level.
The vehicle is divided into an auxiliary driving vehicle taking a driver as a control subject and an unmanned vehicle taking a vehicle as a control subject by taking a driving control subject as a division principle. The assistant driving is divided into early warning assistant driving and control assistant driving according to different functional degrees. Due to the fact that the vehicle driving control bodies are different and the auxiliary driving function degrees are different, evaluation dimensionality and method of vehicle intelligent degrees are different. The invention mainly researches the intelligent evaluation problem of a commercial vehicle which takes a driver as a control subject and has an early warning type auxiliary driving level (G1) and a control type auxiliary driving level (G2), and the intelligent evaluation problem is shown in table 1.
The G1-grade vehicle is called an early warning type auxiliary driving vehicle and is a vehicle only provided with an early warning type auxiliary driving system, and the vehicle carries out all driving operation behaviors by a driver and bears the responsibility of a subject; the G2-class vehicle is called a control-type driving assistance vehicle, and refers to a vehicle equipped with a control-type driving assistance system, and although the driving assistance system of this type of vehicle can complete driving assistance operations in place of the driver, the driver is the subject of responsibility for all driving operations. The degree of intelligence of a vehicle of a G2 class is better than that of a vehicle of a G1 class, and a vehicle having a G2 class function must satisfy the G1 class.
TABLE 1 driver assistance System functional Classification
Figure BDA0003176145690000041
G1 and G2 grade assistant driving commercial vehicle star grade evaluation
In order to more intuitively and specifically quantitatively evaluate the intelligent degree of the intelligent commercial vehicle provided with different early warning and control auxiliary driving systems, the intelligent degree of the commercial vehicle with the same intelligent grade (G1 or G2) is refined and evaluated by a hierarchical analysis method, the intelligent degrees of different vehicle types are distinguished, the intelligent degree of the commercial vehicle is used for assisting a commercial vehicle user to accurately judge the intelligent degree of the commercial vehicle type, the intelligent degree is supported at the same intelligent grade and is optimized according to actual use requirements, and the intelligent technology of the commercial vehicle is further guided to continuously progress.
1. Target layer construction
The object to be evaluated in the present invention is a commercial vehicle equipped with an early warning type driver assistance system. On the basis of the above definition of the intelligent classification of commercial vehicles, taking into account that the collision accident is the highest accident type among the vehicle accident types, the basic conditions for specifying the G1-level evaluation in the intelligent evaluation of G1 and G2-level vehicles are: the auxiliary driving system meets technical requirements and test methods of JT/T883-2014 operation vehicle running danger early warning system for operation vehicles, namely, only operation vehicles with equipment meeting JT/T883 requirements can be regarded as intelligent operation vehicles meeting G1 level, and conditions for further grading the intelligent degree are provided; similarly, the basic conditions for specifying the rating of G2 are: the operating vehicle with the auxiliary driving system meeting the requirements of the automatic emergency braking system performance and the test regulations of the operating vehicle JT/T1242-2019 on AEBS (automatic emergency braking system), namely, only the operating vehicle with the auxiliary driving system meeting the requirements of JT/T1242-2019 can be regarded as an intelligent operating vehicle meeting the G2 level, and the auxiliary driving system has the condition of further grading the intelligent degree.
2. Criteria for evaluation
The evaluation of the G1 and G2 grade commercial vehicles mainly adopts a main and objective combination evaluation mode to evaluate the degree of intellectualization of the vehicles.
(1) Objective evaluation
The objective evaluation criterion is to judge whether the evaluated vehicle is effectively equipped with an intelligent driving assistance system meeting the requirements, and the objective evaluation criterion at least has a G1 level requirement. And the judgment condition of whether the equipment is effective is that the vehicle to be evaluated performs real vehicle closed site test according to the technical requirements and test methods of the intelligent system corresponding to the current national standard (GB or GB/T) and the transportation industry standard (JT or JT/T), and obtains a detection report provided by a third-party detection mechanism with effective qualification. The objective evaluation technical criteria of grade G1 and grade G2 are shown in tables 2 and 3. The standards are dynamically updated as countries release standards each year, and the following are only examples.
