CN112347086B - Driving training method and device based on surveying and mapping data enhancement - Google Patents
Driving training method and device based on surveying and mapping data enhancement Download PDFInfo
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Abstract
The invention discloses a driving training method and device based on surveying and mapping data enhancement, which are used for assisting driving training vehicles to run after data enhancement is carried out on surveying and mapping data of a driving training field and the driving training vehicles, wherein the driving training method based on the surveying and mapping data enhancement comprises the steps of surveying and mapping data enhancement of the driving training field, the surveying and mapping data enhancement of the driving training vehicles and the analysis of spatial topological relation. According to the method, the surveying and mapping data of the driving training field is enhanced, the availability and the accuracy of the driving training field data are improved, the use convenience of the driving training field data is improved, and a field model with high accuracy is conveniently constructed; the driving training vehicle surveying and mapping data are corrected, optimized and enhanced, the driving training vehicle data are perfected, the diversity of the driving training objective is met, and the driving training teaching quality and the trainee training experience are improved.
Description
Technical Field
The application belongs to the technical field of driving training, and particularly relates to a driving training method and device based on surveying and mapping data enhancement.
Background
The driving training is short for the training of the driver of the motor vehicle. With the rapid development of the internet, the internet of things and the communication technology, a new generation of driving training mode comprehensively applies a plurality of new technical means, and converts the traditional training teaching experience into a novel acousto-optic-electric method for computer identification. Compared with the traditional driving training mode, the new generation driving training mode realizes multiple functions of 2D/3D modeling visualization of fields and vehicles, real-time positioning of the vehicles, vehicle state digitization, automatic reminding of training voice, training, evaluation of simulated examinations and the like, unifies the teaching scheme, improves teaching efficiency and quality, and is popular with trainees and coaches.
In the new generation of driving training systems, mapping of fields and vehicles is at the core base. The accuracy and the integrity of field mapping and vehicle measurement have a significant influence on the display interaction effect and the teaching and training quality of the new generation of driving training system, and the method is a basis for developing the new generation of driving training system.
In the technical field of driving training, driving training calculation is usually directly performed on the basis of acquired driving training field surveying and mapping data and driving training vehicle surveying and mapping data, but due to the fact that the surveying and mapping data have the problems of deviation and over discretization, the problems that line pressing and false alarm are generated again and again on subsequent vehicles and the like are caused, and driving training is seriously influenced; meanwhile, in the prior art, the three-dimensional mapping of the vehicle is often only carried out on the vertical projection static value of the vehicle, the diversity of the purpose of driving training cannot be met, the problem that teaching training generates errors to influence trainees and the like is caused, the requirement of a new generation of driving training system cannot be met, and the driving training teaching quality and trainees training experience are seriously influenced.
Disclosure of Invention
The application aims to provide a driving training method and device based on surveying and mapping data enhancement, which are used for enhancing originally obtained surveying and mapping data so as to improve the reliability and effectiveness of driving training.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
a driving training method based on surveying and mapping data enhancement is used for assisting driving training vehicles to run after data enhancement is carried out on surveying and mapping data of driving training sites and driving training vehicles, and comprises the following steps:
step 1.1, acquiring driving training field mapping data, wherein the driving training field mapping data comprise corner coordinates of preset polygonal boundaries corresponding to a driving training field, corner coordinates of the preset polygonal boundaries corresponding to training subjects in the driving training field, and corner coordinates of markers in the preset polygonal boundaries corresponding to the training subjects in the driving training field, and the markers comprise marking points and marking lines;
step 1.2, mapping to obtain virtual markers in all training subjects of the same type in a training field and corner coordinates of the virtual markers according to the known virtual markers in the training subjects and the corner coordinates of the virtual markers, wherein the virtual markers comprise virtual marker points and virtual marker lines;
step 1.3, calculating a boundary line equation set corresponding to a driving training field and each training subject according to each corner point coordinate of the polygonal boundary;
step 1.4, calculating a linear equation set of each marking line and each virtual marking line according to the corner point coordinates of each marking line and each virtual marking line;
step 1.5, combining the surveying and mapping data of the driving training ground and each equation set to obtain a ground surveying and mapping data enhancement set;
step 2.1, optimizing GPS data of the driving training vehicle, wherein a directional positioning receiver is mounted on the driving training vehicle and used for acquiring the GPS data of the driving training vehicle;
2.2, correcting the measured data of the driving training vehicle:
step 2.2.1, obtaining driving training vehicle surveying and mapping data, wherein the driving training vehicle surveying and mapping data comprise the length and the width of a minimum circumscribed rectangle of a vehicle vertical projection, the height of a vehicle, the length and the width of the minimum circumscribed rectangle of each tire vertical projection of the vehicle, the distance between a vehicle vertical projection center point and each side of the minimum circumscribed rectangle of the vehicle vertical projection, the distance between the vehicle vertical projection center point and each tire vertical projection minimum circumscribed rectangle of the vehicle, and the distance between a vertical projection point of a positioning receiver mounting position and a vehicle vertical projection center point;
step 2.2.2, obtaining coordinates of a positioning receiver according to optimized driving training vehicle GPS data, and calculating coordinates of a vehicle vertical projection central point, a boundary line equation set of a vehicle vertical projection minimum circumscribed rectangle and a boundary line equation set of each vehicle tire vertical projection minimum circumscribed rectangle according to the driving training vehicle surveying data and the coordinates of the positioning receiver to obtain corrected driving training vehicle surveying data;
step 2.3, combining the driving training vehicle surveying and mapping data, the corrected driving training vehicle surveying and mapping data and the optimized GPS data of the driving training vehicles to obtain a vehicle surveying and mapping data enhancement set, and completing the driving training surveying and mapping data enhancement;
and 3, modeling based on the field surveying and mapping data enhancement set to obtain a field model, modeling based on the vehicle surveying and mapping data enhancement set to obtain a vehicle model, updating the relative positions of the vehicle model and the field model in real time according to the vehicle surveying and mapping data enhancement set, performing spatial topological relation analysis according to the relative positions of the vehicle model and the field model to obtain the driving state of the driving training vehicle, and controlling the driving training vehicle to execute corresponding actions based on the driving state.
Several alternatives are provided below, but not as an additional limitation to the above general solution, but merely as a further addition or preference, each alternative being combinable individually for the above general solution or among several alternatives without technical or logical contradictions.
Preferably, the step 2.1, optimizing the GPS data of the pilot vehicle, includes:
step 2.1.1, acquiring GPS data of the driving training vehicle acquired by the directional positioning receiver, and screening effective data and stable data in the GPS data of the driving training vehicle for reservation, wherein the effective data is data with a normal CRC (cyclic redundancy check) result, and the stable data is data with a fixed solution state;
step 2.1.2, acquiring GPS data of a preset reference point in a driving training field, subtracting a Z-axis coordinate in the GPS data of the preset reference point from a Z-axis coordinate in the GPS data of the driving training vehicles reserved after screening to obtain a height relative coordinate, and updating the GPS data of the driving training vehicles reserved after screening by using the height relative coordinate;
and 2.1.3, converting the numerical ranges of the horizontal angle, the pitch angle and the roll angle in the GPS data of the driving training vehicle updated in the step 2.1.2.
Preferably, in step 2.1.3, the conversion of the numerical ranges of the horizontal angle, the pitch angle and the roll angle in the GPS data of the driver training vehicle updated in step 2.1.2 includes:
conversion of the numerical range of the horizontal angle: selecting a north direction as a horizontal 0-degree angle, rotating clockwise as a positive direction, and converting the angle of the horizontal angle into a numerical value in an angle coordinate system range, wherein the angle coordinate system range is [ a, a +360 ];
conversion of numerical range of pitch angle: selecting a positive pitch angle upward around a transverse shaft and a negative pitch angle downward around the transverse shaft, wherein the range of an angle coordinate system is [ b, b +360], and converting the angle of a pitch angle into a numerical value in the range of the angle coordinate system;
conversion of the numerical range of the roll angle: and (3) selecting clockwise positive roll angles and anticlockwise negative roll angles around the longitudinal axis, wherein the range of an angle coordinate system is [ c, c +360], and converting the roll angles into numerical values in the range of the angle coordinate system.
Preferably, still install the OBD module on the driving training vehicle, the OBD module is used for acquireing the OBD data of driving training vehicle, driving training vehicle survey and drawing data reinforcing still includes the OBD data optimization of driving training vehicle, the OBD data optimization of driving training vehicle includes:
converting a repeated alternate data string in the OBD data of the driving training vehicle into a preset fixed value data string;
taking a numerical value change data string in the OBD data of the driving training vehicle, and removing a preset number of data starting from a change point in the numerical value change data string;
and calculating the average value of the data acquired at intervals in the OBD data of the driving vehicle.
The application also provides a driving training device based on surveying and mapping data enhancement, which comprises a processor and a memory, wherein the memory is stored with a plurality of computer instructions, and the computer instructions are executed by the processor to realize the steps of the method in any technical scheme.
According to the driving training method and device based on surveying and mapping data enhancement, the surveying and mapping data of the driving training field is enhanced, so that the availability and the accuracy of the data of the driving training field are improved, the convenience in using the data of the driving training field is improved, and a field model with high accuracy is conveniently constructed; the driving training vehicle surveying and mapping data is corrected, optimized and enhanced, the driving training vehicle data is perfected, the diversity of the driving training target is met, and the driving training teaching quality and the trainee training experience are improved.
