Vehicle information display method, device and storage medium

Abstract

The embodiment of the present application provides a vehicle information display method, device and storage medium. In the embodiment of the present application, a positioning anchor point is installed at a first position point of a physical vehicle, and the coordinate information of the first position point and the second position point of the physical vehicle is determined based on the position information of the positioning anchor point. Based on the coordinate information of the above two position points, the two position points of the vehicle object in the three-dimensional teaching scene are determined. According to the position information of the two position points on the vehicle object, the vehicle object is controlled to move in the three-dimensional teaching scene. According to the first position point where the positioning anchor point is installed and the second position point on the physical vehicle, the driving state of the vehicle object in the three-dimensional teaching scene is controlled, which can improve the positioning accuracy of the vehicle object, achieve the virtual-real synchronization effect between the physical vehicle and the vehicle object, and enhance the user experience.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle information display method, device and storage medium. Background Art

[0002] At present, with the convenience of transportation, more and more people are learning to take a driver's license test. They need to learn with a training car. By positioning the training car, the real-time position of the training car is synchronized to the three-dimensional teaching scene, and the user graphical interface is displayed through the on-board display terminal to provide learning reference and guidance for students. However, the positioning solution of the existing technology is not accurate enough. Summary of the invention

[0003] Multiple aspects of the present application provide a vehicle information display method, device and storage medium to improve positioning accuracy.

[0004] An embodiment of the present application provides a vehicle information display method, which provides a graphical user interface through a vehicle-mounted display terminal, and displays a three-dimensional teaching scene corresponding to an actual teaching scene on the graphical user interface. The three-dimensional teaching scene includes a vehicle object corresponding to a physical vehicle, and a positioning anchor point is installed at a first position point on the physical vehicle. The first position point is different from a second position point on the physical vehicle, and the vehicle object includes a third position point and a fourth position point corresponding to the first position point and the second position point, respectively. The method includes: during the driving of the physical vehicle, regularly obtaining first coordinate information of the first position point in the actual teaching scene according to positioning information of the positioning anchor point; determining second coordinate information of the second position point in the actual teaching scene according to a relative position relationship between the first position point and the second position point on the physical vehicle in combination with the first coordinate information; regularly updating third coordinate information corresponding to a third position point on the vehicle object and fourth coordinate information corresponding to a fourth position point according to the first coordinate information and the second coordinate information in combination with a mapping relationship between the actual teaching scene and the three-dimensional teaching scene; and controlling the vehicle object to drive in the three-dimensional teaching scene in a driving state adapted to the physical vehicle according to the regularly updated third coordinate information and fourth coordinate information.

[0005] The embodiment of the present application also provides a vehicle-mounted display terminal, which is applied to a physical vehicle. A positioning anchor point is installed at a first position point on the physical vehicle, and the first position point is different from a second position point on the physical vehicle. The vehicle-mounted display terminal includes: a display screen, and a board for display control implemented based on a programmable logic device; the display screen provides a graphical user interface, and a three-dimensional teaching scene corresponding to the actual teaching scene is displayed on the graphical user interface. The three-dimensional teaching scene includes a vehicle object corresponding to the physical vehicle, and the vehicle object includes a third position point and a fourth position point corresponding to the first position point and the second position point respectively; the board is configured with a display control program for displaying the vehicle during the driving process. In the method, first coordinate information of a first position point in an actual teaching scene is obtained periodically according to positioning information of a positioning anchor point; second coordinate information of a second position point in an actual teaching scene is determined according to a relative position relationship between the first position point and the second position point on an actual vehicle in combination with the first coordinate information; third coordinate information corresponding to a third position point on the vehicle object and fourth coordinate information corresponding to a fourth position point are periodically updated according to the first coordinate information and the second coordinate information in combination with a mapping relationship between an actual teaching scene and a three-dimensional teaching scene; and the vehicle object is controlled to travel in a driving state adapted to the physical vehicle in the three-dimensional teaching scene in accordance with the periodically updated third coordinate information and fourth coordinate information.

[0006] An embodiment of the present application also provides a vehicle device, a positioning anchor point is installed at a first position point on the vehicle device, the first position point is different from a second position point on the vehicle device, and the vehicle device also includes a vehicle-mounted display terminal provided in an embodiment of the present application.

[0007] The embodiment of the present application also provides a vehicle-mounted device, which is applied to a physical vehicle, wherein a positioning anchor point is installed at a first position point on the physical vehicle, and the first position point is different from a second position point on the physical vehicle; the vehicle-mounted device comprises: a memory, a processor and a display; the display is used to provide a graphical user interface, and a three-dimensional teaching scene corresponding to an actual teaching scene is displayed on the graphical user interface, and the three-dimensional teaching scene includes a vehicle object corresponding to the physical vehicle, and the vehicle object includes a third position point and a fourth position point corresponding to the first position point and the second position point respectively; the memory is used to store a computer program; the processor is coupled to the memory and is used to execute the computer program, so as to: During driving, first coordinate information of a first position point in an actual teaching scene is obtained periodically based on positioning information of a positioning anchor point; second coordinate information of a second position point in an actual teaching scene is determined based on a relative position relationship between the first position point and a second position point on a physical vehicle in combination with the first coordinate information; third coordinate information corresponding to a third position point on the vehicle object and fourth coordinate information corresponding to a fourth position point are periodically updated based on the first coordinate information and the second coordinate information in combination with a mapping relationship between the actual teaching scene and the three-dimensional teaching scene; and the vehicle object is controlled to drive in a driving state adapted to the physical vehicle in the three-dimensional teaching scene in accordance with the periodically updated third coordinate information and fourth coordinate information.

[0008] An embodiment of the present application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor implements the steps in the vehicle information display method provided in the embodiment of the present application.

