Method and device for assisting driving test

Abstract

The application provides a method and device for assisting driving test, and relates to the technical field of electronics. The method comprises the following steps: obtaining first driving data of a driven vehicle at a current time, the first driving data comprising a first speed of the driven vehicle, a first angle at which the driven vehicle deviates from a target driving path, a first lane width corresponding to a current position of the driven vehicle, and a first lane curvature corresponding to the current position; calculating a first driving strategy of the driven vehicle according to the first driving data; guiding a trainee to adjust the driven vehicle in terms of speed and direction according to the first driving strategy, so that an actual driving route of the driven vehicle is as close as possible to a correct target driving path; through repeated training or simulated examination, the trainee can more flexibly find a suitable point in the driving test process and master the operation points of the driven vehicle, which helps the trainee to learn to drive a vehicle more easily.

Description

Technical Field

[0001] This application relates to the field of electronic technology, and in particular to methods and devices for assisting in driver's license testing. Background Technology

[0002] Currently, driving schools generally provide instruction to novice drivers through instructor-led training to help them pass the second or third stage of the driving test. During this training phase, students memorize the corresponding test locations on the training ground based on the instructor's guidance and then perform the corresponding operations at those locations. However, due to seat adjustments or incorrect posture, the viewing angle of novice drivers may be off, leading to inaccuracies in the memorized locations. This makes it difficult for novice drivers to perform the corresponding operations at the accurate locations, thus increasing the difficulty for them when learning to drive. Summary of the Invention

[0003] This application provides a method and device for assisting driving tests. A first driving strategy is calculated by acquiring the first driving data of the driven vehicle at the current time. The first driving strategy is used to assist learners in driving the vehicle or simulating the test, thereby reducing the difficulty for learners to drive the vehicle for the first time.

[0004] To achieve the above objectives, in a first aspect, this application provides a method for assisting in driving tests, the method being applied to a first device, the method comprising:

[0005] The first driving data of the driven vehicle at the current time is obtained. The first driving data includes: the first speed of the driven vehicle, the first angle of the driven vehicle deviating from the target driving path, the first lane width and the first lane curvature corresponding to the current position of the driven vehicle. The target driving path is determined based on the driving test target and the map of the driving test training site.

[0006] The first driving strategy of the driven vehicle is calculated based on the first driving data. The first driving strategy includes the second angle at which the steering wheel of the driven vehicle is to be rotated and the second speed of the driven vehicle.

[0007] Output the first driving strategy, which is used to assist in the driving test.

[0008] Optionally, the method further includes:

[0009] Obtain map information of the driving test training site; the map information is used to indicate the location of the driving test training site; obtain the driving test target; determine the target driving route of the vehicle to be driven in the driving test training site based on the driving test target and the map of the driving test training site.

[0010] Optionally, the method further includes:

[0011] Determine the first vertical distance between the current location and the target driving path; determine the warning width corresponding to the first lane width; if the first vertical distance is greater than the warning width corresponding to the first lane width, output the first warning information by voice, and / or display the second warning information. The first warning information or the second warning information is used to remind the user of the driven vehicle that the driven vehicle is moving away from the target driving path.

[0012] Optionally, the method further includes:

[0013] Obtain the driving time of the driven vehicle on the first driving route in the target driving path, wherein the first driving route is the driving route corresponding to a driving process in the driving test target, and the driving test target includes at least one driving process; display the driving time of the first driving route, and / or, output the driving time of the first driving route by voice.

[0014] Optionally, the method further includes:

[0015] Determine the stopping point of the second driving route of the driven vehicle in the target driving route, wherein the second driving route is the driving route corresponding to a driving process in the driving test target, and the driving test target includes at least one driving process; display the stopping point of the second driving route, and / or, output the stopping point of the second driving route by voice.

[0016] Optionally, after outputting the first driving strategy, the method further includes:

[0017] Acquire the second driving data of the driven vehicle at the current time. The second driving data includes the third speed of the driven vehicle, the third angle of the driven vehicle's deviation from the target driving path, the width of the second lane corresponding to the current position of the driven vehicle, and the curvature of the second lane corresponding to the current position. Calculate the second driving strategy of the driven vehicle based on the second driving data. The second driving strategy includes the fourth angle of the steering wheel to be rotated and the fourth speed of the driven vehicle. Output the second driving strategy, which is used to assist in driving tests.

[0018] Optionally, the first driving strategy of the driven vehicle calculated based on the first driving data includes:

[0019] Based on the first driving data, the first driving strategy is calculated using the following formula:

[0020] Y'=s2(v T ·s1(w T X+b1)+b2)

[0021] Where X represents the first driving data, w represents the preset first weight, and w T Let w be the transpose of w, b1 be the preset first bias term, and v be the preset second weight. TLet v be the transpose of v, b2 be a preset second bias term, s1 be a preset first activation function, s2 be a preset second activation function, and Y' be a first driving strategy that includes the second angle of the steering wheel to be rotated and the second speed of the driven vehicle.

[0022] Optionally, the first device is a device that includes a head-up display (HUD) for display.

[0023] Secondly, embodiments of this application provide an apparatus for assisting driver's license testing, including a processor coupled to a memory. When the processor executes a computer program or instructions stored in the memory, it implements the method described in the first aspect or any embodiment of the first aspect.

[0024] Thirdly, embodiments of this application provide a computer storage medium storing a computer program, which, when executed by a processor, implements the method described in the first aspect or any of the embodiments of the first aspect.

[0025] The beneficial effects of this application embodiment compared with the prior art are as follows: In this application, the first device acquires the first driving data of the driven vehicle at the current time. The first driving data includes the first speed of the driven vehicle, the first angle of the driven vehicle deviating from the target driving path, the first lane width corresponding to the current position of the driven vehicle, and the first lane curvature corresponding to the current position of the driven vehicle. The target driving path is determined based on the driving test target and the map of the driving test site where the driven vehicle is being trained. The first driving strategy of the driven vehicle is calculated based on the first driving data. The first driving strategy includes the second angle of the steering wheel to be rotated and the second speed of the driven vehicle. When practicing or simulating driving tests at the training driving test site, the target driving path determined based on the driving test objectives and the map of the training driving test site can be used as the correct driving path. During the driving process, the driving strategy of the driven vehicle is calculated in real time by acquiring the driving data at the current time. The driving strategy is output and guides the trainee to adjust the speed and direction of the driven vehicle according to the driving strategy, so that the actual driving route of the driven vehicle is as close as possible to the correct target driving path. Through repeated training or simulation tests, trainees can more flexibly find the points suitable for them during the driving test, and thus master the key points of operating the driven vehicle, which helps trainees learn to drive more easily. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of a calculation model for assisting driver's license testing provided in an embodiment of this application;

[0028] Figure 2 This is a schematic diagram of a method for assisting in driver's license testing provided in an embodiment of this application;

[0029] Figure 3 This is a schematic diagram of the position of a driven vehicle in the map coordinate system of a driving test training site, provided in an embodiment of this application.

[0030] Figure 4 This is a schematic diagram of a target driving path determined based on a map of the driving test objective and the training driving test site, provided in an embodiment of this application.

[0031] Figure 5 This is a schematic diagram of a method for assisting in driver's license testing provided in an embodiment of this application;

[0032] Figure 6 This is a schematic diagram of another method for assisting in driver's license testing provided in an embodiment of this application;

[0033] Figure 7 This is a schematic diagram of another method for assisting in driver's license testing provided in an embodiment of this application;

[0034] Figure 8 This is a schematic diagram of another method for assisting in driver's license testing provided in an embodiment of this application;

[0035] Figure 9 This is a schematic block diagram of a device for assisting in driver's license testing provided in an embodiment of this application;

[0036] Figure 10 This is a schematic block diagram of another device for assisting driver's license testing provided in the embodiments of this application. Detailed Implementation

[0037] The technical solutions in the embodiments of this application will be described in detail below with reference to the embodiments of this application.

[0038] It should be understood that the methods, situations, categories, and classifications of embodiments in this application are only for the convenience of description and do not constitute any limitation on this application. Various methods, categories, situations, and features in the embodiments can be combined with each other without contradiction.

[0039] It should also be understood that the terms "first," "second," "third," and "fourth" in the embodiments of this application are for distinction only and do not constitute any limitation on this application. It should also be understood that in the various embodiments of this application, the sequence number of each process does not imply the execution order of the steps; the execution order of the steps is determined by their internal logic and does not constitute any limitation on the execution process of the embodiments of this application.

[0040] Currently, most driving schools use a hands-on teaching method to help students pass the second or third stage of the driving test. During this teaching phase, students memorize the corresponding test points on the training ground according to the instructor's guidance and perform the corresponding operations at the accurate points. However, for driving students, seat adjustments or incorrect sitting postures can lead to perspective errors, which in turn can cause inaccuracies in the memorized points. It is difficult for novice drivers to ensure that they can perform the corresponding operations at the accurate points, thus increasing the difficulty for beginners.

[0041] Based on the above problems, this application proposes a method and apparatus for assisting driving tests. A first device acquires first driving data of the driven vehicle at the current time. The first driving data includes: the first speed of the driven vehicle, the first angle at which the driven vehicle deviates from the target driving path, the width of the first lane corresponding to the current position of the driven vehicle, and the curvature of the first lane corresponding to the current position. The target driving path is determined based on the driving test target and a map of the driving test site where the driven vehicle is being trained. The first device calculates a first driving strategy of the driven vehicle using a calculation model based on the first driving data. The first driving strategy includes: the second angle at which the steering wheel of the driven vehicle is to be rotated and the second speed of the driven vehicle. When practicing or simulating driving tests at the training driving test site, the target driving path determined based on the driving test objectives and the map of the training driving test site can be used as the correct driving path. During the driving process, the driving strategy of the driven vehicle is calculated in real time by acquiring the driving data at the current time. The driving strategy is output, and the trainee adjusts the speed and direction of the driven vehicle according to the driving strategy to make the actual driving route as close as possible to the correct target driving path. Through repeated training or simulation tests, trainees can more flexibly find suitable points during the driving test, thereby mastering the key points of operating the driven vehicle, which helps trainees learn to drive more easily.

[0042] The training process of the computational model used to calculate the driving strategy of the driven vehicle in the embodiments of this application will be described below. It should be noted that the computational model in the embodiments of this application may be determined by the first device, or determined by other devices and sent to the first device.

[0043] Figure 1 This is a schematic diagram of a calculation model for assisting driver's license testing, provided in an embodiment of this application. Figure 1 As shown, the computational model includes an input layer, a hidden layer, and an output layer. The input layer is used to input the driving data of the driven vehicle. Figure 1 In the diagram, x1 represents the vehicle speed, x2 represents the angle by which the vehicle deviates from the target path, x3 represents the lane width at the vehicle's current position, and x4 represents the lane curvature at the vehicle's current position. The output layer outputs the predicted driving strategy for the vehicle. Figure 1 In this context, y1' represents the target speed of the driven vehicle, and y2' represents the angle at which the steering wheel of the driven vehicle will be rotated. The number of nodes and layers in the hidden layer can be set according to the computational scenario. Figure 1 The number of nodes in the hidden layer is 4, and the number of layers in the hidden layer is 1.

[0044] Optionally, the training process of the computational model can be to obtain the optimal parameters from the input layer to the hidden layer and from the hidden layer to the output layer by training with M sample data. The parameters from the input layer to the hidden layer include: the first weight w and the first bias term b1. The parameters from the hidden layer to the output layer include: the second weight v and the second bias term b2. That is, the training process of the computational model is to obtain the optimal w, b1, v, b2. Specifically, each of the M sample data includes: the driving data of the driven vehicle and the corresponding driving strategy of the driven vehicle. The driving data of the driven vehicle in the sample data undergoes a linear transformation from the input layer to the hidden layer, and then is processed by the activation function of the hidden layer to obtain the input data from the hidden layer to the output layer. The input data undergoes a linear transformation from the hidden layer to the output layer, and then is processed by another activation function of the output layer to obtain the output result of the output layer. The output result is the predicted driving strategy of the driven vehicle. The predicted driving strategy of the driven vehicle and the corresponding driving strategy of the driven vehicle in the sample data are input into the loss function of the computational model to obtain the expected value of the loss function. Then, the gradient value of the expected value of the loss function with respect to the first weight w from the input layer to the hidden layer and the gradient value of the expected value of the loss function with respect to the second weight v from the hidden layer to the output layer are calculated. w and v are updated according to the gradient values. Then, the expected value of the loss function is iteratively calculated based on the updated w and v until the expected value of the loss function is less than a preset threshold or the number of iterations reaches a preset number. The final first weight w and second weight v are obtained, which are the optimal weights obtained by training the computational model with the sample data. This application does not specifically limit the type of the loss function.

[0045] The training of this computational model is described below using the i-th sample data from M sample data as an example. The i-th sample data may include: the i-th driving data and the i-th driving strategy of the driven vehicle. The i-th driving data includes the i-th speed of the driven vehicle, the i-th angle of deviation of the driven vehicle from the target driving path, the i-th lane width and the i-th lane curvature corresponding to the current position of the driven vehicle on the map of the training driving test site. The i-th driving strategy may include: the (i+1)-th speed of the driven vehicle and the (i+1)-th angle of rotation of the steering wheel of the driven vehicle. The i-th driving data from the i-th sample data is used as the input layer data X of this computational model. i The activation function can be the sigmoid function. The first weight and first bias term parameters from the input layer to the hidden layer are w and b1, respectively. The second weight and second bias term parameters from the hidden layer to the output layer are v and b2, respectively. The activation functions corresponding to the hidden layer and the output layer are the first activation function s1 and the second activation function s2, respectively.

[0046] Among them, X i As shown in formula (1), the i-th driving strategy Y of the driven vehicle in the i-th sample data i As shown in formula (2), the first weights and first bias terms from the input layer to the hidden layer are initialized as follows: W (0) B1 (0) The second weights and second bias terms from the hidden layer to the output layer are respectively: V (0) B2 (0) Calculate the output H from the input layer to the hidden layer. i As shown in formula (3), the output Y from the hidden layer to the output layer i ', Y i The calculation formula is shown in (4), and the expected value of the loss function is E. i E i The calculation formula is shown in (5):

[0047]

[0048]

[0049] H i =s1([W (0) ] T ·X i +B1 (0) (3)

[0050] Y i =s2([V (0) ] T ·H i +B2 (0) (4)

[0051]

[0052] Among them, X i Y is a column vector containing 4 elements. i Let X be a column vector containing 2 elements. i The elements in Y represent the data contained in the i-th driving data. i The elements in the array represent the data included in the i-th driving strategy. For example, x 1i Let x represent the speed of the i-th vehicle in the i-th driving data. 2i x represents the i-th angle by which the driven vehicle deviates from the target driving path in the i-th driving data. 3i The width of lane i corresponds to the current position of the driven vehicle on the map of the driving test training area in the i-th driving data. 4i y represents the curvature of the i-th lane corresponding to the current position of the driven vehicle on the map of the driving test training ground in the i-th driving data. 1i Let y represent the (i+1)th speed of the driven vehicle in the i-th driving strategy. 2i This represents the (i+1)th angle at which the steering wheel of the driven vehicle will be rotated in the i-th driving strategy. [W] in formulas (3) and (4) (0) ] T and [V] (0) ] T W (0) and V (0) The transpose of .

[0053] The expected value E of the loss function obtained according to formula (5) i Calculate the expected value E of the loss function. i Gradient values ​​of weights in each layer and The calculation formula is as follows:

[0054]

[0055]

[0056] The gradient values ​​of the weights of each layer are calculated based on formulas (6) and (7), and then the weights of each layer are updated. The update formula is as follows:

[0057]

[0058]

[0059] Where k represents the number of updates or iterations, k is a positive integer from 1 to the preset number, η represents the learning rate, and k and η can be set empirically. The updated weights can be obtained from formulas (8) and (9), and the calculation process of formulas (3) to (5) is repeated using the updated weights to obtain the output of each layer and the expected value of the loss function, until the expected value of the loss function is less than the preset threshold, or the number of iterations k reaches the preset number, and the corresponding weights w and v of each layer are output at this time, thus completing the process of obtaining the optimal weights of each layer from the i-th sample data training.

[0060] The optimal weights of each layer obtained from training the i-th sample data are used as the initialization parameters for training another sample data in the M sample data. The training process of the i-th sample data is repeated for the other sample data, and so on, until the training of the M sample data is completed. The weights corresponding to each layer are adjusted, and the final optimal weights of the calculation model are output, which is the trained calculation model.

[0061] The technical solution of this application will be described in detail below with reference to specific embodiments.

[0062] Figure 2 This is a schematic diagram of a method for assisting driver's license testing provided in an embodiment of this application, such as... Figure 2 As shown, the method 200 may include the following steps:

[0063] S210, the first device acquires the first driving data of the driven vehicle at the current time. The first driving data includes: the first speed of the driven vehicle, the first angle of the driven vehicle deviating from the target driving path, the first lane width corresponding to the current position of the driven vehicle, and the first lane curvature corresponding to the current position. The target driving path is determined based on the driving test target and the map of the driving test training site.

[0064] Optionally, the first device may be a device including a Head-Up Display (HUD), used for display. Optionally, the HUD may include a Micro Controller Unit (MCU) and a Liquid Crystal Display (LCD). Optionally, the content displayed by the HUD may be projected onto a point on the windshield directly in front of the driver's line of sight, so that the learner does not need to frequently look down at the vehicle's instruments while driving, making it easier for the learner to intuitively understand the driving status of the vehicle, and at the same time, it can assist the learner in performing corresponding operations, making it easier for the learner to drive the vehicle.

[0065] Optionally, the first device may also include an in-vehicle system. Optionally, the in-vehicle system may include at least one of the following: in-vehicle sensors, an in-vehicle Global Positioning System (GPS), an in-vehicle computer, or an in-vehicle voice broadcasting device.

[0066] Optionally, the first device can determine the target driving route based on the driving test objective and a map of the training driving test site. Optionally, the first device can acquire map information of the training driving test site, which is used to indicate the map of the training driving test site. Optionally, if the first device includes an in-vehicle system, the in-vehicle system determines the target driving route based on the driving test objective and the map of the training driving test site indicated by the map information.

[0067] Optionally, the driving test objective can be either Subject 2 or Subject 3 of the motor vehicle driving test. The driving test objective includes at least one driving process. For example, the driving test objective may include: reversing into a parking space, parallel parking, hill start, right-angle turn or curved driving process.

[0068] Optionally, the first device can acquire map information of the driving test training site. The map information may include: lane lines and / or main feature points. Lane lines may refer to lane boundary lines in the map of the driving test training site. Main feature points may include: lane line bends in the map of the driving test training site, the four corner points of a garage, or parking points for hill starts and stops.

[0069] Optionally, if the map information includes main feature points but does not include lane lines, the first device can fit the lane boundary lines by performing linear interpolation and curve smoothing on the extracted main feature points. The first device then determines the target driving path of the vehicle in the training driving test area based on the lane boundary lines fitted from the main feature points in the map information.

[0070] Optionally, if the map information includes lane lines but does not include main feature points, the first device may determine the target driving path of the vehicle being driven in the driving test training area based on the lane lines in the map information.

[0071] Optionally, if the map information includes both main feature points and lane lines, the first device can determine the target driving path of the vehicle being driven in the driving test training area based on the lane lines or the lane boundary lines fitted from the main feature points.

[0072] Optionally, the target driving path can be the middle route of the lane boundary lines on both sides of the lane, for example, Figure 3The target driving path shown is the middle route between the lane boundary lines on both sides of the lane in the figure, or it can be a route that is a first preset distance away from the lane boundary line, wherein the first preset distance can be a distance obtained from experience.

[0073] Optionally, the first device acquiring the first driving data of the driven vehicle at the current time can be the first device acquiring the first driving information of the driven vehicle at the current time and processing the first driving information at the current time to obtain the first driving data. Optionally, the first driving information at the current time may include: the first driving speed of the driven vehicle and the current position of the driven vehicle on the map of the driving test site. Optionally, the first driving data obtained after processing the first driving information at the current time can be obtained by first parsing the first driving information, processing the frame length, and removing invalid values ​​in the first driving information to obtain valid first driving information, then calculating the first angle of the driven vehicle deviating from the target driving path, the first lane curvature corresponding to the driven vehicle at the current position, and the first lane width corresponding to the current position based on the current position in the valid first driving information, and calculating the first speed of the driven vehicle in the first driving data based on the first driving speed in the valid first driving information.

[0074] The following describes two scenarios: the first device obtains the first driving information of the driven vehicle at the current time, and the first driving data is obtained after processing the first driving information at the current time.

[0075] Scenario 1: When the first device includes an in-vehicle system, the in-vehicle system acquires the first driving information of the driven vehicle at the current time and processes the first driving information to obtain first driving data. Optionally, when the in-vehicle system includes in-vehicle sensors, in-vehicle GPS, in-vehicle computer, and in-vehicle voice broadcasting device, the in-vehicle sensors send the detected first driving speed of the driven vehicle to the in-vehicle computer, the in-vehicle GPS sends the current position of the driven vehicle on the map of the driving test site output by the positioning output to the in-vehicle computer, the in-vehicle computer receives the first driving information and processes the first driving information to obtain first driving data, and the in-vehicle voice broadcasting device broadcasts the target driving route and / or the first driving data.

[0076] In scenario two, if the first device includes a HUD, the HUD can acquire the first driving information of the driven vehicle at the current time, and obtain the first driving data after processing the first driving information at the current time. The HUD can display the target driving path and / or the first driving data of the driven vehicle.

[0077] Optionally, the first angle at which the driven vehicle deviates from the target driving path can refer to the angle at which the front of the driven vehicle deviates from the target driving path at the current time.

[0078] Optionally, the first speed of the driven vehicle may refer to the speed of the driven vehicle at the current time.

[0079] Optionally, the current position of the vehicle being driven in the driving test training area can be the position of the vehicle being driven at the current time obtained through the vehicle's GPS, or, if the vehicle's sensors include a vehicle camera, the position of the vehicle being driven at the current time can be obtained by collecting an image of the lane environment where the vehicle is located at the current time through the vehicle camera and processing the image.

[0080] Optionally, the width of the first lane corresponding to the current position of the driven vehicle can be the width of the lane in the direction perpendicular to the front direction of the driven vehicle when it is in its current position.

[0081] Optionally, the curvature of the first lane corresponding to the current position of the driven vehicle can be the curvature of the lane in the direction perpendicular to the front direction of the driven vehicle when the driven vehicle is in its current position.

[0082] S220, the first device calculates a first driving strategy based on the first driving data. The first driving strategy includes: the second angle at which the steering wheel of the driven vehicle is to be rotated and the second speed of the driven vehicle.

[0083] Optionally, the second angle at which the steering wheel of the driven vehicle is to be rotated in the first driving strategy in S220 can be a vector containing magnitude and direction. The second angle can be a positive or negative number. A positive number can represent a clockwise direction, and a negative number can represent a counterclockwise direction. For example, if the second angle is +30°, it means that the steering wheel of the driven vehicle is to be rotated 30° clockwise.

[0084] Optionally, the second speed in the first driving strategy in S220 can be the target speed that the driven vehicle needs to adjust to achieve.

[0085] Optionally, in S220, the first device calculates a first driving strategy based on the first driving data. This strategy can be based on the first speed of the driven vehicle, the first angle at which the driven vehicle deviates from the target driving path, the first lane width and the first lane curvature corresponding to the current position of the driven vehicle, as input layer data. This data is then processed through the input layer to the hidden layer in a preset calculation model to obtain the output of the hidden layer. The output of the hidden layer is then processed through the hidden layer to the output layer to obtain the output result of the output layer, which is the first driving strategy of the driven vehicle. The weights and biases from the input layer to the hidden layer and from the hidden layer to the output layer are optimal weights and biases that have been trained using M sample data.

[0086] Specifically, the first driving strategy can be calculated using formula (10), where X in formula (10) is the first driving data, w and b1 are the first weights and first biases from the input layer to the hidden layer obtained through training, v and b2 are the second weights and second biases from the hidden layer to the output layer obtained through training, and s1 and s2 are the selected activation functions. T v is the transpose of w. T The first driving strategy Y' can be calculated using formula (10), where Y' includes the second angle at which the steering wheel of the driven vehicle is to be rotated and the second speed of the driven vehicle.

[0087] Y'=s2(v T ·s1(w T X+b1)+b2) (10)

[0088] In the above, trainees can adjust the steering wheel and speed of the vehicle according to the first driving strategy, so as to make the vehicle as close as possible to the target driving path. Through repeated training or simulated tests, trainees can find suitable points in a more flexible way during the driving test, and thus master the key points of operating the vehicle, which helps trainees learn to drive more easily.

[0089] Optionally, S220 further includes determining the first vertical distance between the current position of the driven vehicle on the map of the training driving test site at the current time and the target driving path, and determining the warning width corresponding to the first lane width. If the first vertical distance is greater than the warning width corresponding to the first lane width, the first warning information is output by voice, and / or the second warning information is displayed. The first warning information or the second warning information is used to prompt the user of the driven vehicle to move away from the target driving path.

[0090] It should be noted that the user of the vehicle being driven can be a student driving the vehicle.

[0091] Optionally, the first vertical distance between the current position and the target driving path can be the horizontal axis corresponding to the current position of the driven vehicle in the Frenet coordinate system.

[0092] Optionally, the first perpendicular distance between the current position and the target driving path can be the distance between the projected point (the current position of the vehicle in the map coordinate system of the training driving test site) and the current position, obtained by projecting the current position onto the target driving path. For example, ... Figure 4 As shown, Figure 4The current position of the vehicle being driven in the training driving test site is Q in the map coordinate system. The coordinates of Q are (X1, Y1). The projection point obtained by projecting Q onto the target driving path is P. The coordinates of P are (X2, Y2). Then the first vertical distance is ΔZ, which can be calculated by formula (11).

[0093]

[0094] Optionally, the warning width corresponding to the first lane width can be the vertical distance between the warning point corresponding to the first lane width and the target driving path. It should be noted that the warning point corresponding to the first lane width can be a location point that is a second preset distance away from the boundary line of the first lane, wherein the second preset distance can be obtained from experience.

[0095] Optionally, the first device can determine the first warning information based on the first vertical distance and the warning width corresponding to the first lane width. If the first vertical distance is greater than the warning width corresponding to the first lane width, the first warning information is output by voice. For example, the first warning information output by voice can be a voice broadcast of "stay away from the target driving path". If the first vertical distance is less than or equal to the warning width corresponding to the first lane width, no voice output is performed.

[0096] Optionally, if the first device includes an in-vehicle system, the in-vehicle system determines the first warning information based on the first vertical distance and the warning width corresponding to the first lane width. If the first vertical distance is greater than the warning width corresponding to the first lane width, the first warning information is output via voice.

[0097] Optionally, the first device can determine the second warning information based on the first vertical distance and the warning width corresponding to the first lane width. If the first vertical distance is greater than the warning width corresponding to the first lane width, the second warning information is displayed. The second warning information can be a flashing indicator light or text display, such as the text "Stay away from the target driving path". If the first vertical distance is less than or equal to the warning width corresponding to the first lane width, no information is displayed.

[0098] Optionally, if the first device includes a HUD, the HUD determines the second warning information based on the first vertical distance and the warning width corresponding to the first lane width. If the first vertical distance is greater than the warning width corresponding to the first lane width, the HUD displays the second warning information.

[0099] The above describes how the first warning information and / or the second warning information are determined based on the first vertical distance of the driven vehicle at the current time and the warning width corresponding to the first lane width. The corresponding warning information is displayed and / or voiced, so that the trainee can understand whether the driven vehicle is far away from the target driving path or is about to cross the lane boundary line by seeing the displayed information or by directly hearing the voice prompts, thereby assisting the trainee in making corresponding adjustments.

[0100] Optionally, S220 further includes obtaining the driving time of the driven vehicle on a first driving path in the target driving path, wherein the first driving path is the driving path corresponding to a driving process in the driving test target, and the driving test target includes at least one driving process; displaying the driving time of the first driving path, and / or outputting the driving time of the first driving path by voice.

[0101] Optionally, the target driving path can be composed of multiple driving paths. The first driving path is any segment of the target driving path. It should be noted that the first driving path is the driving path corresponding to a driving process in the driving test target. For example, the first driving path is the driving path corresponding to the reversing into a parking space driving process in the driving test target. Obtaining the driving time of the driven vehicle in the first driving path in the target driving path is to obtain the driving time of the driven vehicle in the reversing into a parking space driving process. The obtained driving time allows the trainee to intuitively understand the time he spent in this training or simulated reversing into a parking space process.

[0102] Optionally, obtaining the driving time of the driven vehicle on the first driving path in the target driving path can be achieved by recording the driving time of the driven vehicle from the corresponding start position to the corresponding end position of the first driving path using a timer.

[0103] Optionally, if the first device includes an in-vehicle system, the in-vehicle system obtains the travel time of the driven vehicle on the first travel route in the target travel route, and the in-vehicle system outputs the travel time of the first travel route via voice.

[0104] Optionally, the voice broadcast time can be the time taken for the driven vehicle to complete the first driving route, or it can be the remaining time displayed when the timer starts from the corresponding starting position of the first driving route. The remaining time can be a manually set time. For example, if the first driving route is the reversing into a parking space maneuver in the driving test, and the time limit for this maneuver is 210 seconds, then the voice broadcast could be displayed as 250 seconds having been taken for the first driving route, or it could be displayed as 30 seconds remaining when the timer starts at the corresponding position of the first driving route and reaches 180 seconds.

[0105] Optionally, if the first device includes a HUD, the HUD acquires the travel time of the driven vehicle on a first travel route in the target travel path, and the HUD displays the travel time of the first travel route.

[0106] Optionally, the displayed time can be the direct display of the recorded driving time from the corresponding start position to the corresponding end position of the first driving path, or it can be displayed in a timed manner, starting from the corresponding start position of the driving vehicle on the first driving path. Alternatively, it can be a countdown display starting from the corresponding start position of the driving vehicle on the first driving path with the time limit of the first driving path. For example, if the first driving path is the driving path corresponding to the reversing into a parking space in the driving test target, and the time limit for the reversing into a parking space is 210 seconds, then the displayed time can be the recorded driving time from the corresponding start position of the first driving path to the corresponding end position of the first driving path, such as the total time of the first driving path being 250 seconds. Alternatively, the displayed time can also be the time when the driving vehicle starts counting from the corresponding start position of the first driving path, such as displaying 120 seconds elapsed. Alternatively, the displayed time can also be a countdown display, such as displaying 90 seconds remaining.

[0107] By displaying and / or providing voice prompts for the travel time of the first travel route in the target travel path, trainees can intuitively understand the time they spend in this training or simulation process, thereby helping them to train or simulate for the corresponding subject exam.

[0108] Optionally, S220 further includes a first device determining the stop point of a second driving path of the driven vehicle in the target driving path, wherein the second driving path is the driving path corresponding to a driving process in the driving test target, the driving test target includes at least one driving process, displaying the stop point of the second driving path, and / or voice outputting the stop point of the second driving path.

[0109] Optionally, the first device may first determine whether there are any rest stops along the driving route of the driven vehicle. If there are rest stops, the device displays the corresponding rest stop and / or outputs the corresponding rest stop via voice. If there are no rest stops, no display or voice prompt is given. Rest stops are fixed points determined based on the driving test objectives during the determination of the target driving route.

[0110] Optionally, when the first device includes an in-vehicle system, the in-vehicle system acquires the stop points of the second driving route within the target driving path, and the in-vehicle system outputs the travel time of the first driving route via voice. For example, the second driving route is the driving route corresponding to the hill start and stop processes in the driving test target. When the driven vehicle enters the driving route corresponding to the hill start and stop processes, the in-vehicle system announces the stop points for the hill start and stop processes via voice.

[0111] Optionally, when the first device includes a HUD, the HUD acquires the stopping points of the driven vehicle on the second driving route within the target driving route, and displays the stopping points of the second driving route. For example, the second driving route is the driving route corresponding to the hill start and stop processes in the driving test target. When the driven vehicle enters the driving route corresponding to the hill start and stop processes, the HUD displays the stopping points for the hill start and stop processes.

[0112] The above-mentioned display and / or voice prompts of the stop points of the second driving route in the target driving route can be used to remind students to perform the corresponding operations at the stop points, thereby better helping students to train or simulate the corresponding subject test.

[0113] S230, the first device outputs the first driving strategy, which is used to assist in driving tests.

[0114] Optionally, if the first device includes an in-vehicle system, the in-vehicle system outputs the first driving strategy. Optionally, if the in-vehicle system includes an in-vehicle voice broadcasting device, the in-vehicle voice broadcasting device broadcasts the first driving strategy.

[0115] Optionally, if the first device includes a HUD, the first driving strategy is displayed by the HUD.

[0116] It should be noted that the first driving strategy is used to prompt the learner to perform corresponding operations in the driven vehicle. For example, the first driving strategy is: the second speed of the driven vehicle is 20km / h, and the second angle to be rotated on the steering wheel of the driven vehicle is -20°. Then the learner can make corresponding adjustments to the speed and direction of the driven vehicle according to the voice broadcast or display prompts.

[0117] Optionally, after S230, the first device can acquire the second driving data of the driven vehicle at the current time. The second driving data includes the third speed of the driven vehicle, the third angle of the driven vehicle's deviation from the target driving path, the width of the second lane corresponding to the current position of the driven vehicle, and the curvature of the second lane corresponding to the current position. Based on the second driving data, the first device can calculate the second driving strategy of the driven vehicle. The second driving strategy includes the fourth angle of the steering wheel to be rotated and the fourth speed of the driven vehicle. The second driving strategy is output and used to assist in driving tests.

[0118] It should be noted that the current time corresponding to the second driving data of the driven vehicle is the time after the current time corresponding to the first driving data of the driven vehicle.

[0119] Optionally, before calculating the second driving strategy of the driven vehicle, it can be determined that if the third angle of the driven vehicle's deviation from the target driving path in the second driving data is less than the angle deviation threshold, and the deviation between the third speed of the driven vehicle and the second speed of the driven vehicle in the first driving strategy is less than the speed deviation threshold, then the second driving strategy of the driven vehicle is not calculated. If the third angle of the driven vehicle's deviation from the target driving path in the second driving data is greater than or equal to the angle deviation threshold, or the third speed of the driven vehicle and the second speed of the driven vehicle in the first driving strategy are greater than or equal to the speed deviation threshold, then the second driving strategy of the driven vehicle is calculated. The angle deviation threshold and speed deviation threshold can be obtained empirically. By comparing the parameters calculated and output from the second driving data and the first driving strategy, the number of times the first device calculates the driving strategy of the driven vehicle can be reduced, and the number of times the trainee adjusts the driven vehicle can be reduced, thus avoiding frequent adjustments to the speed and direction of the driven vehicle by the trainee.

[0120] It should be noted that, with the map and driving test target of the training driving test site remaining unchanged, the first device can perform the process of determining the target driving path only once, and perform the process of determining the driving strategy based on the driving data of the driven vehicle and the target driving path multiple times.

[0121] The above steps realize the process of calculating the driving strategy of the driven vehicle by acquiring driving data. The output driving strategy is used to prompt the trainee to adjust the speed and direction of the driven vehicle, so that the actual driving path of the driven vehicle is closer to the target driving path. Through repeated training or simulated test, trainees can more flexibly find the points that suit them, and thus master the key points of operating the driven vehicle in the actual driving test, thereby reducing the difficulty for trainees to learn to drive.

[0122] To better understand the solution in this application, Figure 5A detailed description is given using a schematic diagram of a method for assisting in driver's license testing. For example... Figure 5 As shown, the first device is a device that includes an in-vehicle system and a head-up display (HUD).

[0123] S501, the vehicle system acquires a map of the driving test training site and calculates the target driving path based on the map of the driving test training site and the driving test target.

[0124] For example, the driving test target is Subject 2 of the motor vehicle driving test, which includes: reversing into a parking space, parallel parking, hill start, right-angle turn, and curved driving. The on-board system extracts the main feature points from the map of the driving test site, fits the lane boundary lines through linear interpolation and curve smoothing, and determines the target driving path based on the fitted lane boundary lines.

[0125] For example, in method 200, the first device can determine the target driving path of the vehicle being driven based on a map of the training driving test site and the driving test objective. Figure 5 The S501.

[0126] S502, the vehicle system sends the target driving route to the HUD.

[0127] For example, the first device in method 200 can output the target driving path of the driven vehicle, which may be Figure 5 S502.

[0128] S503, HUD obtains the first driving information of the driven vehicle at the current time.

[0129] Specifically, the first driving information includes: the first driving speed of the driven vehicle at the current time, and the current position of the driven vehicle on the driving test training map at the current time.

[0130] For example, in method 200, the first device obtaining the first driving information of the driven vehicle at the current time could be... Figure 5 S503.

[0131] S504, the HUD processes the first driving information at the current time to obtain the first driving data of the driven vehicle at the current time.

[0132] Specifically, the HUD includes an MCU and an LCD. The MCU of the HUD performs message parsing, frame length processing, and removal of invalid values ​​on the first driving information to obtain the valid driving information at the current time. Based on the target driving path and the valid driving information at the current time, it calculates the first driving data of the driven vehicle. The first driving data includes: the first speed of the driven vehicle, the first angle of the driven vehicle deviating from the target driving path, the first lane width corresponding to the current position of the driven vehicle, and the first lane curvature corresponding to the current position of the driven vehicle.

[0133] For example, the first driving data obtained by the first device in method 200 after processing the first driving information of the driven vehicle at the current time can be S504.

[0134] The S505a features a HUD that displays the target driving route and initial driving data.

[0135] The S505b HUD sends initial driving data to the vehicle's onboard system.

[0136] For example, the first device in method 200 can display the target driving path and the first driving data, which can be S505a, and the first device in method 200 can output the first driving data, which can be S505b.

[0137] It should be noted that S505a is an optional step. For example, if S505a is not present, it means that the first driving data and the target driving route will not be displayed.

[0138] S506, the onboard system calculates the first driving strategy based on the first driving data.

[0139] Specifically, the vehicle system inputs the first speed of the driven vehicle, the first angle at which the driven vehicle deviates from the target driving path, the first lane width corresponding to the current position of the driven vehicle, and the first lane curvature corresponding to the current position into a preset calculation model to calculate a first driving strategy. The first driving strategy includes: the second speed of the driven vehicle and the second angle at which the steering wheel of the driven vehicle is to be rotated.

[0140] For example, the first device in method 200 determining the first driving strategy of the driven vehicle based on the first driving data and the target driving path can be S506.

[0141] S507a, the vehicle system voice broadcasts the first driving strategy.

[0142] S507b, the onboard system sends the first driving strategy to the HUD.

[0143] S508, HUD displays the first driving strategy.

[0144] For example, the first device outputting the first driving strategy in method 200 can be S507a, S507b, and S508. It should be noted that S507a or S508 are optional steps. For example, if S507a is not present, it means that the first driving strategy will not be announced by voice. Similarly, if S508 is not present, it means that the first driving strategy will not be displayed.

[0145] S509, HUD obtains second driving information of the driven vehicle at the current time.

[0146] S510, the HUD processes the second driving information at the current time to obtain the second driving data of the driven vehicle at the current time.

[0147] S511a, HUD displays second driving data.

[0148] S511b, the HUD sends second driving data to the vehicle system.

[0149] S512, the onboard system calculates the second driving strategy based on the second driving data.

[0150] S513a, the vehicle system voice broadcasts the second driving strategy.

[0151] S513b, the onboard system sends a second driving strategy to the HUD.

[0152] S514, HUD displays the second driving strategy.

[0153] For example, in method 200, the first device acquires the second driving data of the driven vehicle at the current time, and the second driving strategy of the driven vehicle is calculated based on the second driving data, which may be S509 to S514.

[0154] It should be noted that S513a or S514 are optional steps. For example, if S513a is not present, it means that the second driving strategy will not be announced via voice. Similarly, if S514 is not present, it means that the second driving strategy will not be displayed.

[0155] above, Figure 5 The system obtains a map of the driving test site and the rules of the second subject test through the in-vehicle system to determine the target driving route, and obtains the driving data of the vehicle at the current time. Based on the driving data at the current time, it calculates the first driving strategy, announces the first driving strategy through the in-vehicle system, and / or displays the first driving strategy through the HUD to remind the student to perform the corresponding operation, thereby better assisting the student in driving the vehicle.

[0156] Figure 6 A detailed description is given using a diagram as an example of another method used to assist in driving tests. For instance... Figure 6As shown, the first device is a device that includes an in-vehicle system and a head-up display (HUD).

[0157] S610: The onboard system acquires a map of the driving test training area and calculates the target driving path based on the map and the driving test objective.

[0158] S620: The vehicle system sends the target driving route to the HUD.

[0159] S630, HUD obtains the first driving information of the driven vehicle at the current time.

[0160] S640, the HUD processes the first driving information at the current time to obtain the first driving data of the driven vehicle at the current time.

[0161] The S650a features a HUD that displays the target driving route and initial driving data.

[0162] In the S650b, the HUD sends the first driving data to the vehicle's onboard system.

[0163] The steps of S610 to S650b above are the same as those of S610 to S650b. Figure 5 The steps in S501 to S505b are implemented in a similar manner, and will not be described in detail here to avoid redundancy.

[0164] It should be noted that S650a is an optional step. For example, if S650a is not present, it means that the first driving data and the target driving route will not be displayed.

[0165] S660, the vehicle system determines the first vertical distance between the current position of the driven vehicle and the target driving path at the current time, determines the warning width corresponding to the first lane width, and if the first vertical distance is greater than the warning width corresponding to the first lane width, determines the first warning information and / or the second warning information.

[0166] Specifically, if the first vertical distance is less than or equal to the warning width corresponding to the first lane width, then the first warning information and the second warning information will not be output.

[0167] S670a, the vehicle system broadcasts the first warning information via voice.

[0168] In the S670b, the onboard system sends a second warning message to the HUD.

[0169] The S680's HUD displays the second warning information.

[0170] Specifically, if the first vertical distance is greater than the warning width corresponding to the first lane width, the warning indicator on the HUD's LCD will flash to indicate to the student that the driven vehicle has moved away from the target driving path. If the first vertical distance is less than or equal to the warning width corresponding to the first lane width, the warning indicator on the HUD's LCD will not flash.

[0171] For example, the second warning information in method 200 can be the flashing of the warning indicator light in S680, and the voice output of the first warning information and / or display of the second warning information in method 200 if the first vertical distance is greater than the warning width corresponding to the first lane width can be S660 to S680.

[0172] It should be noted that S670a or S680 are optional steps. For example, if S670a is not present, it means that the first warning information will not be broadcast by voice. Similarly, if S680 is not present, it means that the second warning information will not be displayed.

[0173] above, Figure 6 The system obtains a map of the driving test site and the driving test target for Subject 2 through the in-vehicle system to determine the target driving route, and obtains the first driving data of the driven vehicle at the current time. Based on the first vertical distance of the driven vehicle at the current time and the warning width corresponding to the first lane width, the system determines the warning information, broadcasts the warning information by voice and / or displays the corresponding warning information on the head, so that the trainee can intuitively understand the actual driving situation and thus help the trainee make the correct operation, thereby reducing the difficulty for trainees to learn to drive.

[0174] Figure 7 A detailed description is given using a diagram as an example of another method used to assist in driving tests. For instance... Figure 7 As shown, the first device is a device that includes an in-vehicle system and a head-up display (HUD).

[0175] S710: The onboard system acquires a map of the driving test training area and calculates the target driving path based on the map and the driving test objective.

[0176] S710 and Figure 5 The implementation process of S501 is similar, and will not be described in detail here to avoid redundancy.

[0177] S720, the onboard system obtains the travel time of the driven vehicle on the first travel route in the target travel path.

[0178] For example, in method 200, the first device may obtain the travel time of the driven vehicle on the first travel path in the target travel path in S720.

[0179] The S730a's in-vehicle system broadcasts the travel time for the first driving route via voice.

[0180] S730b, the onboard system sends the travel time of the first driving route to the HUD.

[0181] The S740's HUD displays the travel time for the first driving route.

[0182] For example, the first device in method 200 may voice output the travel time of the first travel route and / or display the travel time of the first travel route, which may be S730a, S730b and S740.

[0183] It should be noted that S730a or S740 are optional steps. For example, if S730a is not present, it means that the travel time of the first driving route will not be announced by voice. Similarly, if S740 is not present, it means that the travel time of the first driving route will not be displayed.

[0184] above, Figure 7 The system obtains a map of the driving test site and the target of the second subject test through the in-vehicle system to determine the target driving route, and obtains the driving time of the driven vehicle on the first driving route in the target driving route. The system broadcasts the driving time of the first driving route by voice and / or displays it through HUD, so that students can intuitively understand the time spent on the first driving route during this training or simulated driving test.

[0185] Figure 8 A detailed description is given using a diagram as an example of another method used to assist in driving tests. For instance... Figure 8 As shown, the first device is a device that includes an in-vehicle system and a head-up display (HUD).

[0186] S810: The onboard system acquires a map of the driving test training area and calculates the target driving path based on the map and the driving test objective.

[0187] S810 and Figure 5 The implementation process of S501 is similar, and will not be described in detail here to avoid redundancy.

[0188] S820, the onboard system obtains the stop point of the second driving route of the driven vehicle in the target driving route.

[0189] For example, in method 200, the first device may obtain the stop point of the second driving path of the driven vehicle in the target driving path in S820.

[0190] S830a, the vehicle system announces the stops for the second driving route via voice.

[0191] S830b, the onboard system sends the stop points of the second driving route to the HUD.

[0192] S840, HUD displays the stop points for the second driving route.

[0193] For example, the first device in method 200 may voice output the stop points of the second driving route and / or display the stop points of the second driving route, which may be S830a, S830b and S840.

[0194] It should be noted that S830a or S840 are optional steps. For example, if S830a is not present, it means that the stop points of the second driving route will not be announced by voice. Similarly, if S840 is not present, it means that the stop points of the second driving route will not be displayed.

[0195] above, Figure 8 The system obtains a map of the driving test site and the target of the second subject test through the in-vehicle system to determine the target driving route and the stop point of the second driving route in the target driving route. The system also announces and / or displays the stop point of the second driving route through voice and head-up display. This helps to remind students to stop at the corresponding stop point and assists students in driving the vehicle.

[0196] It should be noted that this application can be Figures 5-8 Any single embodiment given in the document may also be Figures 5-8 Any combination of the given embodiments, for example, Figure 5 and Figure 6 This can be configured to input the first driving data of the driven vehicle at the current time into a preset calculation model to obtain a first driving strategy for the driven vehicle, and to determine a warning information based on the warning width corresponding to the first vertical distance of the driven vehicle and the first lane width, and to broadcast the first driving strategy and warning information via voice and / or display it via HUD. Figures 5-7 This can be configured to calculate the first driving strategy and warning information of the driven vehicle, determine the driving time of the driven vehicle on the first driving route, and broadcast and / or display the first driving strategy, warning information, and driving time of the first driving route via HUD. Figures 5-8 This can be configured to calculate the first driving strategy and warning information of the driven vehicle, determine the driving time of the driven vehicle on the first driving route and the stop point on the second driving route, and broadcast and / or display the first driving strategy, warning information, driving time of the first driving route and stop point on the second driving route via HUD, in yet another embodiment.

[0197] Figure 9 This is a schematic block diagram of a device for assisting driver's license testing provided in an embodiment of this application. The device 900 is used to implement the method of any of the embodiments described above. Figure 9 As shown, the device 900 provided in this embodiment includes:

[0198] The acquisition unit 910 is used to acquire the first driving data of the driven vehicle at the current time. The first driving data includes: the first speed of the driven vehicle, the first angle of the driven vehicle deviating from the target driving path, the first lane width corresponding to the current position of the driven vehicle, and the first lane curvature corresponding to the current position. The target driving path is determined based on the driving test target and the map of the driving test training site.

[0199] The processing unit 920 is used to calculate a first driving strategy of the driven vehicle based on the first driving data. The first driving strategy includes: a second angle at which the steering wheel of the driven vehicle is to be rotated and a second speed of the driven vehicle.

[0200] Output unit 930 is used to output the first driving strategy, which is used to assist in driving tests.

[0201] Figure 9 The device described above can perform the functions of the first device in the above method embodiments, and will not be described in detail here to avoid redundancy.

[0202] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0203] Based on the same inventive concept Figure 10 A schematic block diagram of another device for assisting driving tests provided in this application embodiment includes a processor coupled to a memory. When the processor executes a computer program or instructions stored in the memory, it implements the method of any of the above embodiments.

[0204] Based on the same inventive concept, this application provides a computer storage medium storing a computer program, which, when executed by a processor, implements the method of any of the above embodiments.

[0205] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a device. Based on this understanding, all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer chip, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include at least: any entity or device capable of carrying computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0206] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0207] In the embodiments provided in this application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0208] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0209] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0210] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for assisting in driver's license testing, characterized in that, The method is applied to a first device and includes: The first driving data of the driven vehicle at the current time is obtained. The first driving data includes the first speed of the driven vehicle, the first angle of the driven vehicle deviating from the target driving path, the first lane width corresponding to the current position of the driven vehicle, and the first lane curvature corresponding to the current position. The target driving path is determined based on the driving test target and the map of the driving test training site. A first driving strategy for the driven vehicle is calculated based on the first driving data. The first driving strategy includes a second angle at which the steering wheel of the driven vehicle is to be rotated and a second speed of the driven vehicle. Output the first driving strategy, which is used to assist in the driving test; After outputting the first driving strategy, the method further includes: The second driving data of the driven vehicle at the current time is obtained. The second driving data includes the third speed of the driven vehicle, the third angle of the driven vehicle deviating from the target driving path, the width of the second lane corresponding to the current position of the driven vehicle, and the curvature of the second lane corresponding to the current position. Determine whether the third angle at which the driven vehicle deviates from the target driving path in the second driving data is less than the angle deviation threshold, and whether the deviation between the third speed of the driven vehicle and the second speed of the driven vehicle in the first driving strategy is less than the speed deviation threshold. If the third angle at which the driven vehicle deviates from the target driving path in the second driving data is less than the angle deviation threshold, and the deviation between the third speed of the driven vehicle and the second speed of the driven vehicle in the first driving strategy is less than the speed deviation threshold, then the second driving strategy of the driven vehicle is not calculated; wherein, the current time corresponding to the second driving data of the driven vehicle is the time after the current time corresponding to the first driving data of the driven vehicle. The method further includes: The driving time of the vehicle being driven on the first driving path in the target driving path is obtained, wherein the first driving path is the driving path corresponding to a driving process in the driving test target, and the driving process in the driving test target includes: reversing into a parking space, parallel parking, hill start, right-angle turn and curved driving process; Display the travel time of the first driving route, and / or output the travel time of the first driving route via voice, so that trainees can intuitively understand the time they spent on the first driving route during this training or simulated driving test.

2. The method as described in claim 1, characterized in that, The method further includes: Obtain map information of the driving test site for training, the map information being used to indicate the map of the driving test site for training; Obtain the driving test objective; The target driving path of the vehicle being driven is determined in the driving test training area based on the map of the driving test target and the driving test training area.

3. The method as described in claim 1, characterized in that, The method further includes: Determine the first vertical distance between the current position and the target driving path; Determine the warning width corresponding to the width of the first lane; If the first vertical distance is greater than the warning width corresponding to the first lane width, then a first warning message is output by voice, and / or a second warning message is displayed. The first warning message or the second warning message is used to prompt the user of the driven vehicle that the driven vehicle is moving away from the target driving path.

4. The method as described in claim 1, characterized in that, The method further includes: Determine the stopping point of the vehicle being driven on the second driving path in the target driving path, wherein the second driving path is the driving path corresponding to a driving process in the driving test target, and the driving test target includes at least one driving process; Display the stop points of the second driving route, and / or, output the stop points of the second driving route via voice.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: If the third angle at which the driven vehicle deviates from the target driving path in the second driving data is greater than or equal to the angle deviation threshold, or if the third speed of the driven vehicle and the second speed of the driven vehicle in the first driving strategy are greater than or equal to the speed deviation threshold, then the second driving strategy of the driven vehicle is calculated based on the second driving data. The second driving strategy includes the fourth angle at which the steering wheel of the driven vehicle is to be rotated and the fourth speed of the driven vehicle. Output the second driving strategy, which is used to assist in the driving test.

6. The method as described in claim 1, characterized in that, The first driving strategy of the driven vehicle calculated based on the first driving data includes: Based on the first driving data, the first driving strategy is calculated using the following formula: Y'=s2(v T ·s1(w T (X+b1)+b2) Where X is the first driving data, w is the preset first weight, and w T Let w be the transpose of w, b1 be the preset first bias term, and v be the preset second weight. T Let v be the transpose of v, b2 be a preset second bias term, s1 be a preset first activation function, s2 be a preset second activation function, and Y' be the first driving strategy that includes the second angle of rotation of the steering wheel of the driven vehicle and the second speed of the driven vehicle.

7. The method as described in claim 1, characterized in that, The first device is a device that includes a head-up display (HUD) for display.

8. A device for assisting in driving tests, comprising a processor coupled to a memory, the processor being configured to execute a computer program or instructions stored in the memory to implement the method as described in any one of claims 1-7.

9. A computer storage medium, characterized in that, The computer storage medium stores a computer program, which, when executed by a processor, implements the method as described in any one of claims 1-7.

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