CN111156973B - Driving school site surveying and mapping method and device - Google Patents
Driving school site surveying and mapping method and device Download PDFInfo
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Abstract
The embodiment of the invention provides a driving school site mapping method and a device, wherein the method comprises the following steps: determining mapping characteristic points of a field to be mapped; obtaining the position information of each surveying and mapping characteristic point through a surveying and mapping tool; calculating the position information of the calculation feature point according to the feature point of the known position information aiming at any calculation feature point in the to-be-drawn field; the calculated characteristic point is any one of the characteristic points of the field to be mapped except the mapping characteristic point; and the position information of each characteristic point is used for determining whether the driving of the test vehicle meets the test requirements or not when the driving test is carried out on the field to be mapped. Compare in prior art record all characteristic points through the mapping tool, this application can simplify the place survey and drawing operation, can obtain accurate characteristic point position information again, has reduced artifical measurement cost and measuring time cost, has increased measuring result's accuracy nature.
Description
Technical Field
The application relates to the technical field of surveying and mapping, in particular to a driving school site surveying and mapping method and device.
Background
With the development of networks, relevant departments put forward electronic and automatic strategies of examinations according to the examination and training requirements of driving schools. More and more novel technologies are applied to driving examination and training, and most typically, an automatic judgment method based on satellite high-precision positioning replaces the conventional judgment method based on infrared detection.
The traditional test trainee driving technical method is an infrared detection judging method, namely, a large number of infrared devices are distributed in an examination room field to detect whether a trainee has a line pressing condition in the driving process; however, in this method, a large number of infrared devices need to be arranged in the examination room, and these infrared devices not only need to be maintained at ordinary times, but also need to be rearranged if the examination room is replanned, and the infrared devices need to be installed, debugged, and the like in the process. Wasting a large amount of manpower and material resources. The automatic evaluation method for satellite high-precision positioning is based on a satellite high-precision differential positioning technology, can enable a vehicle to achieve dynamic centimeter-level positioning precision through GNSS equipment installed on the vehicle, and meanwhile realizes real-time evaluation of high-precision evaluation of whether the vehicle presses a line, triggers a project, finishes the project and the like by combining a high-precision field project map (comprising backing up and warehousing, side parking, curve driving, right-angle turning, ramp fixed-point parking, starting and the like). Correspondingly, the mapping requirement on the site project map is high, and the examination and training site mapping not only needs to collect the frame characteristic points and the internal characteristic points of the project map, but also needs to add some judgment functional partitions in corresponding areas and needs to collect the characteristic points, so that a large number of characteristic points need to be manually measured, and manual measurement is inevitable and can generate deviation.
Therefore, there is a need for a driving school yard surveying and mapping method and device for simplifying the driving school yard surveying and mapping operation and obtaining accurate surveying and mapping results.
Disclosure of Invention
The embodiment of the invention provides a driving school site surveying and mapping method and device, which are used for simplifying site surveying and mapping operation and obtaining an accurate surveying and mapping result.
In a first aspect, an embodiment of the present invention provides a driving school yard mapping method, where the method includes:
determining mapping characteristic points of a field to be mapped; obtaining the position information of each surveying and mapping characteristic point through a surveying and mapping tool; calculating the position information of the calculation feature point according to the feature point of the known position information aiming at any calculation feature point in the to-be-drawn field; the calculated characteristic point is any one of the characteristic points of the field to be mapped except the mapping characteristic point; and the position information of each characteristic point is used for determining whether the driving of the test vehicle meets the test requirements or not when the driving test is carried out on the field to be mapped.
By adopting the method, the surveying and mapping characteristic points are measured by the surveying and mapping tool, and the calculated characteristic point information is calculated by the surveying and mapping characteristic points and the characteristic points with known position information.
In one possible design, further comprising: and determining that the mapping feature points conform to the position relation among the mapping feature points in the field to be mapped according to the position information of the mapping feature points.
By adopting the method, the position relation among the surveying and mapping characteristic points is determined according to the position information of the surveying and mapping characteristic points, so that the position information of the characteristic points can be calculated and calculated conveniently according to the known position relation. Therefore, the position information of the calculated characteristic points can be obtained without manual measurement, and the site surveying and mapping operation is simplified; and the calculation characteristic points are obtained through calculation, so that the manual operation error is reduced, and the accuracy of the measurement result is improved.