[0009] In an embodiment of the present application, a positioning anchor point is installed at a first position point of a physical vehicle, and coordinate information of a first position point and a second position point of the physical vehicle is determined based on the position information of the positioning anchor point. Based on the coordinate information of the above two position points, two position points of a vehicle object in a three-dimensional teaching scene are determined. According to the position information of the two position points on the vehicle object, the movement of the vehicle object in the three-dimensional teaching scene is controlled. According to the first position point where the positioning anchor point is installed and the second position point on the physical vehicle, the driving state of the vehicle object in the three-dimensional teaching scene is controlled, which can improve the positioning accuracy of the vehicle object, achieve the virtual-real synchronization effect between the physical vehicle and the vehicle object, and enhance the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0011] Figure 1 A flow chart of a vehicle information display method provided for an exemplary embodiment of the present application;

[0012] Figure 2 A flowchart of another vehicle information display method provided for an exemplary embodiment of the present application;

[0013] Figure 3 A schematic diagram of the structure of a vehicle-mounted device provided for an exemplary embodiment of the present application;

[0014] Figure 4 A schematic structural diagram of a vehicle-mounted display terminal provided for an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0016] In order to solve the problem of low accuracy of positioning solutions in the prior art, in an embodiment of the present application, a positioning anchor point is installed at a first position point of a physical vehicle, and coordinate information of a first position point and a second position point of the physical vehicle is determined based on the position information of the positioning anchor point. Based on the coordinate information of the above two position points, two position points of a vehicle object in a three-dimensional teaching scene are determined. According to the position information of the two position points on the vehicle object, the movement of the vehicle object in the three-dimensional teaching scene is controlled. According to the first position point where the positioning anchor point is installed and the second position point on the physical vehicle, the driving state of the vehicle object in the three-dimensional teaching scene is controlled. This can improve the positioning accuracy of the vehicle object, achieve a virtual-real synchronization effect between the physical vehicle and the vehicle object, and enhance the user experience.

[0017] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0018] The vehicle information display method in the embodiment of the present application can be run on an electronic terminal or a server. The electronic terminal can be a local electronic terminal. When the vehicle information display method is run on a server, it can be cloud display.

[0019] In an optional implementation, cloud display refers to an information display method based on cloud computing. In the operation mode of cloud display, the operating body of the information processing program and the presenting body of the vehicle information screen are separated. The data storage and operation corresponding to the vehicle information display method can be completed on the cloud display server. The role of the cloud display client is to receive and send data and present the screen. For example, the cloud display client can be a display device with data transmission function close to the user side, such as a mobile terminal, a television, a computer, a handheld computer, etc.; but the electronic terminal for information data processing is a cloud display server in the cloud. When browsing information, the user operates the cloud display client to send an operation instruction to the cloud display server. The cloud display server displays the relevant screen according to the operation instruction, encodes and compresses the data, and returns it to the cloud display client through the network. Finally, the cloud display client decodes and outputs the corresponding screen.

[0020] In another optional embodiment, the electronic terminal may be a local electronic terminal. The local electronic terminal stores an application and is used to present an application interface. The local electronic terminal is used to interact with the user through a graphical user interface, that is, the application is downloaded and installed and run by the conventional electronic device. The local electronic terminal may provide the graphical user interface to the user in a variety of ways, for example, it may be rendered and displayed on the display screen of the terminal, or provided to the user through a holographic projection. For example, the local electronic terminal may include a display screen and a processor, the display screen is used to present a graphical user interface, the graphical user interface includes an application screen, and the processor is used to run the application, generate a graphical user interface, and control the display of the graphical user interface on the display screen.

[0021] When the electronic terminal is a local electronic terminal, it can be a desktop computer, a laptop computer, a tablet computer, a mobile terminal, a virtual reality (VR) device, etc. The VR device can include a computer, a VR headset, a VR control device, etc. The user can display the vehicle source image through the display device of the VR headset and roam in a designated area, thereby realizing the user's real roaming in the virtual space, and can interact with the virtual vehicle through the VR control device.

[0022] Applications can be run on the terminal, such as life applications, audio applications, and game applications. Among them, life applications can be further divided according to different types, such as car rental and sales applications, house rental and sales applications, housekeeping service applications, leisure and entertainment applications, etc. The embodiment of the present application takes the running of the car rental and sales application on the mobile terminal as an example for illustrative description, and it can be understood that the present application is not limited to this.

[0023] Figure 1 A flow chart of a vehicle information display method provided for an exemplary embodiment of the present application, wherein the method provides a graphical user interface through an on-board display terminal, the on-board display terminal may be a specific implementation of a cloud display client or an electronic terminal, and a three-dimensional teaching scene corresponding to an actual teaching scene is displayed on the graphical user interface, wherein the three-dimensional teaching scene includes a vehicle object corresponding to a physical vehicle, a positioning anchor point is installed at a first position point on the physical vehicle, the first position point is different from a second position point on the physical vehicle, and the vehicle object includes a third position point and a fourth position point corresponding to the first position point and the second position point, respectively, such as Figure 1 As shown, the method includes:

[0024] 101. During the driving of the physical vehicle, first coordinate information of the first position point in the actual teaching scene is obtained periodically according to the positioning information of the positioning anchor point;

[0025] 102. Determine second coordinate information of the second position point in the actual teaching scene according to the relative position relationship between the first position point and the second position point on the physical vehicle and in combination with the first coordinate information;

[0026] 103. According to the first coordinate information and the second coordinate information, in combination with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene, regularly update the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point;

[0027] 104. According to the regularly updated third coordinate information and fourth coordinate information, control the vehicle object to drive in a driving state adapted to the physical vehicle in the three-dimensional teaching scene.

[0028] In this embodiment, the vehicle object can be a real-life vehicle obtained by capturing images of a physical vehicle, or a vehicle model obtained by modeling a physical vehicle, for example, a 3D vehicle model obtained by three-dimensional modeling of a physical vehicle, or an animated vehicle model obtained by capturing images of a physical vehicle and animating the captured images. Among them, the physical vehicle corresponds to the actual teaching scene, and the vehicle object corresponds to the three-dimensional teaching scene. The three-dimensional teaching scene is obtained by modeling based on the actual teaching scene. For example, the three-dimensional modeling technology can be used to perform three-dimensional modeling on the actual teaching scene to obtain the three-dimensional teaching scene. There is a certain proportional relationship between the three-dimensional teaching scene and the actual teaching scene. For example, the actual teaching scene is a driving school scene. The height of the "slope start" in the driving school scene and the height of the "slope start" in the three-dimensional teaching scene can be a one-to-one correspondence, or a three-to-one correspondence. In addition, a mapping relationship between the actual teaching scene and the three-dimensional teaching scene can be established, such as Figure 2When the coordinate information of the position point in the actual teaching scene is known, based on the mapping relationship, the coordinate information of the position point in the actual teaching scene corresponding to the position point in the three-dimensional teaching scene can be determined. Correspondingly, when the coordinate information of the position point in the three-dimensional teaching scene is known, based on the mapping relationship, the coordinate information of the position point in the actual teaching scene corresponding to the position point in the three-dimensional teaching scene can be determined.

