CN116107915A - Quantification method and device for safety controllability index of vehicle expressway cruising function - Google Patents
Quantification method and device for safety controllability index of vehicle expressway cruising function Download PDFInfo
- Publication number
- CN116107915A CN116107915A CN202310396781.XA CN202310396781A CN116107915A CN 116107915 A CN116107915 A CN 116107915A CN 202310396781 A CN202310396781 A CN 202310396781A CN 116107915 A CN116107915 A CN 116107915A
- Authority
- CN
- China
- Prior art keywords
- controllable
- vehicle
- controllability
- level
- indexes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3604—Software analysis for verifying properties of programs
- G06F11/3616—Software analysis for verifying properties of programs using software metrics
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3664—Environments for testing or debugging software
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Software Systems (AREA)
- Computer Hardware Design (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention provides a quantification method and a device for safety controllability indexes of a vehicle highway cruising function, wherein the quantification method comprises the following steps: constructing a first-level controllable index influencing the vehicle highway cruising function, and dividing the first-level controllable index according to the vehicle highway cruising function to obtain a plurality of second-level controllable indexes; under the simulation test scene of the expressway, the appointed function fault is injected into the vehicle, and different combinations of numerical changes of a plurality of controllable secondary indexes are used for testing respectively, so that the combination of the numerical changes of the plurality of controllable secondary indexes meeting the critical condition is determined; and determining quantized values of a plurality of controllable three-level indexes corresponding to the plurality of controllable two-level indexes according to the combination of numerical changes of the plurality of controllable two-level indexes meeting the critical condition. The invention improves the accuracy of the quantification result of the safety controllability index of the vehicle highway cruising function and provides more reliable basis for the safety development of the vehicle function.
Description
Technical Field
The invention relates to the technical field of automatic driving vehicles, in particular to a quantification method and a quantification device for a safety controllability index of a vehicle expressway cruising function.
Background
With the development of automatic driving technology, the control right of the vehicle is gradually transferred from the traditional human control to the automatic or semi-automatic control of the machine, and the requirements of users on driving safety are also higher and higher. As the conditional automatic driving of the L3 level (conditional automatic control level), the highway cruising function provided by the highway cruising (HWP) system is used for realizing functions related to vehicle movement, such as lane centering driving, main road cruising driving and the like, so that the hazard caused by the vehicle out of control caused by the function failure of the HWP system is huge, whether the vehicle is controlled by a person, a vehicle or a person and a vehicle together, whether the driver or the HWP system can sufficiently control the vehicle, the occurrence of a hazard event is prevented, the personal safety is guaranteed, the problem of hot spots focused by a user is solved, and the safety and the controllability of the vehicle function are one of indexes which need important evaluation in the development process of the HWP system; quantification and classification of controllability are of critical significance for determining the longest duration of a functional failure, guiding the functional safety development process and improving safety.
In the related art, a real vehicle test or a simulation test is performed on a certain safety controllability index of a highway cruising function fault, the safety controllability index can be, for example, a speed maximum value or an acceleration maximum value, and the like, and a quantification result of the safety controllability index of the highway cruising function of the vehicle is determined according to the controllable state change of the vehicle in the test process. However, the quantification result of the safety controllability index obtained by the scheme is determined based on a single safety controllability index, the influence of other safety controllability indexes related to the current fault on the highway cruising function fault is ignored, and the problem that the quantification result of the safety controllability index is poor in accuracy is solved.
Disclosure of Invention
In order to solve the problem that the accuracy of the quantized result of the safety controllability index of the vehicle highway cruising function is poor in the related art, the invention provides a method and a device for quantizing the safety controllability index of the vehicle highway cruising function, so as to achieve the technical purposes of improving the accuracy of the quantized result of the safety controllability index and the like.
In order to achieve the technical purpose, the invention can provide a quantification method of a safety controllability index of a vehicle expressway cruising function, which comprises the following steps: constructing a first-level index of controllability affecting a vehicle highway cruising function, wherein the vehicle highway cruising function comprises a vehicle longitudinal movement function and a vehicle transverse movement function; dividing the first-level controllable index according to the vehicle highway cruising function to obtain a plurality of second-level controllable indexes; under the simulation test scene of the expressway, a specified functional fault is injected into the vehicle, and different combinations of numerical changes of the plurality of controllable secondary indexes are used for testing respectively, so that the combination of the numerical changes of the plurality of controllable secondary indexes meeting the critical condition is determined; wherein, the critical condition represents the situation that the damage is just avoided in the testing process; and determining quantized values of a plurality of controllable three-level indexes corresponding to the plurality of controllable two-level indexes according to the combination of numerical changes of the plurality of controllable two-level indexes meeting the critical condition.
In order to achieve the above technical object, the present invention further provides a device for quantifying a safety controllability index of a vehicle highway cruising function, the device comprising: the system comprises an index construction module, a control module and a control module, wherein the index construction module is used for constructing a controllable primary index influencing a vehicle expressway cruising function, and the vehicle expressway cruising function comprises a vehicle longitudinal movement function and a vehicle transverse movement function; the index dividing module is used for dividing the controllable primary index according to the vehicle expressway cruising function so as to obtain a plurality of controllable secondary indexes; the simulation test module is used for injecting specified functional faults into the vehicle under a highway simulation test scene, and respectively testing by using different combinations of numerical changes of the plurality of controllable secondary indexes to determine the combination of the numerical changes of the plurality of controllable secondary indexes meeting the critical condition; wherein, the critical condition represents the situation that the damage is just avoided in the testing process; and the index quantization module is used for determining quantized values of a plurality of controllable three-level indexes corresponding to the plurality of controllable two-level indexes according to the combination of numerical changes of the plurality of controllable two-level indexes meeting the critical condition.
