CN112907955A - Evaluation method of vehicle-road cooperative system based on information fusion - Google Patents

Evaluation method of vehicle-road cooperative system based on information fusion Download PDF

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CN112907955A
CN112907955A CN202110120607.3A CN202110120607A CN112907955A CN 112907955 A CN112907955 A CN 112907955A CN 202110120607 A CN202110120607 A CN 202110120607A CN 112907955 A CN112907955 A CN 112907955A
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刘晓锋
牛皖豫
岳东鹏
高婷婷
陈强
张蕊
张凡
徐扬
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Tianjin University of Technology and Education China Vocational Training Instructor Training Center
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Abstract

The invention discloses an evaluation method of a vehicle-road cooperation system based on information fusion, which comprises the steps of firstly, constructing an evaluation index system of the vehicle-road cooperation system; secondly, embedding a vehicle-mounted unit of the vehicle-road cooperative system on a test vehicle to obtain test values of various evaluation indexes, and calculating the membership degree of each item of test data; and then, calculating to obtain the total evaluation score of the vehicle-road cooperation system by adopting a hierarchical analysis method and an entropy method. And fusing dynamic test vehicle data and road section parameters through the test values of the test vehicles, dividing the weights by means of membership and a scientific method, and reducing subjective assumption components of an evaluation method, so that the total evaluation score of each vehicle-road cooperative system is obtained, the defects of the test vehicle-road cooperative system are found out, and later-stage adjustment is performed.

Description

Evaluation method of vehicle-road cooperative system based on information fusion
Technical Field
The invention belongs to the technical field of intelligent traffic, and particularly relates to an evaluation method of a vehicle-road cooperative system based on information fusion.
Background
The urban road network is always in a supersaturated state during the peak in the morning and the evening, so that the inconvenience of motor vehicle traveling is a big problem which troubles the lives of residents. With the development of intelligent transportation technology, vehicle-road coordination is gradually becoming a hotspot for solving traffic problems. The vehicle-road cooperation technology carries out active safety control of vehicle operation and road traffic cooperative management through information interaction between vehicles and roads, realizes cooperation of people and vehicles, and improves traffic passing efficiency and safety level.
In the research of the vehicle-road cooperation technology, the concerned contents mainly comprise the construction of a vehicle-road cooperation system, vehicle speed guidance, energy conservation and emission reduction, test evaluation and the like. In the test evaluation of the vehicle-road cooperative system, most of the existing researches build a simulation experiment system, and focus on the functional evaluation of the vehicle-road cooperative system, so that the indexes of human-vehicle-road-cloud cooperation, system decision control effect, system adaptability and the like are rarely considered, and the final evaluation result is not comprehensive enough.
Therefore, in order to solve the above-mentioned technical problems, it is necessary to design an evaluation method capable of accurately, objectively, and comprehensively evaluating a vehicle-road cooperation system.
Disclosure of Invention
The invention aims to provide an evaluation method of a vehicle-road cooperative system based on information fusion, which has comprehensive test and can accurately and objectively evaluate the vehicle-road cooperative system.
