CN111845768A - Method and device for predicting vehicle driving parameters - Google Patents
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- 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
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- 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
- B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本申请涉及计算机及安全辅助驾驶技术领域，具体而言，涉及一种车辆行驶参数的预测方法、装置、计算机可读介质及电子设备。The present application relates to the technical field of computers and safety assisted driving, and in particular, to a method, an apparatus, a computer-readable medium, and an electronic device for predicting vehicle driving parameters.
背景技术Background technique
在交通场景中，比如在机动车道，车辆上传自身信息时具有自身规律，例如，车辆按照固定的周期上传包含有车辆自身行驶参数(如GPS信息、车辆速度、车辆加速度等等)的车辆信息，因此，服务器只能在具有固定周期的时间点确定车辆行驶参数，而不能在固定周期内的任意时间确定车辆行驶参数。可知，如何能够保证对车辆行驶参数进行确定的实时性是亟待解决的技术问题。In a traffic scenario, such as in a motor vehicle lane, the vehicle has its own rules when uploading its own information. For example, the vehicle uploads the vehicle information containing the vehicle's own driving parameters (such as GPS information, vehicle speed, vehicle acceleration, etc.) according to a fixed period. Therefore, the server can only determine the vehicle driving parameters at a time point with a fixed period, but cannot determine the vehicle driving parameters at any time within the fixed period. It can be seen that how to ensure the real-time performance of the determination of vehicle driving parameters is a technical problem to be solved urgently.
发明内容SUMMARY OF THE INVENTION
本申请的实施例提供了一种车辆行驶参数的预测方法、装置、计算机可读介质及电子设备，进而至少在一定程度上可以保证对车辆行驶参数进行确定的实时性。Embodiments of the present application provide a method, device, computer-readable medium, and electronic device for predicting vehicle driving parameters, so that the real-time determination of vehicle driving parameters can be ensured at least to a certain extent.
本申请的其他特性和优点将通过下面的详细描述变得显然，或部分地通过本申请的实践而习得。Other features and advantages of the present application will become apparent from the following detailed description, or be learned in part by practice of the present application.
根据本申请实施例的一个方面，提供了一种车辆行驶参数的预测方法，包括：获取至少两辆车辆在第一时刻的行驶参数，所述至少两辆车辆包括目标车辆和至少一辆第一参考车辆；获取至少一辆第二参考车辆在第二时刻的行驶参数，所述第二时刻在所述第一时刻之后；根据所述至少一辆第一参考车辆在第一时刻的行驶参数和所述第二参考车辆在第二时刻的行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息；基于所述目标车辆在第一时刻的行驶参数和所述行驶参数变化信息，预测所述目标车辆在第二时刻的行驶参数。According to an aspect of the embodiments of the present application, a method for predicting vehicle driving parameters is provided, including: acquiring driving parameters of at least two vehicles at a first moment, the at least two vehicles including a target vehicle and at least one first vehicle reference vehicle; obtain the driving parameters of at least one second reference vehicle at a second time, the second time being after the first time; according to the driving parameters of the at least one first reference vehicle at the first time and the driving parameters of the second reference vehicle at the second time, determine the driving parameter change information of the reference vehicle between the first time and the second time; based on the driving parameters of the target vehicle at the first time and the driving parameters The change information is used to predict the driving parameters of the target vehicle at the second moment.
根据本申请实施例的一个方面，提供了一种车辆行驶参数的预测装置，包括：第一获取单元，被用于获取至少两辆车辆在第一时刻的行驶参数，所述至少两辆车辆包括目标车辆和至少一辆第一参考车辆；第二获取单元，被用于获取至少一辆第二参考车辆在第二时刻的行驶参数，所述第二时刻在所述第一时刻之后；确定单元，被用于根据所述至少一辆第一参考车辆在第一时刻的行驶参数和所述第二参考车辆在第二时刻的行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息；预测单元，被用于基于所述目标车辆在第一时刻的行驶参数和所述行驶参数变化信息，预测所述目标车辆在第二时刻的行驶参数。According to an aspect of the embodiments of the present application, there is provided a vehicle driving parameter prediction device, including: a first acquiring unit, configured to acquire the driving parameters of at least two vehicles at a first moment, the at least two vehicles including a target vehicle and at least one first reference vehicle; a second acquiring unit, configured to acquire driving parameters of at least one second reference vehicle at a second time, the second time being after the first time; a determining unit , is used to determine the driving parameters of the reference vehicle between the first moment and the second moment according to the driving parameters of the at least one first reference vehicle at the first moment and the driving parameters of the second reference vehicle at the second moment Driving parameter change information; a prediction unit, used for predicting the driving parameter of the target vehicle at the second moment based on the driving parameter of the target vehicle at the first moment and the driving parameter variation information.
在本申请的一些实施例中，基于前述方案，所述确定单元配置为：根据所述至少一辆第一参考车辆在第一时刻的行驶参数和第一参考车辆数量，确定所述第一参考车辆在第一时刻的第一平均行驶参数；根据所述至少一辆第二参考车辆在第二时刻的行驶参数和第二参考车辆数量，确定所述第二参考车辆在第二时刻的第二平均行驶参数；根据所述第一平均行驶参数和所述第二平均行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息。In some embodiments of the present application, based on the foregoing solution, the determining unit is configured to: determine the first reference vehicle according to the driving parameters of the at least one first reference vehicle at a first moment and the number of first reference vehicles a first average driving parameter of the vehicle at the first moment; according to the driving parameter of the at least one second reference vehicle at the second moment and the number of second reference vehicles, determine the second reference vehicle at the second moment Average driving parameter; according to the first average driving parameter and the second average driving parameter, determine the driving parameter change information of the reference vehicle between the first moment and the second moment.
在本申请的一些实施例中，基于前述方案，所述确定单元配置为：将所述第二平均行驶参数与所述第一平均行驶参数之间的比值确定为在第一时刻与第二时刻之间参考车辆的行驶参数变化信息。In some embodiments of the present application, based on the aforementioned solution, the determining unit is configured to: determine the ratio between the second average driving parameter and the first average driving parameter to be at the first moment and the second moment Between the reference vehicle's driving parameter change information.
在本申请的一些实施例中，基于前述方案，所述装置还包括计算单元，被用于基于所述目标车辆在第二时刻的行驶参数、以及所述至少一辆第二参考车辆在第二时刻的行驶参数，通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险。In some embodiments of the present application, based on the foregoing solution, the apparatus further includes a computing unit configured to be used based on the driving parameters of the target vehicle at the second moment and the at least one second reference vehicle at the second The driving parameters at the moment are used to calculate the second driving risk of the target vehicle at the second moment through the driving risk model.
在本申请的一些实施例中，基于前述方案，所述行驶参数包括行驶速度和行驶加速度，所述计算单元配置为：基于所述目标车辆在第二时刻的行驶速度和在第一时刻的行驶速度，计算目标车辆在第二时刻的间接加速度，以得到目标车辆在第二时刻的行驶加速度与所述间接加速度之间的第一差值绝对值；计算所述第一差值绝对值与所述目标车辆在第二时刻的行驶加速度之间的比值，得到第一比值；计算所述第一差值绝对值与所述间接加速度的比值，得到第二比值；在所述第一比值和所述第二比值均不超过第一预定阈值时，通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险。In some embodiments of the present application, based on the aforementioned solution, the driving parameters include a driving speed and a driving acceleration, and the computing unit is configured to: based on the driving speed of the target vehicle at the second moment and the driving at the first moment speed, calculate the indirect acceleration of the target vehicle at the second moment to obtain the first absolute value of the difference between the driving acceleration of the target vehicle at the second moment and the indirect acceleration; calculate the absolute value of the first difference and the Calculate the ratio between the driving accelerations of the target vehicle at the second moment to obtain a first ratio; calculate the ratio of the absolute value of the first difference to the indirect acceleration to obtain a second ratio; When none of the second ratios exceeds the first predetermined threshold, the second driving risk of the target vehicle at the second moment is calculated through the driving risk model.
