CN114023061A - Traffic flow acquisition capacity evaluation method based on vehicle-road cooperative roadside sensing system - Google Patents
Traffic flow acquisition capacity evaluation method based on vehicle-road cooperative roadside sensing system Download PDFInfo
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Abstract
The invention discloses a traffic flow acquisition capacity evaluation method based on a vehicle-road cooperative roadside sensing system, which comprises the following steps of: determining evaluation factors and weight values of the evaluation factors; respectively collecting the measured value and the standard value of each evaluation factor within preset time in a sensing area by using a road side sensing system to be tested and a road side truth value system; calculating the absolute percentage error value of each evaluation factor according to the measured value and the standard value; evaluating the individual scores of the evaluation factors respectively according to the absolute percentage error values; and performing weighted calculation based on the individual scores and the weighted values of the evaluation factors to obtain a total score of the roadside sensing system to be tested, and performing grading evaluation on the roadside sensing system to be tested according to the total score. The invention can effectively evaluate the traffic flow acquisition capacity of the road side sensing system to be tested, and meets the high-accuracy test and verification requirements on the sensing capacity of the traffic participants of the road side sensing system in the vehicle-road cooperative system.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a traffic flow acquisition capacity evaluation method based on a vehicle-road cooperative roadside sensing system.
Background
The intelligent driving technology is to really realize efficient and safe transportation and travel, the single-vehicle intelligence is far from enough, and the vehicle-road cooperation is the future direction. Particularly, with a series of technical breakthroughs of 5G, V2X, artificial intelligence, cloud computing, big data and the like, the vehicle, road and cloud depths are fused to construct a collaborative intelligent traffic system, so that the limitation of the current single-vehicle intelligence and traditional traffic management can be effectively solved.
The vehicle-road cooperation adopts the advanced wireless communication, new generation internet and other technologies, implements vehicle-vehicle and vehicle-road dynamic real-time information interaction in all directions, develops vehicle active safety control and road cooperative management on the basis of full-time dynamic traffic information acquisition and fusion, fully realizes effective cooperation of human and vehicle roads, ensures traffic safety, improves traffic efficiency, and forms a safe, efficient and environment-friendly road traffic system.
In the cooperative application of the vehicle and the road, the roadside sensing system realizes the real-time vectorization and tracking of a global target, supports the functions of vehicle flow statistics, vehicle speed calculation, vehicle type classification and the like, and the traffic flow acquisition capacity of the roadside sensing system is the basis for traffic coordination control and cooperative application of the vehicle and the road, so that the traffic flow acquisition capacity of the cooperative roadside sensing system of the vehicle and the road to be tested needs to be systematically and effectively evaluated, and the high-accuracy testing and verification requirements for the sensing capacity of traffic participants of the roadside sensing system in the cooperative system of the vehicle and the road are met. At present, the evaluation and exploration of the traffic flow acquisition capacity of the vehicle-road cooperative roadside sensing system are less, and the traffic flow acquisition capacity of the roadside sensing system cannot be verified.
Therefore, how to provide a method capable of evaluating the traffic flow acquisition capacity of the vehicle-road cooperative roadside perception system is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of this, the invention provides a traffic flow acquisition capability evaluation method based on a vehicle-road cooperative roadside sensing system, which can effectively evaluate the traffic flow acquisition capability of the roadside sensing system to be tested, and meet the high-accuracy test and verification requirements on the sensing capability of traffic participants of the roadside sensing system in the vehicle-road cooperative system.
In order to achieve the purpose, the invention adopts the following technical scheme:
a traffic flow collection capacity evaluation method based on a vehicle-road cooperative roadside perception system comprises the following steps:
s1, determining the evaluation factors and the weight values of the evaluation factors;
s2, collecting the measured value and the standard value of each evaluation factor within preset time in a sensing area by using a road side sensing system to be tested and a road side truth value system respectively;
s3, calculating the absolute percentage error value of each evaluation factor according to the measured value and the standard value;
s4, respectively evaluating the single scores of the collection ability of the roadside sensing system to be tested on the evaluation factors according to the absolute percentage error values;
s5, carrying out weighted calculation on the single score and the weighted value of the acquisition capacity of each evaluation factor to obtain the total score of the acquisition capacity of the roadside sensing system to be tested, and carrying out grading evaluation on the roadside sensing system to be tested according to the total score.
