CN108389477A - A kind of correction guidance method for driving training field training - Google Patents
A kind of correction guidance method for driving training field training Download PDFInfo
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Abstract
The invention belongs to drive to train field training technical field, specifically a kind of correction guidance method for driving training field training, including：S1. the step of acquisition place training map；S2. the step of identifying place map；S3. the step of generating canonical path；S4. the relationship of vehicle and map is established；S5. the step of carrying out correction calculations；S6. the step of being shown.Using the present invention, high accuracy positioning equipment only need to be loaded onto on vehicle, the guidance excessive without coach, student autonomous can be trained.
Description
Technical field
The invention belongs to drive training field training technical field, specifically a kind of correction guidance method for driving training field training.
Background technology
One of the emphasis for driving form-intelligence energy field training is exactly the guidance that intelligence is carried out to student, is specifically just embodied in place
To the real-time deviation correcting of student's current route when training.Vehicle location is not fixed when due to training, it is necessary to targetedly to religion
Practice current location is analyzed in real time, and accomplishes to rectify a deviation in real time, and a teaching-guiding can accurately be just provided for student.
Current training field training of driving mainly has three classes method：
1, without positioning voice guidance, i.e., relevant voice and video are put in equipment, student passes through in specific training
Viewing video learns relevant operation skill slowly to be eliminated completely without miscellaneous function.
2, high-precision vehicle is shown, i.e., high accuracy positioning equipment is increased in equipment, and this method makes student and coach
In time onboard, also will appreciate that the position of current vehicle, and in the whole process, can clearly see to vehicle whether crimping,
It is not interfered by viewing angle, largely facilitates coach and student, but it does not have the function of aided education, actual behaviour
Make oral instructions of the process still by training to teach others by his own example.
3, fixed point is reported, and is equally shown in vehicle unlike the second way using high precision apparatus
On the basis of, point this attribute is added, that is, realizes ground acquisition point on the scene and voice is provided, set in advance when student drives to
The point set can carry out voice broadcast, and student is prompted to operate, and such method alleviates the negative of coach to a certain extent
Load, but when error is larger in angle or excessive ranging offset, the judgement of student can be influenced instead by correct operation.
Invention content
For overcome the deficiencies in the prior art, technical problem to be solved by the present invention lies in provide one kind driving training place instruction
Experienced correction guidance method.
To achieve the above object, this patent adopts the following technical scheme that：
A kind of correction guidance method for driving training field training, including following four step：
S1. the step of acquiring place map M：Pass through the unmanned plane with positioning function and shooting function, ground on the scene overhead
Shooting, collecting photo, while the longitude and latitude and altitude information of unmanned plane when shooting photo are acquired, and use an orderly line
Waypoint attribute set is expressed as S { M1,M2,M3.....MN}；
S2. the step of identifying place map M：The shooting photo in place is analyzed, by being carried out at gray scale to photo
Reason, gets the side wire frame positions in place, is analyzed using training place model is driven, judgement obtains each specific place
Mesh, the longitude and latitude and height of unmanned plane obtain each point in each specific place project using projection theory when in conjunction with acquisition
Specific coordinate, and M { Q are expressed as using an orderly field location attribute set1, Q2, Q3.....QN}；
S3. the step of generating canonical path L：Pass through the Q got to specific place projectnIt is analyzed, in conjunction with vehicle
With mark router algorithm, it is calculated in each specific place project and completes the required standard circuit L of training；
S4. the relationship of vehicle and map is established：It determines currently used map M, fence is carried out to the region in map M
Judge, if it find that vehicle is bound map and vehicle in the range of the map；
S5. the step of carrying out correction calculations：Pass through the canonical path L for calculating the current location of vehicle and step S3
Real-time comparative analysis is carried out, when finding preset threshold value of vehicle shift 3 times or more, deviation correcting signal is sent and gives displaying interface；
S6. the step of being shown：When getting vehicle and vehicle is currently located map, it is just plotted in displaying circle
It on face, later when vehicle location refreshing, is all redrawn and is judged, when receiving deviation correcting signal, show interface display or report
Correction information.
Preferably, in the step S1, the unmanned plane keeps the same angle of horizontal direction to fly with place, will be whole
The image taking in a place is simultaneously preserved to server.
Preferably, in the step S2, gamma error value is set as 90%, after photo is carried out gray proces, obtains field
Side wire frame positions in ground are compared and analyzed with the side wire frame positions in place using training place model is driven, judge to determine tool
Body place project is simultaneously preserved to server.