在本申请的一些实施例中，基于前述方案，所述装置还包括发送单元，被用于在通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险之后，将所述第二驾驶风险发送至所述目标车辆。In some embodiments of the present application, based on the foregoing solution, the apparatus further includes a sending unit, configured to send the second driving risk of the target vehicle at a second moment after calculating the second driving risk of the target vehicle through a driving risk model The driving risk is sent to the target vehicle.
在本申请的一些实施例中，基于前述方案，所述发送单元配置为：确定所述目标车辆在第一时刻的第一驾驶风险；计算所述第一驾驶风险和所述第二驾驶风险之间的第二差值绝对值；在所述第二差值绝对值与所述第一驾驶风险之间的比值不超过第二预定阈值时，将所述第二驾驶风险发送至所述目标车辆。In some embodiments of the present application, based on the foregoing solution, the sending unit is configured to: determine a first driving risk of the target vehicle at a first moment; calculate the difference between the first driving risk and the second driving risk when the ratio between the absolute value of the second difference and the first driving risk does not exceed a second predetermined threshold, sending the second driving risk to the target vehicle .
在本申请的一些实施例中，基于前述方案，所述发送单元配置为：在所述第二差值绝对值与所述第一驾驶风险之间的比值超过第二预定阈值时，通过所述第二差值绝对值与所述第一驾驶风险之间的比值计算所述第二驾驶风险的可信度；将所述第二驾驶风险、以及所述第二驾驶风险对应的可信度发送至所述目标车辆。In some embodiments of the present application, based on the foregoing solution, the sending unit is configured to: when the ratio between the absolute value of the second difference and the first driving risk exceeds a second predetermined threshold The ratio between the absolute value of the second difference and the first driving risk calculates the credibility of the second driving risk; and sends the second driving risk and the credibility corresponding to the second driving risk to the target vehicle.
在本申请的一些实施例中，基于前述方案，所述发送单元配置为：基于所述第一参考车辆的车辆质量，计算所述至少一辆第一参考车辆的第一总质量；基于所述第二参考车辆的车辆质量，计算所述至少一辆第二参考车辆的第二总质量；计算所述第一总质量和所述第二总质量之间的第三差值绝对值；在所述第三差值绝对值与所述第一总质量之间的比值不超过第三预定阈值时，将所述第二驾驶风险发送至所述目标车辆。In some embodiments of the present application, based on the foregoing solution, the sending unit is configured to: calculate a first total mass of the at least one first reference vehicle based on the vehicle mass of the first reference vehicle; vehicle mass of a second reference vehicle, calculating a second total mass of the at least one second reference vehicle; calculating a third absolute value of the difference between the first total mass and the second total mass; When the ratio between the absolute value of the third difference and the first total mass does not exceed a third predetermined threshold, the second driving risk is sent to the target vehicle.
根据本申请实施例的一个方面，提供了一种计算机可读介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如上述实施例中所述的车辆行驶参数的预测方法。According to an aspect of the embodiments of the present application, a computer-readable medium is provided, and a computer program is stored thereon, and when the computer program is executed by a processor, implements the method for predicting vehicle driving parameters as described in the foregoing embodiments.
根据本申请实施例的一个方面，提供了一种电子设备，包括：一个或多个处理器；存储装置，用于存储一个或多个程序，当所述一个或多个程序被所述一个或多个处理器执行时，使得所述一个或多个处理器实现如上述实施例中所述的车辆行驶参数的预测方法。According to an aspect of the embodiments of the present application, an electronic device is provided, including: one or more processors; and a storage device for storing one or more programs, when the one or more programs are stored by the one or more programs When executed by a plurality of processors, the one or more processors are made to implement the method for predicting vehicle driving parameters as described in the above embodiments.
在本申请的一些实施例所提供的技术方案中，首先获取包括目标车辆和至少一辆第一参考车辆在内的车辆在第一时刻的行驶参数，以及至少一辆第二参考车辆在第二时刻的行驶参数，然后通过第一参考车辆在第一时刻的行驶参数和第二参考车辆在第二时刻的行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息，基于目标车辆在第一时刻的行驶参数，通过所述行驶参数变化信息预测所述目标车辆在第二时刻的行驶参数。由于车辆在道路上行驶时会受到周围车辆的制约，即车辆之间是相互关联的，所有车辆的行驶状态的平均变化情况能一定程度上反映出某辆车行驶状态的变化情况，因此，可以通过所述行驶参数变化信息预测所述目标车辆在任意第二时刻的行驶参数，从而能够保证对车辆行驶参数进行确定的实时性。In the technical solutions provided by some embodiments of the present application, the driving parameters of vehicles including the target vehicle and at least one first reference vehicle at the first moment, and the at least one second reference vehicle at the second The driving parameters of the time, and then the driving parameters of the reference vehicle between the first time and the second time are determined by using the driving parameters of the first reference vehicle at the first time and the driving parameters of the second reference vehicle at the second time. Based on the driving parameters of the target vehicle at the first moment, the driving parameters of the target vehicle at the second moment are predicted through the driving parameter change information. Since the vehicle is constrained by the surrounding vehicles when driving on the road, that is, the vehicles are related to each other, and the average change of the driving state of all vehicles can reflect the change of the driving state of a certain vehicle to a certain extent. Therefore, it can be The driving parameters of the target vehicle at any second moment are predicted through the driving parameter change information, so that the real-time determination of the driving parameters of the vehicle can be ensured.
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.
附图说明Description of drawings
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application. Obviously, the drawings in the following description are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort. In the attached image:
图1示出了可以应用本申请实施例的技术方案的示例性系统架构的示意图；FIG. 1 shows a schematic diagram of an exemplary system architecture to which the technical solutions of the embodiments of the present application can be applied;
图2示出了根据本申请的一个实施例的车辆行驶参数的预测方法的流程图；FIG. 2 shows a flowchart of a method for predicting vehicle driving parameters according to an embodiment of the present application;
图3示出了根据本申请的一个实施例的确定参考车辆的行驶参数变化信息的细节流程图；FIG. 3 shows a detailed flow chart of determining driving parameter change information of a reference vehicle according to an embodiment of the present application;
图4示出了根据本申请的一个实施例的在计算目标车辆在第二时刻的第二驾驶风险之前的方法流程图；FIG. 4 shows a flow chart of the method before calculating the second driving risk of the target vehicle at the second moment according to an embodiment of the present application;
图5示出了根据本申请的一个实施例的在将所述第二驾驶风险发送至所述目标车辆之前的方法流程图；FIG. 5 shows a flowchart of a method before sending the second driving risk to the target vehicle according to an embodiment of the present application;
图6示出了根据本申请的一个实施例的在将所述第二驾驶风险发送至所述目标车辆之前的方法流程图；FIG. 6 shows a flowchart of a method before sending the second driving risk to the target vehicle according to an embodiment of the present application;
图7示出了根据本申请的一个实施例的在将所述第二驾驶风险发送至所述目标车辆之前的方法流程图；FIG. 7 shows a flow chart of a method before sending the second driving risk to the target vehicle according to an embodiment of the present application;
图8示出了根据本申请的一个实施例的基于云对车辆行驶参数进行预测的示意图；FIG. 8 shows a schematic diagram of cloud-based prediction of vehicle driving parameters according to an embodiment of the present application;
图9示出了根据本申请的一个实施例的车辆行驶参数的预测装置的框图；FIG. 9 shows a block diagram of an apparatus for predicting driving parameters of a vehicle according to an embodiment of the present application;
图10示出了适于用来实现本申请实施例的电子设备的计算机系统的结构示意图。FIG. 10 shows a schematic structural diagram of a computer system suitable for implementing the electronic device according to the embodiment of the present application.
