CN107697071B - A kind of driving safety grade based on field theory determines method and device - Google Patents

A kind of driving safety grade based on field theory determines method and device Download PDF

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CN107697071B
CN107697071B CN201711077588.0A CN201711077588A CN107697071B CN 107697071 B CN107697071 B CN 107697071B CN 201711077588 A CN201711077588 A CN 201711077588A CN 107697071 B CN107697071 B CN 107697071B
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vehicle
threshold
acceleration
target vehicle
speed
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CN107697071A (en
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董长印
王昊
李烨
秦严严
项昀
陈�全
刘雍翡
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Nanjing Duarte Traffic Technology Co Ltd
Southeast University
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Nanjing Duarte Traffic Technology Co Ltd
Southeast University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a kind of driving safety grades based on field theory to determine that method and device, method include: to obtain all vehicle micro-datas in research range, including car speed, acceleration and position data；Other interior vehicles of research range are calculated to the threshold of target vehicle, including speed subitem threshold and acceleration subitem threshold；Every other vehicle is calculated to the weighted average threshold of target vehicle；The driving safety grade of target vehicle is determined according to weighted average threshold.Method provided by the invention comprehensively considers the two vehicles interaction of vehicle in a certain range, it is relatively reliable to the security evaluation of target vehicle, assessment result is more accurate, and then scientific and reasonable judgement and decision-making foundation are provided for driver and vehicle, provides safeguard for traffic safety.

Description

A kind of driving safety grade based on field theory determines method and device
Technical field
The present invention relates to intellectual traffic control fields, and in particular to a kind of driving safety grade based on field theory determines method And device.
Background technique
It is counted according to the United Nations, in the today for entering " auto age ", has 1,300,000 people by traffic accident every year in world wide It devitalizes, there are 20,000,000 to 50,000,000 people to cause non-fatal injuries because of road traffic traffic accident.It is wherein most aggrieved Person comes from developing country.The World Health Organization is, it is expected that Road Traffic Injury will become the of global disease burden to 2020 Three big factors, degree will be more than AIDS or pulmonary tuberculosis, and " titles of global first public hazards " are qualified.And China with The generally promotion of economic level and the development of automobile industry the relevant technologies, compatriots be continuously improved in terms of automobile consumption.It cuts To the end of the year 2015, national vehicle guaranteeding organic quantity is up to 2.79 hundred million, and wherein car ownership alreadys exceed 1.72 hundred million, is only second to beauty State occupy the second in the world.New-energy automobile 58.32 ten thousand；For the automobile of the registration of new registration in 2015 up to 23,850,000, ownership is net Increase 17,810,000, is all-time high.For private car ownership up to 1.24 hundred million, average every one hundred houses family possesses 31. Vehicle driver is up to 3.27 hundred million people, and wherein motorist is more than 2.8 hundred million people.
Growing vehicle means to bring more security risks, and it is very urgent to improve vehicle driving safety.It determines Driving safety grade is important one of basic research, is the fundamental basis of driver or vehicle judged with decision, Its result directly affects vehicle driving safety and road operational efficiency.
A kind of system and method ensureing driving safety disclosed in Chinese patent 201310263869.0 in existing research, Mainly by the dynamic of monitoring this vehicle driver and driving vehicle, and then determine driving behavior grade；Chinese patent 201410514009.4 a kind of disclosed commerial vehicle drive safety evaluation system and evaluation method rely on type of vehicle, day The information such as vaporous condition are that foundation makes safety evaluation to commerial vehicle with quartile 25%, 50%, 75%；Chinese patent 201610586266.8 disclosed driving safety appraisal procedure and device, determine that driver works as according to driver behavior pattern completely Preceding driving safety grade.On the whole, the considerations of existing research is lacked to surrounding vehicles, ignore surrounding vehicles to working as front truck Interference and potential threat, rarely have and security evaluation carried out to it.Just four element of " road people-Che-- environment " traffic system is come It says, individual vehicle driving safety is related to overall operation situation, and safety evaluation should be conceived to more in entirety, especially subrange A target.
