CN114155705B - Method, device and equipment for evaluating traffic barrier behavior of vehicle and storage medium - Google Patents
Method, device and equipment for evaluating traffic barrier behavior of vehicle and storage medium Download PDFInfo
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- CN114155705B CN114155705B CN202111234907.0A CN202111234907A CN114155705B CN 114155705 B CN114155705 B CN 114155705B CN 202111234907 A CN202111234907 A CN 202111234907A CN 114155705 B CN114155705 B CN 114155705B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
Abstract
The application discloses a method, a device, equipment and a storage medium for evaluating a traffic obstacle behavior of a vehicle. The method comprises the following steps: acquiring a reference speed and a reference speed ratio of the host vehicle at each moment in a scene; the average reference speed ratio and the window duration of the host vehicle in each time window in the scene are integrated, and the traffic obstruction degree of the host vehicle in each time window is obtained; and selecting the traffic obstruction degree of the time window with the lowest traffic obstruction degree as the scene traffic obstruction degree of the main vehicle. The method and the device can accurately judge whether the vehicle has bad behaviors which obstruct traffic or not, can also reduce the labor cost, and have strong expandability.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method, a device, equipment and a storage medium for evaluating the behavior of traffic hindrance of a vehicle.
Background
In the practice of the automatic driving technology field, the performance of an automatic driving vehicle in a simulation environment is judged, and the safety and comfort dimensionalities such as whether the vehicle collides or not and whether the vehicle has sudden braking or not are mainly remained.
For whether the automatic driving vehicle has bad behaviors of obstructing traffic, the existing judging methods mainly comprise two methods, wherein the first method directly adopts manual judgment, and the second method compares the speed of the vehicle in the advancing process with the ratio of the speed limit.
Although the result obtained by the first existing judgment method is accurate, human subjective judgment needs to consume a large amount of labor cost, and the method is not extensible. Although the second conventional determination method is low in calculation cost, in a complex scene, the vehicle cannot drive to the speed limit due to various reasonable reasons, so that the second conventional determination method may cause a situation of misdetermination.
Disclosure of Invention
Therefore, the technical problem solved by the embodiments of the present application is to provide a method, an apparatus, a device and a storage medium for evaluating a behavior of a vehicle obstructing traffic, which can accurately determine whether the vehicle has a bad behavior obstructing traffic, and can reduce labor cost with strong expandability.
In order to solve the technical problem, the technical scheme adopted by the application specifically comprises the following steps:
in one aspect, an embodiment of the present application provides a method for evaluating a traffic obstacle behavior of a vehicle, including:
acquiring a reference speed and a reference speed ratio of a host vehicle at each moment in a scene;
the average reference speed ratio and the window duration of the main vehicle in each time window in the scene are integrated to obtain the traffic obstruction degree of the main vehicle in each time window;
and selecting the traffic obstruction degree of the time window with the lowest traffic obstruction degree as the scene traffic obstruction degree of the main vehicle.
Further, the acquiring the traffic obstruction degree of the host vehicle in each time window comprises:
acquiring the comprehensive score of the host vehicle in each time window;
the method for selecting the traffic obstruction degree of the time window with the lowest traffic obstruction degree as the traffic obstruction degree of the main scene comprises the following steps:
and selecting the score of the time window with the lowest comprehensive score as the scene score of the host vehicle.
Further, the acquiring a reference velocity ratio of the host vehicle at each time in the scene includes:
acquiring the speed per hour of the host vehicle at each moment in the scene;
and taking the ratio of the speed per hour to the reference speed as the reference speed ratio.
Preferably, the acquiring a reference speed of the host vehicle at each time instant in the scene includes:
acquiring a reference speed of a host vehicle at each moment in a scene;
acquiring the total deceleration ratio of the host vehicle at each moment in the scene;
the reference speed is obtained from the base reference speed and the total deceleration ratio.