In one possible design, comprising: for any three mapping feature points, when the three mapping feature points meet side length constraint and angle constraint, determining the position relation between the mapping feature points in the field to be drawn, wherein,
the side length constraint is:
the angle constraint is:
wherein, A (x)1,y1)、B(x2,y2)、C(x3,y3) Points are the mapping characteristic points, L is the design size of the mapping field to be measured between two points AB, epsilon is the characteristic size distance of the set allowable deviation of the AB length, AB and BC are two adjacent and intersected edges, the common point is the point B, a is the side length of AB, B is the side length of BC, c is the side length of AC, theta isBAnd e is the set angle tolerance for the design angle of the drawing field to be measured relative to B.
By adopting the method, through the side length constraint and the angle constraint of the surveying and mapping characteristic points with known position information, the error generated or overlarge error when the surveying and mapping characteristic points are measured by using a surveying and mapping tool is prevented, the accuracy of the position information of the surveying and mapping characteristic points is ensured, and the accuracy of calculating and calculating the characteristic points in the follow-up process is also improved.
In one possible design, comprising: determining a geometric position relationship between the calculated feature points and feature points of the known position information; and calculating the position information of the estimated characteristic points according to the geometric position relation and the position information of the characteristic points of the known position information.
By adopting the method, the position information of the estimated characteristic point is calculated according to the geometric relationship and the position information of the characteristic point by estimating the geometric relationship between the characteristic point and the characteristic point of the known position information. Therefore, the position information of the characteristic points can be calculated without manual measurement, the site surveying and mapping operation is simplified, the position information of the characteristic points obtained through the strict geometric relation and the corresponding position information is more accurate, the manual measurement cost and the measurement time cost are reduced, and the accuracy of the measurement result is improved.
In one possible design, comprising: determining a first angle between the characteristic points of the known position information and/or a second angle between the characteristic points of the known position information and the calculated characteristic points according to the geometric position relation; determining a length between feature points of the known location information; and determining the position information of the calculated characteristic point according to the length, the first angle and/or the second angle.
With the above method, other feature point position information is determined by the length, the first angle, and/or the first angle between the feature points of the known position information. And the position information of the characteristic point is obtained without measuring by a measuring tool, so that the site surveying and mapping operation is simplified, and the manual measurement cost is reduced.
In one possible design, further comprising: determining a virtual map of the to-be-painted field according to the vehicle information of the test vehicle; the virtual map is used for determining the position relation among the characteristic points.
By adopting the method, the corresponding size of the map can be determined by examining the vehicle information, for example, the garage length of the side parking is longer than the vehicle length by a certain distance, and the garage width is wider than the vehicle width by a fixed multiple, so that the length between the characteristic points can be determined, and the position information of the characteristic points of the unknown position information can be calculated.
In a second aspect, an embodiment of the present invention provides a driving school site mapping apparatus, including:
the determining module is used for determining mapping characteristic points of the to-be-mapped field; the acquisition module is used for acquiring the position information of each surveying and mapping characteristic point through a surveying and mapping tool; the processing module is used for calculating the position information of the calculation characteristic point according to the characteristic point of the known position information aiming at any calculation characteristic point in the to-be-drawn field; the calculated characteristic point is any one of the characteristic points of the field to be mapped except the mapping characteristic point; and the position information of each characteristic point is used for determining whether the driving of the test vehicle meets the test requirements or not when the driving test is carried out on the field to be mapped.
In one possible design, the processing module is further to: and determining that the mapping feature points conform to the position relation among the mapping feature points in the field to be mapped according to the position information of the mapping feature points.
In a third aspect, an embodiment of the present application further provides a computing device, including: a memory for storing program instructions; a processor for calling program instructions stored in said memory to execute the method as described in the various possible designs of the first aspect according to the obtained program.
In a fourth aspect, embodiments of the present application also provide a computer-readable non-transitory storage medium including computer-readable instructions which, when read and executed by a computer, cause the computer to perform the method as set forth in the various possible designs of the first aspect.
These and other implementations of the present application will be more readily understood from the following description of the embodiments.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a driving school yard surveying and mapping method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a driving school yard surveying and mapping method according to an embodiment of the present invention;
fig. 3 is a schematic view of mapping a garage field according to an embodiment of the present invention;
fig. 4 is a schematic view of a driving school yard surveying and mapping device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Before mapping a site project map, determining a virtual map of the site to be mapped according to the vehicle information of the test vehicle; the virtual map is used for determining the position relation among the characteristic points. For example, in the driving school test, the length and width of the corresponding lanes are different for different vehicle types, and the size of the map of each corresponding site project is different. Therefore, according to the type of the vehicle, a corresponding site map, i.e., a virtual map, is determined, and the virtual map may be a paper map or an electronic map, etc., which is drawn by reducing the size of an item in the real site in a certain ratio and includes the positional relationship between the feature points.