Summary of the invention
Goal of the invention: in order to overcome the above-mentioned deficiencies of the prior art, a kind of based on field theory present invention aims at proposing Driving safety grade determines method and device, and speed, acceleration, drift angle and the coordinate data with vehicles all in subrange are Essential information calculates the threshold between two vehicles, acts on mean value as foundation to current vehicle using surrounding vehicles, determines current vehicle Driving safety grade, provide foundation for the judgement and decision of driver and vehicle, ensured traffic safety, efficient, flat Steady state.
Technical solution: in order to solve the above technical problems, the technical solution adopted by the present invention are as follows:
A kind of driving safety grade based on field theory determines method, includes the following steps:
(1) all vehicle micro-datas in research range are obtained, the vehicle micro-data includes car speed, acceleration And position data；
(2) other interior vehicles of research range are calculated to the threshold of target vehicle；The threshold includes that speed subitem is made Itemized threshold with value and acceleration, wherein speed itemize threshold according to the product of the speed of two vehicles and both distance square Ratio determined in conjunction with two vehicle speed angular separations, acceleration itemize threshold according to the product of the acceleration of two vehicles and both away from From square ratio in conjunction with two vehicle acceleration angular separations determine；
(3) every other vehicle is calculated to the weighted average threshold of target vehicle；Wherein weighting coefficient is according to two vehicle phases Adjacent number of track-lines or two vehicles are determined in the distance perpendicular to road axis direction；
(4) the driving safety grade of target vehicle is determined according to weighted average threshold.
Preferably, in step (2), the calculation method of the speed subitem threshold are as follows:
When the directional velocity of target vehicle and the angle α of x-axis0With the directional velocity of vehicle i and the angle α of x-axisiSame When in quadrant, speed subitem threshold value isWork as α0With αiWhen in different quadrants, speed subitem threshold Value isWherein the x-axis direction of coordinate system is to be parallel to the direction of road axis, y-axis direction be perpendicular to The direction of road axis, v0And viRespectively indicate the speed of target vehicle and vehicle i, kvIt is speed partial safety factor, d0,iFor mesh Vehicle is marked at a distance from vehicle i, θ is the angle between the directional velocity of target vehicle and the directional velocity of vehicle i, and i is vehicle Number, i=1 ... N, N are the every other vehicle number that target vehicle is removed in research range.
Preferably, in step (2), the calculation method of the acceleration subitem threshold are as follows:
As the acceleration direction of target vehicle and the angle β of x-axis0With the acceleration direction of vehicle i and the angle β of x-axisi? When in same quadrant, acceleration subitem threshold value isWork as β0With βiWhen in different quadrants, acceleration point Threshold value isWherein, a0And aiRespectively indicate the acceleration of target vehicle and vehicle i, kaIt is to accelerate Partial safety factor is spent, θ is the angle between the acceleration direction of target vehicle and the acceleration direction of vehicle i.
Preferably, in step (3), the weighted average threshold of target vehicleWherein, fiIt is i pairs of vehicle The threshold of target vehicle, biFor the coefficient of lanes determined according to the adjacent lane number between vehicle i and target vehicle.
In a specific embodiment, biValue can according to following table determine:
Adjacent lane number 0 1 2 >2
Coefficient of lanes bi 1.0 0.9 0.7 0.5
Wherein, adjacent lane number is that 0 expression vehicle i and target vehicle are in same lane.
Preferably, driving safety grade is divided into six grades according to following rule in step (4):
Threshold F0Range Driving safety grade
[0,Sth) Level-one
[Sth,2Sth) Second level
[2Sth,3Sth) Three-level
[3Sth,4Sth) Level Four
[4Sth,5Sth) Pyatyi
[5Sth,+∞) Six grades
Wherein F0For the weighted average threshold of target vehicle, SthFor the fragmentation threshold of security level judgement.
