CN112580147A - Driving test vehicle construction and test route creation method based on RTK - Google Patents
Driving test vehicle construction and test route creation method based on RTK Download PDFInfo
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Abstract
The invention provides a driving test vehicle construction and test route creation method based on RTK, which comprises the following steps: the RTK module is used for collecting coordinates, the appearance of the vehicle in the driving test is mapped, and vehicle body modeling is carried out by combining a correction method; calculating the driving postures of the driving test vehicle, including vehicle speed, forward and backward, forward driving and reverse driving; acquiring coordinates by using an RTK module, and creating a driving test subject three-test route, including creating a left road line, a right road line, a lane line, a special line shape and a special area; and acquiring three examination item trigger coordinate points of the driving examination subjects by using the RTK module, and setting the trigger of the examination items. The invention can solve the technical problem that when the third subject of the motor vehicle driving license test uses the intelligent evaluation system, the test route and the test item trigger point need to be recorded and created.
Description
Technical Field
The invention relates to the technical field of motor vehicle driving license examinations, in particular to a driving examination vehicle construction and examination route creation method based on RTK.
Background
The third subject of the motor vehicle driving license examination comprises a road driving skill examination and a safety civilized driving common knowledge examination, is a part of the motor vehicle driving license examination, and is short for the road driving skill and safety civilized driving common knowledge examination subject in the motor vehicle driver examination.
Currently, an intelligent evaluation system is adopted in the third subject test to evaluate whether the driving test passes or not. The three-subject intelligent evaluation examination system is provided with a whole set of electronic examination equipment, and comprises an intelligent vehicle-mounted examination system, GPS positioning, audio and video monitoring and the like. The personnel taking the test can complete a plurality of examination indexes required by the state according to examination requirements and standard operation through various examination instructions sent by the vehicle-mounted computer system, and can correctly and timely deal with various emergency situations occurring on the actual road.
Before the intelligent evaluation system is put into use in an actual examination, the examination route of the subject three needs to be input in advance, so that the intelligent evaluation system can normally carry out work according to the examination route. According to the current policy, one examination route of the subject three is 3, and one examination route is randomly drawn during examination, so that for each examination point, the examination route needs to be input for 3 times, and examination item trigger points on each examination route need to be acquired and created. The road condition of each city is complicated, and the originally selected subject three-examination route is not suitable to be used as an examination route due to city infrastructure construction or too large traffic flow near an examination point along with the lapse of time and the like. If the examination route is adjusted, the examination item trigger point corresponding to the originally selected examination route is invalid. In this case, the examination route and the examination item trigger point need to be entered and created again.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a driving test vehicle construction and test route creation method based on RTK (real time kinematic) to solve the technical problem that when an intelligent evaluation system is used by a motor vehicle driving license test subject III, a test route and test item trigger points need to be recorded and created.
The invention adopts the technical scheme that an RTK-based driving test vehicle construction and test route creation method comprises the following steps:
the RTK module is used for collecting coordinates, the appearance of the vehicle in the driving test is mapped, and vehicle body modeling is carried out by combining a correction method;
calculating the driving postures of the driving test vehicle, including vehicle speed, forward and backward, forward driving and reverse driving;
acquiring coordinates by using an RTK module, and creating a driving test subject three-test route, including creating a left road line, a right road line, a lane line, a special line shape and a special area;
and acquiring three examination item trigger coordinate points of the driving examination subjects by using the RTK module, and setting the trigger of the examination items.
Further, survey and drawing is carried out to driving examination vehicle appearance, specifically as follows:
moving the driving test vehicle to the horizontal ground, and placing a main antenna and a second antenna at proper positions on the roof of the vehicle; measuring a coordinate point of a main antenna and a vehicle pitch angle through an RTK module;
hanging the plumb at a designated position of a driving test vehicle, and marking a plurality of projection points of the outer contour of the driving test vehicle on the ground;
moving away the driving test vehicle, and measuring the coordinate of each projection point by using an RTK module;
measuring to obtain the height of the main antenna from the ground;
and calculating the distance and the included angle of each projection coordinate point relative to the main antenna coordinate point.