Fig. 1 is a system architecture for mapping a driving school yard according to an embodiment of the present invention, where for a yard to be mapped, position information of mapping feature points is measured in a measurement module 101, and the measured mapping feature points are input into a calculation module 102 to obtain calculation feature points, or unknown feature points are calculated from known mapping feature points and calculation feature points until feature point positions of all feature points are obtained, and the feature point positions are input into a mapping module 103, and corresponding feature points are connected according to corresponding connection methods to obtain a complete yard map.
Based on this, the present application provides a method flow for mapping driving school yard, as shown in fig. 2, including:
here, when mapping a field map, mapping feature points are first determined, and the following conditions are satisfied: that is, all the estimated feature points can be estimated through the mapping feature points, or part of the estimated feature points can be estimated, and the estimated feature points and the mapping feature points can estimate all the remaining estimated feature points; that is, mapping the location information of the feature points can obtain the required key data.
For example, a garage field is mapped, and since the garage field is rectangular, another point can be calculated by mapping the vertexes of any three corners of the garage field. Or, surveying and mapping the curve field, wherein the curve field is arc-shaped, so that a specified arc angle and a specified curve width can be obtained firstly, namely, the initial point of the inner arc is measured firstly, and then the initial point of the outer arc is measured, and the rest points are calculated according to the arc angle, the initial point of the inner arc and the initial point of the outer arc. From this, it can be determined which points the mapping feature points may be.
here, a coordinate system may be set in the area of the mapping site, and the origin may be determined, and the mapping feature points as described in step 201 may be measured by using a mapping tool such as a triangular ruler, a straight ruler, a triangular plate, a curved ruler, a compass, a template, a snake ruler, etc. in the above example, the mapping garage site may be mapped, and the mapping feature points measured by the mapping tool may be three vertices of a rectangle; and (3) mapping the curve field, wherein the mapping characteristic points measured by the mapping tool can be an inner arc starting point and an outer arc starting point.
Before calculating the position information of the estimated feature point according to the feature point of the known position information, the method further comprises the following steps: and determining that the mapping feature points conform to the position relation among the mapping feature points in the field to be mapped according to the position information of the mapping feature points.
Here, the estimated feature points are feature points obtained by calculation based on feature points of known position information, that is, after the surveying and mapping feature points are obtained by measurement, before the estimated feature point position information is calculated, the accuracy of the position information of the surveying and mapping feature points obtained by measurement is verified. Whether the measured position information of the mapping feature points is accurate can be determined through the position information of the mapping feature points.
Here, the mapping feature points can be verified through side length constraint and angle constraint, and for any three mapping feature points, when the three mapping feature points satisfy the side length constraint and the angle constraint, the position relationship between the mapping feature points in the field to be mapped is determined, wherein,
the side length constraint is:
the angle constraint is:
wherein, A (x)1,y1)、B(x2,y2)、C(x3,y3) Points are the mapping characteristic points, L is the design size of the mapping field to be measured between two points AB, epsilon is the characteristic size distance of the set allowable deviation of the AB length, AB and BC are two adjacent and intersected edges, the common point is the point B, a is the side length of AB, B is the side length of BC, c is the side length of AC, theta isBAnd e is the set angle tolerance for the design angle of the drawing field to be measured relative to B.
Wherein L may be a predetermined dimension, for example, after determining a vehicle model used in a driving test, the vehicle length and the vehicle width are known, and thus, the length of the garage in the test site is 0.6m more than the vehicle length, the garage length is +0.6, the garage width is 1.5 times the vehicle width, and the garage width is 1.5 times the vehicle width; the design dimension L can thus be obtained.
In the previous example, as shown in fig. 3, for mapping a garage field, the mapping feature points measured by the mapping tool may be three vertices of a rectangle; determining a virtual coordinate system in a mapping garage field, wherein the measured coordinates of three vertexes of the rectangle are respectively an origin A (x)1,y1) When the coordinate of point B is (0,0), the coordinate of point B is measured as B (x)2,y2) When the coordinate of the point C is (5,0), the coordinate is measured
Thus, A (0,0), B (5,0),
substituting L into a formula side length constraint formula:
and verifying whether the measurement result is accurate.