A kind of driving safety grade determining device based on field theory, comprising:
Data acquisition module, for obtaining all vehicle micro-datas in research range, the vehicle micro-data includes Car speed, acceleration and position data；
Bicycle threshold computing module, for calculating in research range other vehicles to the threshold of target vehicle；It is described Threshold includes at least speed subitem threshold and acceleration subitem threshold, wherein speed itemizes threshold according to two vehicles The product of speed and both distance square ratio determined in conjunction with two vehicle speed angular separations, acceleration itemize threshold according to The product of the acceleration of two vehicles and both distance square ratio determined in conjunction with two vehicle acceleration angular separations；
Mean effort value computing module, for calculating every other vehicle to the weighted average threshold of target vehicle；Its Middle weighting coefficient is determined according to two vehicle adjacent lane numbers or two vehicles in the distance perpendicular to road axis direction；
And security level determining module, for determining the driving safety etc. of target vehicle according to weighted average threshold Grade.
Preferably, the bicycle threshold computing module includes: speed subitem threshold computing unit, for according to two The product of the speed of vehicle and both distance square ratio determine other vehicles to target carriage in conjunction with two vehicle speed angular separations Speed itemize threshold；
Acceleration is itemized threshold computing unit, for according to the product of the acceleration of two vehicles and both distance the ratio between square Value determines other vehicles to the acceleration subitem threshold of target vehicle in conjunction with two vehicle acceleration angular separations；
And resultant action value computing unit, for speed subitem threshold to be added to obtain it with acceleration subitem threshold The resultant action value of his vehicle to target vehicle.
The utility model has the advantages that a kind of driving safety grade based on field theory proposed by the present invention determines method, it is based on existing vehicle Information database determines that target vehicle and surrounding investigate other vehicles of radius, with speed, acceleration, drift angle and position letter Based on breath, surrounding vehicles are analyzed to the threshold of target vehicle, and calculate mean effort value, on this basis, determine target The driving safety grade of vehicle.Method provided by the invention comprehensively considers the two vehicles interaction of vehicle in a certain range, to mesh The security evaluation for marking vehicle is relatively reliable, and assessment result is more accurate, and then provides and scientific and reasonable sentence for driver and vehicle Disconnected and decision-making foundation, provides safeguard for traffic safety.
Detailed description of the invention
Fig. 1 is the method flow diagram of the embodiment of the present invention.
Fig. 2 is the schematic diagram of traffic condition in the example of the embodiment of the present invention.
Fig. 3 is the apparatus structure schematic diagram of the embodiment of the present invention.
Specific embodiment
In order to make the content of the present invention more clearly understood, in the following with reference to the drawings and specific embodiments to the present invention It is described in further detail.
As shown in Figure 1, a kind of driving safety grade based on field theory disclosed by the embodiments of the present invention determines method, including such as Lower step:
(1) all vehicle micro-datas in research range are obtained, wherein vehicle micro-data includes car speed, acceleration And position data.
Specifically, the research range of the present embodiment can by artificially specifying, or centered on the target vehicle studied, The a certain distance set draws a circle to approve research range as radius.The acquisition modes of vehicle micro-data can be from the road traffic shape of acquisition It obtains, can also be obtained by Internet of Things, cloud data platform in the video file or text file of condition.For example, can obtain first In the video file or text file taken, target vehicle is determined, and using target vehicle as the center of circle, determine research range radius R guarantees that the information of vehicles entered within the scope of this is recorded, and determines research moment T.It then can be according to existing vehicle information data All vehicle micro-datas in research range are read in library, and vehicle information database can be local data base, and data can be by hand Work input, or analyze and extract from video file, it can also be obtained from third-party platform, it is main in vehicle information database Comprising data such as time, car number, lane, speed, acceleration, coordinates, wherein velocity and acceleration two subitems are vectors, Size and Orientation information is had indicated, coordinate subitem refers to the coordinate under projection (the earth) coordinate system, and coordinate x-axis is parallel in road Heart line, y-axis is perpendicular to road axis.