Drawings
Fig. 1 is a flow chart of a mapping data enhancement-based driving training method of the present application;
FIG. 2 is a schematic diagram of virtual marker mapping generation of the present application;
FIG. 3 is a schematic diagram of vehicle mapping data enhancement of the present application;
FIG. 4 is a schematic view of one embodiment of a cartwheel projection model of the present application;
FIG. 5 is a schematic view of another embodiment of the cartwheel projection model of the present application;
fig. 6 is a schematic view of another embodiment of the cartwheel projection model of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and 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 application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
In one embodiment, the driving training method based on surveying and mapping data enhancement is provided, and is used for assisting driving training vehicles to run after data enhancement is carried out on surveying and mapping data of driving training sites and driving training vehicles, so that the requirements of new generation driving training on the surveying and mapping data are met, and the driving training teaching quality and the trainee training experience are improved.
Specifically, as shown in fig. 1, the method for enhancing driving training mapping data of the present embodiment includes:
Step 1.1, surveying and mapping data of a driving training field is obtained, wherein the surveying and mapping data of the driving training field comprises corner coordinates of a preset polygonal boundary corresponding to the driving training field, corner coordinates of a preset polygonal boundary corresponding to each training subject in the driving training field, and corner coordinates of each marker in a preset polygonal boundary corresponding to each training subject in the driving training field, and the markers comprise marking points and marking lines.
The angular point in this embodiment is understood to be a point on a polygon boundary or a marker, and may be a measurement point obtained at a preset certain interval, or a measurement point at a special position such as an end point, an intersection point, a central point, or the like. The driving training field mapping data are used for reflecting the driving training field and the shape and structure characteristics in the driving training field, and strict limitation is not made on the measurement points at which positions are obtained.
Compared with the prior art that only the coordinates of the markers are usually acquired, the angular point coordinates of the markers in the driving training field and the angular point coordinates of the boundary pairs of the driving training field and each training subject are acquired, the acquired data are more comprehensive, the position relation between the driving training vehicle and the driving training field can be judged one by one from large to small, the condition that the driving state of the driving training vehicle is judged wrongly due to the fact that the markers identical to the training subjects of the same type occur is avoided, corresponding reminding or braking can be conducted when the driving training vehicle is close to the field or the edge of the subject based on the mapping data, and the driving training safety and reliability are improved.
Step 1.2, according to the known virtual markers in the training subjects and the corner coordinates of the virtual markers, mapping to obtain the virtual markers in all the training subjects of the same type in the training field and the corner coordinates of the virtual markers, wherein the virtual markers comprise virtual marker points and virtual marker lines.
In the driving training process, in addition to the entity markers arranged on the driving training field, in order to improve the quality of the driving training, the virtual markers are further arranged in the embodiment and used for reminding the trainees of executing corresponding actions at the training key points, for example, in a side parking subject, the virtual markers are arranged to remind the trainees of playing left or right in time, so that the trainees can conveniently learn and the driving training experience of the trainees is improved.
The virtual markers may thus include start position virtual markers, end position virtual markers and keypoint virtual markers. The start position is used for judging whether the start position is reached or not and starting timing; and the end point location is used for judging whether the completion is finished and ending the timing. The time difference between the two is the time length of normal completion. Typically, a training subject field has one and only one start bit and one end bit. The start and end bits are generally used only for reminders and do not require any action. The key points generally refer to the points that need the trainee to do operations, and there are usually a plurality of key points.
In order to meet the purpose of training multiple vehicles simultaneously, multiple training subjects of the same type are often set in the same driving training field, so that in order to simplify the setting process of the virtual markers in the driving training field model, an object with known virtual markers and corner coordinates of the virtual markers in each training subject is further loaded in the embodiment, and generation of the virtual markers in all the objects of the same type is realized based on the object.
The virtual markers in this embodiment may be generated by affine transformation, that is, coordinates of a virtual marker known in a certain scene are generated according to a homography matrix (homographiymatrix) to coordinates of virtual markers of other scenes in the same kind of scene. And the homography matrix can be generated by at least three pairs of mark line angle point coordinates of the corresponding positions of the certain scene and the similar scene.
The training subjects of the same type in this embodiment refer to training subjects of the same type and in the same direction, and as shown in fig. 2, the third in the figure is the training subjects of the same type, and the fourth is not the training subjects of the same type. The coordinates of the key points in the third step can be obtained by preferably selecting 3 pairs of points from 1 to 8 of the third step and 3 pairs of corresponding points from the third step and knowing the coordinates of a certain virtual marker in the third step.