According to the technical scheme, compared with the prior art, the traffic flow acquisition capacity evaluation method based on the vehicle-road cooperative roadside sensing system is provided, starting from the requirement of a service object of the vehicle-road cooperative roadside sensing system, by determining the evaluation factors and the weights of the traffic flow acquisition capacity of the vehicle-road cooperative roadside sensing system and performing weighted summation on the individual scores of the evaluation factors, the verification of the traffic flow acquisition capacity of the roadside sensing system in the vehicle-road cooperative system can be met, and the method has important significance for standardizing the application and popularization of the vehicle-road cooperative system.
Further, the evaluation factors include: large car flow value, small car flow value, average speed and maximum queue length.
Further, the determination process of the weight value in S1 is as follows:
s11, determining an evaluation factor set;
s12, assigning the weight of each evaluation factor in the evaluation factor set by adopting a plurality of different standards respectively to obtain a plurality of groups of weight values of the same evaluation factor under different standards;
s13, calculating the mean value and dispersion of multiple groups of weighted values of each evaluation factor under different standards;
s14, judging whether the mean value and the dispersion meet a given standard value, if not, returning to S12, and readjusting and assigning the weight of each evaluation factor in the evaluation factor set until the given standard value is met; and if so, taking the currently obtained average value as the final weight value of the corresponding evaluation factor.
Further, in S13, the calculation formula of the mean and the dispersion of the multiple sets of weight values of each evaluation factor under different criteria is:
wherein, aijRepresents the weight value of the jth evaluation factor under the ith standard,
representing the mean value of a plurality of groups of weighted values obtained under the m standards of the jth evaluation factor; sjAnd the dispersion of multiple groups of weight values of the jth evaluation factor under m standards is shown.
Further, the calculation formula of the absolute percentage error is as follows:
the MAPE represents the absolute percentage error, the value range is [0, + ∞ ], and the smaller the numerical value is, the better the acquisition performance of the roadside sensing system to be detected is; observedt denotes the measured value; predictedt represents a standard value; t represents the tth measurement; n denotes a total of N measurements.
Further, in S5, the calculation formula of the total score of the roadside sensing system to be measured is as follows:
S＝T×x1+C×x2+A×x3+L×x4；
the method comprises the following steps that S represents the total score of the collection capacity of the roadside sensing system to be tested, and T represents the score of the roadside sensing system to be tested on the collection capacity of a traffic flow numerical value; c represents the grade of the collection capacity of the road side sensing system to be tested on the car flow numerical value; a represents the grade of the road side sensing system to be tested on the average speed acquisition capacity; l represents the grade of the road side sensing system to be tested on the maximum queuing length acquisition capacity; x is the number of1，x2，x3，x4Respectively, represent the weight values.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a traffic flow collection capability evaluation method based on a vehicle-road cooperative roadside sensing system provided by the invention;
fig. 2 is a flow chart illustrating determination of weight values of evaluation factors according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the invention discloses a traffic flow collection capability evaluation method based on a vehicle-road cooperative roadside sensing system, which includes the following steps:
s1, determining the evaluation factors and the weight values of the evaluation factors;
s2, collecting the measured value and the standard value of each evaluation factor in preset time in the sensing area by using the road side sensing system to be tested and the road side truth value system respectively;
s3, calculating absolute percentage error values of the evaluation factors according to the measured values and the standard values;
s4, respectively evaluating the single scores of the collection capacity of the roadside sensing system to be tested on each evaluation factor according to the absolute percentage error value;
s5, carrying out weighted calculation on the single score and the weighted value of the acquisition capacity of each evaluation factor to obtain the total score of the acquisition capacity of the roadside sensing system to be tested, and carrying out grading evaluation on the roadside sensing system to be tested according to the total score.