[0029] In this embodiment, a positioning anchor point is installed at the first position point on the physical vehicle, and the position of the first position point is not limited. For example, the first position point can be any position point on the vehicle body, for example, the first position point can be located at the front roof, the rear, the roof or the door of the vehicle. In addition, the physical vehicle also includes a second position point, and the second position point can be any position point on the vehicle body that is different from the first position point. It should be noted that the second position point can also be a spatial point that has a certain relative position relationship with the physical vehicle. For example, the second position point can be a point on the physical vehicle that is directly above the center point of the roof and is 10 cm away from the center point of the roof. Correspondingly, the vehicle object includes a third position point and a fourth position point corresponding to the first position point and the second position point, respectively. For example, the first position point is located on the front roof of the physical vehicle, and the third position point can be located at a corresponding position on the front roof of the vehicle object. For another example, the second position point is located in the middle of the roof of the physical vehicle, and the fourth position point can be located in the middle of the roof of the vehicle object, or at other positions that are set at a distance and angle from the middle position.

[0030] In this embodiment, a positioning anchor point is installed at the first position point of the physical vehicle, and the positioning anchor point can obtain its own positioning information, such as Figure 2 As shown. The positioning anchor point can use GPS positioning technology, Bluetooth positioning technology or wifi positioning technology to obtain its own positioning information. For example, in the case of using GPS positioning technology, the positioning anchor point is implemented as a GPS mobile station, and the GPS base station can be located at a fixed position in the actual teaching scene. The GPS base station obtains the fixed coordinates of the fixed position. The GPS base station and the GPS mobile station can both receive at least one satellite signal. The GPS base station sends the carrier phase observation value of the received satellite signal and the fixed coordinates of the GPS base station to the GPS mobile station. The GPS mobile station uses dynamic differential positioning to determine the position of the GPS mobile station relative to the GPS base station, and determines the positioning information of the GPS mobile station based on the fixed coordinates of the GPS base station.

[0031] In this embodiment, the positioning anchor point is installed at the first position point. During the driving of the physical vehicle, the positioning anchor point moves with the driving of the physical vehicle. During the movement of the positioning anchor point, the positioning information of the positioning anchor point can be obtained regularly, and the first coordinate information of the first position point in the actual teaching scene can be obtained according to the positioning information of the positioning anchor point. Among them, the positioning information of the positioning anchor point can be the position coordinates of the positioning anchor point, and the position coordinates of the positioning anchor point can be directly used as the first coordinate information of the first position point in the actual teaching scene; the positioning information of the positioning anchor point can also be the relative position relationship between the positioning anchor point and a fixed position coordinate. The fixed position coordinate is known, and the coordinates of the positioning anchor point can be determined according to the position coordinates of the fixed position and the relative position relationship, and then the coordinates of the positioning anchor point are used as the first coordinate information of the first position point in the actual teaching scene.

[0032] In this embodiment, after determining the first coordinate information of the first position point, the second coordinate information of the second position point in the actual teaching scene can be determined according to the relative position relationship between the first position point and the second position point on the actual vehicle entity vehicle, combined with the first coordinate information. According to the first coordinate information and the second coordinate information, combined with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene, the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point can be regularly updated. For example, the relative position relationship between the first position point and the second position point on the actual vehicle entity vehicle can determine the offset between the first position point and the second position point, and according to the mapping relationship between the actual teaching scene and the three-dimensional teaching scene, the second position point is mapped to the fourth position point, and the fourth coordinate information of the fourth position point is added to the offset to obtain the third coordinate information. After determining the third coordinate information and the fourth coordinate information, the vehicle object can be controlled to travel in a driving state adapted to the physical vehicle in the three-dimensional teaching scene according to the regularly updated third coordinate information and the fourth coordinate information.

[0033] In an embodiment of the present application, a positioning anchor point is installed at a first position point of a physical vehicle, and coordinate information of a first position point and a second position point of the physical vehicle is determined based on the position information of the positioning anchor point. Based on the coordinate information of the above two position points, two position points of a vehicle object in a three-dimensional teaching scene are determined. According to the position information of the two position points on the vehicle object, the movement of the vehicle object in the three-dimensional teaching scene is controlled. According to the first position point where the positioning anchor point is installed and the second position point on the physical vehicle, the driving state of the vehicle object in the three-dimensional teaching scene is controlled, which can improve the positioning accuracy of the vehicle object, achieve the virtual-real synchronization effect between the physical vehicle and the vehicle object, and enhance the user experience.

[0034] In an optional embodiment, the positioning anchor point can be installed at multiple positions on the physical vehicle in addition to the first position point. Based on the positioning information of the multiple positions, the second position point is determined, thereby determining the relative position relationship between the first position point and the second position point. Specifically, when the positioning anchor point is installed at multiple positions on the physical vehicle, for each position, the positioning information of the positioning anchor point at the position can be obtained, so that multiple sets of positioning information obtained by the positioning anchor point at the multiple positions can be obtained and uploaded to the server, and the server stores the multiple sets of positioning information, such as Figure 2 As shown. Each group of positions includes two different position points. The center position corresponding to the multiple groups of positions is used as the second position point, and the initial coordinate information of the second position point is determined according to the multiple groups of positioning information corresponding to the multiple groups of positions. For example, the positioning anchor point is installed on two groups of positions on the physical vehicle, each group of positions includes two different position points, the first group of positions is the left front wheel and the right rear wheel of the physical vehicle, and the second group of positions is the left rear wheel and the right front wheel of the physical vehicle. The intersection of the connecting line between the different position points in the first group of positions and the connecting line between the different position points in the second group of positions can be determined, and the intersection is used as the center position corresponding to the multiple groups of positions, and the center position is used as the second position point. Then, the coordinate information of the intersection can be used as the initial coordinate information of the second position point, or the coordinate information of the different position points in the first group of positions and the second group of positions is averaged to obtain the average coordinate information, and the position point corresponding to the average coordinate information is used as the center position corresponding to the multiple groups of positions, and the center position is used as the second position point, then the average coordinate information is the initial coordinate information of the second position point. After determining the initial coordinate information of the second position point, after the positioning anchor point is installed at the first position point on the physical vehicle, the initial coordinate information of the first position point is obtained according to the positioning information obtained by the positioning anchor point at the first position point; according to the initial coordinate information of the second position point and the initial coordinate information of the first position point, the relative position relationship between the first position point and the second position point on the physical vehicle is determined, such as Figure 2 shown.