And step 1.3, calculating a boundary line equation set corresponding to the driving training field and each training subject according to each corner point coordinate of the polygonal boundary.
And step 1.4, calculating a linear equation set of each marking line and each virtual marking line according to the corner point coordinates of each marking line and each virtual marking line.
When generating a corresponding linear equation according to the coordinates of the angular points, the solution formula of the linear equation can be used to find any two angular points (x)0,y0),(x1,y1) The connected set of equations for the sign line is:
and step 1.5, combining the driving training field surveying and mapping data and each equation set to obtain a field surveying and mapping data enhancement set.
When the data are combined, all the data can be comprehensively summarized, or can be summarized according to different training subjects, or can be summarized according to divided areas of a driving training field. Therefore, the merging here is only required to be performed according to actual requirements, and the embodiment is not limited.
And 2, enhancing the surveying and mapping data of the driving training vehicle.
And 2.1, optimizing the GPS data of the driving training vehicle.
The driving training vehicle is provided with the directional positioning receiver, the directional positioning receiver is used for acquiring GPS data of the driving training vehicle, it is easy to understand that a GPS positioning module and a GPS positioning technology are mature technologies in the positioning field, and are not described herein any more, and the directional positioning receiver mentioned in this embodiment acquires the GPS data of the driving training vehicle, and actually acquires the GPS data by combining the directional positioning receiver with a GPS reference station and a GPS mobile station.
When the GPS data is optimized, only invalid data in the GPS data can be removed, and partial data can be filtered according to a self-defined rule.
When acquiring GPS data, if a general GPS (Global Positioning System) device is used to locate a driver training vehicle, the problem of insufficient accuracy in mapping longitude and latitude inevitably exists, which leads to the problem of false alarm of pressing lines generated again and again in subsequent vehicles. If the differential GPS device is adopted to position the driving training vehicle, although the precision of longitude and latitude can be met, the problem that the precision of the natural height value of the GPS is insufficient is difficult to deal with.
Therefore, the present embodiment provides a preferred GPS data optimization method as follows:
and 2.1.1, acquiring GPS data of the driving training vehicle acquired by the directional positioning receiver, and screening effective data and stable data in the GPS data of the driving training vehicle for reservation, wherein the effective data is data with a normal CRC (cyclic redundancy check) result, and the stable data is data with a fixed solution state.
And 2.1.2, acquiring GPS data of a preset reference point in the driving training field, subtracting the Z-axis coordinate in the GPS data of the preset reference point from the Z-axis coordinate in the GPS data of the driving training vehicles reserved after screening to obtain a height relative coordinate, and updating the GPS data of the driving training vehicles reserved after screening by using the height relative coordinate.
And 2.1.3, converting the numerical ranges of the horizontal angle, the pitch angle and the roll angle in the GPS data of the driving training vehicle updated in the step 2.1.2.
In the embodiment, invalid data in the GPS data are firstly removed, the validity of the data is guaranteed, then the GPS data of all the driving vehicles are converted into relative coordinates by using the GPS data of the preset reference points in the driving training field, the problem that the precision of the natural height value of the GPS in the prior art is insufficient is solved, the problems that the absolute height of the GPS is inaccurate, the vehicles float and pass through and the like are solved by using the relative height, and abnormal data caused by the drift of the GPS data are simultaneously removed.
Since the angle in the GPS data is not determined to be the 0 degree angle, the present embodiment further converts the angle, and the conversion steps are as follows:
conversion of the numerical range of the horizontal angle: selecting the north direction as a horizontal 0 degree angle, rotating clockwise as a positive direction, and converting the angle of the horizontal angle into a numerical value in the range of an angle coordinate system, wherein the range of the angle coordinate system is [ a, a +360 ].
Conversion of numerical range of pitch angle: and selecting a positive pitch angle upward around the transverse axis and a negative pitch angle downward around the transverse axis, wherein the range of an angle coordinate system is [ b, b +360], and converting the angle of the pitch angle into a numerical value in the range of the angle coordinate system.
Conversion of the numerical range of the roll angle: clockwise roll angle around the longitudinal axis is selected as positive roll angle, anticlockwise roll angle is selected as negative roll angle, the range of an angle coordinate system is [ c, c +360], and the roll angle is converted into a numerical value in the range of the angle coordinate system.