具体实施方式Detailed ways
现在将参考附图更全面地描述示例实施方式。然而，示例实施方式能够以多种形式实施，且不应被理解为限于在此阐述的范例；相反，提供这些实施方式使得本申请将更加全面和完整，并将示例实施方式的构思全面地传达给本领域的技术人员。Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
此外，所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施例中。在下面的描述中，提供许多具体细节从而给出对本申请的实施例的充分理解。然而，本领域技术人员将意识到，可以实践本申请的技术方案而没有特定细节中的一个或更多，或者可以采用其它的方法、组元、装置、步骤等。在其它情况下，不详细示出或描述公知方法、装置、实现或者操作以避免模糊本申请的各方面。Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical solutions of the present application may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be employed. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the present application.
附图中所示的方框图仅仅是功能实体，不一定必须与物理上独立的实体相对应。即，可以采用软件形式来实现这些功能实体，或在一个或多个硬件模块或集成电路中实现这些功能实体，或在不同网络和/或处理器装置和/或微控制器装置中实现这些功能实体。The block diagrams shown in the figures are merely functional entities and do not necessarily necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices entity.
附图中所示的流程图仅是示例性说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解，而有的操作/步骤可以合并或部分合并，因此实际执行的顺序有可能根据实际情况改变。The flowcharts shown in the figures are only exemplary illustrations and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can be decomposed, and some operations/steps can be combined or partially combined, so the actual execution order may be changed according to the actual situation.
图1示出了可以应用本申请实施例的技术方案的示例性系统架构的示意图。FIG. 1 shows a schematic diagram of an exemplary system architecture to which the technical solutions of the embodiments of the present application can be applied.
如图1所示，系统架构可以包括终端设备(如图1中所示智能手机 101、平板电脑102和便携式计算机103中的一种或多种，当然也可以是台式计算机、智能音箱、智能手表等等，但并不局限于此)、网络104和服务器105。网络104用以在终端设备和服务器105之间提供通信链路的介质。网络104可以包括各种连接类型，例如有线通信链路、无线通信链路等等，本申请在此不做限制。应该理解，图1中的终端设备、网络和服务器的数目仅仅是示意性的。根据实现需要，可以具有任意数目的终端设备、网络和服务器。比如服务器105可以是多个服务器组成的服务器集群等。As shown in FIG. 1, the system architecture may include terminal devices (one or more of a
在本申请的一个实施例中，如图1中所示的终端设备均可以放置在本申请所述的目标车辆中，其中，可以是由所示终端设备周期性的向服务器上传目标车辆自身的车辆行驶参数，服务器105可以周期性的接收目标车辆上传的车辆行驶参数，也可以在周期内的任意第二时刻预测目标车辆的车辆行驶参数。In an embodiment of the present application, the terminal devices shown in FIG. 1 can all be placed in the target vehicle described in the present application, wherein the terminal device as shown can periodically upload the target vehicle's own data to the server. For the vehicle driving parameters, the
具体的，其预测过程可以为：服务器105可以首先获取包括目标车辆和至少一辆第一参考车辆在内的车辆在第一时刻的行驶参数，以及至少一辆第二参考车辆在第二时刻的行驶参数，然后通过第一参考车辆在第一时刻的行驶参数和第二参考车辆在第二时刻的行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息，最后基于目标车辆在第一时刻的行驶参数，通过所述行驶参数变化信息预测所述目标车辆在第二时刻的行驶参数。Specifically, the prediction process may be as follows: the
需要说明的是，本申请实施例所提供的车辆行驶参数的预测方法一般由服务器105执行，相应地，车辆行驶参数的预测装置一般设置于服务器 105中。但是，在本申请的其它实施例中，终端设备也可以与服务器具有相似的功能，从而执行本申请实施例所提供的车辆行驶参数的预测方案。It should be noted that the method for predicting the vehicle driving parameters provided in the embodiments of the present application is generally executed by the
需要说明的是，服务器可以是独立的物理服务器，也可以是多个物理服务器构成的服务器集群或者分布式系统，还可以是提供云计算服务的云服务器。It should be noted that the server may be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services.
需要说明的是，如上所述的云计算(cloud computing)是一种计算模式，它将计算任务分布在大量计算机构成的资源池上，使各种应用系统能够根据需要获取计算力、存储空间和信息服务。提供资源的网络被称为“云”。“云”中的资源在使用者看来是可以无限扩展的，并且可以随时获取，按需使用，随时扩展。通过建立云计算资源池(简称云平台，一般称为 IaaS(Infrastructure as a Service，基础设施即服务)平台，在资源池中部署多种类型的虚拟资源，供外部客户选择使用。云计算资源池中主要包括：计算设备(为虚拟化机器，包含操作系统)、存储设备、网络设备。It should be noted that cloud computing as mentioned above is a computing mode that distributes computing tasks on a resource pool composed of a large number of computers, so that various application systems can obtain computing power, storage space and information as needed. Serve. The network that provides the resources is called the "cloud". The resources in the "cloud" are infinitely expandable in the eyes of users, and can be obtained at any time, used on demand, and expanded at any time. By establishing a cloud computing resource pool (referred to as a cloud platform, generally referred to as an IaaS (Infrastructure as a Service) platform, various types of virtual resources are deployed in the resource pool for external customers to choose and use. Cloud computing resource pool It mainly includes: computing equipment (for virtualized machines, including operating system), storage equipment, network equipment.
以下对本申请实施例的技术方案的实现细节进行详细阐述：The implementation details of the technical solutions of the embodiments of the present application are described in detail below:
参见图2，示出了根据本申请的一个实施例的车辆行驶参数的预测方法的流程图。该车辆行驶参数的预测方法可以由具有计算处理功能的设备来执行，比如可以由图1中所示的服务器105来执行，也可以由图1中所示的终端设备来执行，还可以由具有云计算功能的云服务器来执行。如图2 所示，该车辆行驶参数的预测方法至少包括步骤210至步骤270：Referring to FIG. 2 , a flowchart of a method for predicting vehicle driving parameters according to an embodiment of the present application is shown. The method for predicting the driving parameters of the vehicle can be executed by a device with a computing processing function, such as the
在步骤210中，获取至少两辆车辆在第一时刻的行驶参数，所述至少两辆车辆包括目标车辆和至少一辆第一参考车辆。In
在步骤230中，获取至少一辆第二参考车辆在第二时刻的行驶参数，所述第二时刻在所述第一时刻之后。In
在本申请中，所述行驶参数可以包括车辆的速度、加速度、行驶方向、质量。In the present application, the driving parameters may include the speed, acceleration, driving direction, and mass of the vehicle.
需要说明的是，在本申请中，所述第一时刻可以是指目标车辆和第一参考车辆主动上传行驶参数的时刻，第二时刻可以是指第一时刻与目标车辆在下一次主动上传自身行驶参数的时刻之间的任意一个时刻，因此，目标车辆并不在第二时刻主动上传自身的行驶参数。而对于第二参考车辆而言，第二时刻是其主动上传行驶参数的时刻。基于此，对于本领域技术人员而言，可以理解的是，在本申请中，所述至少一辆第一参考车辆和至少一辆第二参考车辆可以不是同一批车辆。It should be noted that, in this application, the first moment may refer to the moment when the target vehicle and the first reference vehicle actively upload the driving parameters, and the second moment may refer to the first moment and the target vehicle actively upload their own driving next time. Any time between the time of the parameters, therefore, the target vehicle does not actively upload its own driving parameters at the second time. For the second reference vehicle, the second time is the time when it actively uploads the driving parameters. Based on this, it can be understood by those skilled in the art that, in the present application, the at least one first reference vehicle and the at least one second reference vehicle may not be the same batch of vehicles.
在步骤250中，根据所述至少一辆第一参考车辆在第一时刻的行驶参数和所述第二参考车辆在第二时刻的行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息。In
在本申请的一个实施例中，根据所述至少一辆第一参考车辆在第一时刻的行驶参数和所述第二参考车辆在第二时刻的行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息，可以按照如图3所示的步骤执行。In an embodiment of the present application, according to the driving parameters of the at least one first reference vehicle at the first time and the driving parameters of the second reference vehicle at the second time, determine the first time and the second time Referring to the driving parameter change information of the vehicle, the steps shown in FIG. 3 can be performed.