[0035] In an optional embodiment, the orientation of the vehicle object in the three-dimensional teaching scene can be determined according to the third coordinate information and the fourth coordinate information, that is, the driving state of the vehicle object can be controlled with the orientation information. Specifically, the orientation of the vehicle object in the three-dimensional teaching scene is determined according to the regularly updated third coordinate information and the fourth coordinate information, such as Figure 2As shown. For example, the updated third position point and the fourth position point on the vehicle object can be determined according to the updated third coordinate information and the fourth coordinate information, and the orientation of the vehicle object can be determined according to the angle between the line between the third position point and the fourth position point and any direction (for example, the north direction). After determining the orientation of the vehicle object, the position and orientation of the vehicle object can be dynamically changed according to the orientation of the vehicle object in combination with at least one of the updated third coordinate information and the fourth coordinate information, so that the driving state of the vehicle object is adapted to the physical vehicle. For example, in the case of determining the orientation of the vehicle, the orientation of the vehicle object before updating the third coordinate information and the fourth coordinate information is adjusted to the orientation of the vehicle object after the position is updated, and the position of the vehicle object is determined according to the third coordinate information or the fourth coordinate information, so that the driving state of the vehicle object is adapted to the physical vehicle. Wherein, adaptation means that the driving state of the vehicle object is the same as the driving state of the physical vehicle, or the driving state update of the vehicle object lags behind the update of the driving state of the physical vehicle, and the lag time is less than the set time threshold, and the time threshold can also be 20ms, 30ms or 50ms, etc.

[0036] In an optional embodiment, the actual teaching scene includes an actual slope section, and accordingly, the three-dimensional teaching scene includes a virtual slope section corresponding to the actual slope section. When the vehicle object travels to the virtual broken road section, it is necessary to update the third coordinate information and the fourth position coordinate in combination with the pitch angle of the vehicle object when it is located in the virtual slope section. Specifically, when the vehicle object is in the virtual slope section, the pitch angle of the vehicle object is calculated according to the current posture of the vehicle object, such as Figure 2 As shown. Among them, the current posture of the vehicle object is adapted to the current posture of the physical vehicle. When the pitch angle is 0, it can be determined that the vehicle object is located on flat ground. When the pitch angle is not 0, it can be determined that the vehicle object is located on a virtual slope section. When it is detected that the vehicle object is located on a virtual slope section, according to the first coordinate information and the second coordinate information, combined with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene and the pitch angle, the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point are regularly updated, such as Figure 2As shown. For example, according to the relative position relationship between the first position point and the second position point, the offset between the first position point and the second position point is determined, and according to the mapping relationship between the actual teaching scene and the three-dimensional teaching scene, the second position point is mapped to the fourth position point. When the vehicle object is located in a virtual slope section, when obtaining the third coordinate information of the third position point based on the fourth position point and the offset, it is necessary to consider the change of the pitch angle, that is, in the vertical direction, the offset and the sine value of the pitch angle can obtain the height difference between the third coordinate information and the fourth coordinate information, and in the horizontal direction, the offset and the cosine value of the pitch angle can obtain the horizontal distance difference between the third coordinate information and the fourth coordinate information. Based on the height difference and the horizontal distance difference, as well as the fourth coordinate information, the third coordinate information can be determined.

[0037] Optionally, in a three-dimensional teaching scene, a first virtual laser radar and a second virtual laser radar are installed at the front and rear positions of the vehicle object, respectively. The first virtual laser radar and the second virtual laser radar respectively emit a first ray and a second ray to the virtual horizontal ground in the three-dimensional teaching scene, and determine the body length of the vehicle object according to the installation position of the first virtual laser radar and the second virtual laser radar on the vehicle object; calculate the pitch angle of the vehicle object according to the height difference between the first ray and the second ray and the body length of the vehicle object. For example, the coordinate information of the first virtual laser radar and the second virtual laser radar can be obtained in the three-dimensional teaching scene, and the distance between the first virtual laser radar and the second virtual laser radar is obtained based on the coordinate information, and the distance information is used as the body length of the vehicle object; at the same time, the height of the first ray and the second ray can be obtained in the three-dimensional scene, and the height difference between the first ray and the second ray and the body length of the vehicle object form a trigonometric function relationship, and the pitch angle of the vehicle object can be determined based on the trigonometric function relationship.

[0038] In an optional embodiment, the positioning anchor point is implemented by hardware. For example, the positioning anchor point can be a GPS positioning device. The transmission rate of the GPS positioning device is 5Fps / s (frame rate / second), that is, the positioning information is transmitted every 200ms. If it exceeds 300ms, the positioning information is still transmitted, but the update of the driving status of the vehicle object will be delayed, resulting in a stuttering phenomenon on the graphical user interface, affecting the user experience. Based on the above, the update time of the positioning information can be detected. When the update interval of the positioning information is greater than the set time threshold, the graphical user interface is interpolated to smoothly transition the stuttering, compensate for the stuttering phenomenon caused by the hardware transmission rate, and improve the user experience. Specifically, according to the positioning information regularly sent by the positioning anchor point, the first coordinate information is obtained regularly, and the time of each obtaining of the first coordinate information is recorded; when the time from the current time to the last time the first coordinate information is obtained exceeds the set time threshold, and the first coordinate information has not been obtained at the current time, the moving speed of the vehicle object is calculated based on the multiple first coordinate information that have been obtained recently; according to the moving speed, the first coordinate information obtained at the current time is determined by interpolation, such as Figure 2 As shown. For example, the travel distance of the vehicle object can be determined based on multiple first coordinate information, the moving speed of the vehicle object can be determined based on the travel distance and the receiving time interval of multiple first coordinate information, the moving distance of the vehicle object at the current time can be determined based on the moving speed of the vehicle object and the set time interval, the first coordinate information at the current time can be estimated based on the moving distance and the first coordinate information obtained last time, the estimated first coordinate information is used as an interpolation, inserted after the first coordinate information obtained last time, and the travel status of the vehicle object is updated based on the first coordinate information at the current time and the moving direction (i.e., orientation) of the vehicle object. The specific process can be referred to the aforementioned embodiment, which will not be repeated here.