To achieve the above object, the present invention also provides a computer device including a memory and a processor, the memory storing computer readable instructions that, when executed by the processor, cause the processor to execute the steps of the method for quantifying a safety controllability index of a vehicle highway cruising function in any of the embodiments of the present invention.
To achieve the above object, the present invention may further provide a storage medium storing computer readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the method for quantifying a safety controllability index of a vehicle highway cruising function according to any of the embodiments of the present invention.
The beneficial effects of the invention include:
based on the fact that the plurality of controllable secondary indexes determined by the controllable primary index dividing mode affecting the longitudinal and transverse movement functions of the vehicle are subjected to simulation test, quantized values of a plurality of controllable tertiary indexes corresponding to the plurality of controllable secondary indexes just avoiding damage are determined, the method comprehensively considers quantization of the safety controllable indexes on the premise of influencing the plurality of indexes of the vehicle expressway cruising function, and compared with the mode that the quantized results are determined based on single indexes in the existing scheme, the method disclosed by the invention integrally uses the plurality of safety controllable indexes, and is more in line with actual cruising scenes of an actual expressway, so that accuracy of quantized results of the safety controllable indexes of the vehicle expressway cruising function is obviously improved, and a more reliable basis is provided for safety development of the vehicle function.
Drawings
FIG. 1 is a flow diagram of a method for quantifying a vehicle highway cruising function safety controllability index in one or more embodiments of the present invention.
FIG. 2 is a flow chart illustrating a method for quantifying a vehicle highway cruising function safety controllability index in one or more embodiments of the present invention.
FIG. 3 illustrates a flow diagram for calculating a current integrated controllability score based on quantized values of a plurality of three-level indicators of controllability in one or more embodiments of the invention.
FIG. 4 is a flow diagram illustrating the construction of a first level indicator of controllability in one or more embodiments of the invention.
FIG. 5 is a schematic diagram illustrating the implementation of simulation testing in a highway simulation test scenario in accordance with one or more embodiments of the present invention.
FIG. 6 illustrates a schematic diagram of highway simulation testing with injection of drive torque for a vehicle in accordance with one or more embodiments of the present invention.
FIG. 7 illustrates a schematic diagram of highway simulation testing with a failure to inject brake torque for a vehicle in one or more embodiments of the invention.
FIG. 8 illustrates a schematic diagram of highway simulation testing with injection of steering torque for a vehicle in accordance with one or more embodiments of the present invention.
Fig. 9 is a schematic structural diagram showing a quantification apparatus of a safety controllability index of a vehicle highway cruising function in one or more embodiments of the present invention.
FIG. 10 is a schematic diagram illustrating the internal structure of a computer device in one or more embodiments of the invention.
Detailed Description
The method and the device for quantifying the safety controllability index of the vehicle highway cruising function provided by the invention are explained and illustrated in detail below by combining with the attached drawings of the specification.
In order to cope with the risk of vehicle hazard caused by the failure of the electronic and electric system of the automobile, hazard analysis and risk assessment are often required to be carried out on hazard events caused by related functional anomalies, such as confirming the safety integrity grade ASIL (Automotive Safety Integrity Levels) of the vehicle to define a safety target and put forward functional safety requirements based on three parameters of the identified severity (S), the exposure probability (E) and the controllability (C); the description of the controllability refers to that personnel can fully control the hazard event and estimate the specific injury probability.
For quantification of the vehicle function safety controllability index, the related art may attempt to determine a quantification result of the vehicle highway cruising function safety controllability index using a simulation test method and a real vehicle test method. However, the existing mode is to determine the quantization result of the safety controllable index based on a single safety controllable index, and the quantization result has the problems of larger deviation from the actual situation, inaccuracy and the like; for the classification of the controllability, the related technology generally uses an expert discussion method or a Cooper-Harper (ancient cypress-Ha Bai) evaluation method, but the two methods can only determine the controllability level by means of manual judgment or expert experience, and have the problems of poor objectivity and the like.
At present, no unified standard exists for the selection of the controllability evaluation index, most researches conduct quantitative research on a single controllability index of a certain function of a system, and a complete index system is not formed due to the lack of comprehensive controllable index research of the system; in addition, in the aspect of controllability grading, the prior art is biased to adopt an expert experience method due to lack of data support and grading basis, and the proposed grading framework cannot be directly applied in many road traffic environments; lack of research combines controllability index quantification with controllability grading.
As shown in fig. 1, at least one embodiment of the present invention can provide a method for quantifying a vehicle highway cruising function safety controllability index, including, but not limited to, the following steps S110 to S140.
Step S110, a first level of controllability index affecting a vehicle highway cruising function including a vehicle longitudinal movement function and a vehicle lateral movement function is constructed.
The controllable primary index influencing the longitudinal (automobile running direction) movement function and the transverse movement function of the automobile is used as the basis of a quantification scheme of the safety controllable index of the expressway cruising function of the automobile, so that the controllable primary index is constructed from the whole automobile level.
In at least one embodiment of the present invention, the plurality of first-level indicators of controllability includes acceleration, speed, and operating force.