参见图3，示出了根据本申请的一个实施例的确定参考车辆的行驶参数变化信息的细节流程图。其具体包括步骤251至253：Referring to FIG. 3 , there is shown a detailed flowchart of determining the driving parameter change information of the reference vehicle according to an embodiment of the present application. It specifically includes
步骤251，根据所述至少一辆第一参考车辆在第一时刻的行驶参数和第一参考车辆数量，确定所述第一参考车辆在第一时刻的第一平均行驶参数。Step 251: Determine a first average driving parameter of the first reference vehicle at the first moment according to the driving parameters of the at least one first reference vehicle at the first moment and the number of the first reference vehicles.
具体的，例如，在第一时刻tlattest获取的至少一辆第一参考车辆的数量为 nlattest，其中，每一辆第一参考车辆的行驶参数包括速度、加速度、行驶方向角、质量。通过对这些行驶参数求平均，可以得到在时刻tlattest被获取到的第一参考车辆的平均速度、平均加速度、平均行驶方向角、平均质量，分别记为vlatest、alatest、θlatest、mlatest，进而得到所述第一参考车辆在第一时刻的第一平均行驶参数。Specifically, for example, the number of at least one first reference vehicle acquired at the first time tlattest is nlattest , wherein the driving parameters of each first reference vehicle include speed, acceleration, driving direction angle, and mass. By averaging these driving parameters, the average speed, average acceleration, average driving direction angle, and average mass of the first reference vehicle obtained at time tlattest can be obtained, which are respectively denoted as vlatest , alatest , θlatest , mlatest , and then obtain the first average driving parameters of the first reference vehicle at the first moment.
步骤252，根据所述至少一辆第二参考车辆在第二时刻的行驶参数和第二参考车辆数量，确定所述第二参考车辆在第二时刻的第二平均行驶参数。
具体的，例如，在第二时刻tcurrent获取的至少一辆第二参考车辆的数量为 ncurrent，其中，每一辆第二参考车辆的行驶参数包括速度、加速度、行驶方向角、质量。通过对这些行驶参数求平均，可以得到在时刻tcurrent被获取到的第二参考车辆的平均速度、平均加速度、平均行驶方向角、平均质量，分别记为vcurrent，acurrent，θcurrent，mcurrent，进而得到所述第二参考车辆在第二时刻的第二平均行驶参数。Specifically, for example, the number of at least one second reference vehicle acquired at the second time tcurrent is ncurrent , wherein the driving parameters of each second reference vehicle include speed, acceleration, driving direction angle, and mass. By averaging these driving parameters, the average speed, average acceleration, average driving direction angle, and average quality of the second reference vehicle obtained at time tcurrent can be obtained, which are respectively denoted as vcurrent , acurrent , θcurrent , mcurrent , and then obtain the second average driving parameters of the second reference vehicle at the second moment.
步骤253，根据所述第一平均行驶参数和所述第二平均行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息。
在本实施例的具体实现中，所述根据所述第一平均行驶参数和所述第二平均行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息，可以是将所述第二平均行驶参数与所述第一平均行驶参数之间的比值确定为在第一时刻与第二时刻之间参考车辆的行驶参数变化信息。In the specific implementation of this embodiment, the determining of the change information of the driving parameters of the reference vehicle between the first time and the second time according to the first average driving parameter and the second average driving parameter may be: The ratio between the second average driving parameter and the first average driving parameter is determined as the driving parameter change information of the reference vehicle between the first moment and the second moment.
具体的，例如，可以将第二参考车辆的平均速度vcurrent与第一参考车辆的平均速度vlatest之间的比值vcurrent/vlatest、第二参考车辆的平均加速度acurrent与第一参考车辆的平均加速度alatest之间的比值acurrent/alatest、第二参考车辆的平均行驶方向角θcurrent与第一参考车辆的平均行驶方向角θlatest之间的比值θcurrent/θlatest、第二参考车辆的平均质量mcurrent与第一参考车辆的平均质量mlatest之间的比值mcurrent/mlatest确定为在第一时刻tlattest与第二时刻tcurrent之间参考车辆的行驶参数变化信息。Specifically, for example, the ratio vcurrent /vlatest between the average speed vcurrent of the second reference vehicle and the average speed vlatest of the first reference vehicle, the average acceleration acurrent of the second reference vehicle and the first reference vehicle The ratio acurrent /alatest , the ratio between the average acceleration alatest of the second reference vehicleθcurrent and the average driving direction angleθlatest of the first reference vehicle The ratio mcurrent /mlatest between the average mass mcurrent of the reference vehicle and the average mass mlatest of the first reference vehicle is determined as the driving parameter change information of the reference vehicle between the first time tlattest and the second time tcurrent .
在步骤270中，基于所述目标车辆在第一时刻的行驶参数和所述行驶参数变化信息，预测所述目标车辆在第二时刻的行驶参数。In
具体的，例如，所述目标车辆在第一时刻的行驶参数可以包括速度 vtarget1、加速度atarget1、行驶方向角θtarget1、质量mtarget1。进一步的，可以根据上述得到的速度相对变化量vcurrent/vlatest可以预测计算目标车辆在第二时刻的速度vtarget1·vcurrent/vlatest、根据上述得到的加速度相对变化量acurrent/alatest可以预测计算目标车辆在第二时刻的加速度atarget1·acurrent/alatest、根据上述得到的行驶方向角相对变化量θcurrent/θlatest可以预测计算目标车辆在第二时刻的行驶方向角θtarget1·θcurrent/θlatest。Specifically, for example, the driving parameters of the target vehicle at the first moment may include a speed vtarget1 , an acceleration atarget1 , a driving direction angle θtarget1 , and a mass mtarget1 . Further, the speed vtarget1 vcurrent /vlatest of the target vehicle at the second moment can be predicted and calculated according to the relative velocity change vcurrent /vlatest obtained above, and the relative acceleration variation acurrent /alatest obtained according to the above The acceleration atarget1 · acurrent /alatest of the target vehicle at the second moment can be predicted and calculated, and the travel direction angle θtarget1 of the target vehicle at the second moment can be predicted and calculated according to the relative change amount of the traveling direction angle θcurrent /θlatest obtained above. θcurrent /θlatest .
需要注意的是，由于目标车辆在第一时刻和第二时刻的车辆质量不会发生变化，因此无需根据质量相对变化量mcurrent/mlatest对目标车辆在第二时刻的车辆质量进行预测。It should be noted that since the vehicle mass of the target vehicle at the first moment and the second moment does not change, it is not necessary to predict the vehicle mass of the target vehicle at the second moment according to the relative mass change mcurrent /mlatest .
在本申请中，由于车辆在道路上行驶时会受到周围车辆的制约，即车辆之间是相互关联的，所有车辆的行驶状态的平均变化情况能一定程度上反映出某辆车行驶状态的变化情况，因此，通过上述方式对目标车辆在第二时刻的行驶参数进行预测的好处在于：可以保证对目标车辆在第二时刻的行驶参数进行预测的准确性。In this application, since vehicles are constrained by surrounding vehicles when driving on the road, that is, vehicles are interrelated, the average change of the driving states of all vehicles can reflect the change of the driving state of a certain vehicle to a certain extent. Therefore, the advantage of predicting the driving parameters of the target vehicle at the second time in the above manner is that the accuracy of the prediction of the driving parameters of the target vehicle at the second time can be guaranteed.