The technical scheme of the invention is as follows:
an evaluation method of a vehicle-road cooperative system based on information fusion comprises the following steps:
s1, constructing an evaluation system of the departure road cooperation system according to the primary evaluation index and the secondary evaluation index;
s2, defining a limited set Q: q ═ Q1,q2,…,qnThe element qi in Q is (i is 1,2, …, n) which is a test value Q of the evaluation index of the test vehicle;
s3, defining a limited set P: p ═ P1,p2,…,pmP, where the element pi ═ (i ═ 1,2, …, m) is the actual value P of the test car;
s4, defining an evaluation result set as a limited set V ═ V1,v2,v3,v4，v5Each element in the set corresponds to a probability distribution interval of the membership function;
s5, a road side unit RSU is installed on the road side, an on board unit OBU is embedded in the test vehicle, a positioning antenna is installed on the roof of the test vehicle, the positioning antenna is electrically connected with the on board unit OBU to obtain real-time position information of the test vehicle, the on board unit OBU is in wireless communication connection with the road side unit RSU, the road side unit RSU sends the received position information of the test vehicle and information of a traffic signal controller to a display terminal of the on board unit, and test values q of j secondary evaluation indexes of a road cooperative system installed on the test vehicle running in the intersection are obtainedj；
S6, testing values q of the j secondary evaluation indexes in the step S5jWith corresponding actual value pjComparing and analyzing to calculate the detection precision or membership x of each item of test dataij；
S7, dividing the weight gamma of the primary evaluation index by adopting a hierarchical analysis methodkCarrying out consistency check on the weight result obtained by the analytic hierarchy process;
s8, detecting precision value or membership degree x in step S7ijJudging the weight omega of the jth secondary evaluation index in the ith vehicle-road cooperative system by an entropy methodjCalculated by the following formula:
Figure BDA0002922191650000021
Figure BDA0002922191650000022
gj＝1-ej (3)；
Figure BDA0002922191650000023
wherein x isijThe detection precision value or membership degree of the jth secondary evaluation index in the ith vehicle-road cooperative system, ejEntropy as the j-th evaluation index, gjThe difference coefficient is the jth evaluation index;
s9, according to the detection precision value or the membership degree x in the step S6ijAdopting an analytic hierarchy process (1-9 scale method) to form a judgment matrix A ═ aij)m×nDividing to obtain the weight omega of the secondary evaluation indexiAnd the weight omega of the secondary evaluation index obtained by the analytic hierarchy processiThe consistency test is carried out, and is calculated by the following formula:
Figure BDA0002922191650000024
wherein, ω isiIs a weight vector of a secondary evaluation index, n is a matrix order, aijIs the relative target importance value of the evaluation index i and the evaluation index j;
s10, passing the weight omega of the secondary evaluation index in the step S8jAnd the weight ω of the secondary evaluation index in step S9iCalculating the average weight value of the secondary evaluation index
Figure BDA0002922191650000031
S11, according to the detection precision value or the membership xijThe primary evaluation index weight γ in the step S7kThe average weight value of the secondary evaluation index in the step S10
Figure BDA0002922191650000032
Calculating the evaluation score S of the secondary evaluation index under each primary evaluation indexkAnd the total evaluation score E of each vehicle-road cooperative system is calculated by the following formula:
Figure BDA0002922191650000033
E＝∑Sk×γk (7)；
wherein k is the number of first-order evaluation indexes, xijkThe detection precision value or membership degree, gamma, of the jth secondary evaluation index to which the kth primary index belongs in the ith vehicle-road cooperative systemkThe higher the value E is, the higher the evaluation score of the vehicle-road cooperative system is.
In the above technical solution, the detection precision value or the membership x of each evaluation index in the step S6 is usedijScoring each secondary evaluation index of the vehicle-road cooperative system, and according to an evaluation result set V ═ V1,v2,v3,v4，v5And (4) obtaining the evaluation grade of the jth evaluation index of the ith vehicle-road cooperative system, wherein the jth evaluation index is poor, generally good and excellent.
In the above technical solution, the evaluation result of the vehicle-road cooperation system is collectively divided into five scoring levels, and the membership intervals of the five scoring levels are excellent [100,90], good (90,80], general (80,70], poor (70, 60) and poor (60,0], respectively.
The invention has the advantages and positive effects that:
1. the vehicle-road cooperative system is composed of an on-board unit (OBU) and a Road Side Unit (RSU), dynamic vehicle data of a test vehicle and road section parameters are fused, weights are divided through the test value of the test vehicle by means of membership and a scientific method, subjective assumption components of an evaluation method are reduced, accordingly, a total evaluation score of each vehicle-road cooperative system is obtained, each vehicle-road cooperative system is evaluated integrally, the defect or weakness of the vehicle-road cooperative system is judged in time, and test adjustment of the vehicle-road cooperative system in the later period is facilitated.
2. And providing a purchase reference for the consumer through the total evaluation score of the vehicle-road cooperative system.
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FIG. 1 is an architecture diagram of an evaluation system of the vehicle-road cooperative system of the present invention;
fig. 2 is a flowchart of an evaluation method of the vehicle-road cooperative system in the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention in any way.