As shown in fig. 4, the present embodiment provides a construction flow of the first-level index of controllability. Firstly, selecting a vehicle system and selecting a system related to vehicle movement, wherein the system related to vehicle movement in the embodiment is specifically a HWP system; secondly, hazard identification and risk analysis are carried out, functions related to vehicle movement and functions influencing the vehicle movement are described in the stage, and the existing potential vehicle hazard is determined under the condition of the function failure of the HWP system; again, determining driver countermeasures, e.g., brake pedal, throttle, steering wheel, and describing a first level of controllability; finally, the first-level index of controllability is confirmed according to countermeasures, and when the index is selected in this embodiment, the following types are considered: the index indicating the degree of the driver's reaction, including the acceleration a and the speed v of the vehicle, and the index indicating the degree of the driver's difficulty in operation, including the brake pedal force Fb, the accelerator pedal force Fa, and the like.
In this embodiment, the result of confirming the controllability indexes of the HWP system is shown in table 1, the HWP system includes functions of longitudinal movement, transverse movement and the like of the vehicle, the longitudinal movement function failure may generate a vehicle level hazard such as unexpected acceleration, unexpected deceleration and the like of the vehicle, and measures to be taken are to step on a brake pedal and step on an accelerator, and then the determined level-one of the controllability indexes are the operating force F, the acceleration a and the speed v. The vehicle transverse movement function fault can generate a complete vehicle grade hazard such as unexpected steering, in order to prevent the vehicle from turning over when deviating from a lane, a steering wheel is turned to correct the vehicle deviation, and the determined primary controllable indexes are an operating force F, an acceleration a and a speed v.
Step S120, dividing the first-level indicators of the controllability according to the vehicle highway cruising function to obtain a plurality of second-level indicators of the controllability.
In one or more embodiments of the present invention, the plurality of controllable secondary indicators includes lateral acceleration, longitudinal acceleration, lateral speed, longitudinal speed, brake pedal force, steering wheel torque, and accelerator pedal force based on the plurality of controllable primary indicators including speed, and operating force.
In at least one embodiment of the present invention, the dividing the first-level indicators of controllability according to the vehicle highway cruising function includes: the first-level controllable index corresponding to the longitudinal movement function of the vehicle and the first-level controllable index corresponding to the transverse movement function of the vehicle are used as second-level controllable indexes.
Based on the improved scheme, the embodiment of the invention adopts a grading method to divide the controllable first-level index into the controllable second-level index, so that the controllable second-level index of related hazard can be established from two dimensions of the longitudinal movement function and the transverse movement function of the whole vehicle, the controllable second-level index corresponding to the controllable first-level index is determined from the angle of the whole vehicle, and the comprehensive carding of the controllable second-level index is realized.
The invention can also construct a controllable three-level index based on the controllable two-level index, thereby providing a basis and a quantization direction for the simulation test process, and the following is described in detail. In connection with the above embodiments of the present invention, the three-level index system of the HWP system is shown in table 2.
TABLE 2
Step S130, under the simulation test scene of the expressway, the specified functional faults are injected into the vehicle, and different combinations of numerical changes of a plurality of controllable secondary indexes are used for testing respectively, so that the combination of the numerical changes of the plurality of controllable secondary indexes meeting the critical conditions is determined; wherein, critical conditions represent situations where damage is just avoided during testing.
In this embodiment, n combinations of numerical changes of the controllable secondary index are used, where the numerical change of the controllable secondary index indicates that the controllable secondary index changes within a certain range, and the specific value of n may be set according to practical situations, for example, several tens or several hundreds. The method comprises the steps of determining a combination of numerical changes of a plurality of controllable secondary indexes meeting critical conditions by adopting a simulation test method, specifically, using different combinations of numerical changes of the plurality of controllable secondary indexes, injecting appointed functional faults into a vehicle under a highway simulation test scene, not changing working conditions and scenes, and finding the combination of the numerical changes of the plurality of controllable secondary indexes which are just corresponding to the critical state which is controlled to be out of control in a repeated test mode. Wherein the out of control condition is the situation that the hazard occurs.
In one or more embodiments of the invention, assigning a malfunction to a vehicle injection includes: providing a set driving torque to the vehicle or providing a set braking torque to the vehicle or providing a set steering torque to the vehicle.
According to the embodiment, the simulation test under various different fault scenes is realized by providing the set driving torque or the set braking torque or the set steering torque for the vehicle, and a comprehensive basis is provided for quantification of the controllability indexes.
As shown in table 3, n combinations of HWP system malfunction, highway scenario, operating conditions and different controllable secondary index values are specifically given.
TABLE 3 Table 3
As shown in fig. 5, in this embodiment, a simulation test scene of the expressway is built by simulation software. For example, dividing highway scene factors into basic scenes, road types, road geometry, environmental conditions, traffic participants, operating conditions may include functional failure time, host vehicle initial speed, other traffic participant speeds (his speed), location of failure, host vehicle and relative distance of traffic participants, etc., countermeasures including driver or autopilot system taking after a hazard occurs to control some operations of the vehicle, stepping on a brake pedal, turning a steering wheel, etc., countermeasures taken are embodied in the magnitude of a controllability secondary index including, but not limited to, brake pedal force Fb, longitudinal acceleration long_a, longitudinal speed long_v, accelerator pedal force Fa, steering wheel torque s_torque, lateral acceleration lat_a, and Lateral speed Lateral_v, in connection with the above embodiments. The simulation software used in the present embodiment may include, for example, carsim (a vehicle dynamics simulation software) and matlab (a business math software). And a simulink model built in matlab is used for controlling the running of the vehicle. Three modules are arranged in the carsim, and are respectively a database, a solver of a mathematical model and simulation result output; when simulating, setting specific vehicle physical parameters at a vehicle parameter setting interface, setting vehicle running speed, acceleration, perception decision, route, scene and the like at a test working condition setting interface, and setting output animation parameters at an animation simulation interface; the carsim sets the parameters to be input, then connects to the simulink, runs the simulink, outputs the animation simulation to the carsim, and outputs the simulation animation and the numerical variation curve of the parameters.