在本申请中，在所述基于所述目标车辆在第一时刻的行驶参数和所述行驶参数变化信息，预测所述目标车辆在第二时刻的行驶参数之后，还可以执行如下步骤：In the present application, after predicting the driving parameters of the target vehicle at the second moment based on the driving parameters of the target vehicle at the first moment and the variation information of the driving parameters, the following steps may also be performed:
基于所述目标车辆在第二时刻的行驶参数、以及所述至少一辆第二参考车辆在第二时刻的行驶参数，通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险。Based on the driving parameters of the target vehicle at the second moment and the driving parameters of the at least one second reference vehicle at the second moment, a second driving risk of the target vehicle at the second moment is calculated through a driving risk model.
在本申请中，在通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险之前，还可以获取目标车辆所在路段的道路参数。In the present application, before calculating the second driving risk of the target vehicle at the second moment by using the driving risk model, road parameters of the road section where the target vehicle is located may also be obtained.
具体的，在通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险时，可以首先计算所述目标车辆在第二时刻分别与各个参考车辆之间的驾驶风险，再对目标车辆在第二时刻分别与各个参考车辆之间的驾驶风险进行求和，得到目标车辆在第二时刻的第二驾驶风险。Specifically, when calculating the second driving risk of the target vehicle at the second time by using the driving risk model, the driving risk between the target vehicle and each reference vehicle at the second time may be calculated first, and then the driving risk of the target vehicle at the second time may be calculated. The driving risks between the reference vehicles are summed at the second moment, respectively, to obtain the second driving risk of the target vehicle at the second moment.
在计算目标车辆在第二时刻分别与各个参考车辆之间的驾驶风险时，需要同时考虑目标车辆在第二时刻的行驶参数，参考车辆在第二时刻的行驶参数，以及目标车辆所在路段的道路参数。When calculating the driving risk between the target vehicle and each reference vehicle at the second moment, the driving parameters of the target vehicle at the second moment, the driving parameters of the reference vehicle at the second moment, and the road section of the target vehicle need to be considered at the same time. parameter.
为了使本领域技术人员更好的理解本申请，下面将对现有技术中的驾驶风险模型进行简单阐述。In order for those skilled in the art to better understand the present application, the driving risk model in the prior art will be briefly described below.
如下为两个运动的车辆(运动物体)之间驾驶风险值的计算公式：The formula for calculating the driving risk value between two moving vehicles (moving objects) is as follows:
其中，SPEV_ab表示车辆(物体)a和车辆(物体)b之间的驾驶风险；G 为一个常数(类似于万有引力常数)；Ra表示车辆(物体)a所在路面的路况参数，路况参数用于综合衡量路面的粘度、湿度、坡度以及温度，一般与Rb相等；Rb表示车辆(物体)b所在路面的路况参数，路况参数用于综合衡量路面的粘度、湿度、坡度以及温度，一般与Ra相等；Ma表示车辆a的质量；Mb表示车辆b的质量；k3为一个常数(等于光速)；k1为常数(在空气中一般为3)；
在本申请的一个实施例中，所述行驶参数可以包括行驶速度和行驶加速度，在通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险之前，还可以执行如图4所示的步骤。In an embodiment of the present application, the driving parameters may include a driving speed and a driving acceleration, and before calculating the second driving risk of the target vehicle at the second moment by using the driving risk model, it is also possible to perform the operation shown in FIG. 4 . A step of.
参见图4，示出了根据本申请的一个实施例的在计算目标车辆在第二时刻的第二驾驶风险之前的方法流程图。其具体包括步骤271至步骤274：Referring to FIG. 4 , there is shown a flow chart of a method before calculating the second driving risk of the target vehicle at the second moment according to an embodiment of the present application. It specifically includes
步骤271，基于所述目标车辆在第二时刻的行驶速度和在第一时刻的行驶速度，计算目标车辆在第二时刻的间接加速度，以得到目标车辆在第二时刻的行驶加速度与所述间接加速度之间的第一差值绝对值。Step 271: Calculate the indirect acceleration of the target vehicle at the second moment based on the running speed of the target vehicle at the second moment and the running speed at the first moment, so as to obtain the driving acceleration of the target vehicle at the second moment and the indirect acceleration of the target vehicle at the second moment. The absolute value of the first difference between the accelerations.
具体的，在本申请中，可以通过如下公式计算目标车辆在第二时刻的间接加速度：Specifically, in this application, the indirect acceleration of the target vehicle at the second moment can be calculated by the following formula:
进而得到目标车辆在第二时刻的行驶加速度与所述间接加速度之间的第一差值绝对值：Then, the absolute value of the first difference between the driving acceleration of the target vehicle at the second moment and the indirect acceleration is obtained:
步骤272，计算所述第一差值绝对值与所述目标车辆在第二时刻的行驶加速度之间的比值，得到第一比值。Step 272: Calculate the ratio between the absolute value of the first difference and the driving acceleration of the target vehicle at the second moment to obtain a first ratio.
具体的，在本申请中，所述第一比值Q1为：Specifically, in this application, the first ratio Q1 is:
步骤273，计算所述第一差值绝对值与所述间接加速度的比值，得到第二比值。Step 273: Calculate the ratio of the absolute value of the first difference to the indirect acceleration to obtain a second ratio.
具体的，在本申请中，所述第一比值Q2为：Specifically, in this application, the first ratio Q2 is:
步骤274，在所述第一比值和所述第二比值均不超过第一预定阈值时，通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险。
在本申请中，所述第一预定阈值可以是设定为目标车辆所在地的历史交通事故率P，其中，目标车辆所在地的历史交通事故率P可以从交通管理部门获取。In the present application, the first predetermined threshold may be set as the historical traffic accident rate P at the location of the target vehicle, wherein the historical traffic accident rate P at the location of the target vehicle may be obtained from the traffic management department.
具体的，可以是当Q1≤P且Q2≤P时，通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险。由于在Q1≤P且Q2≤P时，可以在一定程度上确定计算出的预测的间接加速度与预测的目标车辆在第二时刻的行驶加速度之间的差异处于可以容忍的范围之内，从而保证对目标车辆在第二时刻的行驶加速度进行预测的合理性，进而可以基于所述目标车辆在第二时刻的行驶参数，计算所述目标车辆在第二时刻的第二驾驶风险。Specifically, when Q1 ≤P and Q2 ≤P, the second driving risk of the target vehicle at the second moment may be calculated by using the driving risk model. Since when Q1 ≤P and Q2 ≤P, it can be determined to a certain extent that the difference between the calculated predicted indirect acceleration and the predicted running acceleration of the target vehicle at the second moment is within a tolerable range, Therefore, the rationality of predicting the driving acceleration of the target vehicle at the second moment is guaranteed, and the second driving risk of the target vehicle at the second moment can be calculated based on the driving parameters of the target vehicle at the second moment.
在本申请中，当Q1＞P且Q2＞P时，可以不用计算所述目标车辆在第二时刻的第二驾驶风险，因为对目标车辆在第二时刻的行驶参数进行预测，其目的是参照计算得到的目标车辆降低历史交通事故率，如果Q1＞P且Q2＞ P，则可以认为预测得到的目标车辆在第二时刻的行驶参数不合理程度超过了历史交通事故率，使得计算得到的目标车辆在第二时刻的驾驶风险的错误率高于历史交通事故率，进而导致计算得到的目标车辆在第二时刻的第二驾驶风险不再具有参考性。In the present application, when Q1 >P and Q2 >P, it is not necessary to calculate the second driving risk of the target vehicle at the second moment, because the purpose of predicting the driving parameters of the target vehicle at the second moment is It is to reduce the historical traffic accident rate with reference to the calculated target vehicle. If Q1 >P and Q2 > P, it can be considered that the predicted driving parameters of the target vehicle at the second moment are more unreasonable than the historical traffic accident rate, so that The error rate of the calculated driving risk of the target vehicle at the second moment is higher than the historical traffic accident rate, so that the calculated second driving risk of the target vehicle at the second moment no longer has reference.
需要注意的是，在本申请中，所述第一预定阈值也可以设定为其它数值。It should be noted that, in this application, the first predetermined threshold may also be set to other values.