More preferably, the acquiring a reference speed of the host vehicle at each time in the scene includes:
acquiring surrounding vehicle information and lane information of a main vehicle at each moment in a scene;
acquiring a current lane of the main vehicle according to the lane information;
acquiring a reference vehicle which is positioned in a current lane of the main vehicle and has the closest distance with the main vehicle according to the information of the surrounding vehicles:
if the reference vehicle exists, calculating the safe vehicle following speed of the main vehicle relative to the reference vehicle by using a Krauss model, and taking the safe vehicle following speed as a reference speed;
and if the reference vehicle does not exist, acquiring the speed limit of the current lane of the main vehicle according to the lane information, and taking the speed limit of the current lane of the main vehicle as the reference speed.
More preferably, the acquiring of the total deceleration ratio of the host vehicle at each time instant in the scene comprises:
acquiring traffic control information and destination information of a host vehicle at each moment in a scene;
correspondingly calculating a traffic control deceleration ratio and a destination deceleration ratio according to the traffic control information and the destination information respectively;
the minimum value of both the traffic control deceleration ratio and the destination deceleration ratio is taken as the total deceleration ratio.
More preferably, the deriving a reference speed from the base reference speed and the total deceleration ratio includes:
the product of the base reference speed and the total deceleration ratio is taken as the reference speed.
Further, the calculation formula of the composite score is as follows:
integrated score = MAX {0,MIN 1,2-e 0.2X (1-average reference speed ratio) × (window duration-1.5) }}。
In another aspect, an embodiment of the present application provides a device for evaluating a traffic obstacle behavior of a vehicle, including:
the first acquisition module is used for acquiring the reference speed and the reference speed ratio of the host vehicle at each moment in a scene;
the second acquisition module is used for integrating the average reference speed ratio and the window duration of the main vehicle in each time window in the scene to acquire the traffic obstruction degree of the main vehicle in each time window;
and the processing module is used for selecting the traffic obstruction degree of the time window with the lowest traffic obstruction degree as the scene traffic obstruction degree of the main vehicle.
In yet another aspect, an embodiment of the present application provides an apparatus, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor, when executing the computer program, implements the steps of the method for evaluating a behavior of a vehicle blocking traffic according to any one of the above methods.
In still another aspect, an embodiment of the present application provides a storage medium, where a computer program is stored, and the computer program is executed by a processor to perform the steps of the method for estimating a traffic congestion prevention behavior of a vehicle.
In summary, compared with the prior art, the technical solution provided in the embodiments of the present application has at least the following beneficial effects:
1. the embodiment of the application acquires the reference speed and the reference speed ratio of the main vehicle at each moment in the scene; then, the average reference speed ratio and the window duration of the main vehicle in each time window in the scene are integrated to obtain the traffic obstruction degree of the main vehicle in each time window; and finally, selecting the traffic obstruction degree of the time window with the lowest traffic obstruction degree as the scene traffic obstruction degree of the main vehicle. Compared with the first existing judging method, the embodiment of the application can be used for automatic judgment, quickly and accurately finding out the behavior of finding the traffic obstruction of the vehicle and giving the evaluation of the traffic obstruction degree, so that the labor cost is reduced, and the expandability is high. Compared with the second existing judging method, the embodiment of the application provides a brand-new evaluation dimension by comprehensively considering the four factors of the reference speed, the reference speed ratio, the average reference speed ratio and the window duration, and can effectively reduce the probability of misjudgment even in a complex scene.
2. In the embodiment of the application, when calculating the composite score of the host car in each time window, a formula of the decay of the score with time is introduced, i.e. the composite score = MAX {0,MIN 1,2-e 0.2X (1-average reference speed ratio) × (window duration-1.5) And thus the degree of obstruction of the host vehicle to traffic, which changes with time, can be visually reflected.
Drawings
Fig. 1 is a schematic flowchart of a method for evaluating a traffic obstruction behavior of a vehicle according to a first exemplary embodiment of the present application.