(2) other interior vehicles of research range are calculated to the threshold of target vehicle.
In the present embodiment, threshold mainly includes speed subitem threshold and acceleration subitem threshold.Wherein, speed point Threshold according to the product of the speed of two vehicles and both distance square ratio determined in conjunction with two vehicle speed angular separations, add Speed itemize threshold according to the product of the acceleration of two vehicles and both distance square ratio in conjunction with two vehicle acceleration directions Angle determines.That is vehicle i can be used drag such as to the threshold of target vehicle and obtain:
Wherein v0And viThe speed of target vehicle and vehicle i is respectively indicated, unit is m/s, a0And aiRespectively indicate target carriage And vehicle i acceleration, unit is m/s2；α0With αiRespectively indicate the directional velocity of target vehicle and vehicle i and the folder of x-axis Angle, unit degree of being (°), kvIt is speed partial safety factor, unit is s2；β0And βiRespectively indicate the acceleration of target vehicle and vehicle i The angle in direction and x-axis, unit degree of being (°), kaIt is acceleration partial safety factor, unit is s4；d0,iIt is target vehicle with vehicle i's Distance.
f(α0,αiWith f (β0,βi) obtained by the calculating of such as drag；
Wherein θ0∈{α0, β0, θi∈{αi, βi, θ is θ0And θiThe angle of the two namely the acceleration direction of target vehicle Angle between the directional velocity of angle or target vehicle between the acceleration direction of vehicle i and the directional velocity of vehicle i, 0°≤θ≤180°；
(3) every other vehicle is calculated to the weighted average threshold of target vehicle；Wherein weighting coefficient can be according to two vehicles Adjacent lane number or two vehicles are determined in the distance perpendicular to road axis direction.
Specifically, the weighted average threshold F of target vehicle0It can calculate and obtain according to such as drag:
Wherein N indicates the every other vehicle number that target vehicle is removed in research range, biIt is coefficient of lanes, it can with reference to following table It consults and obtains；
Adjacent lane number 0 1 2 >2
Coefficient of lanes bi 1.0 0.9 0.7 0.5
When adjacent lane is 0 in table, indicate that the vehicle-to-target vehicle investigated is in same lane.With adjacent lane number Reduce, coefficient of lanes is bigger, it is meant that closer to lane where target vehicle, surrounding vehicles get over the security threat of target vehicle Greatly, corresponding threshold is bigger.
In addition, in the case where no lane information can also the distance according to two vehicles in y-axis direction determine flexible strategy, specifically Operation when acquisition can also be inquired from the coefficient table set based on empirical value.
(4) the driving safety grade of target vehicle is determined according to weighted average threshold.Specifically, can refer to following rule Then:
Threshold F0Range Driving safety grade Driving safety degree
[0,Sth) Level-one It is very safe
[Sth,2Sth) Second level Safety
[2Sth,3Sth) Three-level It is comparatively safe
[3Sth,4Sth) Level Four It is dangerous
[4Sth,5Sth) Pyatyi It is more dangerous
[5Sth,+∞) Six grades It is in extreme danger
S in tablethThe fragmentation threshold for referring to security level judgement, by road environment complexity, weather conditions, driver The factors such as driving performance influence, and value range is [0.5,2].
Below according to certain traffic example, the present invention is further elaborated.
Traffic example: a certain vehicle driving is on a unidirectional three-lane road, target vehicle number 0, radius 100m model Traffic conditions in enclosing are as shown in Fig. 2, the information of all vehicles of a certain moment is as follows:
Coordinate system in table is using direction of traffic as positive direction of the x-axis, is upwards positive direction of the y-axis perpendicular to x-axis direction, with this Coordinate system determines quadrant, and drift angle refers to the angle formed with x-axis, [0 °, 90 °]；
Other parameters kv=10s2, ka=10s4, Sth=1.0.