The evaluation factors in S1 may be a large car flow value, a small car flow value, an average speed, and a maximum queue length, among others. As shown in fig. 2, the determination process of each evaluation factor is as follows:
s11, determining an evaluation factor set A; a ═ A1,A2,…,An}。
S12, assigning the weight of each evaluation factor in the evaluation factor set by adopting a plurality of different standards respectively to obtain a plurality of groups of weight values of the same evaluation factor under different standards;
s13, calculating the mean value and dispersion of multiple groups of weighted values of each evaluation factor under different standards;
s14, judging whether the mean value and the dispersion meet a given standard value, if not, returning to S12, readjusting and assigning the weight of each evaluation factor in the evaluation factor set until the given standard value is met; and if so, taking the currently obtained average value as the final weight value of the corresponding evaluation factor.
The calculation formula of the mean value and the dispersion of the multiple groups of weighted values of each evaluation factor under different standards is as follows:
wherein, aijRepresents the weight value of the jth evaluation factor under the ith standard,
representing the mean value of a plurality of groups of weighted values obtained under the m standards of the jth evaluation factor; sjAnd the dispersion of multiple groups of weight values of the jth evaluation factor under m standards is shown.
In one embodiment, 15 experts having both actual working experience and deeper theoretical culture in the field of this specialty are selected and assigned weights for each evaluation factor using corresponding criteria, as shown in table 1.
TABLE 1
And comparing the weight average value of each evaluation factor and the dispersion of the average value thereof with a given standard value, if the given standard value is met, indicating that the evaluation results under each standard tend to be consistent, and taking the currently obtained average value as the final weight value of the corresponding evaluation factor.
In S2, after determining each evaluation factor, collecting the measured value and the standard value of each evaluation factor within a preset time in the sensing area by using the road side sensing system to be tested and the road side truth value system, respectively.
The road side truth value system is composed of road side sensing equipment and a processing server, detection precision is verified after manual calibration and calibration, the road side truth value system serves as a credibility data standard data source in a test process, and performance in the aspect of target detection of the road side sensing system to be tested is compared and verified.
The composition of the road-side truth system is shown in table 2.
TABLE 2 road side truth value System
Wherein, the collection process to standard value and measured value does:
1. a section is defined in the sensing area, the section is covered with 4 lanes, and a roadside truth value system is installed on the roadside;
2. the roadside sensing system to be measured collects the large traffic flow, the small traffic flow, the average speed and the maximum queuing length of each lane of the section within a specified time as measured values
3. The road side truth value system records the data statistics of the road during the test period, and if there is objection to the road side truth value system result, the objection can be manually rechecked to be used as a standard value.
And S3, after the standard value and the measured value are collected, calculating the absolute percentage error value of each evaluation factor by adopting the following formula.
The MAPE represents the absolute percentage error, the value range is [0, + ∞ ], and the smaller the numerical value is, the better the acquisition performance of the roadside sensing system to be detected is; observedt denotes the measured value; predictedt represents a standard value; t represents the tth measurement; n denotes a total of N measurements.
And S4, after the absolute percentage error value of each evaluation factor is obtained, scoring the ability of the roadside sensing system to be tested to acquire each evaluation factor according to the scoring standard in the table 3, and obtaining the single score of the roadside sensing system to be tested to the ability of each evaluation factor to be acquired.
TABLE 3
And S5, after the individual scores and the weighted values of the evaluation factors are obtained, the weighted values are calculated by adopting the following formula, and the total score of the road side sensing system to be detected is obtained.
S＝T×x1+C×x2+A×x3+L×x4；
The method comprises the following steps that S represents the total score of the collection capacity of the roadside sensing system to be tested, and T represents the score of the roadside sensing system to be tested on the collection capacity of a traffic flow numerical value; c represents the grade of the collection capacity of the road side sensing system to be tested on the car flow numerical value; a represents the grade of the road side sensing system to be tested on the average speed acquisition capacity; l represents the grade of the road side sensing system to be tested on the maximum queuing length acquisition capacity; x is the number of1，x2，x3，x4Respectively, represent the weight values.