Fig. 2 is a schematic flowchart of a method for evaluating a traffic obstruction behavior of a vehicle according to a second exemplary embodiment of the application.
Fig. 3 is a schematic structural diagram of a vehicle impeded traffic behavior evaluation device according to a ninth exemplary embodiment of the present application.
Fig. 4 is a schematic structural diagram of an apparatus provided in a tenth exemplary embodiment of the present application.
Detailed Description
The present embodiment is only for explaining the present application, and it is not limited to the present application, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present application.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
The terms "comprises," "comprising," or any other variation thereof, in the description and claims of this application, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "such as" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
The embodiments of the present application will be described in further detail with reference to the drawings attached hereto.
Fig. 1 is a vehicle impeded traffic behavior assessment method provided in a first exemplary embodiment of the present application, and main steps of the method are described as follows:
acquiring a reference speed and a reference speed ratio of a host vehicle at each moment in a scene;
the average reference speed ratio and the window duration of the main vehicle in each time window in the scene are integrated to obtain the traffic obstruction degree of the main vehicle in each time window;
and selecting the traffic obstruction degree of the time window with the lowest traffic obstruction degree as the scene traffic obstruction degree of the main vehicle.
The first exemplary embodiment of the present application obtains the reference velocity and the reference velocity ratio of the host vehicle at each time in the scene; then, the average reference speed ratio and the window duration of the main vehicle in each time window in the scene are integrated to obtain the traffic obstruction degree of the main vehicle in each time window; and finally, selecting the traffic obstruction degree of the time window with the lowest traffic obstruction degree as the scene traffic obstruction degree of the main vehicle. Compared with the first existing judging method, the first exemplary embodiment of the application can perform automatic judgment, quickly and accurately find out the behavior of finding the vehicle obstructing traffic and give the evaluation of the traffic obstruction degree, so that the labor cost is reduced, and the expandability is high. Compared with the second existing judging method, the first exemplary embodiment of the application provides a brand-new evaluation dimension by comprehensively considering the four factors of the reference speed, the reference speed ratio, the average reference speed ratio and the window duration, and can effectively reduce the probability of misjudgment even in a complex scene.
Fig. 2 is a vehicle-blocking traffic behavior assessment method according to a second exemplary embodiment of the present application, which is further improved based on the first exemplary embodiment shown in fig. 1, specifically as follows:
the acquiring of the traffic obstruction degree of the host vehicle in each time window comprises the following steps:
acquiring a comprehensive score of the host vehicle in each time window;
the selecting of the traffic hindrance degree of the time window with the lowest traffic hindrance degree as the scene traffic hindrance degree of the host vehicle comprises the following steps:
and selecting the score of the time window with the lowest comprehensive score as the scene score of the host vehicle.
The second exemplary embodiment of the present application obtains the reference velocity and the reference velocity ratio of the host vehicle at each time in the scene; then, synthesizing the average reference speed ratio and the window duration of the host vehicle in each time window in the scene to obtain the comprehensive score of the host vehicle in each time window; and finally, selecting the score of the time window with the lowest comprehensive score as the scene score of the host vehicle.
In order to realize the acquisition of the reference speed ratio of the host vehicle at each time in the scene, the third exemplary embodiment of the present application provides a method for evaluating the traffic obstruction behavior of the vehicle, which is further improved on the basis of the second exemplary embodiment shown in fig. 2, and the specific improvements are as follows:
the acquiring of the reference speed ratio of the host vehicle at each moment in the scene includes:
acquiring the speed of each time of the host vehicle in a scene;
and taking the ratio of the speed per hour to the reference speed as the reference speed ratio.
In order to realize the acquisition of the reference speed of the host vehicle at each moment in the scene, the fourth exemplary embodiment of the present application provides a method for evaluating a traffic obstruction behavior of a vehicle, which is further improved on the basis of the second exemplary embodiment and the third exemplary embodiment of the present application, and the specific improvements are as follows:
the acquiring of the reference speed of the host vehicle at each moment in the scene comprises:
acquiring a reference speed of a host vehicle at each moment in a scene;
acquiring the total deceleration ratio of the host vehicle at each moment in the scene;
the reference speed is obtained from the base reference speed and the total deceleration ratio.