It below will be using a kind of method for differentiating abnormal driving behavior proposed by the present invention:
(1) all vehicle micro-datas in research range are extracted from existing vehicle information database, as shown above；
(2) calculate in research range that each car is in the threshold step of target vehicle, with car number 1 to target vehicle For 0 effect, threshold is calculated to be obtained using such as drag:
Wherein v0=23.49m/s, v1=21.78m/s, a0=0.13m/s2, a1=1.22m/s2；
α0=10.1 °, α1=1.8 °, kv=10s2；
β0=10.1 °, β1=1.8 °, ka=104s4；
f(α0,α1) and f (β0,β1) obtained by the calculating of such as drag；
Wherein θ0∈{α0, β0, θ1∈{α1, β1, θ0And θ1First quartile is respectively positioned on,
f(α0,α1)=cos (α0- α1)=cos (10.1 ° -1.8 °)=cos (8.3 °)=0.99
f(β0,β1)=cos (β0- β1)=cos (10.1 ° -1.8 °)=cos (8.3 °)=0.99
Therefore it can obtain
It can be calculated f according to same step2=1.41, f3=1.41, f4=1.81, f5=2.68；
(D) in the mean effort value step for calculating target vehicle, the mean effort value F of target vehicle0According to such as drag It calculates and obtains:
Wherein biIt is coefficient of lanes, the b with reference to known to can consulting following table1=0.9, b2=1, b3=1, b4=0.9, b5=0.9；
Adjacent lane number 0 1 2 >2
Coefficient of lanes bi 1.0 0.9 0.7 0.5
(E) it determines in the driving safety magnitude step of target vehicle, Sth=1.0, consult following table:
Threshold F0Range Driving safety grade Driving safety degree
[0,1) Level-one It is very safe
[1,2) Second level Safety
[2,3) Three-level It is comparatively safe
[3,4) Level Four It is dangerous
[4,5) Pyatyi It is more dangerous
[5,+∞) Six grades It is in extreme danger
Due to F0=2.92, driving safety grade is three-level, comparatively safe, it is contemplated that the value is already close to the 4th Grade illustrates that surrounding vehicles threaten this vehicle larger at this time, and traffic condition rather harsh needs to drive with caution, and avoids the occurrence of friendship Logical conflict.
As shown in figure 3, a kind of driving safety grade determining device based on field theory disclosed by the embodiments of the present invention, comprising: Data acquisition module, bicycle threshold computing module, mean effort value computing module and security level determining module；Wherein, number According to module is obtained, for obtaining all vehicle micro-datas in research range, the vehicle micro-data includes car speed, adds Speed and position data；Bicycle threshold computing module, for calculating effect of other vehicles to target vehicle in research range Value；Mean effort value computing module, for calculating every other vehicle to the weighted average threshold of target vehicle；Wherein weight Coefficient is determined according to two vehicle adjacent lane numbers or two vehicles in the distance perpendicular to road axis direction；Security level determines mould Block, for determining the driving safety grade of target vehicle according to weighted average threshold.
Wherein, bicycle threshold computing module includes: speed subitem threshold computing unit, for the speed according to two vehicles Product and both distance square ratio determine other vehicles to the speed of target vehicle in conjunction with two vehicle speed angular separations Subitem threshold；Acceleration is itemized threshold computing unit, for according to the product of the acceleration of two vehicles and both distance square Ratio determine that other vehicles itemize threshold to the acceleration of target vehicle in conjunction with two vehicle acceleration angular separations；And it is total Threshold computing unit, for being added to obtain other vehicles to target carriage with acceleration subitem threshold for speed subitem threshold Resultant action value.
A kind of driving safety grade determining device based on field theory disclosed in the present embodiment and a kind of driving based on field theory Security level determines that embodiment of the method belongs to same design, and specific implementation process is detailed in embodiment of the method, and details are not described herein again.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or It changes still within the protection scope of the invention.