Example 1
According to the principles of scientificity, systematicness, typicality, comparability and easiness in quantification, constructing an evaluation system aiming at the vehicle-road cooperative system; the evaluation system is composed of five primary evaluation indexes, and each primary evaluation index respectively comprises a plurality of secondary evaluation indexes:
1. environmental perception and positioning accuracy: in different traffic scenes, human-vehicle and vehicle-vehicle conflicts can occur, so that road environment information, positions of pedestrians and motor vehicles and real-time running states need to be accurately acquired to avoid conflicts and carry out vehicle-road cooperative control, and the method can be divided into 5 secondary evaluation indexes;
(1) pedestrian/non-motor vehicle identification accuracy;
(2) target vehicle identification accuracy;
(3) vehicle driving state identification accuracy;
(4) identification precision of traffic signals and traffic signs;
(5) lane line identification accuracy;
2. communication and transmission capabilities: under the automobile scene, the car-workshop relative movement speed is high, shelters from and the channel environment is complicated, and high speed, the communication and the transmission of low time delay have important meaning to improving vehicle operation safety, reducing the traffic accident, can divide into 4 secondary evaluation indexes:
(1) a communication distance;
(2) communication delay;
(3) a communication transmission rate;
(4) vehicle size of access/coverage;
3. the application scene function: the vehicle-road cooperation technology is to be applied practically, is very relevant to demonstration of an application scene, and can be divided into 3 secondary evaluation indexes:
(1) a security class scenario;
(2) a benefit class scenario;
(3) a service class scenario;
4. and (3) decision control effect: the vehicle-road cooperative system has the functions of perception, planning and decision-making, the decision-making and control effects of the vehicle-road cooperative system have important practical significance for promoting the vehicle-road cooperative system, and the vehicle-road cooperative system can be divided into 4 secondary evaluation indexes:
(1) the early warning accuracy rate of the vehicle running condition;
(2) a traffic information prompting effect;
(3) collision early warning accuracy rate;
(4) traffic delay improvement;
5. the system adaptability is as follows: many sensors that car road cooperative system inserts, including OBU, RSU, communications facilities, locating device, mobile terminal etc. car road cooperative system's cloud platform need carry out work such as real-time transmission, processing, the release of multisource, heterogeneous information, and the design link is more, may appear the not good problem of system compatibility, can divide into 5 second grade evaluation indexes:
(1) compatibility of devices and systems;
(2) human-vehicle-road-cloud system cooperativity;
(3) interference rejection capabilities (weather, electromagnetic, communications, tunnel/overhead);
(4) fault tolerance and recovery processing capability of the system;
(5) and (4) information security level.
The vehicle-mounted unit OBU (vehicle-road cooperative system) is mounted on a test vehicle, and the vehicle-road information interaction is carried out with the road side unit RSU through the vehicle-road communication network, so that the communication is carried out at the intersection with good communication conditions.
Installing an on-board unit (OBU), a camera and a millimeter wave radar on a test vehicle; the camera is used for shooting road conditions, extracting road lane lines and traffic marking information in real time through an image processing technology, and detecting road targets;
the millimeter wave radar detects the relative position, relative speed and relative angle of the pedestrian/non-motor vehicle/motor vehicle on the road in real time;
an Electronic Control Unit (ECU) of the vehicle acquires running state information (engine speed and speed) of the vehicle in real time;
and the on-board unit OBU is used for receiving information of the camera, the millimeter wave radar and the electronic control unit ECU in real time.