In the simulation test process, the occurrence of a hazard event can be caused by the combination of the functional failure, the specific scene and the working condition, and the occurrence of the hazard event can be avoided to a certain extent by taking countermeasures after the functional failure by a driver or a vehicle system. The worse case is a case formed by combining a hazard caused by a functional failure of a vehicle motion system or a related system in an out-of-control state with a HWP scene, an operation condition and countermeasures to just avoid the hazard. The word case can be used for indicating the situation of just avoiding the occurrence of harm, and the simulation result is the quantized value of the controllability index. Taking the minimum distance between the current vehicle and the front vehicle as an example, a distance threshold S1 can be set, and when the simulation result exceeds the distance threshold, the situation of hazard occurrence, namely the situation of out-of-control, occurs; when the simulation result just reaches the distance threshold (i.e. the distance between the current vehicle and the preceding vehicle just reaches the distance threshold S1), the current situation can be confirmed to be a word case.
In the embodiment, the confirming of the worse case is combined with the confirming process of the controllable index and the constructed index grading system, the functional fault in the controllable confirming process, the controllable secondary index mentioned in the dividing process of the index grading system, the expressway scene and the specific operation condition are input into the simulation tool, and repeated tests are carried out by changing the magnitude of the numerical value of the controllable secondary index, so that the situation that the occurrence of the hazard event is just avoided is found, namely the worse case.
Therefore, according to the embodiment of the invention, the quantization can be performed by adopting a simulation test method according to the confirmed controllable secondary index, the quantization process is focused on finding out the worse case in the expressway scene by a fault injection method, the worse case is a critical expression in the controllable scene, the simulation result is used as a controllable index quantization value, and the simulation result of the worse case is used as a controllable index quantization value.
As shown in fig. 6, the present embodiment provides a HWP system providing a workcase in the event of a drive torque failure. In the scene of the straight running and following of the expressway vehicle, the following speed of the vehicle is Long_v0kph, the following distance is S meters, then a longitudinal acceleration Long_a1kph is injected in the T1 th second of the running of the vehicle, a brake pedal force Fb is injected in the T2 th second after the occurrence of a fault, the speed of the vehicle is reduced to be the same as the speed of the vehicle before the occurrence of the fault, and the distance between the two vehicles is 0 meters. From the time of failure (T2 seconds) to the time of just avoiding collision of the two vehicles (T3 seconds), the acceleration generated by the vehicle during this stage is long_a, and the vehicle speed is long_v kph.
According to the above example, the method of calculating the controllability index quantization value under the failure of the HWP system to provide the driving torque is shown in table 4.
TABLE 4 Table 4
As shown in fig. 7, the present embodiment provides a HWP system providing a workcase in the event of a brake torque failure. In the scene of the straight running and following of the expressway vehicle, the following speed of the vehicle is Long_v0kph, the following distance is S meters, then a longitudinal deceleration Long_a2kph is injected in the T1 th second of the running of the vehicle, the accelerator pedal force Fa is injected in the T2 th second after the occurrence of a fault, the T3 th second after the occurrence of the fault is accelerated to be the same as the speed of the front vehicle, and the distance between the two vehicles is 0 meters. From the time of failure (T2 seconds) to the time of just avoiding collision of the two vehicles (T3 seconds), the acceleration generated by the vehicle during this stage is long_a, and the vehicle speed is long_v kph.
According to the above example, the quantitative numerical calculation method of the controllability index under the function failure of the HWP system to provide braking torque is shown in table 5.
TABLE 5
As shown in fig. 8, the present embodiment provides a HWP system providing a word case in the event of a steering torque failure. In a scene of the expressway vehicle curve driving, the longitudinal speed of the vehicle is Long_v0kph, the transverse speed is Lat_v0kph, the steering wheel torque is S_torque0 N.m, a steering wheel corner value freezing fault is injected at the moment, the steering wheel torque S_torque1 N.m is injected in the T2 seconds after the fault occurs, the vehicle is prevented from turning over at the edge of a lane just in the T3 seconds after the fault occurs, and the distance between the two vehicles is 0 meter. From the fault occurrence time T2 to the vehicle time T3, the vehicle generates a steering wheel torque s_torquen.m, a lateral acceleration lat_a, and a vehicle lateral speed lat_v kph at this stage.
According to the above example, the method for calculating the quantitative value of the controllable index in the fault of the function of the HWP system providing steering torque is shown in table 6.
TABLE 6
Step S140, determining quantized values of a plurality of controllable three-level indicators corresponding to the plurality of controllable two-level indicators according to a combination of numerical changes of the plurality of controllable two-level indicators satisfying the critical condition.
By combining the embodiments, the invention can confirm the word case in the expressway scene based on the simulation test method of fault injection, and takes the simulation result of the word case as the controllable three-level index quantized value.