And then, grading the road side sensing system to be detected according to the total score. The rating criteria are shown in table 4.
TABLE 4 evaluation criteria
| Final weighted score | Rating of grade |
| S≥85 | Excellent (G) |
| 75≤S＜85 | Good (A) |
| 60≤S＜75 | In general (M) |
| S＜60 | Relatively poor (P) |
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A traffic flow collection capacity evaluation method based on a vehicle-road cooperative roadside perception system is characterized by comprising the following steps:
s1, determining the evaluation factors and the weight values of the evaluation factors;
s2, collecting the measured value and the standard value of each evaluation factor within preset time in a sensing area by using a road side sensing system to be tested and a road side truth value system respectively;
s3, calculating the absolute percentage error value of each evaluation factor according to the measured value and the standard value;
s4, respectively evaluating the single scores of the collection ability of the roadside sensing system to be tested on the evaluation factors according to the absolute percentage error values;
s5, carrying out weighted calculation on the single score and the weighted value of the acquisition capacity of each evaluation factor to obtain the total score of the acquisition capacity of the roadside sensing system to be tested, and carrying out grading evaluation on the roadside sensing system to be tested according to the total score.
2. The method for evaluating the traffic flow collection capacity based on the vehicle-road cooperative roadside perception system according to claim 1, wherein the evaluation factor comprises: large car flow value, small car flow value, average speed and maximum queue length.
3. The traffic flow collection capability evaluation method based on the vehicle-road cooperative roadside perception system according to claim 1, wherein the determination process of the weight value in S1 is as follows:
s11, determining an evaluation factor set;
s12, assigning the weight of each evaluation factor in the evaluation factor set by adopting a plurality of different standards respectively to obtain a plurality of groups of weight values of the same evaluation factor under different standards;
s13, calculating the mean value and dispersion of multiple groups of weighted values of each evaluation factor under different standards;
s14, judging whether the mean value and the dispersion meet a given standard value, if not, returning to S12, and readjusting and assigning the weight of each evaluation factor in the evaluation factor set until the given standard value is met; and if so, taking the currently obtained average value as the final weight value of the corresponding evaluation factor.
4. The traffic flow collection ability evaluation method based on the vehicle-road cooperative roadside perception system according to claim 3, wherein in S13, the calculation formula of the mean value and the dispersion of the multiple groups of weight values of each evaluation factor under different standards is as follows:
wherein, aijRepresents the weight value of the jth evaluation factor under the ith standard,
representing the mean value of a plurality of groups of weighted values obtained under the m standards of the jth evaluation factor; sjAnd the dispersion of multiple groups of weight values of the jth evaluation factor under m standards is shown.
5. The traffic flow collection capability evaluation method based on the vehicle-road cooperative roadside perception system according to claim 1, wherein the calculation formula of the absolute percentage error is as follows:
the MAPE represents the absolute percentage error, the value range is [0, + ∞ ], and the smaller the numerical value is, the better the acquisition performance of the roadside sensing system to be detected is; observedt denotes the measured value; predictedt represents a standard value; t represents the tth measurement; n denotes a total of N measurements.
6. The traffic flow collection capability evaluation method based on the vehicle-road cooperative roadside sensing system according to claim 2, wherein in S5, the calculation formula of the total score of the roadside sensing system to be tested is:
S＝T×x1+C×x2+A×x3+L×x4；
the method comprises the following steps that S represents the total score of the collection capacity of the roadside sensing system to be tested, and T represents the score of the roadside sensing system to be tested on the collection capacity of a traffic flow numerical value; c represents the grade of the collection capacity of the road side sensing system to be tested on the car flow numerical value; a represents the grade of the road side sensing system to be tested on the average speed acquisition capacity; l represents the grade of the road side sensing system to be tested on the maximum queuing length acquisition capacity; x is the number of1，x2，x3，x4Respectively, represent the weight values.
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