Further, the correction method corrects the vehicle model according to the vehicle pitch angle and the vehicle yaw angle, and comprises the following specific steps:
correcting the deviation of the main antenna coordinate point generated when the vehicle runs to a slope surface in the driving test, and calculating according to the following formula:
xmain′＝xmain+H×sin(pitch)×sin(yaw)
ymain′＝ymain+H×sin(pitch)×cos(yaw)
in the above formula, xmain、ymainAn abscissa representing a coordinate point of the main antenna,Ordinate, H represents the height of the main antenna from the ground, pitch represents the vehicle pitch angle, yaw represents the vehicle yaw angle, xmain′、ymain' represents the abscissa and ordinate of the corrected coordinate point of the main antenna;
correcting the change of the projection of the vehicle body contour point generated when the vehicle runs to the slope in the driving test and the horizontal plane of the main antenna relation, and calculating according to the following formula:
xbody-main′＝L×sin(A)
ybody-main′＝L×cos(A)×sin(pitch)
according to xbody-main′、ybody-main' calculating the corrected distance L ' and the corrected included angle A ' according to the following formula:
A′＝arccos(ybody-main′/L′)
in the above formula, xbody-main′、ybody-main' represents the abscissa and ordinate of the projection point of the vehicle body on the horizontal plane relative to the projection point of the main antenna, L represents the distance of the projection coordinate point relative to the coordinate point of the main antenna, A represents an included angle, and pitch represents the vehicle pitch angle.
Further, the coordinates of the corrected outline points of the vehicle body are calculated according to the following formula:
xbody′＝L′×sin(yaw)×cos(A′)-L′×cos(yaw)×sin(A′)+xmain′
ybody′＝L′×sin(yaw)×sin(A′)+L′×cos(yaw)×cos(A′)+ymain′
in the above formula, xbody′、ybody' represents the abscissa and ordinate of the vehicle body contour point after correction, L ' represents the correction distance, yaw represents the vehicle yaw angle, A ' represents the correction included angle, and xmain′、ymain' denotes the abscissa and ordinate of the corrected main antenna coordinate point.
Further, the forward and backward of the vehicle under the driving test are calculated, specifically as follows:
calculating a first included angle of a line formed by connecting two coordinate points relative to the true north direction according to a current coordinate point of the main antenna and a coordinate point before an interval duration;
and comparing the first included angle with the vehicle yaw angle measured by the RTK module, judging that the vehicle moves forwards when the difference value of the first included angle and the vehicle yaw angle is less than ninety degrees, and judging that the vehicle moves backwards when the difference value of the first included angle and the vehicle yaw angle is greater than or equal to ninety degrees.
Further, forward driving and reverse driving of the vehicle under the driving test are calculated, and the method specifically comprises the following steps:
calculating a second included angle between the road side line and the due north direction according to the road side line closest to the position of the driving test vehicle;
and comparing the second included angle with the vehicle yaw angle measured by the RTK module, judging that the vehicle runs in the forward direction when the difference value of the second included angle and the vehicle yaw angle is less than ninety degrees, and judging that the vehicle runs in the reverse direction when the difference value of the second included angle and the vehicle yaw angle is greater than or equal to ninety degrees.
Further, a left line of the road and a right line of the road are created, which specifically comprises the following steps:
sequentially collecting road end points from road starting points according to the driving direction of the vehicle in the driving test; collecting from the inner side boundaries of the left line and the right line of the road;
during collection, the center of the satellite antenna sucker is placed at the inner side boundary of the left line of the road and the right line of the road; and for the virtual line and the real line along the edge line, the collection is carried out in groups for calibration.
Further, a lane line is created, specifically as follows:
collecting the lane lines by taking the center as a datum point, and placing the center of the satellite antenna sucker in the center of the lane marking; and during collection, dividing the lane lines into groups according to the number of lanes, and sequentially collecting each group of lane lines from left to right and from front to back according to the driving direction.
Further, the triggering of the test item is set as follows:
collecting a trigger coordinate point by using an RTK module from a collector to the starting point of a subject three-examination project, and drawing a circle by taking the trigger coordinate point and the maximum distance value of the left line and the right line of the road as the radius and taking the trigger coordinate point as the center of the circle;
when a vehicle runs on a relevant road in the forward direction, connecting the vehicle head central points at the moment t and the previous moment t-1 into a line segment, and calculating the vertical point of a trigger coordinate point and the line segment;
and when the vertical point is on the line segment and the distance between the vertical point and the trigger coordinate point is less than the length of the line segment, judging that the driving test vehicle triggers a subject three test item.