The invention discloses an evaluation method of a vehicle-road cooperation system based on information fusion, which is applied to an intersection test vehicle-road cooperation system and comprises the following steps:
s1, constructing an evaluation system of the departure road cooperation system according to the primary evaluation index and the secondary evaluation index;
s2, defining a limited set Q: q ═ Q1,q2,…,qnThe element qi in Q is (i is 1,2, …, n) which is a test value Q of the evaluation index of the test vehicle;
s3, defining a limited set P: p ═ P1,p2,…,pmP, where the element pi ═ (i ═ 1,2, …, m) is the actual value P of the test car;
s4, defining an evaluation result set as a limited set V ═ V1,v2,v3,v4，v5Each element in the set corresponds to a probability distribution interval of the membership function;
s5, selecting an intersection, and placing a traffic signal controller at the central position of the intersectionThe system comprises a machine, a road side unit RSU is installed on the traffic signal controller, i external vehicle-mounted units OBUs (i vehicle-road cooperative systems) are electrically connected through cigarette lighter interfaces of the test vehicle to supply power to the vehicle-mounted units OBUs, a positioning antenna is installed on the roof of the test vehicle and electrically connected with the vehicle-mounted units OBUs to acquire real-time position information of the test vehicle, the vehicle-mounted units OBUs are in communication connection with the road side unit RSU (in a DSRC (direct sequence communication), WIFI (wireless fidelity) and LTE (long term evolution) -V communication mode), the road side unit RSU transmits the received position information of the test vehicle and information of the traffic signal controller to a display terminal of the vehicle-mounted units, and test values q of j secondary evaluation indexes of the vehicle-road cooperative systems installed on the test vehicle running in the intersection are acquiredj；
S6, testing values q of the j secondary evaluation indexes in the step S5jWith corresponding actual value pjComparing and analyzing to calculate the detection precision or membership x of each item of test dataij；
S7, dividing the weight gamma of the primary evaluation index by adopting a hierarchical analysis methodkCarrying out consistency check on the weight result obtained by the analytic hierarchy process;
s8, detecting precision value or membership degree x in step S7ijJudging the weight omega of j secondary evaluation indexes in the i vehicle-road cooperative systems by an entropy methodjCalculated by the following formula:
Figure BDA0002922191650000061
Figure BDA0002922191650000062
gj＝1-ej (3)；
Figure BDA0002922191650000063
wherein x isijThe detection precision values or membership degrees e of j secondary evaluation indexes in i vehicle-road cooperative systemsjEntropy as the jth secondary evaluation index, gjThe difference coefficient is the jth secondary evaluation index;
s9, according to the detection precision value or the membership degree x in the step S6ijAdopting an analytic hierarchy process (1-9 scale method) to form a judgment matrix A ═ aij)m×nDividing to obtain the weight omega of the secondary evaluation indexiAnd the weight omega of the secondary evaluation index obtained by the analytic hierarchy processiThe consistency test is carried out, and is calculated by the following formula:
Figure BDA0002922191650000064
wherein, ω isiIs a weight vector of a secondary evaluation index, λmaxIs the maximum eigenvalue, n is the matrix order, aijIs the relative target important value of the evaluation index i and the secondary evaluation index j;
s10, passing the weight omega of the secondary evaluation index in the step S8jAnd the weight ω of the secondary evaluation index in step S9iCalculating the average weight value of the secondary evaluation index
Figure BDA0002922191650000065
S11, according to the detection precision value or the membership xijThe primary evaluation index weight γ in the step S7kThe average weight value of the secondary evaluation index in the step S10
Figure BDA0002922191650000071
Calculating the evaluation score S of the secondary evaluation index under each primary evaluation indexkAnd the total evaluation score E of each vehicle-road cooperative system is calculated by the following formula:
Figure BDA0002922191650000072
E＝∑Sk×γk (7)；
wherein k is the number of first-order evaluation indexes, xijkIs the jth secondary evaluation index, gamma, to which the kth primary index in the ith vehicle-road cooperative system belongskThe higher the value E is, the higher the evaluation score of the vehicle-road cooperative system is.
Further, the secondary evaluation indexes of the vehicle-road cooperation system are scored by the detection accuracy values of the evaluation indexes in the step S6, and the evaluation result set V ═ { V ═ V is obtained1,v2,v3,v4，v5And (4) obtaining the evaluation grade of the jth secondary evaluation index of the ith vehicle-road cooperative system, wherein the jth secondary evaluation index is poor, general, good and excellent.