Table 2 basis of G1 objective evaluation technical standard
Figure BDA0003176145690000051
Figure BDA0003176145690000061
Table 3 basis of G2 objective evaluation technical standard
Figure BDA0003176145690000062
(2) Subjective evaluation
Because different systems have different contributions to the assistance of drivers and the improvement of driving safety, the intelligent degree of the equipped system meeting the standard is further evaluated from two dimensions of safety expression weight and driver assistance effect by determining weighting coefficients for different systems on the basis of real vehicle testing.
Because the improvement degree of the intelligent driving auxiliary systems of different types on the vehicle driving safety and the auxiliary degree of the driver are different, each auxiliary driving system is quantized, and two levels of the safety improvement effect on the vehicle and the auxiliary effect on the driver are evaluated respectively.
Firstly, in the evaluation of the surrounding system on the vehicle safety improvement effect, the assistant driving systems participating in the evaluation are determined firstly, and weight scores are correspondingly given to the assistant driving systems with different intelligent degrees according to the influence degrees of different systems on the running safety of the commercial vehicle.
Determining a reference event m: for the evaluation of G1 level, the m event is a commercial vehicle of G1 level which is not provided with any other early warning system except FCW; for the G2 rating, the m event is a commercial vehicle of G2 rating not equipped with any other control-type system than AEBS.
Determining a comparison event nG1X: compare event n for grade G1 evaluationG1XThe method is characterized in that under the premise of being equipped with the FCW, the FCW is also equipped with at least one other (such as the Xth type) early warning type auxiliary driving system.
Determining a comparison event nG2X: compare event n for grade G2 evaluationG2XThe method is characterized in that the operating vehicle is also provided with at least one other (such as the Xth) control type auxiliary driving system on the premise of being provided with the AEBS.
And carrying out score assignment on the safety performance weight subjective evaluation scale table according to the table 4.
Table 4 safety performance weight subjective evaluation scale table
Subjective score Range nG1X/nG2XThe effect of m on the improvement of the driving safety Weight fraction (k)
(8,10] Extremely important role 100％
(6,8] Strongly important effects 60％
(4,6] Has strong and important effects 30％
(2,4] A little bit important 10％
(0,2] Has the same effect 0
For example explanation: if the subjective score is (8, 10)]Description of nG1X/nG2XThe weighting factor is 100% if the weighting factor plays an extremely important role in improving the driving safety.
Secondly, in the evaluation of the auxiliary effect of the surrounding system on the driver, according to whether the content of the auxiliary driver is directly related to three core driving behaviors of steering, braking, driving and the like, the G1 and G2-level auxiliary driving systems are further subdivided into a control service system and a non-control service system, the weight score of the control service system is 100%, and the weight score of the non-control service system is 50%, as shown in Table 5.
Table 5 auxiliary effect weight subjective evaluation scale table
Subjective score Range Assistance effect for driver Weight fraction (f)
Controlling service classes Is very important 100％
Non-control service class Of greater importance 50％
3. Grading and grading
(1) G1 level vehicle intelligent grading and grading
According to the G1-level objective evaluation technical standard basis, organizing the evaluated vehicles to carry out real vehicle closed field tests, acquiring third party detection reports, judging whether the technical requirements of the corresponding standards are met, and further judging whether the auxiliary driving system is effectively equipped.
On the basis of objectively judging that the auxiliary driving system is effectively equipped, the subjective evaluation is equipped with a weighted score which can be obtained by the system. The weighted score for each system is calculated as follows:
Figure BDA0003176145690000081
wherein the content of the first and second substances,
Figure BDA0003176145690000082
the weighted score obtained by the early warning type assistant driving system i in evaluation after considering the safety performance and the assistant effect is shown,
Figure BDA0003176145690000083
the mean value k of the subjective scores of the early warning auxiliary driving system i obtained by subjective evaluation is showniFor the early warning type assistant driving system i corresponding to the average value of the subjective scores, the weight score of safety performance, fiAnd (4) assisting the effect weight score for the early warning type assistant driving system i.
Table 6 shows a weighted score measurement method of the mainstream early warning type auxiliary system in the current market in an exemplary manner, and finally, the weighted score is rounded.