Further, when a line segment formed by the vehicle body contour points intersects with a road solid line; or when a line segment formed by connecting the wheel projection point and the wheel projection point generated last time is intersected with the road solid line, judging that the line is pressed.
According to the technical scheme, the beneficial technical effects of the invention are as follows:
by the driving test vehicle construction and test route creation method based on RTK provided by the embodiment, after the vehicle is constructed, a test route and test item trigger points can be precisely created and recorded, and the data precision can reach centimeter level.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a flowchart of a method of example 1 of the present invention;
FIG. 2 is a schematic view showing the arrangement of projected points of the contour of a driving vehicle according to embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of a datum point of the vehicle modeling correction method according to embodiment 1 of the present invention;
fig. 4 is a schematic view of an examination route lane according to embodiment 1 of the present invention;
fig. 5 is a schematic diagram of test item trigger setting according to embodiment 1 of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
Example 1
The embodiment provides a driving test vehicle construction and test route creation method based on RTK, which comprises the following steps:
the RTK module is used for collecting coordinates, the appearance of the vehicle in the driving test is mapped, and vehicle body modeling is carried out by combining a correction method;
calculating the driving postures of the driving test vehicle, including vehicle speed, forward and backward, forward driving and reverse driving;
acquiring coordinates by using an RTK module, and creating a driving test subject three-test route, including creating a left road line, a right road line, a lane line, a special line shape and a special area;
and acquiring three examination item trigger coordinate points of the driving examination subjects by using the RTK module, and setting the trigger of the examination items.
The working principle of example 1 is explained in detail below:
the examination route creation and the examination item triggering of the subject three need to be set in association with the vehicle used in the examination, the overall dimensions of different vehicles are different, and even if the vehicles run on the same road, the triggering and the judgment of the examination items are different. Therefore, in this embodiment, the driving test vehicle needs to be constructed first, and the specific method is as follows:
1. vehicle outline mapping and vehicle body modeling for driving test
In the embodiment, an RTK measuring system is selected to map the vehicle body of the driving test vehicle. An RTK (Real-time kinematic) positioning technology is a Real-time dynamic positioning technology based on a carrier phase differential technology, and can quickly provide a three-dimensional positioning result of a measured point in an appointed coordinate system in Real time to achieve centimeter-level positioning accuracy. In the present embodiment, the coordinate system is preferably wgs-84 coordinate system used by GPS, and the coordinate system is referred to as wgs-84 coordinate system hereinafter.
(1) Moving the driving test vehicle to the horizontal ground, and placing a main antenna and a second antenna at proper positions on the roof of the vehicle; in the present embodiment, the placement positions of the main antenna and the second antenna are as shown in fig. 2. Measuring a main antenna coordinate point P through an RTK modulemainAnd a vehicle pitch angle pitch. In this embodiment, the vehicle pitch angle pitch is measured by the second antenna.
(2) Hanging the plumb at a designated position of a driving test vehicle, and marking a plurality of projection points of the outer contour of the driving test vehicle on the ground; these projection points are the vehicle body contour points in the coordinate system. In the present embodiment, the number of projection points is 32, and as shown in fig. 2, the number of projection points includes No. 1 to No. 24 projection points of the outer contour of the vehicle body, and 8 projection points on the inner side and the outer side of the front tire and the rear tire of the vehicle.
(3) The vehicle is moved away, the RTK module is used for measuring the coordinates of each projection point, and the coordinates are recorded as projection coordinate points Pbody(ii) a In this embodiment PbodyThere are 32, which correspond to projection points No. 1 to 32 respectively.
(4) And measuring to obtain the height H of the main antenna from the ground.
(5) Calculating each projection coordinate point PbodyRelative to the main antenna coordinate point PmainAnd the included angle a. Connecting each projection coordinate point with a main antenna coordinate point to form a line segment, wherein the length of the line segment is the distance L; the included angle between the line segment and the straight line where the main antenna and the second antenna are located is an included angle A which is a coordinate point PbodyIn a counterclockwise rotational relationship to the central axis of the vehicle. In the present embodiment, since there are 32 projection coordinate points, there are a plurality of sets of calculation result values of the distance L and the angle a.