Preferably, in the step S3, after obtaining the longitude and latitude of project, according to exclusive standard circuit algorithm, each
Obtain completing the standard circuit of the project in project, likewise, the standard circuit of project is saved in server.
Preferably, in the step S4, the longitude and latitude of current vehicle can be uploaded when vehicle starts field training to server
Coordinate asks the map in range, and server can return to general map preview and number, automatic to select after vehicle receives data
It selects or is specified by driver, select map, then server will send the longitude and latitude and mark of specific place project in map
The specifying information of quasi- route, while binding relationship is established, proceed by correction.
Preferably, described by calculating the deviation angle and offset distance of rear wheel and canonical path in the step S5
It is 15 degree that the preset threshold value of vehicle shift, which is set as peak excursion angle, and peak excursion distance is 30cm.
Preferably, in the step S6, the map of binding, the canonical path of binding and vehicle are shown on presentation device
Current location, vehicle location refreshed primary every 0.2 second, when receiving the signal of correction, carried out voice prompt.
Compared with prior art, a kind of advantageous effect of correction guidance method that driving training field training of the present invention is：1, no
Additional sampling site, previous equipment is needed during use, to be required for carrying out a prior process set foot-point, use is numerous
Trivial, this method is acquired using unmanned plane, the operation of high degree reduced before use；2, canonical path becomes with map
Dynamic, after obtaining map, canonical path generates according to the map, and flexibility is high, is not limited by area and place；3, anticipation in real time
By force, it is calculated according to two variables of distance and angle, resource consumption is few, and the calculating time is fast, can preferably provide aided education.
Description of the drawings
Fig. 1 is a kind of principle process schematic diagram of correction guidance method that driving training field training of the present invention；
Fig. 2 is each point coordinates acquisition principle schematic diagram in specific place project in step 2 of the present invention；
Fig. 3 is the principle process schematic diagram for the relationship that vehicle and map are established in step 4 of the present invention；
Fig. 4 is the Rectification Analysis principle schematic on step 5 cathetus of the present invention；
Fig. 5 is the Rectification Analysis principle schematic on curve in step 5 of the present invention；
Fig. 6 is the principle process schematic diagram of real-time exhibition in step 6 of the present invention.
Specific implementation mode
The invention will be further described with embodiment below in conjunction with the accompanying drawings, but protection scope of the present invention not office
It is limited to the range of embodiment statement.
As shown in fig.1, one kind provided by the invention drives training field training correction guidance method, include the following steps：Step
Rapid one, acquire the step of map is trained in place；The step of step 2, identification place map；Step 3 generates the step of canonical path
Suddenly；Step 4 establishes the relationship of vehicle and map；The step of step 5, progress correction calculations；Step 6, the step being shown
Suddenly.Using the present invention, high accuracy positioning equipment only need to be loaded onto on vehicle, the guidance excessive without coach, student can be certainly
Main is trained.
Below in conjunction with the accompanying drawings, each step is described in detail：
Step 1: the step of acquisition place training map：
Using with high-precision unmanned plane, the same angle of horizontal direction is kept to take off with place, by entire place
Image taking simultaneously preserves, while the longitude and latitude and height for also including current unmanned plane preserved, and after confirmation, data are stored in,
Meanwhile data are by the longitude and latitude name of unmanned plane when acquisition.
Step 2: the step of identification place map：
Shooting picture is subjected to gray proces, selects the color (place line is yellow or white) of place line, gamma error value
It is set as 90%, can generally obtains the position of the setting-out in entire place, after obtaining sideline frame one by one, place is trained with driving
Model goes comparative analysis：1, it goes up a slope and starts to walk, a generally longer rectangle, intermediate there are 3 straight lines；2, curve driving,
Straight line is not present in integrally bending；3, right-angled bend, generally two rectangular superpositions；4, reversing storage, generally one
It is a "T"-shaped, and T shapes both sides equal length；5, side is stopped, similar to reversing storage, generally T rows, but left and right it is unequal and
Vertical height is about 2 times of horizontal length.When the situation in place and model error are no more than 80%, place is considered as model, and
It preserves；
After getting place model, according to camera current ratio and projection theorem, such as Fig. 2, if where unmanned plane
Position is origin, and the coordinate value of each point can be obtained, can according to the distance and direction of the longitude and latitude of unmanned plane and rectangular co-ordinate
The specific longitude and latitude of each point is obtained, that is, completes acquisition.