The internal angle of a right triangle formed by A, B, C can be measured to obtain angle A of 60 degrees, angle B of 90 degrees, angle C of 30 degrees, and the angle is verified, and A (0,0), B (5,0),
substituting angle A as 60 degrees, angle B as 90 degrees, angle C as 30 degrees into an angle constraint formula:
and verifying whether the measurement result is accurate. It is also possible to use the formula: a is2＝b2+c2-2bccosA,b2＝a2+c2-2accosB,c2＝a2+b2-2 abcoss C validating the measurement result, validating the partyThe formula is not particularly limited.
Here, for any estimated feature point, the position information of the estimated feature point can be calculated according to the feature points of the known position information, so as to obtain all feature points for drawing a site map, and the feature points are used for drawing lines on corresponding positions of the site, so that whether the driving trainee examination is qualified or not can be judged.
Wherein the calculating the position information of the estimated feature point according to the feature point of the known position information includes: determining a geometric position relationship between the calculated feature points and feature points of the known position information; and calculating the position information of the estimated characteristic points according to the geometric position relation and the position information of the characteristic points of the known position information.
That is, to calculate the position information of the estimated feature points from the feature points of the known position information, to determine the geometric positional relationship between the feature points of the known position information and the estimated feature points, and the positional relationship between the feature points of the known position information and the estimated feature points, in the above example, as shown in fig. 3, the estimated feature points D, known a (0,0), B (5,0) are calculated by mapping the feature points by A, B, C,
A. b, C, mapping a feature point to be a geometric position relation between the feature point of known position information and a calculation feature point D, wherein the angle ADC is 90 degrees; A. b, C mapping the feature points to the position relationship between the feature points of the known position information and the estimated feature point D,
AC =5, whereby the coordinates of the estimated feature point D can be determined as
Wherein, a first angle between the feature points of the known position information and/or a second angle between the feature points of the known position information and the calculated feature points can be determined according to the geometric position relationship; determining a length between feature points of the known location information; and determining the position information of the calculated characteristic point according to the length, the first angle and/or the second angle.
Here, in the above example, A (0,0), B (5,0),
according to the geometric position relation, a first angle between the known characteristic points is determined, such as: angle a is 60 °, angle B is 90 °, and angle C is 30 °. Because the garage is rectangular, a second angle between the feature point of the known position information and the calculated feature point can be determined, such as: angle ADC is 90 °; thus, according to the length AB between the feature points of the known position information being 5,
CD is 5, and the first angle and/or the second angle determine the position information of the D point as
By adopting the method, the surveying and mapping characteristic points are measured by the surveying and mapping tool, and the calculated characteristic point information is calculated by the surveying and mapping characteristic points and the characteristic points with known position information.
Based on the same concept, an embodiment of the present invention provides an apparatus for updating an admission threshold of a data federation, and fig. 4 is a schematic diagram of the apparatus for updating an admission threshold of a data federation, as shown in fig. 4, including:
a determining module 401, configured to determine mapping feature points of a to-be-mapped field;
an obtaining module 402, configured to obtain, by a mapping tool, position information of each mapping feature point;
the processing module 403 is configured to calculate, for any estimated feature point in the to-be-drawn field, position information of the estimated feature point according to a feature point of known position information; the calculated characteristic point is any one of the characteristic points of the field to be mapped except the mapping characteristic point; and the position information of each characteristic point is used for determining whether the driving of the test vehicle meets the test requirements or not when the driving test is carried out on the field to be mapped.
In one possible design, the processing module 403 is further configured to:
and determining that the mapping feature points conform to the position relation among the mapping feature points in the field to be mapped according to the position information of the mapping feature points.
In one possible design, the determining module 401 is further configured to:
for any three mapping feature points, when the three mapping feature points meet side length constraint and angle constraint, determining the position relation between the mapping feature points in the field to be drawn, wherein,
the side length constraint is:
the angle constraint is:
wherein, A (x)1,y1)、B(x2,y2)、C(x3,y3) Points are the mapping characteristic points, L is the design size of the mapping field to be measured between two points AB, epsilon is the characteristic size distance of the set allowable deviation of the AB length, AB and BC are two adjacent and intersected edges, the common point is the point B, a is the side length of AB, B is the side length of BC, c is the side length of AC, theta isBAnd e is the set angle tolerance for the design angle of the drawing field to be measured relative to B.