在本申请的一个实施例中，在通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险之后，还可以执行如下步骤：In an embodiment of the present application, after calculating the second driving risk of the target vehicle at the second moment by using the driving risk model, the following steps may also be performed:
将所述第二驾驶风险发送至所述目标车辆。The second driving risk is sent to the target vehicle.
在本申请的一个实施例中，，在将所述第二驾驶风险发送至所述目标车辆之前，还可以执行如图5所示的步骤。In an embodiment of the present application, before sending the second driving risk to the target vehicle, the steps shown in FIG. 5 may also be performed.
参见图5，示出了根据本申请的一个实施例的在将所述第二驾驶风险发送至所述目标车辆之前的方法流程图。其具体包括步骤281至步骤283：Referring to FIG. 5 , there is shown a flow chart of a method prior to sending the second driving risk to the target vehicle according to an embodiment of the present application. It specifically includes
步骤281，确定所述目标车辆在第一时刻的第一驾驶风险。Step 281: Determine the first driving risk of the target vehicle at the first moment.
具体的、例如，目标车辆在第一时刻tlattest的第一驾驶风险为Elattest。Specifically, for example, the first driving risk of the target vehicle at the first time tlattest is Elattest .
步骤282，计算所述第一驾驶风险和所述第二驾驶风险之间的第二差值绝对值。
具体的、例如，目标车辆在第二时刻tcurrent的第二驾驶风险为Ecurrent，第二差值绝对值为|Ecurrent-Elattest|。Specifically, for example, the second driving risk of the target vehicle at the second time tcurrent is Ecurrent , and the absolute value of the second difference is |Ecurrent -Elattest |.
步骤283，在所述第二差值绝对值与所述第一驾驶风险之间的比值不超过第二预定阈值时，将所述第二驾驶风险发送至所述目标车辆。Step 283: When the ratio between the absolute value of the second difference and the first driving risk does not exceed a second predetermined threshold, send the second driving risk to the target vehicle.
具体的、例如，所述第二差值绝对值与所述第一驾驶风险之间的比值为 |Ecurrent-Elattest|/Elattest。Specifically, for example, the ratio between the absolute value of the second difference and the first driving risk is |Ecurrent -Elattest |/Elattest .
在本申请中，所述第二预定阈值可以是设定为目标车辆所在地的历史交通事故率P，其中，目标车辆所在地的历史交通事故率P可以从交通管理部门获取。In the present application, the second predetermined threshold may be set as the historical traffic accident rate P at the location of the target vehicle, wherein the historical traffic accident rate P at the location of the target vehicle may be obtained from the traffic management department.
需要注意的是，在本申请中，所述第二预定阈值也可以设定为其它数值。It should be noted that, in this application, the second predetermined threshold may also be set to other values.
在上述实施例中，还可以执行如图6所示的步骤。In the above embodiment, the steps shown in FIG. 6 may also be performed.
参见图6，示出了根据本申请的一个实施例的在将所述第二驾驶风险发送至所述目标车辆之前的方法流程图。其具体包括步骤284至步骤285：Referring to FIG. 6 , there is shown a flow chart of a method prior to sending the second driving risk to the target vehicle according to an embodiment of the present application. It specifically includes
步骤284，在所述第二差值绝对值与所述第一驾驶风险之间的比值超过第二预定阈值时，通过所述第二差值绝对值与所述第一驾驶风险之间的比值计算所述第二驾驶风险的可信度。
在本申请中，所述第二驾驶风险的可信度可以为：1-(Ecurrent-Epast)/Epast，对于本领域技术人员而言，可以理解的是，当1-(Ecurrent-Epast)/Epast的值越小时，则说明所述第二驾驶风险的可信度越低。In the present application, the credibility of the second driving risk may be: 1-(Ecurrent -Epast )/Epast . For those skilled in the art, it can be understood that when 1-(Ecurrent The smaller the value of -Epast )/Epast is, the lower the reliability of the second driving risk.
步骤285，将所述第二驾驶风险、以及所述第二驾驶风险对应的可信度发送至所述目标车辆。Step 285: Send the second driving risk and the reliability corresponding to the second driving risk to the target vehicle.
在本申请的一个实施例中，所述行驶参数包括车辆质量，在将所述第二驾驶风险发送至所述目标车辆之前，还可以执行如图7所示的步骤。In an embodiment of the present application, the driving parameter includes vehicle quality, and before sending the second driving risk to the target vehicle, the steps shown in FIG. 7 may also be performed.
参见图5，示出了根据本申请的一个实施例的在将所述第二驾驶风险发送至所述目标车辆之前的方法流程图。其具体包括步骤291至步骤294：Referring to FIG. 5 , there is shown a flow chart of a method prior to sending the second driving risk to the target vehicle according to an embodiment of the present application. It specifically includes
步骤291，基于所述第一参考车辆的车辆质量，计算所述至少一辆第一参考车辆的第一总质量。Step 291: Calculate a first total mass of the at least one first reference vehicle based on the vehicle mass of the first reference vehicle.
步骤292，基于所述第二参考车辆的车辆质量，计算所述至少一辆第二参考车辆的第二总质量。
步骤293，计算所述第一总质量和所述第二总质量之间的第三差值绝对值。Step 293: Calculate the absolute value of the third difference between the first total mass and the second total mass.
步骤294，在所述第三差值绝对值与所述第一总质量之间的比值不超过第三预定阈值时，将所述第二驾驶风险发送至所述目标车辆。
在本申请中，所述第三预定阈值可以是设定为目标车辆所在地的历史交通事故率P，其中，目标车辆所在地的历史交通事故率P可以从交通管理部门获取。In the present application, the third predetermined threshold may be set as the historical traffic accident rate P at the location of the target vehicle, wherein the historical traffic accident rate P at the location of the target vehicle may be obtained from the traffic management department.
需要注意的是，在本申请中，所述第三预定阈值也可以设定为其它数值。It should be noted that, in this application, the third predetermined threshold may also be set to other values.
在本申请中，在交通场景中，在对目标车辆的行驶参数进行预测的实施例中，还可以搭建融合汽车云、区域云以及边缘云来实现通过云车系统来为车联网中的各个车辆预测车辆行驶参数，如图8，示出了根据本申请的一个实施例的基于云对车辆行驶参数进行预测的示意图。该系统由云端与车联网组成。其中，本方案的所有计算功能可以在汽车云上实现，车辆可周期性的获取车辆自身的行驶参数，并上传给汽车云端。In this application, in the traffic scenario, in the embodiment of predicting the driving parameters of the target vehicle, it is also possible to build a fusion car cloud, regional cloud and edge cloud to realize the cloud car system for each vehicle in the Internet of Vehicles. Predicting vehicle driving parameters, as shown in FIG. 8 , is a schematic diagram of cloud-based prediction of vehicle driving parameters according to an embodiment of the present application. The system consists of the cloud and the Internet of Vehicles. Among them, all the computing functions of this solution can be implemented on the car cloud, and the vehicle can periodically obtain the driving parameters of the vehicle itself and upload them to the car cloud.
具体的，汽车云首先获取包括目标车辆和至少一辆第一参考车辆在内的车辆在第一时刻的行驶参数，以及至少一辆第二参考车辆在第二时刻的行驶参数，然后通过第一参考车辆在第一时刻的行驶参数和第二参考车辆在第二时刻的行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息，基于目标车辆在第一时刻的行驶参数，通过所述行驶参数变化信息预测所述目标车辆在第二时刻的行驶参数。Specifically, the car cloud first obtains the driving parameters of vehicles including the target vehicle and at least one first reference vehicle at the first moment, and the driving parameters of at least one second reference vehicle at the second moment, and then passes the first The driving parameters of the reference vehicle at the first time and the driving parameters of the second reference vehicle at the second time are determined, and the driving parameter change information of the reference vehicle between the first time and the second time is determined, based on the driving of the target vehicle at the first time. parameter, and predict the driving parameter of the target vehicle at the second moment by using the driving parameter change information.