Further, in this embodiment 1, the weight of the secondary evaluation index is calculated by the entropy method of steps S8 and S9 and the 1-9 scale method, as shown in table 1:
table 1: weight of secondary evaluation index
Figure BDA0002922191650000073
Figure BDA0002922191650000081
Further, the evaluation results of the secondary evaluation indexes and the total evaluation score of the vehicle-road cooperative system are divided into five score levels, the membership sections of the five score levels are respectively excellent [100,90], good (90,80], general (80, 70), poor (70, 60) and poor (60, 0) ], and a hierarchical value table of 21 secondary evaluation indexes is shown in table 2:
table 2: grading value-taking table for secondary evaluation index
Figure BDA0002922191650000082
Figure BDA0002922191650000091
The evaluation method is utilized to respectively calculate and evaluate three schemes, namely a scheme A, a scheme B and a scheme C:
wherein, the evaluation scores S of the first-level index and the second-level index in the scheme AkAs shown in table 3:
TABLE 3 evaluation score S of the second-order evaluation index of the embodiment Ak
Figure BDA0002922191650000092
Figure BDA0002922191650000101
From table 3, the total evaluation score of the solution a is calculated according to the weights of the five primary evaluation indexes, and is calculated by the following formula: eA＝0.221*92.9026+0.328*88.7338+0.144*77.0781+0.164*95.0743+0.143*79.7686＝87.730。
Wherein, the evaluation scores S of the first-level middle-level index and the second-level index in the scheme BkAs shown in table 4:
TABLE 4 evaluation score S of the second-order evaluation index of the embodiment Bk
Figure BDA0002922191650000102
Figure BDA0002922191650000111
Through the table 4, the total evaluation score of the scheme B is calculated according to the weight of the five primary evaluation indexes, and the E is calculatedB＝83.617。
The evaluation scores of the primary indexes and the secondary indexes in the scheme C are shown in Table 5:
TABLE 5 evaluation score S of the second-order evaluation index of the recipe Ck
Figure BDA0002922191650000112
Through the table 5, the total evaluation score of the scheme C is calculated according to the weight of the five primary evaluation indexes, and the E is calculatedB＝85.515。
In conclusion, the total evaluation scores of the three vehicle-road cooperative systems are 87.730, 83.617 and 85.515 respectively, the score of the scheme A is the highest, and the three schemes are in good level.
A road side unit RSU arranged at the intersection is compared with an actual value of a test vehicle after fusing the test value of a vehicle-road cooperative system embedded in the test vehicle, so that the running state of the vehicle-road cooperative system embedded in the current test vehicle is evaluated in real time, the running state of the current vehicle is evaluated for an object limited by various environmental factors, and the road side unit RSU is suitable for solving the problem of nondeterministic degree in evaluation of the vehicle-road cooperative system.
Example 2
The invention discloses an evaluation method of a vehicle-road cooperation system based on information fusion, which is applied to a road-section test vehicle-road cooperation system:
the method comprises the steps of selecting a road section to test the road section, installing a road side unit RSU on the side of the road section, electrically connecting an external vehicle-mounted unit OBU through a cigarette lighter interface of a test vehicle to supply power to the vehicle-mounted unit OBU, installing a positioning antenna on the roof of the test vehicle, electrically connecting the positioning antenna with the vehicle-mounted unit OBU to acquire real-time position information of the test vehicle, connecting the vehicle-mounted unit OBU with the road side unit RSU in a communication mode to perform information interaction, and sending the received position information of the test vehicle to a display terminal of the vehicle-mounted unit OBU by the road side unit RSU to acquire a test value of an evaluation index of the test vehicle running in the road section.
The total evaluation score of the vehicle-road cooperative system was calculated by the evaluation method described in example 1.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes, modifications and equivalents may be made without departing from the spirit and scope of the invention.