Claims (10)

1. a kind of driving safety grade based on field theory determines method, which comprises the steps of:
(1) all vehicle micro-datas in research range are obtained, the vehicle micro-data includes car speed, acceleration and position Set data；
(2) other interior vehicles of research range are calculated to the threshold of target vehicle；The threshold includes speed subitem threshold With acceleration subitem threshold, wherein speed itemizes threshold according to the product of the speed of two vehicles and the ratio between square of the two distance Value determines in conjunction with two vehicle speed angular separations, acceleration itemize threshold according to the product of the acceleration of two vehicles and both distance Square ratio in conjunction with two vehicle acceleration angular separations determine；
(3) every other vehicle is calculated to the weighted average threshold of target vehicle；Wherein weighting coefficient is according to the adjacent vehicle of two vehicles Road number or two vehicles are determined in the distance perpendicular to road axis direction；
(4) the driving safety grade of target vehicle is determined according to weighted average threshold.
2. a kind of driving safety grade based on field theory according to claim 1 determines method, which is characterized in that step (2) in, the calculation method of the speed subitem threshold are as follows:
When the directional velocity of target vehicle and the angle α of x-axis0With the directional velocity of vehicle i and the angle α of x-axisiIn same quadrant When interior, speed subitem threshold value isWork as α0With αiWhen in different quadrants, speed subitem threshold value ForWherein the x-axis direction of coordinate system is to be parallel to the direction of road axis, and y-axis direction is perpendicular to road The direction of center line, v0And viRespectively indicate the speed of target vehicle and vehicle i, kvIt is speed partial safety factor, d0,iFor target carriage At a distance from vehicle i, θ is the angle between the directional velocity of target vehicle and the directional velocity of vehicle i, and i is car number, I=1 ... N, N are the every other vehicle number that target vehicle is removed in research range.
3. a kind of driving safety grade based on field theory according to claim 1 determines method, which is characterized in that step (2) in, the calculation method of the acceleration subitem threshold are as follows:
As the acceleration direction of target vehicle and the angle β of x-axis0With the acceleration direction of vehicle i and the angle β of x-axisiSame When in quadrant, acceleration subitem threshold value isWork as β0With βiWhen in different quadrants, acceleration subitem is made It is with value valueWherein the x-axis direction of coordinate system is to be parallel to the direction of road axis, and y-axis direction is Perpendicular to the direction of road axis, a0And aiRespectively indicate the acceleration of target vehicle and vehicle i, kaIt is acceleration subitem system Number, d0,iIt is target vehicle at a distance from vehicle i, θ is between the acceleration direction of target vehicle and the acceleration direction of vehicle i Angle, i is car number, and i=1 ... N, N are the every other vehicle number that target vehicle is removed in research range.
4. a kind of driving safety grade based on field theory according to claim 1 determines method, which is characterized in that step (3) in, the weighted average threshold of target vehicleWherein, fiIt is vehicle i to the threshold of target vehicle, biFor According to the coefficient of lanes that the adjacent lane number between vehicle i and target vehicle determines, N is owning except target vehicle in research range Other vehicle numbers.
5. a kind of driving safety grade based on field theory according to claim 4 determines method, which is characterized in that biTake Value is determined according to adjacent lane number: when adjacent lane number is 0, coefficient of lanes biIt is 1.0；When adjacent lane number is 1, coefficient of lanes biIt is 0.9；When adjacent lane number is 2, coefficient of lanes biIt is 0.7；When adjacent lane number is greater than 2, coefficient of lanes biIt is 0.5；
Wherein, adjacent lane number is that 0 expression vehicle i and target vehicle are in same lane.