Step 3: the step of generating canonical path：
According to the driving specification of standard specific canonical path is calculated in conjunction with vehicle and map point：
It goes up a slope and starts to walk：First part is, apart from edge line 30cm, parallel sides sideline, terminating point is front truck on the left of vehicle distances
Wheel reaches stop line；Second part is to continue parallel sides sideline until leaving project from the position；
Curve driving：Entire project is separated along intermediate, first part be on the left of vehicle whose forwardmost end portions always with left side bearing
Distance 50cm, second part be vehicle on the right side of front end always with right side bearing distance 50cm；
Right-angled bend：First part is the wheel distance sideline 30cm opposite with turn direction, until wheel crosses turn line,
Second part crosses turn line from wheel, makees circular arc, until vehicle is driven out to project；
Reversing storage：First part is astern parts, vehicle distances top line 30cm, after headstock crosses front, second
Part is using library apex angle as the center of circle, and first part's ending is starting point, makees semicircle, is horizontal end until with library, third portion
Divide using second part ending as starting point, vehicle terminates apart from bottom storehouse 30cm；
It stops side：First part is astern parts, vehicle distances top line 30cm, after headstock crosses front, second
Using library apex angle as the center of circle, first part's ending is starting point, makees semicircle for part, until being presented 45 ° with bottom storehouse angle, reversely does one again
A semicircle stops with library rear distance 30cm apart from sideline 50cm when vehicle is entirely in library.
Step 4: establishing the relationship of vehicle and map：
As shown in figure 3, when clicking to enter teaching, learner-driven vehicle can be passed to current longitude and latitude seat parameter to server, ask
Ask the map in range, server that can return to general map preview and number and be asked again after learner-driven vehicle selects the map needed
It asks, server will send the specifying information of the longitude and latitude and canonical path of detailed programs in map, while establishing binding and closing
System, proceeds by correction.
Five, the step of carrying out correction calculations：
Correction needs to be divided into two kinds of situations：
When standard circuit is straight line, as shown in figure 4, two front-wheels A, C of vehicle and two trailing wheels B, D of vehicle can form two
Straight line intersects at point E, F with standard circuit L, when advance, if the absolute value of AE-AC is less than 30cm, and ∠ AEL- ∠ CEL
Absolute value be less than 30 °, then it is assumed that vehicle current driving is standard circuit, and otherwise which side deviation is larger, then be considered as toward which
While offseting by, need to correct, whereas if if retrogressing, then trailing wheel, the absolute value of BF-DF is used to be less than 30cm and ∠
The absolute value of BFL- ∠ DFL is less than 30 °；
When canonical path is curve, as shown in Figure 5, it is necessary first to judge that the intersection point of wheel and canonical path for C, does C points
Tangent line L, at this point, if the absolute value of AC-BC is less than 30cm, and the absolute value of ∠ ACL- ∠ BCL is less than 30 °, then vehicle row
It sails in standard circuit, otherwise which side offset distance is big, then is considered as toward which side offset and needs to correct.
Step 6: the step of being shown：
As shown in fig. 6, upon start, cartographic information and standard circuit information are plotted on display platform, when receiving
After information of vehicles, vehicle location is redrawn on map, if it find that there is correction information, the information that will just rectify a deviation is also shown in displaying
Platform is all once redrawn and is judged hereafter whenever vehicle location refreshing.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical solutions of arbitrary combination and formation.Such as features described above has similar work(with (but not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (6)
1. a kind of correction guidance method for driving training field training, it is characterised in that：Including following four step：
S1. the step of acquiring place map M：Pass through the unmanned plane with positioning function and shooting function, the shooting of ground on the scene overhead
Photo is acquired, while acquiring the longitude and latitude and altitude information of unmanned plane when shooting photo, and uses an orderly field location
Attribute set is expressed as S { M1, M2, M3.....MN}；
S2. the step of identifying place map M：The shooting photo in place is analyzed, by carrying out gray proces to photo, is obtained
The side wire frame positions in place to be got, are analyzed using training place model is driven, judgement obtains each specific place project, in conjunction with
The longitude and latitude and height of unmanned plane when acquisition obtain the specific seat of each point in each specific place project using projection theory
Mark, and M { Q are expressed as using an orderly field location attribute set1, Q2, Q3.....QN}；
S3. the step of generating canonical path L：Pass through the Q got to specific place projectnIt is analyzed, in conjunction with vehicle and mark
Router algorithm is calculated in each specific place project and completes the required standard circuit L of training；
S4. the relationship of vehicle and map is established：Determine currently used map M, carrying out fence to the region in map M sentences
It is disconnected, if it find that vehicle is bound map and vehicle in the range of the map；
S5. the step of carrying out correction calculations：It is carried out by the canonical path L for calculating the current location of vehicle and step S3
Real-time comparative analysis sends deviation correcting signal and gives displaying interface when finding preset threshold value of vehicle shift 3 times or more；
S6. the step of being shown：When getting vehicle and vehicle is currently located map, it is just plotted in displaying interface
On, it later when vehicle location refreshing, is all redrawn and is judged, when receiving deviation correcting signal, shown interface display or report and entangle
Believe one side only breath.