In one or more embodiments of the invention, the plurality of three-level indicators of controllability includes a maximum value of lateral acceleration, an average value of lateral acceleration, a maximum value of longitudinal acceleration, an average value of longitudinal acceleration, a maximum value of lateral velocity, an average value of lateral velocity, a maximum value of longitudinal velocity, an average value of longitudinal velocity, a maximum value of brake pedal force, an average value of brake pedal force, a maximum value of steering wheel torque, a variation value of steering wheel torque, a maximum value of accelerator pedal force, an average value of accelerator pedal force.
The combination of the numerical changes of the plurality of controllable secondary indexes in the preferred embodiment of the present invention includes a combination of a plurality of curves for representing the numerical changes of the plurality of controllable secondary indexes, for example, a lateral acceleration change curve, a longitudinal acceleration change curve, a lateral velocity change curve, and the like.
Optionally, in an embodiment of the present invention, determining quantized values of a plurality of controllable three-level indicators corresponding to a plurality of controllable two-level indicators according to a combination of numerical changes of the plurality of controllable two-level indicators that satisfy a critical condition includes: and determining quantized values of a plurality of controllable three-level indexes corresponding to the plurality of controllable two-level indexes according to a combination of a plurality of curves of numerical variation of the plurality of controllable two-level indexes meeting the critical condition. According to the embodiment, the quantization value of the corresponding controllable three-level index is determined based on the curve of the numerical variation of the controllable two-level index, so that index quantization can be performed more accurately and more rapidly.
As shown in fig. 2, in one or more embodiments of the present invention, the method for quantifying the safety controllability index of the vehicle highway cruising function further includes step S150 and step S160.
Step S150, calculating a current integrated controllability score based on quantized values of the plurality of three-level controllable indexes.
As shown in fig. 3, in one or more embodiments of the present invention, a current integrated controllability score is calculated based on quantized values of a plurality of three-level controllable indexes, including but not limited to steps S151 to S153, which are described in detail below.
And step S151, carrying out weighted calculation on the quantized values of the plurality of controllable three-level indexes to obtain quantized values of the controllable two-level indexes.
Optionally, in this embodiment, performing weighted calculation on quantized values of the plurality of third-level indicators of controllability includes: carrying out dimensionless treatment on the quantized values of the plurality of controllable three-level indexes, and carrying out weighted calculation on the quantized values of the plurality of controllable three-level indexes after the dimensionless treatment; for example by the following formula.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
quantized values representing three-level indicators of controllability before dimensionless treatment, ++>
A quantized value representing a non-dimensionalized controllable three-level index,
k represents the number of the controllable three-level index, j represents the number of the controllable two-level index,
The quantization value of the controllable secondary index is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
and the weight of the kth controllable third-level index corresponding to the jth controllable second-level index is represented.
Step S152, carrying out weighted calculation on quantized values of a plurality of controllable secondary indexes to obtain quantized values of controllable primary indexes; for example by the following formula.
The quantization value of the first-level index of the controllability is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
the weight of the j-th controllable second-level index corresponding to the i-th controllable first-level index is represented, and i represents the number of the controllable first-level index.
Step S153, carrying out weighted calculation on quantized values of a plurality of first-level indexes of the controllability to obtain a current comprehensive controllability score; for example by the following formula.
The current overall controllability score is:
wherein, the liquid crystal display device comprises a liquid crystal display device,
the weight of the i-th level of controllability index.
Step S160, determining the controllability level corresponding to the current comprehensive controllability score according to the preset relation between the comprehensive controllability score and the controllability level.
For example, if the controllability score is higher, the corresponding level of controllability is higher; the controllability score is lower, and the corresponding controllability level is lower; of course the invention is not limited to the examples described above.
Optionally, determining the controllability level corresponding to the current integrated controllability score according to a preset relationship between the integrated controllability score and the controllability level includes: a controllability rating corresponding to the integrated controllability score is determined, and then a controllability rating corresponding to the controllability rating is determined.
The preset relationship between the comprehensive controllability score and the controllability level comprises a correspondence relationship among the comprehensive controllability score, the controllability level and the controllability level.
The preset relationship between the comprehensive controllability fraction and the controllability level in this embodiment is specifically a controllability level table. For example, a controllability rating of 0 indicates full controllability, and a controllability rating of C0; a controllability rating of 1-3 indicates more controllable, a smaller control force is required to control the vehicle, a longer reaction time is reserved for a driver, and the controllability rating is C1; a controllability rating of 4-6 indicates less controllability, a driver can tolerate the required control force to control the vehicle, the reaction time left for the driver is sufficient, and the controllability rating is C2; a controllability rating of 7-9 indicates that it is very uncontrollable, and that it is difficult for the driver to control the vehicle in the time left for the driver, the controllability rating being C3. And (3) through a simulation test stage, calculating according to the three-level index value of the controllability determined by the word case to obtain a comprehensive controllability Score, and classifying the controllability according to a controllability classification table, as shown in the following table 7.
TABLE 7
According to the embodiment of the invention, the corresponding controllability grade is determined based on the current comprehensive controllability scores calculated by the quantized values of the three-level controllable indexes, and the corresponding controllability grade is determined according to the specifically calculated scores without depending on expert experience and human judgment, so that the implementation scheme of the vehicle safety controllability grade provided by the embodiment of the invention has the advantages of stronger objectivity, higher accuracy and the like. In addition, the invention can provide unified standard for the selection of the safety controllability indexes of the vehicle expressway cruising function, forms a perfect index system, is more suitable for the actual road traffic environment, satisfies the combination of the controllability index quantization and the controllability grading, provides reliable basis for the safety controllability of the vehicle function, and realizes the risk controllability quantization evaluation before the HWP system is marketed.