The conversion premise is that in the directional positioning receiver, the directional receiver is arranged in front of the positioning receiver along the driving direction of the driving training vehicle, and if the installation mode is changed, the positive direction is correspondingly changed. And a, b, and c may be any positive or negative number, and the inclusion relationship of the endpoints in the range may also be adjusted as needed, for example, may be adjusted to (a, a +360 ]. since GPS data acquires geodetic coordinates, the value is often large, and is not favorable for data calculation, and in direct application of driving training detection, detection delay is often caused and driving training is affected, so the optimization of the GPS data in this embodiment further includes:
converting geodetic coordinate system coordinates received by a GPS into space rectangular coordinate system coordinates, setting standard meters as a unit, and reserving two decimal points; a proper field point is selected as a relative field origin (0,0), the origin is converted into a space rectangular coordinate system according to the GPS coordinate of the origin, the space rectangular coordinate system coordinate of the origin is subtracted from the space rectangular coordinate system coordinate of the pilot vehicle received and converted by the GPS, the space rectangular coordinate system coordinate of the origin is converted into a relative origin coordinate, data are greatly simplified, and the calculated amount is reduced.
In order to facilitate subsequent analysis of the spatial topological relation between the driving training site and the driving training vehicle, the driving training site mapping data in the step 1 is also data obtained by performing corresponding conversion on the GPS data based on a differential GPS.
And 2.2, correcting the measured data of the driving training vehicle.
Step 2.2.1, obtaining driving training vehicle surveying and mapping data, wherein the driving training vehicle surveying and mapping data comprise the length and the width of a minimum circumscribed rectangle of a vehicle vertical projection, the height of a vehicle, the length and the width of the minimum circumscribed rectangle of each tire vertical projection of the vehicle, the distance between a vehicle vertical projection center point and each side of the minimum circumscribed rectangle of the vehicle vertical projection, the distance between the vehicle vertical projection center point and each tire vertical projection minimum circumscribed rectangle of the vehicle, and the distance between a vertical projection point of a positioning receiver mounting position and a vehicle vertical projection center point.
And 2.2.2, obtaining coordinates of a positioning receiver according to the optimized GPS data of the driving training vehicles, and calculating coordinates of a vehicle vertical projection central point, a boundary line equation set of a vehicle vertical projection minimum circumscribed rectangle and a boundary line equation set of each tire vertical projection minimum circumscribed rectangle of the vehicle according to the driving training vehicle surveying and mapping data and the coordinates of the positioning receiver to obtain corrected driving training vehicle surveying and mapping data.
When the coordinates and the linear equation of the vehicle vertical projection center point are calculated, the coordinates and the linear equation can be calculated according to the corresponding line segment proportional relation, the corresponding relation of the triangle and other basic mathematical principles based on the existing surveying and mapping data. For example, as shown in FIG. 3, according to the distance d' between the vertical projection point A of the installation position of the positioning receiver and the vertical projection center point Z of the vehicle, according to the included angle γ between the connecting line of the installation position B of the vehicle positioning receiver and the installation position A of the vehicle positioning receiver and the advancing direction of the vehicle, according to the coordinates (x) of the projection point of the installation position of the vehicle positioning receiver0,y0) Calculating the coordinate (x) of the vertical projection center point of the vehicle0-d′sinγ,y0+d′cosγ)。
And calculating the coordinates C, D, E, F of the vehicle projection boundary points and a linear equation set of the vehicle projection boundary lines CD, DE, EF and FC according to the distances between the vertical projection point A (or the vehicle vertical projection center point) of the installation position of the positioning receiver and the sides of the vehicle vertical projection minimum circumscribed rectangle (the distance from the vertical projection point A to the long side a, the distance from the vertical projection point A to the short side b, the long side length of the minimum circumscribed rectangle L and the short side length of the minimum circumscribed rectangle W). And calculating the coordinates of the central points of the four wheels of the vehicle and a linear equation set of the vertical projection boundary lines of the four wheels of the vehicle according to the distance between the vertical projection point A (or the central point of the vertical projection of the vehicle) of the installation position of the positioning receiver and the minimum circumscribed rectangle of the vertical projection of each tire of the vehicle. The vehicle projection model (rectangular FCDE in the figure) is calculated, and the wheel projection model (rectangular GHJK in the figure) is obtained, so that detection of multiple types of training subjects is facilitated, diversity of the driving training subjects is met, and driving training teaching quality and trainee training experience are improved. Since there are a plurality of points related to one point, the coordinates of the related points and the equation set may be calculated in other manners, for example, when the vehicle projection model is calculated, the distances n1, n2 between the vehicle projection model and the longitudinal direction of the vehicle projection model may be measured to calculate the coordinates of the points related to the vehicle projection model based on the points of the vehicle projection model.
And for the wheel projection model, since the wheel is an object with a certain space state and deformation state, the calculation for the wheel projection model is not limited to the above-mentioned minimum circumscribed rectangle for vertical projection of each tire of the vehicle, and may also have various deformations, which will be further explained below with reference to the drawings.
