CN117765796B - Automatic driving teaching system, method and device - Google Patents
Automatic driving teaching system, method and device Download PDFInfo
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Abstract
The invention provides an automatic driving teaching system, method and device, and relates to the technical field of automatic driving, wherein the automatic driving teaching method comprises the steps of selecting a teaching mode, determining configuration parameters of a vehicle coordinate system conversion module, a sensor driving module, a sensing module, a map positioning module and a road planning module based on the teaching mode, and finally driving a vehicle to automatically drive based on the configuration parameters of the coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the planning module, so that the automatic driving teaching system is suitable for students in different automatic driving learning stages, and the learning efficiency of beginners is improved.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to an automatic driving teaching system, an automatic driving teaching method and an automatic driving teaching device.
Background
With continuous progress of the internet of things technology, the automobile electronic technology and the vehicle-mounted sensor technology, the unmanned automobile is gradually in the brand-new state. The vehicle senses the road environment through the vehicle-mounted sensing system, automatically plans the driving route and controls the vehicle to reach the preset target, and shows the intelligent characteristic. The vehicle-mounted sensor assists the vehicle to sense the surrounding environment, and controls the steering and the speed of the vehicle according to the acquired road, the vehicle position and the obstacle information, so as to ensure that the vehicle runs safely and stably on the road.
Currently, autopilot systems are mainly applied in the industrial field. When such a system is applied to a teaching scene, the requirement of unmanned deep teaching is met due to parameter configuration involving a plurality of modules. However, in the weekday teaching demonstration or entry teaching stage, the automatic driving system is too complex, and the learning curve is too steep, which is unfavorable for the entry learning of beginners.
Disclosure of Invention
The invention mainly aims to provide an automatic driving teaching system, an automatic driving teaching method and an automatic driving teaching device, and aims to provide the automatic driving teaching system, the automatic driving teaching method and the automatic driving teaching device
The adaptability to students in different autopilot learning phases is improved.
In order to achieve the above object, the present invention provides an automatic driving teaching system applied to an automobile, the automatic driving teaching system comprising:
a vehicle coordinate system conversion module, the coordinate system conversion module comprising: at least one of a laser radar-vehicle body conversion unit and a world-map coordinate conversion unit;
a sensor drive module, the sensor drive module comprising: at least one of a camera driving unit, a laser radar driving unit, a navigation driving unit, an ultrasonic radar driving unit, a CAN driving unit and a chassis driving unit;
A perception module, the perception module comprising: at least one of a voxel filtering unit, an annular ground filtering unit, a ray ground filtering unit, a laser radar clustering unit, a target tracking unit, a motion prediction unit and a loss map generating unit;
a map positioning module, the map positioning module comprising: at least one of a point cloud map unit, a vector map unit, an NDT positioning unit, and a speed-position conversion unit;
A road planning module, the planning module comprising: at least one of a route point loading unit, a road navigation unit, a road planning unit, a road stopping unit, a road selecting unit and an obstacle avoidance unit;
the control module is electrically connected with the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module respectively and is used for driving an automobile to automatically drive based on configuration parameters of the coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the planning module;
The automatic configuration module is electrically connected with the control module; the automatic configuration module is used for automatically loading configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module and outputting the configuration parameters to the control module.
The manual configuration module is electrically connected with the control module, and comprises:
the first manual configuration unit is used for manually loading configuration parameters of the vehicle coordinate system conversion module;
the second manual configuration unit is used for manually loading configuration parameters of the sensor driving module;
the third manual configuration unit is used for manually loading configuration parameters of the sensing module;
The fourth manual configuration unit is used for manually loading configuration parameters of the map positioning module;
And the fifth manual configuration unit is used for manually loading the configuration parameters of the road planning module.
Optionally, the autopilot teaching system further includes:
The teaching examination module is electrically connected with the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module respectively; the teaching and checking module is used for judging the correctness of the configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module and scoring the correctness.
Optionally, the teaching and checking module includes:
The first assessment unit is electrically connected with the vehicle coordinate system conversion module; the first checking unit is used for judging the correctness of the configuration parameters of the vehicle coordinate system conversion module and scoring the configuration parameters;
The second checking unit is electrically connected with the sensor driving module; the second checking unit is used for judging the correctness of the configuration parameters of the sensor driving module and scoring the correctness;
the third assessment unit is electrically connected with the sensing module; the third checking unit is used for judging the correctness of the configuration parameters of the sensing module and scoring the configuration parameters;
The fourth assessment unit is electrically connected with the map positioning module; the fourth checking unit is used for judging the correctness of the configuration parameters of the map positioning module and scoring the configuration parameters;
the fifth assessment unit is electrically connected with the road planning module; and the fifth checking unit is used for judging the correctness of the configuration parameters of the road planning module and scoring the configuration parameters.
The invention also provides an automatic driving teaching method, which is based on the automatic driving teaching system, and comprises the following steps:
Selecting a teaching mode;
Determining configuration parameters of the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module based on the teaching mode;
And driving the vehicle to automatically drive based on the configuration parameters of the coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the planning module.
Optionally, before the step of selecting the teaching mode, the method further includes: and selecting preset scene parameters.
Optionally, the teaching mode includes a teaching demonstration mode, a primary teaching module and an advanced teaching mode;
When the teaching mode is selected as a teaching demonstration mode, configuration parameters of the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module are directly obtained through the automatic configuration module;
When the teaching mode is selected as a primary teaching mode, acquiring configuration parameters of the vehicle coordinate system conversion module, configuration parameters of the sensor driving module, configuration parameters of the sensing module, configuration parameters of the map positioning module and configuration parameters of at least one of the road planning module through the manual configuration module;
When the teaching mode is selected to be an advanced teaching mode, configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module are acquired by manually loading configuration parameters of at least one of the laser radar-vehicle body conversion unit, the world-map coordinate conversion unit, the camera driving unit, the laser radar driving unit, the navigation driving unit, the ultrasonic radar driving unit, the CAN driving unit and the chassis driving unit, the voxel filtering unit, the annular ground filtering unit, the ray ground filtering unit, the laser radar clustering unit, the target tracking unit, the motion prediction unit and the loss map generation unit, the point cloud unit, the vector map unit, the NDT positioning unit and the speed-position conversion unit, the path point loading unit, the road navigation unit, the road planning unit, the road stopping unit, the road selection unit and the obstacle avoidance unit.
Optionally, when the teaching mode is selected to be an advanced teaching mode, the method further includes determining correctness of configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module, and scoring the correctness.
The invention also provides an automatic driving teaching device, which comprises:
A memory;
And the processor is stored in the memory and used for executing the automatic driving teaching control program, and the automatic driving teaching control program realizes the automatic driving teaching method when being executed by the processor.
The invention provides an automatic driving teaching system, method and device, wherein the automatic driving teaching method comprises the steps of selecting a teaching mode, determining configuration parameters of a vehicle coordinate system conversion module, a sensor driving module, a sensing module, a map positioning module and a road planning module based on the teaching mode, and finally driving a vehicle to automatically drive based on the configuration parameters of the coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the planning module, so that the automatic driving teaching system is suitable for students in different automatic driving learning stages, and the learning efficiency of beginners is improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an autopilot teaching system of the present invention;
FIG. 2 is a flow chart of an embodiment of an autopilot teaching method of the present invention;
FIG. 3 is a flow chart of another embodiment of the automatic driving teaching method of the present invention;
fig. 4 is a flowchart of an automatic driving teaching method according to another embodiment of the present invention.
Reference numerals illustrate:
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
With continuous progress of the internet of things technology, the automobile electronic technology and the vehicle-mounted sensor technology, the unmanned automobile is gradually in the brand-new state. The vehicle senses the road environment through the vehicle-mounted sensing system, automatically plans the driving route and controls the vehicle to reach the preset target, and shows the intelligent characteristic. The vehicle-mounted sensor assists the vehicle to sense the surrounding environment, and controls the steering and the speed of the vehicle according to the acquired road, the vehicle position and the obstacle information, so as to ensure that the vehicle runs safely and stably on the road.
Currently, autopilot systems are mainly applied in the industrial field. When such a system is applied to a teaching scene, the requirement of unmanned deep teaching is met due to parameter configuration involving a plurality of modules. However, in the weekday teaching demonstration or entry teaching stage, the automatic driving system is too complex, and the learning curve is too steep, which is unfavorable for the entry learning of beginners.
The invention provides an automatic driving teaching system, which aims to improve the adaptability to students in different automatic driving learning stages.
Referring to fig. 1, in an embodiment of the present invention, the present invention provides an automatic driving teaching system applied to an automobile, the automatic driving teaching system comprising:
A vehicle coordinate system conversion module 10, the coordinate system conversion module comprising: at least one of a laser radar-vehicle body conversion unit and a world-map coordinate conversion unit; by the vehicle coordinate system conversion module 10, real-time conversion of a vehicle coordinate system and a world coordinate system can be realized, and accurate position and posture information can be provided for an automatic driving system.
In this embodiment, the lidar-vehicle body conversion unit is configured to implement matching between lidar measurement data and a coordinate system of a vehicle, and provide accurate motion state information for an autopilot system. By carrying out parameter configuration on the laser radar-vehicle body conversion unit, automatic driving knowledge points such as laser radar data receiving and processing, vehicle motion model building, laser radar-vehicle body conversion algorithm, error compensation and the like can be learned. The method comprises the steps of receiving and processing knowledge points of laser radar data, namely receiving scanning data sent by the laser radar, preprocessing the data through methods of filtering, denoising and the like, and improving the data quality; the method comprises the steps that a knowledge point is built according to information such as real-time speed and acceleration of a vehicle, the motion model of the vehicle is built and used for describing the motion state of the vehicle on a road, a laser radar-vehicle body conversion algorithm knowledge point comprises the steps of combining the motion model of the vehicle, developing a real-time conversion algorithm, and converting point cloud data under a world coordinate system measured by a laser radar into point cloud data under the vehicle coordinate system; the error compensation knowledge points comprise laser radar measurement errors, vehicle motion model errors and other factors, error compensation is carried out on the conversion result, and the accuracy of coordinate system conversion is improved.
In this embodiment, the world-map coordinate conversion unit is configured to further convert data in the vehicle coordinate system into data in the map coordinate system, and provide accurate position information for the autopilot system. By performing parameter configuration on the world-map coordinate conversion unit, it is possible to learn the automatic driving knowledge points such as map data processing, a conversion algorithm from the world coordinate system to the map coordinate system, coordinate system conversion accuracy optimization, and real-time update of vehicle coordinates. The map data processing knowledge points comprise receiving high-precision map data, preprocessing the map data, such as filtering, denoising and the like, and improving the quality of the map data; the conversion algorithm knowledge points from the world coordinate system to the map coordinate system comprise developing a real-time conversion algorithm according to map data and real-time position information of the vehicle, and converting point cloud data under the vehicle coordinate system into point cloud data under the map coordinate system; the coordinate system conversion accuracy optimization knowledge points comprise the steps of optimizing conversion results according to factors such as map data errors, vehicle position errors and the like, and improving the coordinate system conversion accuracy; the real-time updating of the knowledge points of the vehicle coordinates comprises the step of updating the point cloud data under the map coordinate system in real time according to the movement of the vehicle, and real-time and accurate position information is provided for an automatic driving system.
In this embodiment, the vehicle coordinate system conversion module 10 realizes real-time conversion between the vehicle coordinate system and the world coordinate system by the laser radar-vehicle body conversion unit and the world-map coordinate conversion unit, and provides accurate position, posture and motion state information for the automatic driving system. By configuring parameters of the vehicle coordinate system conversion module 10, students can grasp underlying logic of the lidar-vehicle body conversion unit and/or the world-map coordinate conversion unit, thereby enabling an efficient and safe automatic driving system to be performed in a complex road environment of the vehicle.
In this embodiment, the autopilot teaching system further includes a sensor driving module 20, and the sensor driving module 20 includes: at least one of a camera driving unit, a laser radar driving unit, a navigation driving unit, an ultrasonic radar driving unit, a CAN driving unit and a chassis driving unit; by the sensor driving module 20, real-time control and data acquisition of various sensors can be realized, and real-time and accurate data support is provided for an automatic driving system.
In this embodiment, the camera driving module is configured to implement sensing of a surrounding environment of the vehicle, and provide information such as a position, a speed, etc. of a traffic participant such as a road, a vehicle, a pedestrian, etc. for an autopilot system through real-time processing of image data. Through parameter configuration of the camera driving module, automatic driving knowledge points such as camera calibration, image preprocessing, target detection and tracking and the like can be learned. The camera calibration knowledge points comprise calibration of camera internal parameters and external parameters, so that the calibration accuracy of images is improved; the image preprocessing knowledge points comprise denoising, filtering and other treatments on the image, so that the image quality is improved; the target detection and tracking knowledge points comprise detection and tracking of targets in the images, and effective environment perception information is provided for an automatic driving system.
In this embodiment, the laser radar driving module is configured to implement three-dimensional sensing of the surrounding environment of the vehicle, and provide accurate information such as distance and speed for the autopilot system through real-time processing of laser radar data. By carrying out parameter configuration on the laser radar driving module, automatic driving knowledge points such as laser radar data receiving and processing, point cloud data filtering and segmentation, three-dimensional scene reconstruction and the like can be learned. The method comprises the steps of receiving and processing knowledge points of laser radar data, namely receiving scanning data sent by the laser radar, preprocessing the data through methods of filtering, denoising and the like, and improving the data quality; the point cloud data filtering and segmentation knowledge point comprises filtering and segmenting point cloud data, and eliminating noise and error point cloud data; the three-dimensional scene reconstruction knowledge points comprise reconstructing a three-dimensional scene of the surrounding environment of the vehicle according to the point cloud data, and providing accurate environment perception information for an automatic driving system.
In this embodiment, the navigation driving module is configured to implement real-time positioning and path planning of the vehicle, and provide accurate information such as a position, a speed, a driving path, and the like for the autopilot system through real-time processing of navigation data. By carrying out parameter configuration on the navigation driving module, the automatic driving knowledge points such as satellite navigation signal receiving and processing, map matching, path planning and the like can be learned. The satellite navigation signal receiving and processing knowledge points comprise receiving satellite navigation signals, and calculating the real-time position and speed of the vehicle through an algorithm; the map matching knowledge points comprise matching the position calculated by satellite navigation with high-precision map data, so that the positioning precision is improved; the path planning knowledge points comprise real-time planning of the driving track according to the target driving path of the vehicle, and provide an accurate driving path for an automatic driving system.
In this embodiment, the ultrasonic radar driving module is configured to implement short-distance sensing of the surrounding environment of the vehicle, and provide information such as obstacle distance and speed for the autopilot system through real-time processing of ultrasonic radar data. By carrying out parameter configuration on the ultrasonic radar driving module, the automatic driving knowledge points such as ultrasonic radar signal receiving and processing, distance calculation and the like can be learned. The method comprises the steps of receiving ultrasonic radar signals and processing knowledge points, namely receiving the signals sent by the ultrasonic radar, and calculating the distance and the speed of an obstacle through an algorithm; the distance calculation knowledge points include calculating the distance and speed of the obstacle from the propagation time and frequency of the ultrasonic radar signal.
In this embodiment, the CAN driving module is configured to implement communication between various components in the vehicle, and provide accurate data transmission for the autopilot system through real-time control of the CAN bus. Through parameter configuration to the CAN driving module, automatic driving knowledge points such as CAN bus communication protocol, data transmission optimization and the like CAN be learned. The CAN bus communication protocol knowledge point comprises the step of realizing data transmission among all parts in the vehicle according to the CAN bus communication protocol; the data transmission optimization knowledge point comprises the problems of optimizing the rate of CAN bus communication, signal interference and the like, and improves the stability and reliability of data transmission.
In this embodiment, the chassis driving module is used to implement power, braking and steering control of the vehicle, and provides stable running performance for the autopilot system through real-time control of the chassis system. By carrying out parameter configuration on the chassis driving module, the automatic driving knowledge points such as vehicle dynamics control, brake control and steering control can be learned. The vehicle dynamics control knowledge point comprises the steps of adjusting power, braking and steering parameters in real time according to the motion state of the vehicle; the braking control knowledge point comprises the step of adjusting braking moment in real time according to the requirement of an automatic driving system; the steering control knowledge point comprises the step of adjusting the steering angle in real time according to the requirement of an automatic driving system.
In this embodiment, through the sensor driving module 20, the vehicle can sense the surrounding environment in real time, and obtain accurate data support. By configuring parameters of each sensor driving module 20, students can grasp the principles and the use methods of various sensors, thereby realizing an efficient and safe automatic driving system in a complex road environment.
In this embodiment, the autopilot teaching system further includes a sensing module 30, where the sensing module 30 includes: at least one of a voxel filtering unit, an annular ground filtering unit, a ray ground filtering unit, a laser radar clustering unit, a target tracking unit, a motion prediction unit and a loss map generating unit; the sensing module 30 can process and analyze the collected data in real time, so as to realize understanding and judging of the surrounding environment.
In this embodiment, the voxel filtering unit is configured to filter three-dimensional point cloud data, eliminate noise and abnormal data, and improve data quality. By carrying out parameter configuration on the voxel filtering unit, the automatic driving knowledge points such as a voxel filtering algorithm, filtering parameter adjustment and the like can be learned. The voxel filtering algorithm comprises the steps of carrying out noise reduction and filtering treatment on point cloud data, and improving the accuracy and stability of the data; the filtering parameter adjustment knowledge points comprise adjustment of filtering parameters according to different scenes and requirements, and better filtering effect is achieved.
In this embodiment, the annular ground filtering unit is configured to perform annular filtering on the point cloud data, so as to extract ground features. Through parameter configuration of the annular ground filtering unit, automatic driving knowledge points such as an annular filtering algorithm, filtering parameter adjustment and the like can be learned. The ring filtering algorithm comprises the steps of carrying out ring filtering on point cloud data to eliminate noise and abnormal data; the filtering parameter adjustment knowledge points comprise adjustment of filtering parameters according to different scenes and requirements, and better filtering effect is achieved.
In this embodiment, the ray ground filtering unit is configured to perform ray filtering on the point cloud data, so as to extract a ground feature. By carrying out parameter configuration on the ray ground filtering unit, the automatic driving knowledge points such as a ray filtering algorithm, filtering parameter adjustment and the like can be learned. The ray filtering algorithm comprises the steps of carrying out ray filtering on point cloud data and eliminating noise and abnormal data; the filtering parameter adjustment knowledge points comprise adjustment of filtering parameters according to different scenes and requirements, and better filtering effect is achieved.
In this embodiment, the lidar clustering unit is configured to perform clustering processing on lidar data, so as to identify different objects. By carrying out parameter configuration on the laser radar clustering unit, automatic driving knowledge points such as a laser radar clustering algorithm, clustering parameter adjustment and the like can be learned. The laser radar clustering algorithm comprises the steps of carrying out clustering processing on laser radar data, and improving recognition accuracy; the step of adjusting the knowledge points by the clustering parameters comprises the step of adjusting the clustering parameters according to different scenes and requirements, so that a better clustering effect is realized.
In this embodiment, the target tracking unit is configured to track the identified target in real time, and provide accurate target position information for the autopilot system. By carrying out parameter configuration on the target tracking unit, the automatic driving knowledge points such as a target tracking algorithm, tracking parameter adjustment and the like can be learned. The target tracking algorithm comprises the steps of tracking a target in real time, so that tracking accuracy is improved; the tracking parameter adjusting knowledge points comprise adjusting the tracking parameters according to different scenes and requirements, so that a better tracking effect is achieved.
In this embodiment, the motion prediction unit is configured to predict a motion of a target, and provide early warning for an autopilot system. By carrying out parameter configuration on the motion prediction unit, the automatic driving knowledge points such as a motion prediction algorithm, prediction parameter adjustment and the like can be learned. The motion prediction algorithm comprises the steps of predicting the motion of a target, and improving the early warning accuracy; the prediction parameter adjustment knowledge point comprises adjustment of the prediction parameter according to different scenes and requirements, so that a better prediction effect is achieved.
In this embodiment, the loss map generating unit is configured to generate a loss map according to the sensing result, and provide a decision basis for the autopilot system. By configuring parameters of the loss map generation means, the automatic driving knowledge points such as the loss map generation algorithm and the loss map parameter adjustment can be learned. The loss map generation algorithm comprises the steps of generating a loss map according to a perception result, and improving decision accuracy; the knowledge point for adjusting the parameters of the loss map comprises the step of adjusting the parameters of the loss map according to different scenes and requirements, so that a better decision effect is realized.
In this embodiment, through the above-mentioned sensing module 30, the vehicle can sense and analyze the surrounding environment in real time, so as to realize understanding and judging the environment. By carrying out parameter configuration on each sensing unit, students can master a sensing algorithm and a parameter adjustment method, so that an efficient and safe automatic driving system is realized in a complex road environment.
In this embodiment, the autopilot teaching system further includes a map positioning module 40, and the map positioning module 40 includes: at least one of a point cloud map unit, a vector map unit, an NDT positioning unit, and a speed-position conversion unit; by means of the map positioning module 40, accurate positioning of the automatic driving system on a map can be achieved, and real-time navigation information can be provided for the vehicle.
In this embodiment, the point cloud map unit is configured to process and analyze three-dimensional point cloud data to generate a point cloud map. By carrying out parameter configuration on the point cloud map unit, automatic driving knowledge points such as a point cloud map generation algorithm, map parameter adjustment and the like can be learned. The point cloud map generation algorithm comprises the steps of processing and analyzing point cloud data, and improving map generation accuracy; the map parameter adjustment knowledge points comprise adjustment of map parameters according to different scenes and requirements, and a better map effect is achieved.
In this embodiment, the vector map unit is configured to convert the point cloud map into a vector map, so as to facilitate positioning and navigation by the autopilot system. By carrying out parameter configuration on the vector map unit, the automatic driving knowledge points such as a vector map generation algorithm, map parameter adjustment and the like can be learned. The vector map generation algorithm comprises the steps of converting the point cloud map into a vector map, and improving positioning and navigation accuracy; the map parameter adjustment knowledge points comprise adjustment of map parameters according to different scenes and requirements, and a better map effect is achieved.
In this embodiment, the NDT positioning unit is configured to implement accurate positioning of the autopilot system according to the point cloud data and the vector map. By carrying out parameter configuration on the NDT positioning unit, automatic driving knowledge points such as an NDT positioning algorithm, positioning parameter adjustment and the like can be learned. The NDT positioning algorithm comprises the steps of positioning according to the point cloud data and the vector map, so that the positioning accuracy is improved; positioning parameter adjustment knowledge points comprise adjustment of positioning parameters according to different scenes and requirements, and a better positioning effect is achieved.
In this embodiment, the speed-position conversion unit is configured to convert speed and position information of the automatic driving system into a format required for navigation. By performing parameter configuration on the speed-position conversion unit, the automatic driving knowledge points such as a speed-position conversion algorithm, conversion parameter adjustment and the like can be learned. The speed-position conversion algorithm includes converting speed and position information into a format required for navigation; the conversion parameter adjustment knowledge points comprise adjustment of conversion parameters according to different scenes and requirements, and a better navigation effect is achieved.
In this embodiment, through the map positioning module 40, the automatic driving system can realize accurate positioning and real-time navigation, and provide accurate position information and driving paths for the vehicle. By carrying out parameter configuration on each map positioning unit, students can master a map positioning algorithm and a parameter adjustment method, so that an efficient and safe automatic driving system is realized in a complex road environment.
In this embodiment, the autopilot teaching system further includes a road planning module 50, and the road planning module 50 includes: at least one of a route point loading unit, a road navigation unit, a road planning unit, a road stopping unit, a road selecting unit and an obstacle avoidance unit; by means of the road planning module 50, efficient and safe driving of the automatic driving system in complex road environments can be achieved.
In this embodiment, the route point loading unit is configured to load route point data, including a start point, an end point and other key points, and provide basic data for subsequent road planning. By carrying out parameter configuration on the path point loading unit, the automatic driving knowledge points such as path point data processing and loading algorithm and the like can be learned. The path point data processing and loading algorithm comprises loading path point data, so that the accuracy of the data is ensured; the data processing knowledge points comprise preprocessing the path point data, so that the performance of a subsequent planning algorithm is improved.
In this embodiment, the road navigation unit is configured to generate a navigation instruction according to the route point data and the real-time environment information. By carrying out parameter configuration on the road navigation unit, the automatic driving knowledge points such as a road navigation algorithm, navigation parameter adjustment and the like can be learned. The road navigation algorithm comprises generating a navigation instruction according to the path point data and the real-time environment information; adjusting the knowledge points of the navigation parameters comprises adjusting the navigation parameters according to different scenes and requirements, so as to achieve better navigation effect.
In this embodiment, the road planning unit is configured to generate a road planning scheme according to the route point data and the real-time environment information. By carrying out parameter configuration on the road planning unit, automatic driving knowledge points such as a road planning algorithm, planning parameter adjustment and the like can be learned. The road planning algorithm comprises the steps of generating a road planning scheme according to the path point data and the real-time environment information; the programming parameter adjusting knowledge points comprise adjusting the programming parameters according to different scenes and requirements, so that a better programming effect is achieved.
In this embodiment, the road stopping unit is configured to determine a parking position of the automatic driving system according to a road planning scheme. By configuring the parameters of the road stopping means, the automatic driving knowledge points such as the road stopping algorithm and the stopping parameter adjustment can be learned. The road stopping algorithm comprises determining a parking position according to a road planning scheme; the stopping parameter adjustment knowledge points comprise adjustment of stopping parameters according to different scenes and requirements, and better stopping effect is achieved.
In this embodiment, the road selecting unit is configured to select an optimal driving path according to a road planning scheme in a complex road environment. By configuring parameters of the road selection unit, automatic driving knowledge points such as a road selection algorithm, parameter adjustment selection and the like can be learned. The road selection algorithm comprises selecting an optimal driving path in a complex road environment; selecting the parameter adjustment knowledge points comprises adjusting the selection parameters according to different scenes and requirements, so as to achieve better selection effect.
In this embodiment, the obstacle avoidance unit is configured to avoid collision with other objects according to real-time sensing data in a complex road environment. By carrying out parameter configuration on the obstacle avoidance unit, the automatic driving knowledge points such as an obstacle avoidance algorithm, obstacle avoidance parameter adjustment and the like can be learned. The obstacle avoidance algorithm comprises the steps of carrying out obstacle avoidance under a complex road environment; the obstacle avoidance parameter adjustment knowledge points comprise adjustment of the obstacle avoidance parameters according to different scenes and requirements, and a better obstacle avoidance effect is achieved.
In this embodiment, through the road planning module 50, the automatic driving system can realize efficient and safe driving under a complex road environment. By carrying out parameter configuration on each road planning unit, students can master a road planning algorithm and a parameter adjustment method, so that an efficient and safe automatic driving system is realized in an actual road environment.
In this embodiment, the control module 60 is electrically connected to the vehicle coordinate system conversion module 10, the sensor driving module 20, the sensing module 30, the map positioning module 40, and the road planning module 50, where the control module 60 is configured to control driving instructions generated by the control module 60 based on configuration parameters of the coordinate system conversion module, the sensor driving module 20, the sensing module 30, the map positioning module 40, and the planning module in real time, so as to implement automatic driving of the vehicle.
In the embodiment, students can realize the perception, understanding and judgment of the vehicle to the surrounding environment by carrying out parameter configuration and learning on each module of the automatic driving system, and real-time driving control and navigation information are provided for the vehicle. Through grasping the knowledge points of each module, students can better cope with complex road environments, and an efficient and safe automatic driving system is realized.
In this embodiment, the autopilot teaching system further includes an auto-configuration module 70, where the auto-configuration module 70 is electrically connected to the control module 60; the automatic configuration module 70 is configured to automatically load configuration parameters of at least one of the vehicle coordinate system conversion module 10, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50, and output the configuration parameters to the control module 60.
In this embodiment, the autopilot teaching system further includes a manual configuration module 80, the manual configuration module 80 is electrically connected to the control module 60, and the manual configuration module 80 includes:
a first manual configuration unit for manually loading configuration parameters of the vehicle coordinate system conversion module 10;
A second manual configuration unit for manually loading configuration parameters of the sensor driving module 20;
a third manual configuration unit, configured to manually load configuration parameters of the sensing module 30;
A fourth manual configuration unit, configured to manually load configuration parameters of the map positioning module 40;
a fifth manual configuration unit is used for manually loading configuration parameters of the road planning module 50.
In this embodiment, when a beginner learns to perform autopilot, the beginner can automatically configure the configuration parameters of the vehicle coordinate system conversion module 10, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50, and then drive the vehicle to autopilot through the configuration parameters of the vehicle coordinate system conversion module 10, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50, so that the parameter configuration of each module of the autopilot teaching system is demonstrated, so that the student fully knows the running process of autopilot, and is convenient to master the running principle and the adjustment method of the autopilot system more easily.
In this embodiment, for students who fully understand the operation process of automatic driving, the manual configuration module 80 can manually and directly configure the configuration parameters of the vehicle coordinate system conversion module 10 and/or the configuration parameters of the sensor driving module 20 and/or the configuration parameters of the sensing module 30 and/or the configuration parameters of the map positioning module 40 and/or the configuration parameters of the road planning module 50, so as to primarily learn the parameter configuration of each module of the automatic driving system and the operation process of the automatic mode, and lay a solid foundation for further learning the automatic driving technology.
In this embodiment, for students who complete the preliminary learning of the parameter configuration of each module of the automatic driving system and the preliminary learning of the operation process of the automatic mode, the students manually perform the parameter configuration on each unit of each module of the automatic driving system by themselves, so as to grasp knowledge points of each module, so that the students can understand the principle and application of the automatic driving technology in depth, so that the students can better cope with complex road environments, and an efficient and safe automatic driving system is realized. In this embodiment, the students can also manually configure their configuration parameters by selecting or selecting modules with a plurality of knowledge points that are deficient, and other modules directly configure their configuration parameters through the manual configuration module 80, so that the modules with the deficiency can be subjected to targeted learning, so as to improve learning efficiency.
In this embodiment, the parameter configuration is performed on the vehicle coordinate system conversion module 10, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50 by different modes for students in different autopilot learning stages, so that the autopilot teaching system can be suitable for students in different autopilot learning stages, and the learning efficiency of beginners is improved.
Optionally, the autopilot teaching system further includes:
The teaching examination module is electrically connected with the vehicle coordinate system conversion module, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50 respectively; the teaching and checking module is configured to determine the correctness of the configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module 20, the sensing module 30, the map positioning module 40, and the road planning module 50, and score the configuration parameters. In this embodiment, the teaching and checking module determines the correctness of the configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50, and scores the correctness, so that a teacher can check the mastering condition of the student on the related knowledge of automatic driving, thereby teaching the student in a targeted manner and improving the learning efficiency of the student.
Optionally, the teaching and checking module includes:
The first assessment unit is electrically connected with the vehicle coordinate system conversion module; the first checking unit is used for judging the correctness of the configuration parameters of the vehicle coordinate system conversion module and scoring the configuration parameters;
A second checking unit electrically connected to the sensor driving module 20; the second checking unit is configured to determine the correctness of the configuration parameters of the sensor driving module 20, and score the configuration parameters;
A third checking unit electrically connected to the sensing module 30; the third checking unit is configured to determine the correctness of the configuration parameters of the sensing module 30, and score the configuration parameters;
A fourth checking unit electrically connected to the map positioning module 40; the fourth checking unit is configured to determine the correctness of the configuration parameters of the map positioning module 40, and score the configuration parameters;
A fifth assessment unit electrically connected with the road planning module 50; the fifth checking unit is configured to determine the correctness of the configuration parameters of the road planning module 50, and score the configuration parameters.
In this embodiment, when a student singly or selects a module with a plurality of knowledge points in deficiency to perform manual configuration, other modules directly configure their configuration parameters through the manual configuration module 80, and correspondingly detect the correctness of the configuration parameters of the selected module and score through the first assessment unit and/or the second assessment unit and/or the third assessment unit and/or the fourth assessment unit and/or the fifth assessment unit, thereby performing targeted learning on the module with the deficiency to improve learning efficiency.
The present invention also provides an autopilot teaching method based on the autopilot teaching system, referring to fig. 2, in one embodiment of the present invention, the method includes the steps of:
S10, selecting a teaching mode;
S20, determining configuration parameters of the vehicle coordinate system conversion module, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50 based on the teaching mode;
S30, driving the vehicle to automatically drive based on the configuration parameters of the coordinate system conversion module, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the planning module.
In this embodiment, the teaching mode includes a teaching demonstration mode, a primary teaching module, and an advanced teaching mode;
When the teaching mode is selected as the teaching demonstration mode, the configuration parameters of the vehicle coordinate system conversion module 10, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50 are directly obtained through the automatic configuration module 70, and then the vehicle is driven to automatically drive through the configuration parameters of the vehicle coordinate system conversion module 10, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50, so that parameter configuration of each module of the automatic driving teaching system is demonstrated, students can fully understand the operation process of automatic driving, and follow-up easier grasp of the operation principle and the adjustment method of the automatic driving system is facilitated.
When the teaching mode is selected as the primary teaching mode, the manual configuration module 80 is used to obtain the configuration parameters of the vehicle coordinate system conversion module 10, the configuration parameters of the sensor driving module 20, the configuration parameters of the sensing module 30, the configuration parameters of the map positioning module 40 and the configuration parameters of at least one of the road planning module 50, so as to primarily learn the parameter configuration of each module of the automatic driving system and the operation process of the automatic mode, and lay a solid foundation for further learning the automatic driving technology.
When the teaching mode is selected to be an advanced teaching mode, the configuration parameters of at least one of the laser radar-vehicle body conversion unit, the world-map coordinate conversion unit, the camera driving unit, the laser radar driving unit, the navigation driving unit, the ultrasonic radar driving unit, the CAN driving unit and the chassis driving unit, the voxel filtering unit, the annular ground filtering unit, the ray ground filtering unit, the laser radar clustering unit, the target tracking unit, the motion prediction unit and the loss map generation unit, the point cloud unit, the vector map unit, the NDT positioning unit and the speed-position conversion unit, the path point loading unit, the road navigation unit, the road planning unit, the road stopping unit, the road selecting unit and the obstacle avoidance unit are manually loaded, so that the configuration parameters of at least one of the vehicle coordinate system conversion module 10, the sensor driving module 20, the perception module 30, the map positioning module 40 and the road planning module 50 are acquired, and knowledge points of each module are mastered, so that students CAN understand the principle and application of the automatic driving technology, and CAN better cope with complex road environments, and an automatic and high-efficient and deep driving system CAN be realized. In this embodiment, the students can also manually configure their configuration parameters by selecting or selecting modules with a plurality of knowledge points that are deficient, and other modules directly configure their configuration parameters through the manual configuration module 80, so that the modules with the deficiency can be subjected to targeted learning, so as to improve learning efficiency.
In this embodiment, through the teaching demonstration mode, the primary teaching module and the advanced teaching mode, the parameter configuration is performed on the vehicle coordinate system conversion module 10, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50 in different modes, so that the automatic driving teaching system can be suitable for students in different automatic driving learning stages, and the learning efficiency of beginners is improved.
Optionally, referring to fig. 4, in another embodiment of the present invention, when the teaching mode is selected to be an advanced teaching mode, after acquiring the configuration parameters of at least one of the vehicle coordinate system conversion module 10, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50, determining the correctness of the configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50 and scoring is further included. By judging the correctness of the configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module 20, the sensing module 30, the map positioning module 40 and the road planning module 50 and scoring, a teacher can conveniently check the mastering condition of students on the related knowledge of automatic driving so as to pertinently conduct teaching, and the learning efficiency of the students is improved.
Optionally, referring to fig. 3, in a further embodiment of the present invention, before the step of selecting the teaching mode, the method further includes: s00, selecting preset scene parameters. In this embodiment, by selecting preset scene parameters, parameter configuration and learning can be performed on each module in different environments, so that students can better cope with various road environments, and efficient learning of an automatic driving system is realized.
In this embodiment, the present invention further provides an autopilot teaching apparatus, where the autopilot teaching apparatus includes:
A memory;
And the processor is stored in the memory and used for executing the automatic driving teaching control program, and the automatic driving teaching control program realizes the automatic driving teaching method when being executed by the processor.
It should be noted that, because the control device of the present invention includes all embodiments of the above-mentioned heating device control method, the control device of the present invention has all the advantages of the above-mentioned heating device control method, and will not be described herein. The control device may be a circuit component, a storage medium, a chip, or the like, without limitation, as long as the heating device control program can be stored and executed.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of embodiments, it will be clear to a person skilled in the art that the above embodiment method may be implemented by means of software plus a necessary general hardware platform, but may of course also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (6)
1. An autopilot teaching system for use in an automobile, the autopilot teaching system comprising:
a vehicle coordinate system conversion module, the coordinate system conversion module comprising: at least one of a laser radar-vehicle body conversion unit and a world-map coordinate conversion unit;
a sensor drive module, the sensor drive module comprising: at least one of a camera driving unit, a laser radar driving unit, a navigation driving unit, an ultrasonic radar driving unit, a CAN driving unit and a chassis driving unit;
A perception module, the perception module comprising: at least one of a voxel filtering unit, an annular ground filtering unit, a ray ground filtering unit, a laser radar clustering unit, a target tracking unit, a motion prediction unit and a loss map generating unit;
a map positioning module, the map positioning module comprising: at least one of a point cloud map unit, a vector map unit, an NDT positioning unit, and a speed-position conversion unit;
A road planning module, the planning module comprising: at least one of a route point loading unit, a road navigation unit, a road planning unit, a road stopping unit, a road selecting unit and an obstacle avoidance unit;
the control module is electrically connected with the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module respectively and is used for driving an automobile to automatically drive based on configuration parameters of the coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the planning module;
The automatic configuration module is electrically connected with the control module; the automatic configuration module is used for automatically loading configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module and outputting the configuration parameters to the control module;
The manual configuration module is electrically connected with the control module, and comprises:
the first manual configuration unit is used for manually loading configuration parameters of the vehicle coordinate system conversion module;
the second manual configuration unit is used for manually loading configuration parameters of the sensor driving module;
the third manual configuration unit is used for manually loading configuration parameters of the sensing module;
The fourth manual configuration unit is used for manually loading configuration parameters of the map positioning module;
A fifth manual configuration unit, configured to manually load configuration parameters of the road planning module;
The automatic driving teaching system uses the following control method:
Selecting a teaching mode;
Determining configuration parameters of the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module based on the teaching mode;
Driving a vehicle to automatically drive based on configuration parameters of the coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the planning module;
the teaching mode comprises a teaching demonstration mode, a primary teaching module and an advanced teaching mode;
When the teaching mode is selected as a teaching demonstration mode, configuration parameters of the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module are directly obtained through the automatic configuration module;
When the teaching mode is selected as a primary teaching mode, acquiring configuration parameters of the vehicle coordinate system conversion module, configuration parameters of the sensor driving module, configuration parameters of the sensing module, configuration parameters of the map positioning module and configuration parameters of at least one of the road planning module through the manual configuration module;
When the teaching mode is selected to be an advanced teaching mode, configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module are acquired by manually loading configuration parameters of at least one of the laser radar-vehicle body conversion unit, the world-map coordinate conversion unit, the camera driving unit, the laser radar driving unit, the navigation driving unit, the ultrasonic radar driving unit, the CAN driving unit and the chassis driving unit, the voxel filtering unit, the annular ground filtering unit, the ray ground filtering unit, the laser radar clustering unit, the target tracking unit, the motion prediction unit and the loss map generation unit, the point cloud unit, the vector map unit, the NDT positioning unit and the speed-position conversion unit, the path point loading unit, the road navigation unit, the road planning unit, the road stopping unit, the road selection unit and the obstacle avoidance unit.
2. An autopilot teaching system of claim 1 wherein the autopilot teaching system further includes:
The teaching examination module is electrically connected with the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module respectively; the teaching and checking module is used for judging the correctness of the configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module, the sensing module, the map positioning module and the road planning module and scoring the correctness.
3. An autopilot teaching system as set forth in claim 2 wherein the teaching assessment module includes:
The first assessment unit is electrically connected with the vehicle coordinate system conversion module; the first checking unit is used for judging the correctness of the configuration parameters of the vehicle coordinate system conversion module and scoring the configuration parameters;
The second checking unit is electrically connected with the sensor driving module; the second checking unit is used for judging the correctness of the configuration parameters of the sensor driving module and scoring the correctness;
the third assessment unit is electrically connected with the sensing module; the third checking unit is used for judging the correctness of the configuration parameters of the sensing module and scoring the configuration parameters;
The fourth assessment unit is electrically connected with the map positioning module; the fourth checking unit is used for judging the correctness of the configuration parameters of the map positioning module and scoring the configuration parameters;
the fifth assessment unit is electrically connected with the road planning module; and the fifth checking unit is used for judging the correctness of the configuration parameters of the road planning module and scoring the configuration parameters.
4. The autopilot teaching system of claim 1 further comprising, prior to the step of selecting a teaching mode: and selecting preset scene parameters.
5. The automated driving instruction system of claim 4, wherein when the instruction mode is selected to be an advanced instruction mode, acquiring the configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module, the perception module, the map positioning module, and the road planning module further comprises determining the correctness of the configuration parameters of at least one of the vehicle coordinate system conversion module, the sensor driving module, the perception module, the map positioning module, and the road planning module, and scoring.
6. An autopilot teaching device, the autopilot teaching device comprising:
A memory;
A processor, an autopilot teaching control program stored on the memory and executed by the processor, the autopilot teaching control program, when executed by the processor, implementing the autopilot teaching system of any one of claims 1-5.
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