By the technical scheme, the driving test vehicle is mapped, the outline of the driving test vehicle in a coordinate system is obtained, and a vehicle model is formed.
In the examination process of subject three, the driving examination vehicle moves in real time, so that the coordinates of the outline of the vehicle in the coordinate system also change in real time. Therefore, when the vehicle body modeling is carried out on the driving test vehicle, the coordinate point P of the main antenna returned by the RTK module is required to be usedmain(xmain，ymain) And calculating the contour point of the vehicle body reversely by the yaw angle yaw and the pitch angle pitch of the vehicle. When the body contour point is inversely calculated, the vehicle model needs to be corrected according to the vehicle pitch angle pitch and the vehicle yaw angle yaw, and in this embodiment, the vehicle yaw angle yaw is measured by the second antenna. The correction steps are as follows:
(6) and correcting the deviation of the main antenna coordinate point generated when the vehicle runs to the slope surface in the driving test.
In the present embodiment, when the main antenna coordinate point deviation caused by the driving test vehicle traveling down a slope is corrected, P is used as shown in fig. 3main' Point as reference Point, P is no longer usedmainThe point serves as a reference point. When the main antenna coordinate point is corrected, the following formula is used:
xmain′＝xmain+H×sin(pitch)×sin(yaw)
ymain′＝ymain+H×sin(pitch)×cos(yaw)
in the above formula, xmain、ymainThe abscissa and the ordinate of a coordinate point of the main antenna are shown, H represents the height of the main antenna from the ground, pitch represents the vehicle pitch angle, yaw represents the vehicle yaw angle, and x represents the vehicle pitch anglemain′、ymain' denotes the abscissa and ordinate of the corrected main antenna coordinate point.
(7) And correcting the change of the projection of the vehicle body contour point generated when the vehicle runs to the slope in the driving test and the horizontal plane of the relation of the main antenna.
In this embodiment, when a change in projection between a vehicle body contour point generated when the vehicle travels to a slope surface and a main antenna relation horizontal plane is corrected, the following method is used:
calculated from the preceding, eachProjection coordinate point PbodyRelative to the main antenna coordinate point PmainThe distance L and the included angle A of the vehicle body on the slope are calculated, and the coordinate values of the projection point of the vehicle body on the slope relative to the projection point of the main antenna are calculated according to the following formula:
xbody-main′＝L×sin(A)
ybody-main′＝L×cos(A)×sin(pitch)
in the above formula, xbody-main′、ybody-main' represents the abscissa and ordinate of the projection point of the vehicle body on the horizontal plane relative to the projection point of the main antenna, L represents the distance of the projection coordinate point relative to the coordinate point of the main antenna, A represents an included angle, and pitch represents the vehicle pitch angle.
According to xbody-main′、ybody-main' calculating the correction distance and correction angle:
the correction distance L' is calculated according to the following formula:
the correction included angle A' is calculated according to the following formula:
A′＝arccos(ybody-main′/L′)
(8) the coordinates of the vehicle body contour points after correction are calculated, and in this embodiment, the calculation is performed according to a point rotation formula derived from polar coordinates, which is specifically as follows:
xbody′＝L′×sin(yaw)×cos(A′)-L′×cos(yaw)×sin(A′)+xmain′
ybody′＝L′×sin(yaw)×sin(A′)+L′×cos(yaw)×cos(A′)+ymain′
in the above formula, xbody′、ybody' represents the abscissa and ordinate of the vehicle body contour point after correction, L ' represents the correction distance, yaw represents the vehicle yaw angle, A ' represents the correction included angle, and xmain′、ymain' denotes the abscissa and ordinate of the corrected main antenna coordinate point.
By the vehicle mapping and modeling method, the vehicle body contour point coordinates of the driving test vehicle in the coordinate system can be obtained, and vehicle modeling is completed.
2. Calculating a driving posture of a vehicle in a driving test
In the examination process of subject three, the driving posture of the driving examination vehicle needs to be calculated, including vehicle speed, forward and backward, forward driving and backward driving, and the specific calculation method is as follows:
(1) vehicle speed
In this implementation, the current coordinate point p is based on the main antenna1And a coordinate point p before an interval duration2And if the vehicle speed is less than a certain value, the vehicle is considered to be stopped, otherwise, the vehicle is in a running state. In the present embodiment, the interval duration is 1 second.