[0039] In an optional embodiment, the physical vehicle may slip, for example, slip forward and slip backward. To ensure teaching safety, the driving status of the vehicle object can be monitored to determine whether the vehicle object slips. In the case of slipping, it is considered that the physical vehicle also slips. Specifically, the target movement direction of the vehicle object is determined according to the driving scene to which the vehicle object currently belongs; the driving scene to which the vehicle object belongs may include but is not limited to: reversing scene, forward scene. Taking the driving school scene as an example, the reversing scene is mainly the reversing into the garage scene and the side parking scene, and the forward scene includes S-bend, straight driving, and starting on a slope. Further, it can be determined whether it is currently a reversing scene or a forward scene through the gear shifting information of the current vehicle object. The actual movement direction of the vehicle object is determined based on multiple updated third coordinate information and / or fourth coordinate information obtained within a specified time; if the actual movement direction is opposite to the target movement direction, and the moving distance of the vehicle object within the specified time exceeds the set first distance threshold, a slip notification message is sent to the outside to remind the driving trainee that the physical vehicle has slipped. Figure 2 shown.

[0040] In an optional embodiment, an actual safety wall is provided in the actual teaching scene, and a virtual safety wall corresponding to the actual safety wall is included in the three-dimensional teaching scene. During the process of controlling the driving of the vehicle object, that is, during the process of changing the driving state of the vehicle object, a prompt message can be issued externally based on the distance between the position point on the vehicle object and the virtual safety wall to ensure teaching safety. Specifically, during the process of controlling the driving of the vehicle object, the real-time distance between the fifth position point on the vehicle object and the virtual safety wall is detected, and the fifth position point is the position point on the vehicle object closest to the virtual safety wall; if the real-time distance is less than the set second distance threshold, the real-time distance between the fifth position point and the virtual safety wall is displayed in the three-dimensional teaching scene; wherein, the distance range corresponding to the virtual safety wall can be set in advance according to the distance, and the distance range represents the distance range between the fifth position point on the vehicle object and the virtual safety wall. There are multiple distance ranges corresponding to the virtual safety wall, and different distance ranges correspond to different safe driving prompt information. For example, according to the distance between the vehicle object and the virtual safety wall, the distance range corresponding to the virtual safety wall is divided into three, namely, distance range A (0cm-20cm), distance range B (20cm-40cm), and distance range C (40cm-60cm). The safe driving prompt information corresponding to distance range A may be "Stop! Stop!", the safe driving prompt information corresponding to distance range B may be "Warning! Warning!", and the safe driving prompt information corresponding to distance range C may be "Approaching the virtual safety wall, please slow down!". After determining the real-time distance between the fifth position point and the virtual safety wall, the real-time distance may be matched with the distance range corresponding to the virtual safety wall to obtain the target distance range to which the real-time distance belongs. According to the target distance range to which the real-time distance belongs, the target safe driving prompt information adapted to the target distance range is displayed in the three-dimensional teaching scene, and the target safe driving prompt information is broadcast in voice.

[0041] It should be noted that the execution subject of each step of the method provided in the above embodiment can be the same device, or the method can be executed by different devices. For example, the execution subject of steps 101 to 103 can be device A; for another example, the execution subject of steps 101 and 102 can be device A, and the execution subject of step 103 can be device B; and so on.

[0042] In addition, in some of the processes described in the above embodiments and the accompanying drawings, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or executed in parallel, and the sequence numbers of the operations, such as 101, 102, etc., are only used to distinguish between different operations, and the sequence numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit the "first" and "second" to be different types.

[0043] Figure 3 The schematic diagram of the structure of a vehicle-mounted device provided by an exemplary embodiment of the present application. The vehicle-mounted device is applied to a physical vehicle, and a positioning anchor point is installed at a first position point on the physical vehicle, and the first position point is different from a second position point on the physical vehicle; Figure 3 As shown, the vehicle-mounted device includes: a memory 34 and a processor 35. Further, it also includes a display 37, which is used to provide a graphical user interface, and the graphical user interface displays a three-dimensional teaching scene corresponding to the actual teaching scene, the three-dimensional teaching scene includes a vehicle object corresponding to the physical vehicle, and the vehicle object includes a third position point and a fourth position point corresponding to the first position point and the second position point respectively;

[0044] The memory 34 is used to store computer programs and can be configured to store various other data to support operations on the vehicle-mounted device. Examples of such data include instructions for any application program or method operating on the vehicle-mounted device.

[0045] The memory 34 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0046] The processor 35 is coupled to the memory 34 and is used to execute the computer program in the memory 34, so as to: during the driving process of the physical vehicle, regularly obtain the first coordinate information of the first position point in the actual teaching scene according to the positioning information of the positioning anchor point; determine the second coordinate information of the second position point in the actual teaching scene according to the relative position relationship between the first position point and the second position point on the physical vehicle in combination with the first coordinate information; regularly update the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point according to the first coordinate information and the second coordinate information in combination with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene; and control the vehicle object to drive in the three-dimensional teaching scene in a driving state adapted to the physical vehicle according to the regularly updated third coordinate information and fourth coordinate information.

[0047] In an optional embodiment, the processor 35 is also used to: when the positioning anchor point is installed at multiple groups of positions on the physical vehicle, obtain multiple groups of positioning information obtained by the positioning anchor point at the multiple groups of positions, each group of positions includes two different position points; use the center position corresponding to the multiple groups of positions as the second position point, and determine the initial coordinate information of the second position point based on the multiple groups of positioning information; after the positioning anchor point is installed at the first position point on the physical vehicle, obtain the initial coordinate information of the first position point based on the positioning information obtained by the positioning anchor point at the first position point; determine the relative position relationship between the first position point and the second position point on the physical vehicle based on the initial coordinate information of the second position point and the initial coordinate information of the first position point.

[0048] In an optional embodiment, when the processor 35 controls the vehicle object to travel in a driving state adapted to the physical vehicle in the three-dimensional teaching scene according to the regularly updated third coordinate information and the fourth coordinate information, it is specifically used to: determine the orientation of the vehicle object in the three-dimensional teaching scene according to the regularly updated third coordinate information and the fourth coordinate information; dynamically change the position and orientation of the vehicle object according to the orientation of the vehicle object in combination with at least one coordinate information of the updated third coordinate information and the fourth coordinate information, so as to adapt the driving state of the vehicle object to the physical vehicle.

[0049] In an optional embodiment, the actual teaching scene includes an actual slope section, and the three-dimensional teaching scene includes a virtual slope section corresponding to the actual slope section; the processor 35 periodically updates the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point according to the first coordinate information and the second coordinate information in combination with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene. It is specifically used for: when the vehicle object is in the virtual slope section, calculating the pitch angle of the vehicle object according to the current posture of the vehicle object, and adapting the current posture of the vehicle object to the current posture of the physical vehicle; periodically updating the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point according to the first coordinate information and the second coordinate information in combination with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene and the pitch angle.