As shown in fig. 4, the minimum circumscribed rectangle is vertically projected for each tire of the vehicle mentioned in the present embodiment, where 9 is the vertical projection of the driving vehicle, 10 is the vertical projection of the wheel of the driving vehicle, and 11 is the minimum circumscribed rectangle is vertically projected for each tire of the vehicle. The wheel projection model can be used for detecting whether a pressing line exists in the range surrounded by the wheel.
As shown in fig. 5, if the tire is ideally a rigid structure, the contact between the tire and the ground is only one line corresponding to the center of the tire, and when detecting whether the tire is pressed, the detection should be performed by using the corresponding part of the line in the rigid structure, which is in contact with the ground, so as to reduce the detection error. Namely, the minimum circumscribed rectangle vertically projected from the center line of each tire of the vehicle is shown in fig. 5, wherein 9 is the vertical projection of the driving vehicle, 10 is the vertical projection of the wheel of the driving vehicle, 11 is the minimum circumscribed rectangle vertically projected from the center line of each tire of the vehicle, and 12 is the vertical projection of the center line of the tire of the vehicle. In the figure, for convenience of observation, a gap is left between the minimum circumscribed rectangle 11 vertically projected on the central line of each tire of the vehicle and the vertical projection 12 of the central line of the tire of the vehicle, and the minimum circumscribed rectangle and the vertical projection are actually overlapped.
As shown in fig. 6, considering that the actual tire is deformed to some extent after being mounted on the vehicle, the deformation amount is added to the rigid structure of the tire, and the state shown in fig. 6 is obtained, where 9 is a vertical projection of the driving vehicle, 10 is a vertical projection of the wheel of the driving vehicle, and 12 is a vertical projection of the center line of the tire of the vehicle. The distance between the wheel projection model 11 and the vertical projection 12 of the center line of the tire of the vehicle is preset, and the distance can be 1/4, 1/5 in the length direction of the wheel, or can be a preset fixed value, or even can be a value actually measured according to different vehicles and wheels. The obtained wheel projection model 11 is the minimum circumscribed rectangle after the central line of each tire of the vehicle is vertically projected and offset by a preset distance, the detection accuracy rate of whether the wheel is pressed is higher, and the detection result is closer to the actual situation.
It can be seen that there are many solutions for the wheel projection model in the present embodiment, and since the minimum circumscribed rectangle of the vertical projection of each tire of the vehicle is obtained simply, the present embodiment takes this as an example for calculation, but this does not limit the present application to adopt this only, and the modifications shown in fig. 5 and fig. 6 and the simple modifications made according to fig. 4 to fig. 6 are within the scope of the present application.
And 2.3, merging the driving training vehicle surveying and mapping data, the corrected driving training vehicle surveying and mapping data and the optimized GPS data of the driving training vehicle to obtain a vehicle surveying and mapping data enhancement set, and completing the driving training surveying and mapping data enhancement.
And 3, modeling based on the field surveying and mapping data enhancement set to obtain a field model, modeling based on the vehicle surveying and mapping data enhancement set to obtain a vehicle model, updating the relative positions of the vehicle model and the field model in real time according to the vehicle surveying and mapping data enhancement set, analyzing the spatial topological relation according to the relative positions of the vehicle model and the field model to obtain the driving state of the driving training vehicle, and controlling the driving training vehicle to execute corresponding actions based on the driving state.
After the data enhancement sets of the driving training field and the driving training vehicles are obtained, the data enhancement sets can be used for 3D modeling to generate a field model and a vehicle model, space topology analysis is carried out according to the relative positions of the vehicle model in the field, and the space relations of intersection, separation and tangency between the vehicle and the field, between the vehicle and each mark point and between the vehicle and each mark line are obtained, the direction, the position and the driving state of the vehicle in the training field are judged according to the space relations of the vehicle, the training condition and the result of a vehicle driver in driving training are known in real time, and the driving training vehicle can be controlled to execute corresponding actions based on the real-time training condition. For example, when the training key point is reached, characters or voice are sent to remind a student of corresponding operation, or when the vehicle is close to an obstacle, the vehicle brake is controlled to avoid collision of the vehicle and the like.
In the embodiment, the 3D modeling, the spatial topological relation analysis, the control of the vehicle to execute the corresponding action and the like are realized based on the existing logics, the mapping data of the driving training field and the driving training vehicle are enhanced, the problems of small data volume and low accuracy before the existing modeling or spatial topological analysis are solved, the basic data are more and wider after the data are enhanced, abnormal points in the data are eliminated, the offset in the data is corrected, the spatial topological relation analysis result is more reliable, and the driving training quality and efficiency are improved.