TABLE 6 weighted score table for early warning type assistant driving system
Figure BDA0003176145690000084
Figure BDA0003176145690000091
The invention provides a star-level evaluation rule, which is an evaluation method combining objective evaluation and subjective evaluation. The objective evaluation mainly verifies the effectiveness of a system configured by the vehicle, is the basis of star rating, and only an auxiliary driving system passing through a standard rule can obtain star rating; the subjective evaluation is to take the actual use condition of the driver into consideration, and the organization expert carries out subjective scoring on the system which meets the standard and regulation from the actual use.
Grade determination is carried out on G1 grade vehicles a in a star grade evaluation mode according to the obtained weighted scores, and the weighted scores corresponding to the obtained n qualified systems are obtained
Figure BDA0003176145690000092
Accumulating and calculating, and finally waiting to the final intelligent scoring of the G1 level vehicle a
Figure BDA0003176145690000093
The scoring formula is shown in (2), the scores correspond to star rating, and the star rating is shown in table 7.
Figure BDA0003176145690000094
Finally, a vehicle at grade G1 with a score of 0-20 is identified as ^ C, a vehicle at grade G1 with a score of 21-50 is identified as ^ C, and a vehicle at grade G1 with a score of 51 or more is identified as ^ C.
Table 7 star rating table for G1 grade commercial vehicle
Figure BDA0003176145690000095
(2) G2 level vehicle intelligent grading and grading
Similarly, according to the G2 objective evaluation technical standard basis (table 3), organizing the evaluated vehicle to carry out a real vehicle closed field test, obtaining a third party detection report, judging whether the technical requirements of the corresponding standards are met, and further judging whether the control type auxiliary driving system is effectively equipped.
On the basis of objectively judging that the control type auxiliary driving system is effectively equipped, the weighting score which can be obtained after the system is equipped is correspondingly calculated. The weighted score for each system is calculated as follows.
Figure BDA0003176145690000096
Wherein the content of the first and second substances,
Figure BDA0003176145690000097
indicating the weighted score obtainable in the evaluation by the control-type assistant driving system j after considering the safety performance and the assistant effect,
Figure BDA0003176145690000098
and expressing the subjective score average value of the control assistant driving system j obtained by subjective evaluation, wherein k is the safety performance weight score of the control assistant driving system j, and f is the assistant effect weight score of the control assistant driving system j.
Table 8 shows a method for measuring and calculating the weighted score of the mainstream control auxiliary system in the current market by way of example, and finally, the weighted score is rounded.
TABLE 8 control-class assistant driving system weighted score table
Figure BDA0003176145690000101
According to the obtained weighted scores, the grade determination is carried out on the G2 grade vehicles b in the same star-grade assessment mode, each vehicle has the system function which meets the determination requirements, the corresponding weighted scores of the system are obtained, the weighted scores of different systems are accumulated and calculated, and the weighted scores corresponding to the n systems which meet the requirements are obtained
Figure BDA0003176145690000102
Accumulating and calculating, and finally waiting to the final intelligent scoring of the G2 level vehicle b
Figure BDA0003176145690000103
The scoring formula is shown in (4), the scores correspond to star rating, and the star rating is shown in table 9.
Figure BDA0003176145690000104
Finally, a vehicle at grade G2 with a score of 0-20 is identified as ^ C, a vehicle at grade G2 with a score of 21-50 is identified as ^ C, and a vehicle at grade G2 with a score of 51 or more is identified as ^ C.
TABLE 9G 2-class commercial vehicle star-class evaluation chart
Figure BDA0003176145690000105
In general, the evaluation procedure was:
the first step is as follows: firstly, preliminarily grading the intelligentization degree of the vehicle according to the installation condition of the vehicle auxiliary driving system, and judging whether the vehicle belongs to the G1 grade or the G2 grade;
the second step is that: real-site testing determines the type and number of driver assistance systems deployed by the vehicle and whether they are available. According to vehicle introduction, real vehicle closed site tests are carried out on the auxiliary driving systems configured on the vehicle one by one according to relevant national/industrial standard regulations, and when passing conditions of the corresponding standard regulations are met, the vehicle is considered to be effectively configured with the system, and the number of the auxiliary driving systems actually and effectively configured on the vehicles of G1 level/G2 level is respectively determined.