[0050] In an optional embodiment, a first virtual laser radar and a second virtual laser radar are installed at the front and rear positions of the vehicle object, respectively, and the first virtual laser radar and the second virtual laser radar respectively emit a first ray and a second ray to the virtual horizontal ground in the three-dimensional teaching scene. When the processor 35 calculates the pitch angle of the vehicle object according to the current posture of the vehicle object, it is specifically used to: determine the body length of the vehicle object according to the installation positions of the first virtual laser radar and the second virtual laser radar on the vehicle object; calculate the pitch angle of the vehicle object according to the height difference between the first ray and the second ray and the body length of the vehicle object.

[0051] In an optional embodiment, when the processor 35 obtains the first coordinate information of the first position point in the actual teaching scene based on the positioning information of the positioning anchor point periodically during the driving of the physical vehicle, it is specifically used to: obtain the first coordinate information periodically based on the positioning information regularly sent by the positioning anchor point, and record the time when the first coordinate information is obtained each time; when the time from the current time to the last time the first coordinate information was obtained exceeds a set time threshold, and when the first coordinate information has not been obtained at the current time, calculate the moving speed of the vehicle object based on multiple first coordinate information that have been obtained most recently; and determine the first coordinate information obtained at the current time by interpolation based on the moving speed.

[0052] In an optional embodiment, the processor 35 is also used to: determine the target motion direction of the vehicle object according to the driving scene to which the vehicle object currently belongs; determine the actual motion direction of the vehicle object according to multiple updated third coordinate information and / or fourth coordinate information obtained within a specified time; if the actual motion direction is opposite to the target motion direction, and the moving distance of the vehicle object within the specified time exceeds a set first distance threshold, then send a slipping notification message to the outside to remind the driving trainee that the physical vehicle is slipping.

[0053] In an optional embodiment, an actual safety wall is provided in the actual teaching scene, and the three-dimensional teaching scene includes a virtual safety wall corresponding to the actual safety wall. The processor 35 is further used for: in the process of controlling the driving of the vehicle object, detecting the real-time distance between the fifth position point on the vehicle object and the virtual safety wall, the fifth position point being the position point on the vehicle object closest to the virtual safety wall; if the real-time distance is less than the set second distance threshold, displaying the real-time distance between the fifth position point and the virtual safety wall in the three-dimensional teaching scene; and displaying target safety driving prompt information adapted to the target distance range in the three-dimensional teaching scene according to the target distance range to which the real-time distance belongs, and broadcasting the target safety driving prompt information in voice form; wherein different distance ranges correspond to different safety driving prompt information.

[0054] The vehicle-mounted device provided in the embodiment of the present application installs a positioning anchor point on a first position point of a physical vehicle, determines coordinate information of a first position point and a second position point of the physical vehicle based on the position information of the positioning anchor point, determines two position points of a vehicle object in a three-dimensional teaching scene based on the coordinate information of the above two position points, controls the movement of the vehicle object in the three-dimensional teaching scene based on the position information of the two position points on the vehicle object, controls the driving state of the vehicle object in the three-dimensional teaching scene based on the first position point where the positioning anchor point is installed and the second position point on the physical vehicle, thereby improving the positioning accuracy of the vehicle object, achieving a virtual-real synchronization effect between the physical vehicle and the vehicle object, and enhancing the user experience.

[0055] Further, if Figure 3 As shown, the vehicle-mounted device also includes: a communication component 36, a power component 38, an audio component 39 and other components. Figure 3 Only some components are shown schematically, which does not mean that the vehicle-mounted equipment only includes Figure 3 It should be noted that Figure 3 The components in the dotted box are optional components, not mandatory components, and the specific components may depend on the product form of the vehicle-mounted equipment.

[0056] Accordingly, an embodiment of the present application further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to implement Figure 1 The steps in the method shown.

[0057] Figure 4A schematic diagram of the structure of a vehicle display terminal provided for an exemplary embodiment of the present application. The vehicle display terminal 40 is applied to a physical vehicle, a positioning anchor point is installed at a first position point on the physical vehicle, the first position point is different from a second position point on the physical vehicle, and the vehicle display terminal includes: a display screen 41, and a board 42 for display control implemented based on a programmable logic device. Among them, the programmable logic device may include but is not limited to: a field programmable gate array (Field Programmable Gate Array, FPGA) or a complex programmable logic device (Complex Programmable Logic Device, CPLD), etc.

[0058] Among them, the display screen 41 provides a graphical user interface, and the graphical user interface displays a three-dimensional teaching scene corresponding to the actual teaching scene. The three-dimensional teaching scene includes a vehicle object corresponding to the physical vehicle, and the vehicle object includes a third position point and a fourth position point corresponding to the first position point and the second position point respectively; the board 42 is configured with a display control program, which is used to obtain the first coordinate information of the first position point in the actual teaching scene according to the positioning information of the positioning anchor point during the driving of the physical vehicle; determine the second coordinate information of the second position point in the actual teaching scene according to the relative position relationship between the first position point and the second position point on the physical vehicle in combination with the first coordinate information; regularly update the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point according to the first coordinate information and the second coordinate information in combination with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene; and control the vehicle object to drive in the three-dimensional teaching scene in a driving state adapted to the physical vehicle according to the regularly updated third coordinate information and fourth coordinate information.

[0059] In an optional embodiment, the board 42 is also used for: the positioning anchor point is installed at multiple groups of positions on the physical vehicle, and multiple groups of positioning information obtained by the positioning anchor point at the multiple groups of positions are obtained, each group of positions includes two different position points; the center position corresponding to the multiple groups of positions is used as the second position point, and the initial coordinate information of the second position point is determined based on the multiple groups of positioning information; after the positioning anchor point is installed at the first position point on the physical vehicle, the initial coordinate information of the first position point is obtained based on the positioning information obtained by the positioning anchor point at the first position point; based on the initial coordinate information of the second position point and the initial coordinate information of the first position point, the relative position relationship between the first position point and the second position point on the physical vehicle is determined.

[0060] In an optional embodiment, the board 42 is specifically used to: determine the orientation of the vehicle object in the three-dimensional teaching scene based on regularly updated third coordinate information and fourth coordinate information; dynamically change the position and orientation of the vehicle object based on the orientation of the vehicle object in combination with at least one of the updated third coordinate information and fourth coordinate information, so that the driving state of the vehicle object is adapted to the physical vehicle.