As shown in fig. 9, the method for quantifying the safety controllability index of the vehicle expressway cruising function provided by the invention is based on the same technical concept, and some embodiments of the invention can provide a device for quantifying the safety controllability index of the vehicle expressway cruising function.
The quantification device of the safety controllability index of the vehicle highway cruising function can include, but is not limited to, an index construction module 901, an index dividing module 902, a simulation test module 903 and an index quantification module 904, which are described in detail below.
The index construction module 901 is configured to construct a first level of controllability index that affects a vehicle highway cruising function, where the vehicle highway cruising function includes a vehicle longitudinal movement function and a vehicle lateral movement function.
The index dividing module 902 is configured to divide the first-level index of controllability according to a vehicle highway cruising function, so as to obtain a plurality of second-level indexes of controllability.
The simulation test module 903 is configured to inject a specified functional fault into a vehicle in a highway simulation test scenario, and perform a test by using different combinations of numerical changes of a plurality of controllable secondary indexes, so as to determine a combination of numerical changes of a plurality of controllable secondary indexes that meet a critical condition; wherein, critical conditions represent situations where damage is just avoided during testing.
The index quantization module 904 is configured to determine quantized values of a plurality of controllable three-level indexes corresponding to the plurality of controllable two-level indexes according to a combination of numerical changes of the plurality of controllable two-level indexes that satisfy the critical condition.
Optionally, the quantifying device for the safety controllability index of the vehicle highway cruising function further comprises a score calculating module and a grade determining module.
And the score calculation module is used for calculating the current comprehensive controllability score based on the quantized values of the plurality of three-level controllable indexes.
And the grade determining module is used for determining the controllability grade corresponding to the current comprehensive controllability score according to the preset relation between the comprehensive controllability score and the controllability grade.
Optionally, the score calculating module includes a first calculating module, a second calculating module, and a third calculating module.
The first calculation module is used for carrying out weighted calculation on the quantized values of the controllable three-level indexes to obtain quantized values of the controllable two-level indexes.
And the second calculation module is used for carrying out weighted calculation on the quantized values of the plurality of controllable secondary indexes to obtain quantized values of the controllable primary indexes.
And the third calculation module is used for carrying out weighted calculation on the quantized values of the plurality of first-level indexes of the controllability to obtain the current comprehensive controllability score.
Optionally, the index dividing module 902 is configured to take, as the second-level index of controllability, both the first-level index of controllability corresponding to the longitudinal movement function of the vehicle and the first-level index of controllability corresponding to the lateral movement function of the vehicle.
Optionally, the simulation test module 903 is configured to provide a set driving torque to the vehicle or a set braking torque to the vehicle or a set steering torque to the vehicle.
Optionally, the plurality of first-level indicators of controllability includes acceleration, speed, and operating force.
Optionally, the plurality of controllable secondary indicators includes lateral acceleration, longitudinal acceleration, lateral speed, longitudinal speed, brake pedal force, steering wheel torque, and accelerator pedal force.
Optionally, the plurality of three-level indicators of controllability includes a maximum value of lateral acceleration, an average value of lateral acceleration, a maximum value of longitudinal acceleration, an average value of longitudinal acceleration, a maximum value of lateral velocity, an average value of lateral velocity, a maximum value of longitudinal velocity, an average value of longitudinal velocity, a maximum value of brake pedal force, an average value of brake pedal force, a maximum value of steering wheel torque, a variation value of steering wheel torque, a maximum value of accelerator pedal force, an average value of accelerator pedal force.
As shown in fig. 10, the method for quantifying the safety controllability index of the vehicle highway cruising function provided by the present invention is based on the same technical concept, and the present invention may further provide a computer device, including a memory and a processor, where the memory stores computer readable instructions, and when the computer readable instructions are executed by the processor, the processor executes the steps of the method for quantifying the safety controllability index of the vehicle highway cruising function in any embodiment of the present invention. The detailed implementation process of the quantization method of the safety controllability index of the vehicle highway cruising function is described in detail in the present specification, and will not be described here again.
As shown in fig. 10, the present invention may also provide a storage medium storing computer readable instructions that, when executed by one or more processors, cause the one or more processors to execute the steps of the method for quantifying the vehicle highway cruising function safety controllability index according to the embodiment of the present invention, based on the same technical concept. The detailed implementation process of the quantization method of the safety controllability index of the vehicle highway cruising function is described in detail in the present specification, and will not be described here again.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection (electronic device) with one or more wires, a portable computer cartridge (magnetic device), a random access Memory (RAM, random Access Memory), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (EPROM, erasable Programmable Read-Only Memory, or flash Memory), an optical fiber device, and a portable compact disc Read-Only Memory (CDROM, compact Disc Read-Only Memory). In addition, the computer-readable storage medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits with logic gates for implementing logic functions on data signals, application specific integrated circuits with appropriate combinational logic gates, programmable gate arrays (PGA, programmable Gate Array), field programmable gate arrays (FPGA, field Programmable Gate Array), and the like.
In the description of the present specification, a description referring to the terms "present embodiment," "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the invention, but any modifications, equivalents, and simple improvements made within the spirit of the present invention should be included in the scope of the present invention.