Of course, the mapping data of the present application is not limited to the above mentioned mapping data, and data enhancement can be performed based on more collected data, so as to further improve the effect of spatial topology analysis. In another embodiment, an On Board Diagnostics (OBD) module is further installed On the driving training vehicle, the OBD module is used for acquiring OBD data of the driving training vehicle, the mapping data enhancement of the driving training vehicle further comprises OBD data optimization of the driving training vehicle, the OBD data sent by a vehicle CAN bus is received, and optimization processing such as frequency conversion, fixed bit conversion, delay conversion, instantaneous or average conversion and the like is performed On the data according to data content and conditions.
Specifically, the OBD data optimization of the pilot vehicle includes:
1) and converting the repeated alternate data string in the OBD data of the driving training vehicle into a preset fixed value data string.
The repeatedly alternating data string is understood to be a data string with different adjacent bit data and same interval bit data, such as … efefefefefefef …, which is unfavorable for subsequent data processing due to repeated alternation, and therefore is preferably converted into a fixed value data string, such as … eeeeeeeeee … or directly set as … 1111111111 …, so as to facilitate data processing.
2) And taking a numerical value change data string in the OBD data of the driving training vehicle, and removing the preset number of data starting from a change point in the numerical value change data string.
The numerical value change data string is understood to be a data string for changing from a fixed numerical value to another fixed numerical value, for example, … eeeeefffff …. Since the data fluctuation may occur before and after the value change due to the inspection error or the data fluctuation, for example, a phenomenon of … eeeeefff … occurs, in order to avoid the determination error caused by the data fluctuation, in this embodiment, a preset number of data starting from the change point in the value change data string is removed, for example, the change point in … eeeeefff … is the first f, and the data string obtained after removing the preset number (for example, 3) is ff …, so that there is no fluctuation in data unification.
According to the preset number, it is easy to think that the same effect can be achieved by removing the data in the preset time from the change point in the numerical value change data string, and the two data can be selected according to the needs.
3) And calculating the average value of the data acquired at intervals in the OBD data of the driving vehicle. According to two or more data of interval frequency or interval time, adding attribute value to calculate its corresponding instantaneous data or average data, such as average vehicle speed and average steering angle speed.
The driving training method based on surveying and mapping data enhancement provided by the embodiment comprises the specific steps of surveying and mapping of field vehicles, data enhancement, correction optimization and modeling analysis.
It should be understood that, although the steps in the flowchart are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In an embodiment, the present application further provides a driving training device based on mapping data enhancement, and specific limitations on the driving training device based on mapping data enhancement can be found in the above limitations on the driving training method based on mapping data enhancement, which are not described herein again. The modules in the driving training device based on surveying and mapping data enhancement can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
The memory and the processor are electrically connected, directly or indirectly, to enable transmission or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory stores a computer program that can be executed on the processor, and the processor executes the computer program stored in the memory, thereby implementing the network topology layout method in the embodiment of the present invention.
The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory is used for storing programs, and the processor executes the programs after receiving the execution instructions.
The processor may be an integrated circuit chip having data processing capabilities. The Processor may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like. The various methods, steps and logic blocks disclosed in embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (5)
1. A driving training method based on surveying and mapping data enhancement is used for assisting driving training vehicles to run after data enhancement is carried out on surveying and mapping data of driving training sites and driving training vehicles, and is characterized in that the driving training method based on surveying and mapping data enhancement comprises the following steps:
step 1, enhancing mapping data of a driving training field:
step 1.1, acquiring driving training field mapping data, wherein the driving training field mapping data comprise corner coordinates of preset polygonal boundaries corresponding to a driving training field, corner coordinates of the preset polygonal boundaries corresponding to training subjects in the driving training field, and corner coordinates of markers in the preset polygonal boundaries corresponding to the training subjects in the driving training field, and the markers comprise marking points and marking lines;
step 1.2, mapping to obtain virtual markers in all training subjects of the same type in a training field and corner coordinates of the virtual markers according to the known virtual markers in the training subjects and the corner coordinates of the virtual markers, wherein the virtual markers comprise virtual marker points and virtual marker lines;
step 1.3, calculating a boundary line equation set corresponding to a driving training field and each training subject according to each corner point coordinate of the polygonal boundary;
step 1.4, calculating a linear equation set of each marking line and each virtual marking line according to the corner point coordinates of each marking line and each virtual marking line;