[0061] In an optional embodiment, the actual teaching scene includes an actual slope section, and the three-dimensional teaching scene includes a virtual slope section corresponding to the actual slope section; the board 42 is specifically used for: when the vehicle object is in the virtual slope section, calculating the pitch angle of the vehicle object according to the current posture of the vehicle object, and adapting the current posture of the vehicle object to the current posture of the physical vehicle; regularly updating the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point according to the first coordinate information and the second coordinate information, combined with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene and the pitch angle.

[0062] In an optional embodiment, a first virtual laser radar and a second virtual laser radar are installed at the front and rear positions of the vehicle object respectively, and the first virtual laser radar and the second virtual laser radar respectively emit a first ray and a second ray to the virtual horizontal ground in the three-dimensional teaching scene. The board 42 is specifically used for: determining the body length of the vehicle object according to the installation positions of the first virtual laser radar and the second virtual laser radar on the vehicle object; and calculating the pitch angle of the vehicle object according to the height difference between the first ray and the second ray and the body length of the vehicle object.

[0063] In an optional embodiment, the board 42 is specifically used to: regularly obtain first coordinate information based on positioning information periodically sent by the positioning anchor point, and record the time when the first coordinate information is obtained each time; when the time from the current time to the last time the first coordinate information is obtained exceeds a set time threshold, and when the first coordinate information has not been obtained at the current time, calculate the moving speed of the vehicle object based on multiple first coordinate information that have been obtained most recently; and determine the first coordinate information obtained at the current time by interpolation based on the moving speed.

[0064] In an optional embodiment, the board 42 is also used to: determine the target movement direction of the vehicle object according to the driving scene to which the vehicle object currently belongs; determine the actual movement direction of the vehicle object according to multiple updated third coordinate information and / or fourth coordinate information obtained within a specified time; if the actual movement direction is opposite to the target movement direction, and the moving distance of the vehicle object within the specified time exceeds a set first distance threshold, then send a slipping notification message to the outside to remind the driving trainee that the physical vehicle is slipping.

[0065] In an optional embodiment, the vehicle-mounted display terminal also includes an audio component, an actual safety wall is set in the actual teaching scene, and the three-dimensional teaching scene includes a virtual safety wall corresponding to the actual safety wall. The board 42 is also used to: detect the real-time distance between the fifth position point on the vehicle object and the virtual safety wall during the control of the vehicle object's driving, and the fifth position point is the position point on the vehicle object closest to the virtual safety wall; if the real-time distance is less than the set second distance threshold, the real-time distance between the fifth position point and the virtual safety wall is displayed in the three-dimensional teaching scene; and according to the target distance range to which the real-time distance belongs, the target safe driving prompt information adapted to the target distance range is displayed on the display screen in the three-dimensional teaching scene, and the target safe driving prompt information is broadcast in voice through the audio component; wherein different distance ranges correspond to different safe driving prompt information.

[0066] The embodiment of the present application also provides a vehicle device, Figure 4 The vehicle display terminal shown can be applied to the vehicle equipment, and a positioning anchor point is installed at a first position point on the vehicle equipment, and the first position point is different from a second position point on the vehicle equipment. For details of the vehicle display terminal, please refer to the above embodiment, which will not be repeated here.

[0067] The vehicle-mounted display terminal provided in the embodiment of the present application installs a positioning anchor point on a first position point of the vehicle equipment, determines coordinate information of a first position point and a second position point of the vehicle equipment based on the position information of the positioning anchor point, determines two position points of a vehicle object in a three-dimensional teaching scene based on the coordinate information of the above two position points, controls the movement of the vehicle object in the three-dimensional teaching scene according to the position information of the two position points on the vehicle object, controls the driving state of the vehicle object in the three-dimensional teaching scene according to the first position point where the positioning anchor point is installed and the second position point on the vehicle equipment, thereby improving the positioning accuracy of the vehicle object, achieving a virtual-real synchronization effect between the vehicle equipment and the vehicle object, and enhancing the user experience.

[0068] Above Figure 3 The communication component in is configured to facilitate wired or wireless communication between the device where the communication component is located and other devices. The device where the communication component is located can access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G / LTE, 5G and other mobile communication networks, or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0069] Above Figure 3 The display in the embodiment includes a screen, which may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

[0070] Above Figure 3 The power supply component in the device provides power to various components of the device where the power supply component is located. The power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device where the power supply component is located.

[0071] Above Figure 3 The audio component in can be configured to output and / or input audio signals. For example, the audio component includes a microphone (MIC), and when the device where the audio component is located is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in a memory or sent via a communication component. In some embodiments, the audio component also includes a speaker for outputting an audio signal.

[0072] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0073] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0074] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0075] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0076] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0077] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0078] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0079] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0080] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A vehicle information display method, characterized in that: Providing a graphical user interface through an in-vehicle display terminal, wherein the graphical user interface displays a three-dimensional teaching scene corresponding to an actual teaching scene, wherein the three-dimensional teaching scene includes a vehicle object corresponding to a physical vehicle, wherein a positioning anchor point is installed at a first position point on the physical vehicle, wherein the first position point is different from a second position point on the physical vehicle, wherein the second position point is a position point on a body of the physical vehicle, or wherein the second position point is a spatial point having a determined relative position relationship with the physical vehicle; The vehicle object includes a third position point and a fourth position point corresponding to the first position point and the second position point respectively, and the method includes: During the driving process of the physical vehicle, first coordinate information of the first position point in the actual teaching scene is obtained periodically according to the positioning information of the positioning anchor point; Determine the second coordinate information of the second position point in the actual teaching scene according to the relative position relationship between the first position point and the second position point on the physical vehicle and in combination with the first coordinate information; According to the first coordinate information and the second coordinate information, in combination with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene, regularly updating the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point; According to the regularly updated third coordinate information and fourth coordinate information, controlling the vehicle object to travel in the three-dimensional teaching scene in a driving state adapted to the physical vehicle; The actual teaching scene includes an actual slope section, and the three-dimensional teaching scene includes a virtual slope section corresponding to the actual slope section; According to the first coordinate information and the second coordinate information, in combination with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene, regularly updating the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point, including: For each updating process, when the vehicle object is in the virtual slope section, the pitch angle of the vehicle object is calculated according to the current posture of the vehicle object, and the current posture of the vehicle object is adapted to the current posture of the physical vehicle; Determining an offset between the first position point and the second position point according to a relative position relationship between the first position point and the second position point on the physical vehicle; According to the mapping relationship between the actual teaching scene and the three-dimensional teaching scene, converting the second coordinate information into fourth coordinate information corresponding to a fourth position point; The third coordinate information corresponding to the third position point is determined according to the fourth coordinate information, the offset and the pitch angle.