(2) Forward and backward
In the present embodiment, the forward and backward states of the vehicle are determined by comparing the angle formed by the coordinate change of the main antenna coordinate point with the yaw angle of the vehicle.
In particular, according to the current coordinate point p of the main antenna1And a coordinate point p before an interval duration2P is calculated by the following formula1、p2A first included angle θ of a line segment formed by connecting two points with respect to the true north direction:
θ＝arctan(|p1.x-p2.x|/|p1.y-p2.y|)
in the above formula, p1.x、p1Y represents p1X, y coordinate values of (1), p2.x、p2Y represents p2X and y coordinate values of (1).
The first included angle theta is compared with the vehicle yaw angle yaw given by the RTK module, and if the difference between the two is less than ninety degrees, the vehicle is advanced, otherwise, the vehicle is backed when the difference between the two is greater than or equal to ninety degrees. In the present embodiment, the interval duration is 1 second.
(3) Forward and reverse running
In this embodiment, the forward driving state and the reverse driving state of the vehicle are determined by comparing the included angle between the road edge and the due north direction with the vehicle yaw angle.
Specifically, according to a section of road edge where the vehicle is located and closest to the road edge in the coordinate system, a second included angle between the road edge and two lines in the due north direction is calculated, a vehicle yaw angle yaw given by the RTK module is compared, if the difference between the two is smaller than ninety degrees, the vehicle is indicated to be in the forward direction, and otherwise, the vehicle is indicated to be in the reverse direction when the difference between the two is larger than or equal to ninety degrees.
3. Drive test subject three-test route creation
In order to meet the examination requirements of the subject three, in this embodiment, as shown in fig. 4, a one-way lane between two intersections or a three-way intersection is used as one road, an opposite lane is used as the other road, and two-way lanes are divided into A, B two roads.
When the examination route is created, the marking lines to be created comprise: the left line of the road, the right line of the road, the lane lines, the special line shapes and the special areas. The lines of various types are obtained by collecting coordinates of all collecting points on the lines by the RTK module in a coordinate system and connecting the collecting points in the coordinate system. The interval of the collection points is not limited, and in this embodiment, the following are exemplified: only the coordinates of the head and the tail of the straight line can be collected for the straight line; for a curve acquisition interval of 0.5 meters, the curve was fitted using multiple acquisition points.
The following method is adopted for creating the examination route:
(1) the left line of the road and the right line of the road
Each road has two lines along the left line and the right line. Sequentially collecting road end points from road starting points according to the driving direction of the vehicle in the driving test; the method comprises the steps of collecting the data from the inner side boundaries of the left line of the road and the right line of the road. During collection, the centers of the satellite antenna suckers are placed on the inner side boundaries of the left line of the road and the right line of the road, so that an examination route can be created, and when an examination vehicle is driven to press lines, the information of the pressed lines of the vehicle can be fed back to the examination system at the first time. And for the virtual line and the real line along the edge line, the collection is carried out in groups for calibration.
(2) Lane dividing line
The lane lines are collected by taking the centers as datum points, namely the centers of the satellite antenna suckers are placed in the centers of the road marking lines. The lane lines are grouped by the number of lanes at the time of acquisition. As shown in fig. 4, the road a has two types, three lanes and four lanes, and is divided into two groups. Each continuous solid line or broken line is divided into one group, and each road marking is composed of one group or a plurality of groups. Such as: each lane line of the second group is divided into two parts, namely a broken line and a solid line. And each group of lane lines are collected from left to right and from front to back in sequence according to the driving direction.
(3) Special line shape and special area
In this embodiment, the special line shape refers to a relatively independent line shape such as a bus station dividing line and a diversion line. The curve is fitted using multiple acquisition points for a particular line shape.
The special area refers to sidewalks, bus stations, school areas and grid lines. Except that the grid lines need to be collected at four points, other special areas only need to collect the starting point and the end point on the right side of the road.
After the coordinates of each acquisition point in the coordinate system are acquired according to the method of the step, a data file is formed for the intelligent judgment system of the driving test to judge.
4. Acquisition and trigger setting of three-examination item trigger coordinate point of driving examination subject
In this embodiment, the test items of subject three include straight line driving, upshift and downshift, lane change, overtaking, and the like. As shown in fig. 5, the method for acquiring and triggering the examination items specifically includes:
the acquisition method comprises the following steps: the method comprises the steps that a trigger coordinate point M is collected by an RTK module from a collection person to the starting point of a certain road test project, the trigger point is associated with a road where the trigger point M is located, and the trigger point M is edited in an intelligent driving test evaluation system and is associated with prompt voice of an examinee.
The triggering method comprises the following steps: as shown in fig. 4, M points are respectively located at a distance from the left side line of the road and a distance from the right side line of the road, the larger value of the two distances (i.e. the maximum distance value between the trigger coordinate point and the left side line of the road and the maximum distance value between the trigger coordinate point and the right side line of the road) is N, and a circle is drawn by taking M as the center of the circle and N as the radius. When the vehicle runs forwards on a relevant road, the vehicle head central points at the moment t and the previous moment t-1 are connected into a line segment l, the vertical point O between the M point and the line segment l is calculated, if the vertical point O is on the line segment l and the distance between the vertical point O and the M point is less than l, the driving test vehicle is considered to normally trigger the road test item, and the equipment plays prompt voice to enter the road test item.
By the driving test vehicle construction and test route creation method based on RTK provided by the embodiment, after the vehicle is constructed, a test route and test item trigger points can be precisely created and recorded, and the data precision can reach centimeter level.
Example 2
In the driving test process, the driving test intelligent evaluation system needs to evaluate the test items of the vehicle, and the judgment of whether to press a line is described below.
In this embodiment, the following technical solutions are adopted:
when the line segment formed by the vehicle body contour points calculated in real time is intersected with the road solid line; or when a line segment formed by connecting the wheel projection point and the wheel projection point generated last time is intersected with the road solid line, judging that the line is pressed. The wheel projection points are No. 25-32 projection points as shown in FIG. 2.
Through the technical scheme provided by the embodiment, whether the vehicle is pressed during the test of the subject three can be judged.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. An RTK-based driving test vehicle construction and test route creation method is characterized by comprising the following steps of:
the RTK module is used for collecting coordinates, the appearance of the vehicle in the driving test is mapped, and vehicle body modeling is carried out by combining a correction method;
calculating the driving postures of the driving test vehicle, including vehicle speed, forward and backward, forward driving and reverse driving;
acquiring coordinates by using an RTK module, and creating a driving test subject three-test route, including creating a left road line, a right road line, a lane line, a special line shape and a special area;
and acquiring three examination item trigger coordinate points of the driving examination subjects by using the RTK module, and setting the trigger of the examination items.
2. An RTK-based driving exam vehicle construction and exam route creation method as claimed in claim 1, wherein said driving exam vehicle profile is mapped as follows:
moving the driving test vehicle to the horizontal ground, and placing a main antenna and a second antenna at proper positions on the roof of the vehicle; measuring a coordinate point of a main antenna and a vehicle pitch angle through an RTK module;
hanging the plumb at a designated position of a driving test vehicle, and marking a plurality of projection points of the outer contour of the driving test vehicle on the ground;
moving away the driving test vehicle, and measuring the coordinate of each projection point by using an RTK module;
measuring to obtain the height of the main antenna from the ground;
and calculating the distance and the included angle of each projection coordinate point relative to the main antenna coordinate point.
3. The RTK-based driving exam vehicle construction and exam route creation method according to claim 1, wherein the modification method modifies the vehicle model according to vehicle pitch angle and vehicle yaw angle, specifically as follows:
correcting the deviation of the main antenna coordinate point generated when the vehicle runs to a slope surface in the driving test, and calculating according to the following formula:
xmain′＝xmain+H×sin(pitch)×sin(yaw)
ymain′＝ymain+H×sin(pitch)×cos(yaw)
in the above formula, xmain、ymainThe abscissa and the ordinate of a coordinate point of the main antenna are shown, H represents the height of the main antenna from the ground, pitch represents the vehicle pitch angle, yaw represents the vehicle yaw angle, and x represents the vehicle pitch anglemain′、ymain' represents the abscissa and ordinate of the corrected coordinate point of the main antenna;
correcting the change of the projection of the vehicle body contour point generated when the vehicle runs to the slope in the driving test and the horizontal plane of the main antenna relation, and calculating according to the following formula:
xbody-main′＝L×sin(A)
ybody-main′＝L×cos(A)×sin(pitch)
according to xbody-main′、ybody-main' calculating the corrected distance L ' and the corrected included angle A ' according to the following formula:
A′＝arccos(ybody-main′/L′)
in the above formula, xbody-main′、ybody-main' represents the abscissa and ordinate of the projection point of the vehicle body on the horizontal plane relative to the projection point of the main antenna, L represents the distance of the projection coordinate point relative to the coordinate point of the main antenna, A represents an included angle, and pitch represents the vehicle pitch angle.
4. The RTK-based driving test vehicle construction and test route creation method according to claim 3, wherein the corrected body contour point coordinates are calculated according to the following formula:
xbody′＝L′×sin(yaw)×cos(A′)-L′×cos(yaw)×sin(A′)+xmain′
ybody′＝L′×sin(yaw)×sin(A′)+L′×cos(yaw)×cos(A′)+ymain′
in the above formula, xbody′、ybody' represents the abscissa and ordinate of the vehicle body contour point after correction, L ' represents the correction distance, yaw represents the vehicle yaw angle, A ' represents the correction included angle, and xmain′、ymain' denotes the abscissa and ordinate of the corrected main antenna coordinate point.
5. The RTK-based driving exam vehicle construction and exam route creation method of claim 1, wherein forward and backward movements of the driving exam vehicle are calculated as follows:
calculating a first included angle of a line formed by connecting two coordinate points relative to the true north direction according to a current coordinate point of the main antenna and a coordinate point before an interval duration;
and comparing the first included angle with the vehicle yaw angle measured by the RTK module, judging that the vehicle moves forwards when the difference value of the first included angle and the vehicle yaw angle is less than ninety degrees, and judging that the vehicle moves backwards when the difference value of the first included angle and the vehicle yaw angle is greater than or equal to ninety degrees.
6. The RTK-based driving test vehicle construction and test route creation method according to claim 1, wherein forward driving and reverse driving of the driving test vehicle are calculated as follows:
calculating a second included angle between the road side line and the due north direction according to the road side line closest to the position of the driving test vehicle;
and comparing the second included angle with the vehicle yaw angle measured by the RTK module, judging that the vehicle runs in the forward direction when the difference value of the second included angle and the vehicle yaw angle is less than ninety degrees, and judging that the vehicle runs in the reverse direction when the difference value of the second included angle and the vehicle yaw angle is greater than or equal to ninety degrees.
7. The method for constructing the driving test vehicle and creating the test route based on the RTK as claimed in claim 1, wherein a left road line and a right road line are created as follows:
sequentially collecting road end points from road starting points according to the driving direction of the vehicle in the driving test; collecting from the inner side boundaries of the left line and the right line of the road;
during collection, the center of the satellite antenna sucker is placed at the inner side boundary of the left line of the road and the right line of the road; and for the virtual line and the real line along the edge line, the collection is carried out in groups for calibration.
8. The RTK-based driving exam vehicle construction and exam route creation method of claim 1, wherein lane lines are created as follows:
collecting the lane lines by taking the center as a datum point, and placing the center of the satellite antenna sucker in the center of the lane marking; and during collection, dividing the lane lines into groups according to the number of lanes, and sequentially collecting each group of lane lines from left to right and from front to back according to the driving direction.
9. The RTK-based driving test vehicle construction and test route creation method according to claim 1, wherein triggering of test items is set as follows:
collecting a trigger coordinate point by using an RTK module from a collector to the starting point of a subject three-examination project, and drawing a circle by taking the trigger coordinate point and the maximum distance value of the left line and the right line of the road as the radius and taking the trigger coordinate point as the center of the circle;
when a vehicle runs on a relevant road in a forward direction, connecting the vehicle head central points at the moment t and the previous moment t-1 into a line segment, and calculating the triggering coordinate point and the vertical point of the line segment;
and when the vertical point is on the line segment and the distance between the vertical point and the trigger coordinate point is less than the length of the line segment, judging that the driving test vehicle triggers the subject three test items.
10. The RTK-based driving exam vehicle construction and exam route creation method of claim 1, wherein: when a line segment formed by the vehicle body contour points intersects with the road solid line; or when a line segment formed by connecting the wheel projection point and the wheel projection point generated last time is intersected with the road solid line, judging that the line is pressed.
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