step 1.5, combining the driving training field surveying and mapping data and each equation set to obtain a field surveying and mapping data enhancement set;
step 2, enhancing surveying and mapping data of driving training vehicles:
step 2.1, optimizing GPS data of the driving training vehicle, wherein a directional positioning receiver is mounted on the driving training vehicle and used for acquiring the GPS data of the driving training vehicle;
2.2, correcting the measured data of the driving training vehicle:
step 2.2.1, obtaining driving training vehicle surveying and mapping data, wherein the driving training vehicle surveying and mapping data comprise the length and the width of a minimum circumscribed rectangle of a vehicle vertical projection, the height of a vehicle, the length and the width of the minimum circumscribed rectangle of each tire vertical projection of the vehicle, the distance between a vehicle vertical projection center point and each side of the minimum circumscribed rectangle of the vehicle vertical projection, the distance between the vehicle vertical projection center point and each tire vertical projection minimum circumscribed rectangle of the vehicle, and the distance between a vertical projection point of a positioning receiver mounting position and a vehicle vertical projection center point;
2.2.2, obtaining coordinates of a positioning receiver according to optimized GPS data of the driving training vehicle, and calculating coordinates of a vehicle vertical projection central point, a boundary line equation set of a vehicle vertical projection minimum circumscribed rectangle and a boundary line equation set of each tire vertical projection minimum circumscribed rectangle of the vehicle according to the driving training vehicle surveying and mapping data and the coordinates of the positioning receiver to obtain corrected driving training vehicle surveying and mapping data;
step 2.3, merging the driving training vehicle surveying and mapping data, the corrected driving training vehicle surveying and mapping data and the optimized GPS data of the driving training vehicle to obtain a vehicle surveying and mapping data enhancement set, and completing the driving training surveying and mapping data enhancement;
and 3, modeling based on the field surveying and mapping data enhancement set to obtain a field model, modeling based on the vehicle surveying and mapping data enhancement set to obtain a vehicle model, updating the relative positions of the vehicle model and the field model in real time according to the vehicle surveying and mapping data enhancement set, performing spatial topological relation analysis according to the relative positions of the vehicle model and the field model to obtain the driving state of the driving training vehicle, and controlling the driving training vehicle to execute corresponding actions based on the driving state.
2. The method for enhancing driving training based on mapping data of claim 1, wherein the step 2.1, optimizing the GPS data of the driving training vehicle, comprises:
step 2.1.1, acquiring GPS data of the driving training vehicle acquired by the directional positioning receiver, and screening effective data and stable data in the GPS data of the driving training vehicle for reservation, wherein the effective data is data with a normal CRC (cyclic redundancy check) result, and the stable data is data with a fixed solution state;
step 2.1.2, acquiring GPS data of a preset reference point in a driving training field, subtracting a Z-axis coordinate in the GPS data of the preset reference point from a Z-axis coordinate in the GPS data of the driving training vehicles reserved after screening to obtain a height relative coordinate, and updating the GPS data of the driving training vehicles reserved after screening by using the height relative coordinate;
and 2.1.3, converting the numerical ranges of the horizontal angle, the pitch angle and the roll angle in the GPS data of the driving training vehicle updated in the step 2.1.2.
3. The method for enhancing ride according to claim 2, wherein the step 2.1.3 of translating the ranges of values for the horizontal angle, pitch angle, roll angle in the GPS data of the ride vehicle updated in step 2.1.2 comprises:
conversion of the numerical range of the horizontal angle: selecting a north direction as a horizontal 0-degree angle, rotating clockwise as a positive direction, and converting the angle of the horizontal angle into a numerical value in an angle coordinate system range, wherein the angle coordinate system range is [ a, a +360 ];
conversion of numerical range of pitch angle: selecting a positive pitch angle upward around a transverse shaft and a negative pitch angle downward around the transverse shaft, wherein the range of an angle coordinate system is [ b, b +360], and converting the angle of a pitch angle into a numerical value in the range of the angle coordinate system;
conversion of the numerical range of the roll angle: and (3) selecting clockwise positive roll angles and anticlockwise negative roll angles around the longitudinal axis, wherein the range of an angle coordinate system is [ c, c +360], and converting the roll angles into numerical values in the range of the angle coordinate system.
4. The driving training method based on surveying data enhancement of claim 1, wherein the driving training vehicle is further mounted with an OBD module for acquiring OBD data of the driving training vehicle, wherein the driving training vehicle surveying data enhancement further comprises OBD data optimization of the driving training vehicle, wherein the OBD data optimization of the driving training vehicle comprises:
converting a repeated alternate data string in the OBD data of the driving training vehicle into a preset fixed value data string;
taking a numerical value change data string in the OBD data of the driving training vehicle, and removing a preset number of data starting from a change point in the numerical value change data string;
and calculating the average value of the data acquired at intervals in the OBD data of the driving vehicle.
5. A driving training apparatus based on mapping data enhancement, comprising a processor and a memory storing computer instructions, wherein the computer instructions, when executed by the processor, implement the steps of the method of any one of claims 1 to 4.
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