2. driving the correction guidance method of training field training according to claim 1, it is characterised in that：In the step S1, institute
State unmanned plane keeps the same angle of horizontal direction to fly with place, by the image taking in entire place and preserves to service
Device.
3. driving the correction guidance method of training field training according to claim 1, it is characterised in that：In the step S2, ash
Degree error amount is set as 90%, after photo is carried out gray proces, obtains the side wire frame positions in place, and place mould is trained using driving
Type is compared and analyzed with the side wire frame positions in place, is judged to determine specific place project and be preserved to server.
4. driving the correction guidance method of training field training according to claim 1, it is characterised in that：In the step S4, vehicle
Start field training when can to server upload current vehicle latitude and longitude coordinates, ask range in map, server meeting
General map preview and number are returned, after vehicle receives data, automatically selects or is specified by driver, selects map, then
Server will send the specifying information of the longitude and latitude and canonical path of specific place project in map, while establishing binding and closing
System, proceeds by correction.
5. driving the correction guidance method of training field training according to claim 1, it is characterised in that：In the step S5, lead to
The deviation angle and offset distance for calculating rear wheel and canonical path are crossed, the preset threshold value of vehicle shift is set as maximum inclined
It is 15 degree to move angle, and peak excursion distance is 30cm.
6. driving the correction guidance method of training field training according to claim 1, it is characterised in that：In the step S6,
The current location of the map of binding, the canonical path of binding and vehicle is shown on presentation device, vehicle location was every 0.2 second
Refresh once, when receiving the signal of correction, carries out voice prompt.
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| CN111402671A (en) * | 2018-10-19 | 2020-07-10 | 上海肩并肩电子科技有限公司 | Driving school driving language audio and video teaching method and device |
| CN111667742A (en) * | 2020-07-20 | 2020-09-15 | 南京智金科技创新服务中心 | Intelligent auxiliary training method and system for learner-driven vehicle |
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| CN111402671A (en) * | 2018-10-19 | 2020-07-10 | 上海肩并肩电子科技有限公司 | Driving school driving language audio and video teaching method and device |
| CN109272821A (en) * | 2018-10-22 | 2019-01-25 | 广州星唯信息科技有限公司 | A kind of place driving evaluation method based on high-precision vision positioning |
| CN110070192A (en) * | 2019-04-19 | 2019-07-30 | 北方天途航空技术发展（北京）有限公司 | The coach's management method and system of unmanned plane teaching |
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| CN111667742A (en) * | 2020-07-20 | 2020-09-15 | 南京智金科技创新服务中心 | Intelligent auxiliary training method and system for learner-driven vehicle |
| CN111967780A (en) * | 2020-08-19 | 2020-11-20 | 江苏经纬智联航空科技有限公司 | Method and system for supervising special vehicle operation process by means of airplane in airport |
| CN112347086A (en) * | 2020-09-28 | 2021-02-09 | 中电海康集团有限公司 | Driving training method and device based on surveying and mapping data enhancement |
| CN112347086B (en) * | 2020-09-28 | 2022-06-21 | 中电海康集团有限公司 | Driving training method and device based on surveying and mapping data enhancement |
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| CN112270864A (en) * | 2020-11-05 | 2021-01-26 | 中电海康集团有限公司 | Driving training teaching method and system based on first-person sight position adjustment |
| CN112270864B (en) * | 2020-11-05 | 2022-06-21 | 中电海康集团有限公司 | Driving training teaching method and system based on first-person sight position adjustment |
| CN114822169A (en) * | 2022-05-06 | 2022-07-29 | 辽宁科技大学 | Driving auxiliary exercise method and device for instructional car |
| CN116343433A (en) * | 2023-05-30 | 2023-06-27 | 广州市德赛西威智慧交通技术有限公司 | High-precision driving school safety monitoring method and system based on RTK |
| CN116343433B (en) * | 2023-05-30 | 2023-10-24 | 广州市德赛西威智慧交通技术有限公司 | High-precision driving school safety monitoring method and system based on RTK |
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