Claims (11)
1. A method for quantifying a vehicle highway cruising function safety controllability index, the method comprising:
constructing a first-level index of controllability affecting a vehicle highway cruising function, wherein the vehicle highway cruising function comprises a vehicle longitudinal movement function and a vehicle transverse movement function;
dividing the first-level controllable index according to the vehicle highway cruising function to obtain a plurality of second-level controllable indexes;
under the simulation test scene of the expressway, a specified functional fault is injected into the vehicle, and different combinations of numerical changes of the plurality of controllable secondary indexes are used for testing respectively, so that the combination of the numerical changes of the plurality of controllable secondary indexes meeting the critical condition is determined; wherein, the critical condition represents the situation that the damage is just avoided in the testing process;
and determining quantized values of a plurality of controllable three-level indexes corresponding to the plurality of controllable two-level indexes according to the combination of numerical changes of the plurality of controllable two-level indexes meeting the critical condition.
2. The method for quantifying a vehicle highway cruising function safety controllability index according to claim 1, wherein the method further comprises:
calculating a current comprehensive controllability score based on quantized values of the plurality of three-level controllable indexes;
and determining the controllability level corresponding to the current comprehensive controllability score according to a preset relation between the comprehensive controllability score and the controllability level.
3. The method for quantifying a vehicle highway cruising function safety controllability index according to claim 2, wherein calculating a current integrated controllability score based on quantized values of the plurality of three-level controllable indexes comprises:
weighting calculation is carried out on the quantized values of the controllable three-level indexes to obtain quantized values of controllable two-level indexes;
weighting calculation is carried out on the quantized values of the controllable secondary indexes to obtain quantized values of controllable primary indexes;
and carrying out weighted calculation on the quantized values of the plurality of controllable primary indexes to obtain the current comprehensive controllable score.
4. A method for quantifying a vehicle highway cruising function safety controllability index according to any one of claims 1 to 3, wherein said dividing the controllability primary index according to the vehicle highway cruising function comprises:
and taking the first-level controllable index corresponding to the longitudinal movement function of the vehicle and the first-level controllable index corresponding to the transverse movement function of the vehicle as second-level controllable indexes.
5. A method for quantifying a vehicle highway cruising function safety controllability index according to any one of claims 1 to 3, wherein said assigning a function fault to the vehicle injection comprises:
providing a set driving torque to the vehicle or providing a set braking torque to the vehicle or providing a set steering torque to the vehicle.
6. A method for quantifying a vehicle highway cruising function safety controllability index according to any one of claim 1 to 3,
the plurality of controllable primary indexes comprise acceleration, speed and operation force.
7. The method for quantifying a vehicle highway cruising function safety controllability index according to claim 6,
the plurality of controllable secondary indicators includes lateral acceleration, longitudinal acceleration, lateral speed, longitudinal speed, brake pedal force, steering wheel torque, and accelerator pedal force.
8. The method for quantifying a vehicle highway cruising function safety controllability index according to claim 7,
the plurality of three-level indicators of controllability include a maximum value of lateral acceleration, an average value of lateral acceleration, a maximum value of longitudinal acceleration, an average value of longitudinal acceleration, a maximum value of lateral speed, an average value of lateral speed, a maximum value of longitudinal speed, an average value of longitudinal speed, a maximum value of brake pedal force, an average value of brake pedal force, a maximum value of steering wheel torque, a variation value of steering wheel torque, a maximum value of accelerator pedal force, and an average value of accelerator pedal force.
9. A quantification device for a vehicle highway cruising function safety controllability index, the device comprising:
the system comprises an index construction module, a control module and a control module, wherein the index construction module is used for constructing a controllable primary index influencing a vehicle expressway cruising function, and the vehicle expressway cruising function comprises a vehicle longitudinal movement function and a vehicle transverse movement function;
the index dividing module is used for dividing the controllable primary index according to the vehicle expressway cruising function so as to obtain a plurality of controllable secondary indexes;
the simulation test module is used for injecting specified functional faults into the vehicle under a highway simulation test scene, and respectively testing by using different combinations of numerical changes of the plurality of controllable secondary indexes to determine the combination of the numerical changes of the plurality of controllable secondary indexes meeting the critical condition; wherein, the critical condition represents the situation that the damage is just avoided in the testing process;
and the index quantization module is used for determining quantized values of a plurality of controllable three-level indexes corresponding to the plurality of controllable two-level indexes according to the combination of numerical changes of the plurality of controllable two-level indexes meeting the critical condition.
10. A computer device comprising a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the steps of a method of quantifying a vehicle highway cruising function safety controllability indicator according to any of claims 1 to 8.