而且，本申请发明人通过重复进行10次仿真实验，对本申请方法与现有技术进行了比较，具体的，基于本申请中的车辆行驶参数的预测方法，对目标车辆的行驶风险进行预警，统计实验结果如表1所示。Moreover, the inventor of the present application has compared the method of the present application with the prior art by repeatedly conducting 10 simulation experiments. The experimental results are shown in Table 1.
表1Table 1
从表1可知，现有技术的预测值的样本方差大于本发明的预测值的样本方差，样本方差是方差的无偏估计，能反映出预警误差情况。可见，基于本申请中的车辆行驶参数的预测方法，能够保证对车辆行驶参数进行确定的准确性和实时性，进而使得对目标车辆的行驶风险进行预警，相对于现有技术而言，具有更高的准确性。It can be seen from Table 1 that the sample variance of the predicted value in the prior art is larger than the sample variance of the predicted value of the present invention, and the sample variance is an unbiased estimate of the variance, which can reflect the early warning error situation. It can be seen that the prediction method based on the vehicle driving parameters in the present application can ensure the accuracy and real-time performance of the determination of the driving parameters of the vehicle, thereby enabling the early warning of the driving risk of the target vehicle, which is more efficient than the prior art. high accuracy.
在本申请的一些实施例所提供的技术方案中，首先获取包括目标车辆和至少一辆第一参考车辆在内的车辆在第一时刻的行驶参数，以及至少一辆第二参考车辆在第二时刻的行驶参数，然后通过第一参考车辆在第一时刻的行驶参数和第二参考车辆在第二时刻的行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息，基于目标车辆在第一时刻的行驶参数，通过所述行驶参数变化信息预测所述目标车辆在第二时刻的行驶参数。由于车辆在道路上行驶时会受到周围车辆的制约，即车辆之间是相互关联的，所有车辆的行驶状态的平均变化情况能一定程度上反映出某辆车行驶状态的变化情况，因此，可以通过所述行驶参数变化信息预测所述目标车辆在任意第二时刻的行驶参数，从而能够保证对车辆行驶参数进行确定的实时性。In the technical solutions provided by some embodiments of the present application, the driving parameters of vehicles including the target vehicle and at least one first reference vehicle at the first moment, and the at least one second reference vehicle at the second The driving parameters of the time, and then the driving parameters of the reference vehicle between the first time and the second time are determined by using the driving parameters of the first reference vehicle at the first time and the driving parameters of the second reference vehicle at the second time. Based on the driving parameters of the target vehicle at the first moment, the driving parameters of the target vehicle at the second moment are predicted through the driving parameter change information. Since the vehicle is constrained by the surrounding vehicles when driving on the road, that is, the vehicles are related to each other, and the average change of the driving state of all vehicles can reflect the change of the driving state of a certain vehicle to a certain extent. Therefore, it can be The driving parameters of the target vehicle at any second moment are predicted through the driving parameter change information, so that the real-time determination of the driving parameters of the vehicle can be ensured.
以下介绍本申请的装置实施例，可以用于执行本申请上述实施例中的车辆行驶参数的预测方法。对于本申请装置实施例中未披露的细节，请参照本申请上述的车辆行驶参数的预测方法的实施例。The following describes the device embodiments of the present application, which can be used to execute the method for predicting vehicle driving parameters in the above-mentioned embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the above-mentioned embodiments of the method for predicting vehicle driving parameters in the present application.
图9示出了根据本申请的一个实施例的车辆行驶参数的预测装置的框图。FIG. 9 shows a block diagram of an apparatus for predicting vehicle driving parameters according to an embodiment of the present application.
参照图9所示，根据本申请的一个实施例的车辆行驶参数的预测装置 900，包括：第一获取单元901、第二获取单元902、确定单元903、预测单元904。Referring to FIG. 9 , a
其中，第一获取单元901，被用于获取至少两辆车辆在第一时刻的行驶参数，所述至少两辆车辆包括目标车辆和至少一辆第一参考车辆；第二获取单元902，被用于获取至少一辆第二参考车辆在第二时刻的行驶参数，所述第二时刻在所述第一时刻之后；确定单元903，被用于根据所述至少一辆第一参考车辆在第一时刻的行驶参数和所述第二参考车辆在第二时刻的行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息；预测单元904，被用于基于所述目标车辆在第一时刻的行驶参数和所述行驶参数变化信息，预测所述目标车辆在第二时刻的行驶参数。Wherein, the first obtaining
在本申请的一些实施例中，基于前述方案，所述确定单元903配置为：根据所述至少一辆第一参考车辆在第一时刻的行驶参数和第一参考车辆数量，确定所述第一参考车辆在第一时刻的第一平均行驶参数；根据所述至少一辆第二参考车辆在第二时刻的行驶参数和第二参考车辆数量，确定所述第二参考车辆在第二时刻的第二平均行驶参数；根据所述第一平均行驶参数和所述第二平均行驶参数，确定在第一时刻与第二时刻之间参考车辆的行驶参数变化信息。In some embodiments of the present application, based on the foregoing solution, the determining
在本申请的一些实施例中，基于前述方案，所述确定单元903配置为：将所述第二平均行驶参数与所述第一平均行驶参数之间的比值确定为在第一时刻与第二时刻之间参考车辆的行驶参数变化信息。In some embodiments of the present application, based on the foregoing solution, the determining
在本申请的一些实施例中，基于前述方案，所述装置还包括计算单元，被用于基于所述目标车辆在第二时刻的行驶参数、以及所述至少一辆第二参考车辆在第二时刻的行驶参数，通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险。In some embodiments of the present application, based on the foregoing solution, the apparatus further includes a computing unit configured to be used based on the driving parameters of the target vehicle at the second moment and the at least one second reference vehicle at the second The driving parameters at the moment are used to calculate the second driving risk of the target vehicle at the second moment through the driving risk model.
在本申请的一些实施例中，基于前述方案，所述行驶参数包括行驶速度和行驶加速度，所述计算单元配置为：基于所述目标车辆在第二时刻的行驶速度和在第一时刻的行驶速度，计算目标车辆在第二时刻的间接加速度，以得到目标车辆在第二时刻的行驶加速度与所述间接加速度之间的第一差值绝对值；计算所述第一差值绝对值与所述目标车辆在第二时刻的行驶加速度之间的比值，得到第一比值；计算所述第一差值绝对值与所述间接加速度的比值，得到第二比值；在所述第一比值和所述第二比值均不超过第一预定阈值时，通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险。In some embodiments of the present application, based on the aforementioned solution, the driving parameters include a driving speed and a driving acceleration, and the computing unit is configured to: based on the driving speed of the target vehicle at the second moment and the driving at the first moment speed, calculate the indirect acceleration of the target vehicle at the second moment to obtain the first absolute value of the difference between the driving acceleration of the target vehicle at the second moment and the indirect acceleration; calculate the absolute value of the first difference and the Calculate the ratio between the driving accelerations of the target vehicle at the second moment to obtain a first ratio; calculate the ratio of the absolute value of the first difference to the indirect acceleration to obtain a second ratio; When none of the second ratios exceeds the first predetermined threshold, the second driving risk of the target vehicle at the second moment is calculated through the driving risk model.
在本申请的一些实施例中，基于前述方案，所述装置还包括发送单元，被用于在通过驾驶风险模型计算所述目标车辆在第二时刻的第二驾驶风险之后，将所述第二驾驶风险发送至所述目标车辆。In some embodiments of the present application, based on the foregoing solution, the apparatus further includes a sending unit, configured to send the second driving risk of the target vehicle at a second moment after calculating the second driving risk of the target vehicle through a driving risk model The driving risk is sent to the target vehicle.