Claims (3)

1. An evaluation method of a vehicle-road cooperative system based on information fusion is characterized by comprising the following steps:
s1, constructing an evaluation system of the departure road cooperation system according to the primary evaluation index and the secondary evaluation index;
s2, defining a limited set Q: q ═ Q1,q2,…,qnThe element qi in Q is (i is 1,2, …, n) which is a test value Q of the evaluation index of the test vehicle;
s3, defining a limited set P: p ═ P1,p2,…,pmP, where the element pi ═ (i ═ 1,2, …, m) is the actual value P of the test car;
s4, defining an evaluation result set as a limited set V ═ V1,v2,v3,v4，v5Each element in the set corresponds to a probability distribution interval of the membership function;
s5, a road side unit RSU is installed on the road side, an on board unit OBU is embedded in the test vehicle, a positioning antenna is installed on the roof of the test vehicle, the positioning antenna is electrically connected with the on board unit OBU to obtain real-time position information of the test vehicle, the on board unit OBU is in wireless communication connection with the road side unit RSU, the road side unit RSU sends the received position information of the test vehicle and information of a traffic signal controller to a display terminal of the on board unit, and test values q of j secondary evaluation indexes of a road cooperative system installed on the test vehicle running in the intersection are obtainedj；
S6, testing values q of the j secondary evaluation indexes in the step S5jWith corresponding actual value pjComparing and analyzing to calculate the detection precision or membership x of each item of test dataij；
S7, dividing the weight gamma of the primary evaluation index by adopting a hierarchical analysis methodkCarrying out consistency check on the weight result obtained by the analytic hierarchy process;
s8, detecting precision value or membership degree x in step S7ijJudging the weight omega of the jth secondary evaluation index in the ith vehicle-road cooperative system by an entropy methodjCalculated by the following formula:
Figure FDA0002922191640000011
Figure FDA0002922191640000012
gj＝1-ej (3)；
Figure FDA0002922191640000013
wherein x isijThe detection precision value or membership degree of the jth secondary evaluation index in the ith vehicle-road cooperative system, ejEntropy as the j-th evaluation index, gjThe difference coefficient is the jth secondary evaluation index;
s9, according to the detection precision value or the membership degree x in the step S6ijAdopting analytic hierarchy process to form judgment matrix A ═ aij)m×nDividing to obtain the weight omega of the secondary evaluation indexiAnd the weight omega of the secondary evaluation index obtained by the analytic hierarchy processiThe consistency test is carried out, and is calculated by the following formula:
Figure FDA0002922191640000021
wherein, ω isiIs a weight vector of a secondary evaluation index, n is a matrix order, aijIs the relative target importance value of the evaluation index i and the evaluation index j;
s10, passing the weight omega of the secondary evaluation index in the step S8jAnd the weight ω of the secondary evaluation index in step S9iCalculating the average weight value of the secondary evaluation index
Figure FDA0002922191640000022
S11, according to the detection precision value or the membership xijThe primary evaluation index weight γ in the step S7kThe average weight value of the secondary evaluation index in the step S10
Figure FDA0002922191640000023
Calculating the evaluation score S of the secondary evaluation index under each primary evaluation indexkAnd the total evaluation score E of each vehicle-road cooperative system is calculated by the following formula:
Figure FDA0002922191640000024
E＝∑Sk×γk (7)；
wherein k is the number of first-order evaluation indexes, xijkThe detection precision value or membership degree, gamma, of the jth secondary evaluation index to which the kth primary index belongs in the ith vehicle-road cooperative systemkThe higher the value E is, the higher the evaluation score of the vehicle-road cooperative system is.
2. The evaluation method according to claim 1, characterized in that: by detecting precision value or membership x of each evaluation index in the step S6ijScoring each secondary evaluation index of the vehicle-road cooperative system, and according to an evaluation result set V ═ V1,v2,v3,v4，v5The evaluation of the jth evaluation index of the ith vehicle-road cooperative system is obtained, and the likeAnd (4) stages.
3. The evaluation method according to claim 2, characterized in that: the evaluation results of the vehicle-road cooperation system are collectively divided into five grading grades, and the membership intervals of the five grading grades are respectively excellent [100,90], good (90,80], general (80, 70), poor (70, 60) and poor (60, 0).
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CN114023061A (en) * 2021-10-25 2022-02-08 华录易云科技有限公司 Traffic flow acquisition capacity evaluation method based on vehicle-road cooperative roadside sensing system
CN115689259A (en) * 2023-01-04 2023-02-03 交通运输部公路科学研究所 Method, device, equipment and medium for determining road section, vehicle and road collaborative scene priority

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