In order to realize the acquisition of the reference speed of the host vehicle at each time in the scene, the fifth exemplary embodiment of the present application provides a method for estimating a traffic obstacle behavior of a vehicle, which is further improved on the basis of the fourth exemplary embodiment of the present application, and the specific improvements are as follows:
the acquiring of the reference speed of the host vehicle at each moment in the scene includes:
acquiring surrounding vehicle information and lane information of a main vehicle at each moment in a scene;
acquiring a current lane of the main vehicle according to the lane information;
acquiring a reference vehicle which is positioned in a current lane of the main vehicle and has the closest distance with the main vehicle according to the information of the surrounding vehicles:
if the reference vehicle exists, calculating the safe vehicle following speed of the main vehicle relative to the reference vehicle by using a Krauss model, and taking the safe vehicle following speed as a reference speed;
and if the reference vehicle does not exist, acquiring the speed limit of the current lane of the main vehicle according to the lane information, and taking the speed limit of the current lane of the main vehicle as the reference speed.
In order to realize the purpose of obtaining the total deceleration ratio of the host vehicle at each moment in the scene, the sixth exemplary embodiment of the present application provides a method for evaluating the traffic congestion obstacle behavior, which is further improved on the basis of the fourth exemplary embodiment of the present application, and the improvement is as follows:
the acquiring of the total deceleration ratio of the host vehicle at each moment in the scene comprises:
acquiring traffic control information and destination information of a host vehicle at each moment in a scene;
correspondingly calculating a traffic control deceleration ratio and a destination deceleration ratio according to the traffic control information and the destination information respectively;
the minimum value of both the traffic control deceleration ratio and the destination deceleration ratio is taken as the total deceleration ratio.
The specific method for calculating the traffic control deceleration ratio according to the traffic control information is described as an example below:
firstly, a stop line (for example, a stop line at a red light) which is closest to the host vehicle and needs to be stopped is obtained according to traffic control information;
secondly, calculating the distance diststop from the host vehicle to the stop line according to the stop line;
finally, a traffic control deceleration ratio (i.e., a parking line deceleration ratio ratestat) is calculated using the distance diststop, the parking line deceleration ratio ratestat = MIN {1, diststop/kmaxdistist stop }.
Wherein the physical meaning of the disttstop/kMaxDisistToStop is as follows: the closer to the stop line, the lower the speed of the host vehicle can be. The kMaxDistToStop is a predetermined constant.
When the parking line deceleration ratio ratestat =1, or when disttop > kmaxdistost, the ratio of disttop/kmaxdistost is greater than 1, but the maximum value of the parking line deceleration ratio ratestat can only take 1 at this time, which indicates that the parking line at this time does not have any influence on the reference speed of the host vehicle.
Similarly, the following describes a specific method for calculating the destination deceleration ratio according to the destination information by way of example:
firstly, acquiring a destination of a host vehicle according to destination information;
secondly, calculating the distance distestination from the host vehicle to the destination according to the destination;
and finally, calculating a destination deceleration ratio = MIN {1, distestination/kMaxDattToDestination } by using the distance distestination, wherein kMaxDattToDestination is a preset constant.
When the destination deceleration ratio ratedestination =1, or when distestination > kmaxdististToDestination, the ratio disttop/kmaxdististToStop is greater than 1, but the maximum value of the destination deceleration ratio ratedestination can only take 1 at this time, which indicates that the destination at this time does not have any influence on the reference speed of the host vehicle.
In order to realize the estimation of the vehicle impeded traffic behavior according to the reference speed and the total deceleration ratio, a seventh exemplary embodiment of the present application provides a vehicle impeded traffic behavior estimation method, which is further improved based on the fourth exemplary embodiment of the present application, specifically, the following improvements are made:
the obtaining of the reference speed according to the reference speed and the total deceleration ratio includes:
the product of the base reference speed and the total deceleration ratio is taken as the reference speed.