在本申请的一些实施例中，基于前述方案，所述发送单元配置为：确定所述目标车辆在第一时刻的第一驾驶风险；计算所述第一驾驶风险和所述第二驾驶风险之间的第二差值绝对值；在所述第二差值绝对值与所述第一驾驶风险之间的比值不超过第二预定阈值时，将所述第二驾驶风险发送至所述目标车辆。In some embodiments of the present application, based on the foregoing solution, the sending unit is configured to: determine a first driving risk of the target vehicle at a first moment; calculate the difference between the first driving risk and the second driving risk when the ratio between the absolute value of the second difference and the first driving risk does not exceed a second predetermined threshold, sending the second driving risk to the target vehicle .
在本申请的一些实施例中，基于前述方案，所述发送单元配置为：在所述第二差值绝对值与所述第一驾驶风险之间的比值超过第二预定阈值时，通过所述第二差值绝对值与所述第一驾驶风险之间的比值计算所述第二驾驶风险的可信度；将所述第二驾驶风险、以及所述第二驾驶风险对应的可信度发送至所述目标车辆。In some embodiments of the present application, based on the foregoing solution, the sending unit is configured to: when the ratio between the absolute value of the second difference and the first driving risk exceeds a second predetermined threshold The ratio between the absolute value of the second difference and the first driving risk calculates the credibility of the second driving risk; and sends the second driving risk and the credibility corresponding to the second driving risk to the target vehicle.
在本申请的一些实施例中，基于前述方案，所述发送单元配置为：基于所述第一参考车辆的车辆质量，计算所述至少一辆第一参考车辆的第一总质量；基于所述第二参考车辆的车辆质量，计算所述至少一辆第二参考车辆的第二总质量；计算所述第一总质量和所述第二总质量之间的第三差值绝对值；在所述第三差值绝对值与所述第一总质量之间的比值不超过第三预定阈值时，将所述第二驾驶风险发送至所述目标车辆。In some embodiments of the present application, based on the foregoing solution, the sending unit is configured to: calculate a first total mass of the at least one first reference vehicle based on the vehicle mass of the first reference vehicle; vehicle mass of a second reference vehicle, calculating a second total mass of the at least one second reference vehicle; calculating a third absolute value of the difference between the first total mass and the second total mass; When the ratio between the absolute value of the third difference and the first total mass does not exceed a third predetermined threshold, the second driving risk is sent to the target vehicle.
图10示出了适于用来实现本申请实施例的电子设备的计算机系统的结构示意图。FIG. 10 shows a schematic structural diagram of a computer system suitable for implementing the electronic device according to the embodiment of the present application.
需要说明的是，图10示出的电子设备的计算机系统1000仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。It should be noted that the
如图10所示，计算机系统1000包括中央处理单元(Central Processing Unit，CPU)1001，其可以根据存储在只读存储器(Read-Only Memory， ROM)1002中的程序或者从存储部分1008加载到随机访问存储器 (Random Access Memory，RAM)1003中的程序而执行各种适当的动作和处理，例如执行上述实施例中所述的方法。在RAM 1003中，还存储有系统操作所需的各种程序和数据。CPU 1001、ROM 1002以及RAM 1003通过总线1004彼此相连。输入/输出(Input/Output，I/O)接口1005也连接至总线1004。As shown in FIG. 10 , the
以下部件连接至I/O接口1005：包括键盘、鼠标等的输入部分1006；包括诸如阴极射线管(Cathode Ray Tube，CRT)、液晶显示器(Liquid Crystal Display，LCD)等以及扬声器等的输出部分1007；包括硬盘等的存储部分1008；以及包括诸如LAN(Local AreaNetwork，局域网)卡、调制解调器等的网络接口卡的通信部分1009。通信部分1009经由诸如因特网的网络执行通信处理。驱动器1010也根据需要连接至I/O接口1005。可拆卸介质1011，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器1010上，以便于从其上读出的计算机程序根据需要被安装入存储部分1008。The following components are connected to the I/O interface 1005: an
特别地，根据本申请的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本申请的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分1009从网络上被下载和安装，和/或从可拆卸介质1011被安装。在该计算机程序被中央处理单元(CPU)1001执行时，执行本申请的系统中限定的各种功能。In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method illustrated in the flowchart. In such an embodiment, the computer program may be downloaded and installed from the network via the
需要说明的是，本申请实施例所示的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(Erasable Programmable Read Only Memory， EPROM)、闪存、光纤、便携式紧凑磁盘只读存储器(Compact Disc Read- Only Memory，CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本申请中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本申请中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、有线等等，或者上述的任意合适的组合。It should be noted that the computer-readable medium shown in the embodiments of the present application may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Erasable Programmable Read Only Memory (EPROM), flash memory, optical fiber, portable Compact Disc Read-Only Memory (CD-ROM), optical storage device, magnetic storage device, or any suitable of the above The combination. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device . Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination of the foregoing.
附图中的流程图和框图，图示了按照本申请各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。其中，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，上述模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图或流程图中的每个方框、以及框图或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Wherein, each block in the flowchart or block diagram may represent a module, program segment, or part of code, and the above-mentioned module, program segment, or part of code contains one or more executables for realizing the specified logical function instruction. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams or flowchart illustrations, and combinations of blocks in the block diagrams or flowchart illustrations, can be implemented in special purpose hardware-based systems that perform the specified functions or operations, or can be implemented using A combination of dedicated hardware and computer instructions is implemented.
描述于本申请实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现，所描述的单元也可以设置在处理器中。其中，这些单元的名称在某种情况下并不构成对该单元本身的限定。The units involved in the embodiments of the present application may be implemented in software or hardware, and the described units may also be provided in a processor. Among them, the names of these units do not constitute a limitation on the unit itself under certain circumstances.
作为另一方面，本申请还提供了一种计算机可读介质，该计算机可读介质可以是上述实施例中描述的电子设备中所包含的；也可以是单独存在，而未装配入该电子设备中。上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被一个该电子设备执行时，使得该电子设备实现上述实施例中所述的方法。As another aspect, the present application also provides a computer-readable medium. The computer-readable medium may be included in the electronic device described in the above embodiments; it may also exist alone without being assembled into the electronic device. middle. The above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by an electronic device, enables the electronic device to implement the methods described in the above-mentioned embodiments.
应当注意，尽管在上文详细描述中提及了用于动作执行的设备的若干模块或者单元，但是这种划分并非强制性的。实际上，根据本申请的实施方式，上文描述的两个或更多模块或者单元的特征和功能可以在一个模块或者单元中具体化。反之，上文描述的一个模块或者单元的特征和功能可以进一步划分为由多个模块或者单元来具体化。It should be noted that although several modules or units of the apparatus for action performance are mentioned in the above detailed description, this division is not mandatory. Indeed, according to embodiments of the present application, the features and functions of two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above may be further divided into multiple modules or units to be embodied.
通过以上的实施方式的描述，本领域的技术人员易于理解，这里描述的示例实施方式可以通过软件实现，也可以通过软件结合必要的硬件的方式来实现。因此，根据本申请实施方式的技术方案可以以软件产品的形式体现出来，该软件产品可以存储在一个非易失性存储介质(可以是CD- ROM，U盘，移动硬盘等)中或网络上，包括若干指令以使得一台计算设备(可以是个人计算机、服务器、触控终端、或者网络设备等)执行根据本申请实施方式的方法。From the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein may be implemented by software, or may be implemented by software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present application may be embodied in the form of software products, and the software products may be stored in a non-volatile storage medium (which may be CD-ROM, U disk, mobile hard disk, etc.) or on the network , which includes several instructions to cause a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.
本领域技术人员在考虑说明书及实践这里公开的实施方式后，将容易想到本申请的其它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未公开的本技术领域中的公知常识或惯用技术手段。Other embodiments of the present application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses or adaptations of this application that follow the general principles of this application and include common knowledge or conventional techniques in the technical field not disclosed in this application .
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求来限制。It is to be understood that the present application is not limited to the precise structures described above and illustrated in the accompanying drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
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