In one possible design, the processing module 403 is specifically configured to: determining a geometric position relationship between the calculated feature points and feature points of the known position information; and calculating the position information of the estimated characteristic points according to the geometric position relation and the position information of the characteristic points of the known position information.
In one possible design, the processing module 403 is specifically configured to: determining a first angle between the characteristic points of the known position information and/or a second angle between the characteristic points of the known position information and the calculated characteristic points according to the geometric position relation; determining a length between feature points of the known location information; and determining the position information of the calculated characteristic point according to the length, the first angle and/or the second angle.
In one possible design, the determining module 401 is further configured to: determining a virtual map of the to-be-painted field according to the vehicle information of the test vehicle; the virtual map is used for determining the position relation among the characteristic points.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (7)
1. A method of driving school yard mapping, the method comprising:
determining mapping characteristic points of a field to be mapped;
obtaining the position information of each surveying and mapping characteristic point through a surveying and mapping tool;
for any three mapping feature points, when the three mapping feature points meet side length constraint and angle constraint, determining the position relation between the mapping feature points in the field to be drawn, wherein,
the side length constraint is:
the angle constraint is:
wherein, A (x)1,y1)、B(x2,y2)、C(x3,y3) Points are mapping characteristic points, L is the design size of the to-be-measured drawing field between two points AB, epsilon is the set allowable deviation of the length of AB, AB and BC are two adjacent and intersected edges, the common point of the two adjacent and intersected edges is B point, a is the side length of AB, B is the side length of BC, c is the side length of AC, thetaBSetting the allowable deviation of the angle as the design angle of the drawing field to be measured relative to B;
calculating the position information of the calculation feature point according to the feature point of the known position information aiming at any calculation feature point in the to-be-drawn field; the calculated characteristic point is any one of the characteristic points of the field to be mapped except the mapping characteristic point; and the position information of each characteristic point is used for determining whether the driving of the test vehicle meets the test requirements or not when the driving test is carried out on the field to be mapped.
2. The method according to claim 1, wherein the calculating the position information of the estimated feature point from the feature points of the known position information includes:
determining a geometric position relationship between the calculated feature points and feature points of the known position information;
and calculating the position information of the estimated characteristic points according to the geometric position relation and the position information of the characteristic points of the known position information.
3. The method according to claim 2, wherein calculating the position information of the estimated feature point from the geometric positional relationship and the position information of the feature point of the known position information includes:
determining a first angle between the characteristic points of the known position information and/or a second angle between the characteristic points of the known position information and the calculated characteristic points according to the geometric position relation;
determining a length between feature points of the known location information;
and determining the position information of the calculated characteristic point according to the length, the first angle and/or the second angle.
4. The method according to any one of claims 1-3, wherein before determining the mapping feature points of the field to be mapped, further comprising:
determining a virtual map of the to-be-painted field according to the vehicle information of the test vehicle; the virtual map is used for determining the position relation among the characteristic points.
5. A device for driving school yard mapping, said device comprising:
the determining module is used for determining mapping characteristic points of the to-be-mapped field;
the acquisition module is used for acquiring the position information of each surveying and mapping characteristic point through a surveying and mapping tool;
a processing module, configured to determine, for any three mapping feature points, a positional relationship that conforms to the mapping feature points in the to-be-measured mapping field when the three mapping feature points satisfy a side length constraint and an angle constraint, where,
the side length constraint is:
the angle constraint is:
wherein, A (x)1,y1)、B(x2,y2)、C(x3,y3) Points are mapping characteristic points, L is the design size of the to-be-measured drawing field between two points AB, epsilon is the set allowable deviation of the length of AB, AB and BC are two adjacent and intersected edges, the common point of the two adjacent and intersected edges is B point, a is the side length of AB, B is the side length of BC, c is the side length of AC, thetaBSetting the allowable deviation of the angle as the design angle of the drawing field to be measured relative to B;
calculating the position information of the calculation feature point according to the feature point of the known position information aiming at any calculation feature point in the to-be-drawn field; the calculated characteristic point is any one of the characteristic points of the field to be mapped except the mapping characteristic point; and the position information of each characteristic point is used for determining whether the driving of the test vehicle meets the test requirements or not when the driving test is carried out on the field to be mapped.
6. A computing device, comprising:
a memory for storing program instructions;
a processor for calling program instructions stored in said memory to execute the method of any one of claims 1 to 4 in accordance with the obtained program.
7. A computer-readable non-transitory storage medium including computer-readable instructions which, when read and executed by a computer, cause the computer to perform the method of any one of claims 1 to 4.
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