The eighth exemplary embodiment of the present application provides a method for evaluating a vehicle blocked traffic behavior, which is further improved on the basis of the second to seventh exemplary embodiments of the present application, and the specific improvements are as follows:
the calculation formula of the comprehensive score is as follows:
integrated score = MAX {0,MIN 1,2-e 0.2X (1-average reference speed ratio) X (window duration-1.5) }}。
An eighth exemplary embodiment of the present application, when calculating the composite score of the host car in each time window, introduces a formula for the decay of the score over time, i.e. the composite score = MAX {0,MIN great 1,2-e 0.2 X (1-average reference velocity ratio) × (Window Length-1.5) And therefore, the degree of obstruction of the host vehicle to traffic, which changes with time, can be reflected intuitively.
From the above calculation formula of the composite score, the value range of the composite score is [0,1], and the lower the composite score is, the more serious the behavior of the host vehicle obstructing the traffic is, and the higher the composite score is, the lower the influence degree of the host vehicle on the traffic is. And under the condition that the average reference speed ratio is fixed, the larger the numerical value of the window duration is, the lower the comprehensive score is, and the more serious the traffic obstruction degree of the host is.
Fig. 3 is a vehicle impeded traffic behavior evaluation device provided in a ninth exemplary embodiment of the present application, which corresponds one-to-one to the evaluation method in the above embodiment, and includes:
the first acquisition module is used for acquiring the reference speed and the reference speed ratio of the host vehicle at each moment in a scene;
the second acquisition module is used for integrating the average reference speed ratio and the window duration of the main vehicle in each time window in the scene to acquire the traffic obstruction degree of the main vehicle in each time window;
and the processing module is used for selecting the traffic obstruction degree of the time window with the lowest traffic obstruction degree as the scene traffic obstruction degree of the main vehicle.
The various modules of the above described evaluation device may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Fig. 4 is a device provided in a tenth exemplary embodiment of the present application, which may be a server. The device includes a processor, a memory, and a communication interface connected by a system bus. Wherein the processor of the device is configured to provide computing and control capabilities. The memory of the device may be implemented by any type or combination of volatile or non-volatile storage devices, including but not limited to: magnetic disk, optical disk, EEPROM, EPROM, SRAM, ROM, magnetic memory, flash memory, and PROM. The memory of the device provides an environment for the running of the operating system and computer programs stored within it. The communication interface of the device is a network interface, and the network interface is used for connecting and communicating with an external terminal through a network. Which when executed by a processor performs the evaluation method steps described in the above embodiments.
In a further embodiment of the present application, a storage medium is provided, which stores a computer program which, when being executed by a processor, carries out the evaluation method steps of the above-described embodiments. The storage medium includes, but is not limited to: ROM, RAM, CD-ROM, diskette, and floppy disk.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of each functional unit or module is illustrated, and in practical applications, the above-mentioned function may be distributed as different functional units or modules as required, that is, the internal structure of the apparatus described in this application may be divided into different functional units or modules to implement all or part of the above-mentioned functions.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A vehicle impeded traffic behavior assessment method, comprising:
acquiring a reference velocity of a host at each moment in a scene and acquiring a reference velocity ratio of the host at each moment in the scene, the acquiring the reference velocity ratio of the host at each moment in the scene, comprising: acquiring the speed of each time of the host vehicle in a scene; taking the ratio of the speed per hour to a reference speed as the reference speed ratio;
the method for acquiring the traffic obstruction degree of the host vehicle in each time window by integrating the average reference speed ratio and the window duration of the host vehicle in each time window in a scene comprises the following steps: acquiring a comprehensive score of the host vehicle in each time window; the calculation formula of the comprehensive score is as follows:
integrated score = MAX {0,MIN 1,2-e 0.2X (1-average reference speed ratio) X (window duration-1.5) }}；
Selecting the traffic obstruction degree of the time window with the lowest traffic obstruction degree as the scene traffic obstruction degree of the host vehicle, and selecting the traffic obstruction degree of the time window with the lowest traffic obstruction degree as the scene traffic obstruction degree of the host vehicle, wherein the steps of: and selecting the score of the time window with the lowest comprehensive score as the scene score of the host vehicle.