6. a kind of driving safety grade based on field theory according to claim 1 determines method, which is characterized in that step (4) in, driving safety grade is divided into six grades: threshold F according to following rule0Range is [0, Sth) when, driving safety grade For level-one；Threshold F0Range is [Sth,2Sth) when, driving safety grade is second level；Threshold F0Range is [2Sth,3Sth) When, driving safety grade is three-level；Threshold F0Range is [3Sth,4Sth) when, driving safety grade is level Four；Threshold F0Model It encloses for [4Sth,5Sth) when, driving safety grade is Pyatyi；Threshold F0Range is [5Sth,+∞) when, driving safety grade is Six grades；
Wherein F0For the weighted average threshold of target vehicle, SthFor the fragmentation threshold of security level judgement.
7. a kind of driving safety grade determining device based on field theory characterized by comprising
Data acquisition module, for obtaining all vehicle micro-datas in research range, the vehicle micro-data includes vehicle Speed, acceleration and position data；
Bicycle threshold computing module, for calculating in research range other vehicles to the threshold of target vehicle；The effect Value includes at least speed subitem threshold and acceleration is itemized threshold, wherein speed itemizes threshold according to the speed of two vehicles Product and both distance square ratio in conjunction with two vehicle speed angular separations determine, acceleration itemize threshold according to two vehicles Acceleration product and both distance square ratio in conjunction with two vehicle acceleration angular separations determine；
Mean effort value computing module, for calculating every other vehicle to the weighted average threshold of target vehicle；Wherein plus Weight coefficient is determined according to two vehicle adjacent lane numbers or two vehicles in the distance perpendicular to road axis direction；
And security level determining module, for determining the driving safety grade of target vehicle according to weighted average threshold.
8. a kind of driving safety grade determining device based on field theory according to claim 7, which is characterized in that the list Vehicle threshold computing module includes: speed subitem threshold computing unit, for according to the product of the speed of two vehicles and both distance Square ratio determine that other vehicles itemize threshold to the speed of target vehicle in conjunction with two vehicle speed angular separations；
Acceleration is itemized threshold computing unit, for according to the product of the acceleration of two vehicles and both distance square ratio again Determine other vehicles to the acceleration subitem threshold of target vehicle in conjunction with two vehicle acceleration angular separations；
And resultant action value computing unit, for speed subitem threshold to be added to obtain other vehicles with acceleration subitem threshold To the resultant action value of target vehicle.
9. a kind of driving safety grade determining device based on field theory according to claim 8, which is characterized in that the speed It is calculated as follows in degree subitem threshold computing unit:
When the directional velocity of target vehicle and the angle α of x-axis0With the directional velocity of vehicle i and the angle α of x-axisiIn same quadrant When interior, speed subitem threshold value isWork as α0With αiWhen in different quadrants, speed subitem threshold value ForWherein the x-axis direction of coordinate system is to be parallel to the direction of road axis, and y-axis direction is perpendicular to road The direction of center line, v0And viRespectively indicate the speed of target vehicle and vehicle i, kvIt is speed partial safety factor, d0,iFor target carriage At a distance from vehicle i, θ is the angle between the directional velocity of target vehicle and the directional velocity of vehicle i, and i is car number, I=1 ... N, N are the every other vehicle that target vehicle is removed in research range.
10. a kind of driving safety grade determining device based on field theory according to claim 8, which is characterized in that described It is calculated as follows in acceleration subitem threshold computing unit:
As the acceleration direction of target vehicle and the angle β of x-axis0With the acceleration direction of vehicle i and the angle β of x-axisiSame When in quadrant, acceleration subitem threshold value isWork as β0With βiWhen in different quadrants, acceleration subitem is made It is with value valueWherein the x-axis direction of coordinate system is to be parallel to the direction of road axis, and y-axis direction is Perpendicular to the direction of road axis, a0And aiRespectively indicate the acceleration of target vehicle and vehicle i, kaIt is acceleration subitem system Number, d0,iIt is target vehicle at a distance from vehicle i, θ is between the acceleration direction of target vehicle and the acceleration direction of vehicle i Angle, i is car number, and i=1 ... N, N are the every other vehicle number that target vehicle is removed in research range.
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