The third step: organizing subjective evaluation, namely performing subjective evaluation on the personnel in the configured system organization industry to determine the subjective evaluation score of the system;
the fourth step: and determining a weighting coefficient according to two dimensions of the contribution degree of the system to driving safety and the auxiliary degree of the system to a driver. The method adopts a two-dimensional weighting mode and determines the weight fraction according to a weighting principle.
The fifth step: converting the subjective evaluation scores of the experts into weighted scores;
and a sixth step: and summing the weighted scores of all the systems of the vehicle to obtain the comprehensive intelligent grade score of the vehicle, and correspondingly determining the star grade.

Claims (4)

1. An intelligent grade evaluation method for an auxiliary driving operation vehicle is characterized by comprising the following steps:
1) firstly, classifying an assistant driving system into an early warning class assistant driving G1 grade and a control class assistant driving G2 grade according to functions;
2) judging the grade of an evaluated vehicle provided with an auxiliary driving system according to the step 1);
3) according to national and/or traffic industry standard regulations, carrying out a closed field real vehicle test on various driving auxiliary systems of the evaluated vehicle one by one, and judging whether the auxiliary driving systems equipped on the evaluated vehicle are effective or not;
4) for an effective driving assistance system, subjective evaluation is carried out, and the evaluation method comprises the following steps:
firstly, subjective scoring is given from the perspective of safety performance of a vehicle, and corresponding weight scores are given;
secondly, from the perspective of the auxiliary effect on the driver, dividing the control service class and the non-control service class and giving corresponding weight scores;
then calculated according to the following formula:
Figure FDA0003176145680000011
wherein the content of the first and second substances,
Figure FDA0003176145680000012
indicating the weighted score obtained by the i-th driving assistance system in the evaluation in consideration of the safety performance and the assistance effect,
Figure FDA0003176145680000013
means for subjective score, kiAssigning 0-100% to a safety performance weight score corresponding to the mean value of the subjective scores, fiFor the auxiliary effect weight score, the control service class assignment is 100%, and the non-control service class assignment is 50%;
5) and for n effective auxiliary driving systems, comprehensively performing subjective scoring:
calculated according to the following formula:
Figure FDA0003176145680000014
p is the final score obtained;
6) and judging the intellectualization degree of the evaluated vehicle according to the grade.
2. The intelligent grade evaluation method of a driver assistance operating vehicle according to claim 1, characterized in that: the early warning type assistant driving is grade G1 and is necessarily provided with a specified FCW system; the control-type assisted driving, level G2, is necessarily equipped with a compliant AEBS system.
3. The intelligent level evaluation method of a driver assistance operating vehicle according to claim 1 or 2, characterized in that:
from the perspective of safety performance of the vehicle, the subjective score corresponds to the following weight score:
subjective score Range nG1X/nG2XThe effect of m on the improvement of the driving safety Weight fraction (k) (8,10] Extremely important role 100％ (6,8] Strongly important effects 60％ (4,6] Has strong and important effects 30％ (2,4] A little bit important 10％ (0,2] Has the same effect 0
Wherein m is a reference event: for the evaluation of G1 level, the m event is a commercial vehicle of G1 level which is not provided with any other early warning system except FCW; for the G2 level evaluation, the m event is a commercial vehicle of G2 level which is not equipped with any other control system except AEBS;
nG1Xfor comparative events evaluated for the G1 rating, comparative event nG1XUnder the premise of being equipped with the FCW, the utility vehicle is also equipped with at least one other early warning auxiliary driving system;
nG2Xfor comparative events evaluated for the G2 rating, comparative event nG2XThe utility model provides an operation vehicle equipped with at least one other control auxiliary driving system under the condition of being equipped with an AEBS.
4. The intelligent level evaluation method of a driver assistance operating vehicle according to claim 1 or 2, characterized in that: from the perspective of the driver assistance effect, the control service type means that the driver assistance effect is very important, and the non-control service type means that the driver assistance effect is more important.
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