2. The method according to claim 1, wherein the obtaining a reference velocity of the host vehicle at each time in the scene comprises:
acquiring a reference speed of the host vehicle at each moment in a scene;
acquiring the total deceleration ratio of the host vehicle at each moment in the scene;
the reference speed is obtained from the base reference speed and the total deceleration ratio.
3. The vehicle impeded traffic behavior assessment method according to claim 2, wherein the acquiring of the reference velocity of the host vehicle at each time in the scene comprises:
acquiring surrounding vehicle information and lane information of a main vehicle at each moment in a scene;
acquiring a current lane of the main vehicle according to the lane information;
acquiring a reference vehicle which is positioned in a current lane of the main vehicle and has the closest distance with the main vehicle according to the information of the surrounding vehicles:
if the reference vehicle exists, calculating the safe vehicle following speed of the main vehicle relative to the reference vehicle by using a Krauss model, and taking the safe vehicle following speed as a reference speed;
and if the reference vehicle does not exist, acquiring the speed limit of the current lane of the main vehicle according to the lane information, and taking the speed limit of the current lane of the main vehicle as the reference speed.
4. The method according to claim 2, wherein the obtaining of the total deceleration ratio of the host vehicle at each time in the scene comprises:
acquiring traffic control information and destination information of a host vehicle at each moment in a scene;
correspondingly calculating a traffic control deceleration ratio and a destination deceleration ratio according to the traffic control information and the destination information respectively;
the minimum value of both the traffic control deceleration ratio and the destination deceleration ratio is taken as the total deceleration ratio.
5. The vehicular blocked traffic behavior estimation method according to claim 2, wherein the deriving a reference speed from a reference speed and a total deceleration ratio includes:
the product of the base reference speed and the total deceleration ratio is taken as the reference speed.
6. A vehicular blocked traffic behavior evaluation device characterized by comprising:
a first obtaining module, configured to obtain a reference speed of a host at each time in a scene and obtain a reference speed ratio of the host at each time in the scene, where the obtaining of the reference speed ratio of the host at each time in the scene includes: acquiring the speed per hour of the host vehicle at each moment in the scene; taking the ratio of the speed per hour to a reference speed as the reference speed ratio;
a second obtaining module, configured to synthesize an average reference speed ratio and a window duration of the host in each time window in a scene, and obtain a traffic hindrance degree of the host in each time window, where the obtaining of the traffic hindrance degree of the host in each time window includes: acquiring the comprehensive score of the host vehicle in each time window; the calculation formula of the comprehensive score is as follows:
total score = MAX {0,MIN [ 1,2-e ] is held 0.2X (1-average reference speed ratio) × (window duration-1.5) }}；
The processing module is used for selecting the traffic obstruction degree of the time window with the lowest traffic obstruction degree as the scene traffic obstruction degree of the host vehicle, and the traffic obstruction degree of the time window with the lowest traffic obstruction degree is selected as the scene traffic obstruction degree of the host vehicle, and the processing module comprises the following components: and selecting the score of the time window with the lowest comprehensive score as the scene score of the host vehicle.
7. An electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method for assessing the behavior of a vehicle obstructing traffic according to any one of claims 1-5 when executing the computer program.
8. A storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the steps of the method for assessing the behavior of a vehicle obstructing traffic according to any one of claims 1 to 5.
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| CN111326000B (en) * | 2018-12-14 | 2022-09-30 | 奥迪股份公司 | Traffic jam warning method, device, computer equipment and storage medium |
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