11. A storage medium storing computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of a method of quantifying a vehicle highway cruising function safety controllability indicator according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310396781.XA CN116107915B (en) | 2023-04-14 | 2023-04-14 | Quantification method and device for safety controllability index of vehicle expressway cruising function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310396781.XA CN116107915B (en) | 2023-04-14 | 2023-04-14 | Quantification method and device for safety controllability index of vehicle expressway cruising function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116107915A true CN116107915A (en) | 2023-05-12 |
| CN116107915B CN116107915B (en) | 2023-06-30 |
Family
ID=86260201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310396781.XA Active CN116107915B (en) | 2023-04-14 | 2023-04-14 | Quantification method and device for safety controllability index of vehicle expressway cruising function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116107915B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009070145A (en) * | 2007-09-13 | 2009-04-02 | Nissan Motor Co Ltd | Vehicle driving evaluation device |
| CN103810532A (en) * | 2012-11-06 | 2014-05-21 | 北京清华同衡规划设计研究院有限公司 | Method for optimizing running state of urban drainage system |
| CN111595592A (en) * | 2020-05-21 | 2020-08-28 | 东南大学 | Performance evaluation method of adaptive cruise control system |
| CN111612310A (en) * | 2020-04-28 | 2020-09-01 | 中国汽车技术研究中心有限公司 | Comprehensive test evaluation method for plug-in hybrid electric vehicle |
| CN111862600A (en) * | 2020-06-22 | 2020-10-30 | 中汽研智能网联技术(天津)有限公司 | Traffic efficiency assessment method based on vehicle-road cooperation |
| CN113485301A (en) * | 2021-07-20 | 2021-10-08 | 合肥工业大学 | Quantitative evaluation method for expected functional safety performance of automatic driving automobile control system |
| CN114154351A (en) * | 2021-12-29 | 2022-03-08 | 安徽江淮汽车集团股份有限公司 | Multi-axis vehicle steady-state rotation energy test evaluation method, device, equipment and medium |
| CN115077936A (en) * | 2022-06-16 | 2022-09-20 | 中国汽车工程研究院股份有限公司 | Method for evaluating driving performance of vehicle adaptive cruise system |
-
2023
- 2023-04-14 CN CN202310396781.XA patent/CN116107915B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009070145A (en) * | 2007-09-13 | 2009-04-02 | Nissan Motor Co Ltd | Vehicle driving evaluation device |
| CN103810532A (en) * | 2012-11-06 | 2014-05-21 | 北京清华同衡规划设计研究院有限公司 | Method for optimizing running state of urban drainage system |
| CN111612310A (en) * | 2020-04-28 | 2020-09-01 | 中国汽车技术研究中心有限公司 | Comprehensive test evaluation method for plug-in hybrid electric vehicle |
| CN111595592A (en) * | 2020-05-21 | 2020-08-28 | 东南大学 | Performance evaluation method of adaptive cruise control system |
| CN111862600A (en) * | 2020-06-22 | 2020-10-30 | 中汽研智能网联技术(天津)有限公司 | Traffic efficiency assessment method based on vehicle-road cooperation |
| CN113485301A (en) * | 2021-07-20 | 2021-10-08 | 合肥工业大学 | Quantitative evaluation method for expected functional safety performance of automatic driving automobile control system |
| CN114154351A (en) * | 2021-12-29 | 2022-03-08 | 安徽江淮汽车集团股份有限公司 | Multi-axis vehicle steady-state rotation energy test evaluation method, device, equipment and medium |
| CN115077936A (en) * | 2022-06-16 | 2022-09-20 | 中国汽车工程研究院股份有限公司 | Method for evaluating driving performance of vehicle adaptive cruise system |
Non-Patent Citations (2)
| Title |
|---|
| 吕能超等: "基于客观风险感知特性的前向碰撞预警算法优化与标定", 《交通运输工程学报》, no. 02 * |
| 邵祖峰: "从制动过程图看制动性能检测指标体系", 《北京汽车》, no. 01 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116107915B (en) | 2023-06-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Ali et al. | CLACD: A complete LAne-Changing decision modeling framework for the connected and traditional environments | |
| CN109782730B (en) | Method and apparatus for autonomic system performance and rating | |
| DE102017200180A1 (en) | Method and test unit for the motion prediction of road users in a passively operated vehicle function | |
| CN109991987A (en) | Automatic Pilot decision-making technique and device | |
| Ponn et al. | An optimization-based method to identify relevant scenarios for type approval of automated vehicles | |
| Klück et al. | Performance comparison of two search-based testing strategies for ADAS system validation | |
| CN106570560A (en) | Driving style quantitative evaluation method based on standardized driving behaviors and phase space reconstruction | |
| CN109839937A (en) | Determine method, apparatus, the computer equipment of Vehicular automatic driving planning strategy | |
| CN116107915B (en) | Quantification method and device for safety controllability index of vehicle expressway cruising function | |
| Ramezani-Khansari et al. | [Retracted] Estimating Lane Change Duration for Overtaking in Nonlane‐Based Driving Behavior by Local Linear Model Trees (LOLIMOT) | |
| CN114148349B (en) | Vehicle personalized following control method based on generation of countermeasure imitation study | |
| CN115027497A (en) | Target vehicle cut-in intention prediction method and readable storage medium | |
| CN114818381A (en) | Method for constructing test scene library of automatic driving automobile | |
| Ma et al. | Lane change analysis and prediction using mean impact value method and logistic regression model | |
| CN114616157A (en) | Method and system for checking automated driving functions by reinforcement learning | |
| Kong et al. | Simulation based methodology for assessing forced merging strategies for autonomous vehicles | |
| CN112580201A (en) | Simulation test evaluation method and evaluation system for vehicle emergency steering auxiliary system | |
| Mechernene et al. | Lane change decision algorithm based on risk prediction and fuzzy logic method | |
| DE112020006317T5 (en) | COMPUTER SYSTEM AND METHOD FOR TRAINING A TRAFFIC AGENT IN A SIMULATION ENVIRONMENT | |
| Kidd et al. | A computer model of driving behavior: The highway intersection situation | |
| Eiras et al. | Towards Provably Correct Driver Assistance Systems through Stochastic Cognitive Modeling | |
| He et al. | Lane-Changing Decision-Making Model for Automated Vehicles Based on A Novel Lane Attractiveness Index | |
| DE102020115218B4 (en) | Method and system for evaluating exhaust gas emission data from a motor vehicle | |
| CN113298324B (en) | Track prediction model method, system and device based on deep reinforcement learning and neural network | |
| Chen et al. | A Game Theory-Based Approach for Modeling Freeway On-Ramp Merging and Yielding Behavior in an Autonomous Environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |