A real-time vehicle trajectory prediction system for motor vehicle driving training

Abstract

The present invention discloses a vehicle real-time driving trajectory prediction system for motor vehicle driving training, comprising: a personnel direction control behavior perception module, a vehicle real-time state perception module, an algorithm model deduction and calculation module and a vehicle model real-time display module; the system integrates computer technology, vehicle motion control, wireless signal application, signal processing transmission, data calculation and display and other technologies, can monitor the vehicle's motion trajectory and the driver's control of the vehicle's direction in real time, and convert these state information and operations into digital signals for calculation, display and output; it helps the driving operator to become familiar with and skillfully control the vehicle more quickly, reduces the occurrence of accidents, and can also remind novices in real time to reduce his / her psychological burden, which helps novices to master the tricks of vehicle direction control faster and better in the process of learning driving skills.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle driving and trajectory prediction, and in particular to a vehicle real-time driving trajectory prediction system for motor vehicle driving training. Background Art

[0002] With the development of society and the advancement of science and technology, the number of vehicles per capita is increasing, and the number of people who obtain a driver's license is increasing year by year, and they are getting younger and younger. You can see cars driving anytime and anywhere, but the control of the vehicle still needs to start with learning driving skills. For novices who are driving a vehicle for the first time, the easiest and most common mistake is to turn the direction in the wrong direction. If you are not familiar with the coordination between the throttle and the clutch, turning the direction in the wrong direction can easily cause an accident, which not only increases the operating costs of the driving school, but also adds psychological burden to novices.

[0003] Therefore, how to obtain the corresponding predicted vehicle driving trajectory when the operator operates based on computer technology, data calculation and display technology, and directly link and intuitively display the vehicle driver's operation with the vehicle's predicted driving trajectory has become an urgent problem to be solved by practitioners in the same field. At the same time, it can also remind novices in real time to reduce his / her psychological burden, and can also master the tricks of vehicle direction control faster and better in the process of learning driving skills. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle real-time driving trajectory prediction system for motor vehicle driving training, which solves the problem of accurately predicting the vehicle driving trajectory corresponding to the vehicle driver during operation.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] The present invention provides a vehicle real-time driving trajectory prediction system for motor vehicle driving training, comprising: a personnel direction control behavior perception module, a vehicle real-time state perception module, an algorithm model deduction and calculation module and a vehicle model real-time display module;

[0007] The personnel steering behavior perception module is used to perceive the steering direction and angle of the steering wheel and obtain the state information of the steering wheel;

[0008] The vehicle real-time status perception module is used to obtain the trajectory line that the vehicle has traveled;

[0009] The algorithm model deduction and calculation module is used to input the steering wheel status information acquired in real time, the coordinates of the vehicle in the GPS local coordinate system, the vehicle body direction angle, the traveled trajectory route and the current vehicle speed into the prediction model; predict the coordinate trajectory route that the vehicle will subsequently travel under the action of the current control amount, and transmit the predicted trajectory to the vehicle model real-time display module in the form of discrete coordinate points;

[0010] The vehicle model real-time display module is used to update and display the vehicle driving prediction trajectory data obtained by the algorithm model deduction and calculation module in real time.

[0011] Furthermore, the personnel direction control behavior perception module includes:

[0012] A collection unit, used for collecting signals through a sensor installed on the steering wheel shaft;

[0013] A conversion unit, used for converting the steering wheel rotation direction and rotation angle signals collected by the collection unit into electrical signals;

[0014] The behavior perception unit is used to analyze the electrical signal and obtain the state information of the steering wheel by comparing the signal quantity calibration values ​​when the steering wheel is turned to the left or right and when the steering wheel is returned to the center.

[0015] Furthermore, the vehicle real-time status perception module includes:

[0016] The acquisition unit is used to acquire the coordinate value of the vehicle in the coordinate system with the GPS base station as the origin in real time through the GPS signal collector and GPS direction locator installed on the vehicle;

[0017] The vehicle sensing unit is used to identify the location of the vehicle in the target area and obtain the trajectory route that the vehicle has traveled.

[0018] Furthermore, the algorithm model deduction and calculation module includes:

[0019] The initial body point coordinate conversion unit is used to convert the mapping relationship between the body point coordinates and the vehicle center point according to the initial body point coordinates and the initial vehicle center point coordinates calibrated in the GPS coordinate system, so as to convert the predicted vehicle trajectory into only the predicted vehicle center point, thereby simplifying the algorithm model;

[0020] A steering wheel steering angle calculation unit is used to convert the steering wheel steering angle information according to the state information of the steering wheel obtained in real time;

[0021] A real-time vehicle body direction angle calculation unit, used to convert the real-time vehicle body direction angle information according to the steering wheel steering angle information;

[0022] The prediction unit is used to calculate the vehicle's driving trajectory and body direction angle information within the time Δt according to the current vehicle's driving speed.

[0023] Furthermore, the initial vehicle body point coordinate conversion unit is specifically used for:

[0024] a. In the same GPS coordinate system, mark the coordinates of the points around the vehicle and the coordinates of the center point of the vehicle;

[0025] b. According to the relative relationship between the initially marked vehicle periphery point coordinates and the initial vehicle center point coordinates, the vehicle center point coordinates acquired in real time are converted into vehicle periphery point coordinates; the vehicle periphery point coordinates include the vehicle head center point coordinates;

[0026] c. Calculate the initial body direction angle of the vehicle in the GPS coordinate system based on the real-time acquired vehicle center point coordinates and the real-time converted vehicle head center point coordinates.

[0027] Furthermore, the steering wheel steering angle calculation unit is specifically used for:

[0028] According to the relationship between the steering wheel rotation angle θ and the steering wheel steering angle γ (1.1), the steering wheel steering angle γ is calculated;

[0029] γ=A*θ 2 +B*θ+C (1.1)

[0030] In the formula, A represents the coefficient of strong correlation between γ and θ; B represents the coefficient of linear correlation between γ and θ; C represents the supplementary coefficient of the changing relationship between γ and θ.

[0031] Furthermore, the real-time vehicle body direction angle calculation unit is specifically used for:

[0032] According to the relationship between the steering wheel angle γ and the real-time vehicle body direction angle λ0 (1.2), the real-time vehicle body direction angle λ0 is calculated;

[0033] γ=a*λ0+b

[0034]

[0035] Where a represents the linear relationship between λ0 and γ; b represents the supplementary coefficient, which is expressed as the radius of curvature of the circular motion made by the vehicle when turning.

[0036] Furthermore, the prediction unit is specifically used for:

[0037] 1) Assuming that the vehicle steering wheel does not turn during the time Δt, the steering wheel steering angle γ does not change, and the vehicle travel distance S is obtained according to formula (1.3);

[0038] S=V*Δt (1.3)

[0039] V represents the vehicle's speed; S represents the distance traveled by the vehicle in Δt time, which is regarded as the arc length;

[0040] 2) According to the wheelbase L of the front and rear axles of the vehicle, the arc length S and the steering angle γ of the steering wheel, the arc is obtained

[0041]

[0042] Indicates the arc formed by the starting and ending positions of the vehicle corresponding to the arc length S of the vehicle's travel distance;

[0043] 3) Determine the influence coefficient δ of the vehicle body direction angle and the influence coefficient ε of the deviation distance during vehicle driving; where:

[0044] δ=δ0*(1-V / V max ) (1.5)

[0045] ε=ε0*(1+V / V max ) (1.6)

[0046] V max Indicates the maximum speed at which the vehicle is allowed to travel;

[0047] 4) Calculate the Y-axis offset distance N of the vehicle center point coordinates in the horizontal plane within Δt time in the GPS coordinate system s ;

[0048]

[0049] In formula (1.7), N s0 Indicates the Y-axis offset distance of the vehicle center coordinate at the current moment;

[0050] Calculate the X-axis offset distance E of the vehicle center point coordinates in the horizontal plane within Δt time in the GPS coordinate system s ;

[0051]

[0052] In formula (1.8), E s0 Indicates the X-axis offset distance of the vehicle center coordinates at the current moment;

[0053] Predict the vehicle body direction angle λ at the target position t :

[0054] λ t=λ0-δ*V*Δt*sinγ*180 / (L*π) (1.9)

[0055] In formula (1.9), λ0 represents the vehicle body direction angle at the current moment.

[0056] Furthermore, the vehicle model real-time display module:

[0057] Specifically used to calculate the Y-axis offset distance N of the vehicle center point coordinates output by the prediction unit within the Δt time s , X-axis offset distance E s And the body direction angle λ t The coordinates of the center point of the vehicle are presented in the form of a single point line, according to the vehicle tire trajectory, or as a body contour on the predicted path.

[0058] Compared with the prior art, the present invention has the following beneficial effects:

[0059] The embodiment of the present invention provides a vehicle real-time driving trajectory prediction system for motor vehicle driving training, which integrates computer technology, vehicle motion control, wireless signal application, signal processing transmission, data calculation and display and other technologies. It can monitor the vehicle's motion trajectory and the driver's control of the vehicle's direction in real time, and convert these state information and operations into digital signals for calculation, display and output; it helps the driving operator to become familiar with and skillfully control the vehicle more quickly, reducing the occurrence of accidents, and at the same time can also remind novices in real time to reduce his / her psychological burden, which helps novices to master the tricks of vehicle direction control faster and better in the process of learning driving skills. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A block diagram of a vehicle real-time driving trajectory prediction system for motor vehicle driving training provided by an embodiment of the present invention;

[0061] Figure 2 It is a schematic diagram of the point coordinates of the vehicle body in the GPS coordinate system;

[0062] Figure 3 This is the principle diagram of the relationship between the steering wheel angle and the wheel angle;

[0063] Figure 4 This is a schematic diagram of vehicle steering after the front and rear wheels are combined and the model is simplified;

[0064] Figure 5 This is the schematic diagram of the mechanical steering system;

[0065] Figure 6 Schematic diagram of the analysis for predicting the vehicle's driving trajectory within Δt time. DETAILED DESCRIPTION

[0066] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0067] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0068] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] The present invention provides a vehicle real-time driving trajectory prediction system for motor vehicle driving training. The system detects the driver's directional operation behavior by adding some sensors to the vehicle, measures and senses the vehicle's own driving trajectory based on wireless signal positioning technology, and then displays and outputs the vehicle's real-time position and motion prediction trajectory through the deduction and calculation of an algorithm model.

[0070] The system specifically includes: personnel direction control behavior perception module, vehicle real-time status perception module, algorithm model deduction and calculation module and vehicle model real-time display module;

[0071] Among them, the personnel steering behavior perception module mainly collects signals through sensors installed on the steering wheel shaft. It can convert the steering direction and angle of rotation of the steering wheel into electrical signals, and then obtain the steering wheel status information by comparing the signal calibration values ​​when the steering wheel is turned to the left or right and when the steering wheel is returned to the center.

[0072] The vehicle real-time status perception module mainly obtains the vehicle's coordinate values ​​in the coordinate system with the GPS base station as the origin in real time through the GPS signal collector and GPS direction locator installed on the vehicle, so as to identify the vehicle's position in the driving school and obtain the trajectory route that the vehicle has traveled.

[0073] The algorithm model deduction and calculation module mainly inputs the steering wheel status information obtained in real time, the coordinates of the vehicle in the GPS local coordinate system, the body direction angle, the traveled trajectory route and the current vehicle speed into the prediction model, predicts the coordinate trajectory route that the vehicle will subsequently travel under the current control amount, and transmits the predicted trajectory to the vehicle model real-time display module in the form of discrete coordinate points.

[0074] The deduction calculation is as follows:

[0075] 1. If Figure 2 As shown in the figure, the point coordinates and direction angle conversion of the vehicle body in the GPS coordinate system:

[0076] a. In the same GPS coordinate system, mark the coordinates of the points around the vehicle and the coordinates of the center point of the vehicle O0;

[0077] b. According to the relative relationship between the initially marked vehicle periphery point coordinates and the initial vehicle center point coordinates, the vehicle center point coordinates acquired in real time are converted into vehicle periphery point coordinates; the vehicle periphery point coordinates include the vehicle head center point coordinates;

[0078] c. Calculate the initial body direction angle of the vehicle in the GPS coordinate system based on the real-time acquired vehicle center point coordinates and the real-time converted vehicle head center point coordinates.

[0079] That is: according to the initial body point coordinates and the initial vehicle center point coordinates calibrated in the GPS coordinate system, the mapping relationship between the body point coordinates and the vehicle center point is converted, so as to convert the predicted vehicle trajectory into only predicting the vehicle center point, thereby simplifying the algorithm model; the coordinates of the points around the body can also be converted after the vehicle center coordinates are predicted in real time.

[0080] 2. Mapping relationship between steering wheel angle and wheel angle:

[0081] like Figure 3 As shown in the figure, turning the vehicle's steering wheel fully left and right is one and a half turns, 540°, and returning the steering wheel to the center is 0°; turning the steering wheel will cause a rotation angle difference between the inner and outer wheels of the vehicle's steering wheel, such as Figure 3 For example, when turning left, the left front wheel rotates at an angle of α, the right front wheel rotates at an angle of β, and the angle difference between the two is γ. It can be simply assumed that there is a linear transformation relationship between the steering wheel rotation angle θ and the rotation angle difference γ:

[0082] That is, θ=k*(α-β), where k is the slope of the line segment, indicating that the speed of change of the steering wheel rotation angle is directly proportional to the change of the rotation angle difference of the inner and outer wheels of the vehicle.

[0083] After merging the front and rear wheels and simplifying the model, Figure 4As shown, γ is regarded as the simplified steering wheel steering angle.

[0084] The actual steering system Figure 5 As shown in the figure, due to the gap in the linkage of the mechanical structure, the steering wheel rotation angle θ and the simplified steering wheel steering angle γ are not in an ideal linear relationship. It is necessary to further optimize it through the actual data of the vehicle, and finally get the approximate formula:

[0085] γ=A*θ 2 +B*θ+C (1.1)

[0086] In the formula, A represents the coefficient of the strong correlation between γ and θ; this model simply uses a quadratic exponent, and a polynomial with a higher exponent can be used later. Its actual performance is that the rotation of the steering wheel will quickly affect the rotation of the wheel. B represents the coefficient representing the linear correlation between γ and θ, which is manifested in that when the steering wheel rotates at a constant speed, the wheel also rotates at a constant speed; C represents the supplementary coefficient of the relationship between the changes in γ and θ, which mainly shows that when the steering wheel rotates in a small range, the wheel angle has almost no change, which is the mechanical clearance introduced by the transmission device.

[0087] 3. Relationship between steering wheel steering angle and vehicle body steering angle:

[0088] Since the direction of the body posture is consistent with the rear wheels, according to Figure 4 As shown, the steering wheel steering angle γ and the vehicle body direction angle λ0 have the following relationship:

[0089] γ=a*λ0+b

[0090]

[0091] Where a represents the linear relationship between λ0 and γ, indicating that when the wheel angle remains unchanged, the body angle will change at a constant speed when the vehicle moves; it is mapped to the change in the curvature of the circular motion made by the vehicle when turning; b represents the supplementary coefficient, which is expressed as the radius of curvature of the circular motion made by the vehicle when turning.

[0092] That is: according to the steering wheel steering angle γ, substitute it into the above formula (1.2) to obtain the real-time vehicle body steering angle λ0.

[0093] 4. Conversion between vehicle distance and vehicle body direction angle within Δt time:

[0094] like Figure 6 As shown, assuming that the vehicle steering wheel does not turn during the Δt time, that is, the steering wheel angle γ does not change; the vehicle speed is recorded as V, and the distance traveled by the vehicle during the Δt time is recorded as S, then

[0095] S=V*Δt (1.3)

[0096] like Figure 6 As shown in the figure, S represents the distance traveled by the vehicle in the time Δt, which is regarded as the arc length; that is, the arc length S is the distance traveled by the vehicle. The steering angle formed by the starting and ending positions of the vehicle is The wheelbase of the front and rear axles is L, then

[0097]

[0098] Indicates the arc formed by the starting and ending positions of the vehicle corresponding to the arc length S of the vehicle's travel distance;

[0099] Since the vehicle driving is affected by the driving speed V and related resistance such as friction, two influence coefficients δ and ε can be added. They are mainly affected by the speed V (V max is the maximum speed allowed for the vehicle), where the direction angle influence coefficient is δ, then

[0100] δ=δ0*(1-V / V max ) (1.5)

[0101] The influence coefficient of northing distance offset and easting distance offset is ε, then

[0102] ε=ε0*(1+V / V max ) (1.6)

[0103] Calculate the Y-axis offset distance N of the vehicle center point coordinates in the horizontal plane within Δt time in the GPS coordinate system s ;

[0104] Calculate the X-axis offset distance E of the vehicle center point coordinates in the horizontal plane within Δt time in the GPS coordinate system s ;

[0105] Predict the vehicle body direction angle λ at the target position t :

[0106] in,

[0107]

[0108]

[0109] λ t =λ0-δ*V*Δt*sinγ*180 / (L*π) (1.9)

[0110] In formula (1.9), λ0 represents the vehicle body direction angle at the current moment.

[0111] In summary, the prediction model can calculate the new coordinates O of the vehicle center point in the GPS coordinate system after Δt time tThen, the GPS coordinates of all points around the vehicle are calculated through the corresponding positions of the coordinates of the points around the vehicle and the coordinates of the center point of the vehicle.

[0112] The vehicle model real-time display module mainly visualizes the vehicle driving prediction trajectory data obtained by the algorithm model deduction calculation module. On the visualization screen, the prediction trajectory will be updated and displayed in real time as the vehicle moves; the prediction trajectory can be presented not only in a single-line manner according to the coordinates of the vehicle center point, but also in the vehicle tire driving trajectory, and can also be presented in the form of a vehicle body contour on the predicted path.

[0113] The present invention provides a vehicle real-time driving trajectory prediction system for motor vehicle driving training, which can accurately predict the driving trajectory in the future time period according to the driver's control of the vehicle; it is conducive to the driver to master the direction control skills faster and better, improve the vehicle control perception ability, and develop good vehicle control behavior. It greatly shortens the time for drivers to learn direction control and increases the timeliness and accuracy of direction control when the vehicle is in motion. At the same time, it reduces the psychological burden of drivers and enhances their learning enthusiasm and self-confidence. For driving schools, it can reduce the accident rate of improper direction operation, reduce operating costs, and increase the affinity of students to driving schools. At the same time, the system can also be expanded to output to other devices and application scenarios, such as drone control, VR virtual scene control, airport sweeping robot control, mining vehicle control and other special operations, with a wide range of applications and a very large market prospect.

[0114] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A vehicle real-time driving trajectory prediction system for motor vehicle driving training, characterized in that: include: Personnel direction control behavior perception module, vehicle real-time status perception module, algorithm model deduction and calculation module and vehicle model real-time display module; The personnel steering behavior perception module is used to perceive the steering direction and angle of the steering wheel and obtain the state information of the steering wheel; The vehicle real-time status perception module is used to obtain the trajectory line that the vehicle has traveled; The algorithm model deduction and calculation module is used to input the steering wheel status information acquired in real time, the coordinates of the vehicle in the GPS local coordinate system, the vehicle body direction angle, the traveled trajectory route and the current vehicle speed into the prediction model; predict the coordinate trajectory route that the vehicle will subsequently travel under the action of the current control amount, and transmit the predicted trajectory to the vehicle model real-time display module in the form of discrete coordinate points; The vehicle model real-time display module is used to update and display the vehicle driving prediction trajectory data obtained by the algorithm model deduction and calculation module in real time; The algorithm model deduction and calculation module includes: The initial body point coordinate conversion unit is used to convert the mapping relationship between the body point coordinates and the vehicle center point according to the initial body point coordinates and the initial vehicle center point coordinates calibrated in the GPS coordinate system, so as to convert the predicted vehicle trajectory into only the predicted vehicle center point, thereby simplifying the algorithm model; A steering wheel steering angle calculation unit is used to convert the steering wheel steering angle information according to the state information of the steering wheel obtained in real time; A real-time vehicle body direction angle calculation unit, used to convert the real-time vehicle body direction angle information according to the steering wheel steering angle information; A prediction unit, used to calculate the vehicle's driving trajectory within the time Δt according to the current vehicle's driving speed, and convert the vehicle body direction angle information at the current position; The initial vehicle body point coordinate conversion unit is specifically used for: a. In the same GPS coordinate system, mark the coordinates of the points around the vehicle and the coordinates of the center point of the vehicle; b. According to the relative relationship between the initially marked vehicle periphery point coordinates and the initial vehicle center point coordinates, the vehicle center point coordinates acquired in real time are converted into vehicle periphery point coordinates; the vehicle periphery point coordinates include the vehicle head center point coordinates; c. Calculate the initial body direction angle of the vehicle in the GPS coordinate system based on the real-time acquired vehicle center point coordinates and the real-time converted vehicle head center point coordinates; The steering wheel steering angle calculation unit is specifically used for: According to the relationship between the steering wheel rotation angle θ and the steering wheel steering angle γ (1.1), the steering wheel steering angle γ is calculated; γ=A*θ 2 +B*θ+C (1.1) In the formula, A represents the coefficient of strong correlation between γ and θ; B represents the coefficient of linear correlation between γ and θ; C represents the supplementary coefficient of the relationship between the change of γ and θ; The real-time vehicle body direction angle calculation unit is specifically used for: According to the relationship between the steering wheel angle γ and the vehicle body direction angle λ0 at the current moment (1.2), the vehicle body direction angle λ0 at the current moment is calculated; γ=a*λ0+b Where a represents the linear relationship between λ0 and γ; b represents the supplementary coefficient, which is expressed as the radius of curvature of the circular motion made by the vehicle when turning; The prediction unit is specifically used for: 1) Assuming that the vehicle steering wheel does not turn during the time Δt, the steering wheel steering angle γ does not change, and the vehicle travel distance S is obtained according to formula (1.3); S=V*Δt(1.3) V represents the vehicle's speed; S represents the distance traveled by the vehicle in Δt time, which is regarded as the arc length; 2) According to the wheelbase L of the front and rear axles of the vehicle, the arc length S and the steering angle γ of the steering wheel, the arc φ is obtained; φ=S / (L / sinγ)*(180 / π)(1.4) φ represents the arc formed by the starting and ending positions of the vehicle corresponding to the arc length S of the vehicle's travel distance; 3) Determine the influence coefficient δ of the vehicle body direction angle and the influence coefficient ε of the deviation distance during vehicle driving; where: δ=δ0*(1-V / V max (1.5) ε=ε0*(1+V / V max )(1.6) V max Indicates the maximum speed at which the vehicle is allowed to travel; 4) Calculate the Y-axis offset distance N of the vehicle center point coordinates in the horizontal plane within Δt time in the GPS coordinate system s ; N s =N s0 +V*cosφ*Δt*ε(1.7) In formula (1.7), N s0 Indicates the Y-axis offset distance of the vehicle center coordinate at the current moment; Calculate the X-axis offset distance E of the vehicle center point coordinates in the horizontal plane within Δt time in the GPS coordinate system s ; E s =E s0 +V*sinφ*Δt*ε(1.8) In formula (1.8), E s0 Indicates the X-axis offset distance of the vehicle center coordinates at the current moment; Predict the vehicle body direction angle λ at the target position t : l t =λ0-δ*V*Δt*sinγ*180 / (L*π)(1.9) In formula (1.9), λ0 represents the vehicle body direction angle at the current moment.

2. A vehicle real-time driving trajectory prediction system for motor vehicle driving training according to claim 1, characterized in that: The personnel direction control behavior perception module includes: A collection unit, used for collecting signals through a sensor installed on the steering wheel shaft; A conversion unit, used for converting the steering wheel rotation direction and rotation angle signals collected by the collection unit into electrical signals; The behavior perception unit is used to analyze the electrical signal and obtain the state information of the steering wheel by comparing the signal quantity calibration values ​​when the steering wheel is turned to the left or right and when the steering wheel is returned to the center.

3. The vehicle real-time driving trajectory prediction system for motor vehicle driving training according to claim 1 is characterized in that: The vehicle real-time state perception module comprises: The acquisition unit is used to acquire the coordinate value of the vehicle in the coordinate system with the GPS base station as the origin in real time through the GPS signal collector and GPS direction locator installed on the vehicle; The vehicle sensing unit is used to identify the location of the vehicle in the target area and obtain the trajectory route that the vehicle has traveled.

4. The vehicle real-time driving trajectory prediction system for motor vehicle driving training according to claim 1, characterized in that: The vehicle model real-time display module: Specifically used to calculate the Y-axis offset distance N of the vehicle center point coordinates output by the prediction unit within the Δt time s , X-axis offset distance E s And the body direction angle λ t The coordinates of the center point of the vehicle are presented in the form of a single point line, according to the vehicle tire trajectory, or as a body contour on the predicted path.

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