2. The method according to claim 1, characterized in that Also includes: The positioning anchor point is installed at multiple groups of positions on the physical vehicle, and multiple groups of positioning information obtained by the positioning anchor point at the multiple groups of positions are obtained, each group of positions including two different position points; Taking the center position corresponding to the multiple groups of positions as a second position point, and determining initial coordinate information of the second position point according to the multiple groups of positioning information; After the positioning anchor point is installed at a first position point on the physical vehicle, initial coordinate information of the first position point is obtained according to positioning information obtained by the positioning anchor point at the first position point; The relative position relationship between the first position point and the second position point on the physical vehicle is determined based on the initial coordinate information of the second position point and the initial coordinate information of the first position point.

3. The method according to claim 2, characterized in that According to the regularly updated third coordinate information and fourth coordinate information, controlling the vehicle object to travel in the three-dimensional teaching scene in a driving state adapted to the physical vehicle includes: Determining the orientation of the vehicle object in the three-dimensional teaching scene according to the regularly updated third coordinate information and fourth coordinate information; According to the orientation of the vehicle object, in combination with at least one of the updated third coordinate information and the fourth coordinate information, the position and orientation of the vehicle object are dynamically changed to adapt the driving state of the vehicle object to the physical vehicle.

4. The method according to claim 1, characterized in that: A first virtual laser radar and a second virtual laser radar are installed at the front and rear positions of the vehicle object, respectively. The first virtual laser radar and the second virtual laser radar respectively emit a first ray and a second ray to a virtual horizontal ground in a three-dimensional teaching scene. Then, according to the current posture of the vehicle object, the pitch angle of the vehicle object is calculated, including: Determine the body length of the vehicle object according to the installation positions of the first virtual laser radar and the second virtual laser radar on the vehicle object; The pitch angle of the vehicle object is calculated according to the height difference between the first ray and the second ray and the body length of the vehicle object.

5. The method according to claim 1, characterized in that During the driving of the physical vehicle, first coordinate information of the first position point in the actual teaching scene is obtained periodically according to the positioning information of the positioning anchor point, including: According to the positioning information regularly sent by the positioning anchor point, first coordinate information is regularly obtained, and the time of obtaining the first coordinate information each time is recorded; When the time from the current time to the last time the first coordinate information is obtained exceeds a set time threshold, and the first coordinate information has not been obtained at the current time, the moving speed of the vehicle object is calculated based on the multiple first coordinate information that have been obtained most recently; According to the moving speed, the first coordinate information obtained at the current time is determined by interpolation.

6. The method according to claim 1, characterized in that Also includes: Determining a target motion direction of the vehicle object according to a driving scene to which the vehicle object currently belongs; Determining the actual moving direction of the vehicle object according to a plurality of updated third coordinate information and / or fourth coordinate information obtained within a specified time; If the actual movement direction is opposite to the target movement direction, and the moving distance of the vehicle object within the specified time exceeds the set first distance threshold, a slipping notification message is sent to the outside to remind the driving trainee that the physical vehicle is slipping.

7. The method according to claim 1, characterized in that The actual teaching scene is provided with an actual safety wall, the three-dimensional teaching scene includes a virtual safety wall corresponding to the actual safety wall, and the method further includes: During the process of controlling the vehicle object to travel, detecting a real-time distance between a fifth position point on the vehicle object and the virtual safety wall, the fifth position point being a position point on the vehicle object closest to the virtual safety wall; If the real-time distance is less than a set second distance threshold, displaying the real-time distance between the fifth position point and the virtual safety wall in the three-dimensional teaching scene; and According to the target distance range to which the real-time distance belongs, target safe driving prompt information adapted to the target distance range is displayed in the three-dimensional teaching scene, and the target safe driving prompt information is broadcast in voice form; wherein different distance ranges correspond to different safe driving prompt information.

8. A vehicle-mounted display terminal, applied to a physical vehicle, characterized in that: A positioning anchor point is installed at a first position point on the physical vehicle, the first position point is different from a second position point on the physical vehicle, the second position point is a position point on the body of the physical vehicle, or the second position point is a spatial point in a determined relative position relationship with the physical vehicle; The vehicle-mounted display terminal includes: a display screen, and a board for display control implemented based on a programmable logic device; The display screen provides a graphical user interface, and the graphical user interface displays a three-dimensional teaching scene corresponding to the actual teaching scene, the three-dimensional teaching scene includes a vehicle object corresponding to the physical vehicle, and the vehicle object includes a third position point and a fourth position point corresponding to the first position point and the second position point respectively; The board is configured with a display control program, which is used to obtain first coordinate information of the first position point in the actual teaching scene according to the positioning information of the positioning anchor point periodically during the driving of the physical vehicle; determine second coordinate information of the second position point in the actual teaching scene according to the relative position relationship between the first position point and the second position point on the physical vehicle in combination with the first coordinate information; regularly update third coordinate information corresponding to a third position point on the vehicle object and fourth coordinate information corresponding to a fourth position point according to the first coordinate information and the second coordinate information in combination with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene; and control the vehicle object to drive in the three-dimensional teaching scene in a driving state adapted to the physical vehicle according to the regularly updated third coordinate information and fourth coordinate information; The actual teaching scene includes an actual slope section, and the three-dimensional teaching scene includes a virtual slope section corresponding to the actual slope section; When the board periodically updates the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point according to the first coordinate information and the second coordinate information in combination with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene, it is specifically used to: For each updating process, when the vehicle object is in the virtual slope section, the pitch angle of the vehicle object is calculated according to the current posture of the vehicle object, and the current posture of the vehicle object is adapted to the current posture of the physical vehicle; Determining an offset between the first position point and the second position point according to a relative position relationship between the first position point and the second position point on the physical vehicle; According to the mapping relationship between the actual teaching scene and the three-dimensional teaching scene, converting the second coordinate information into fourth coordinate information corresponding to a fourth position point; The third coordinate information corresponding to the third position point is determined according to the fourth coordinate information, the offset and the pitch angle.

9. A vehicle device, characterized in that: A positioning anchor point is installed at a first position point on the vehicle equipment, the first position point is different from a second position point on the vehicle equipment, and the vehicle equipment also includes the vehicle-mounted display terminal according to claim 8.

10. A vehicle-mounted device, characterized in that: The vehicle-mounted device is applied to a physical vehicle, a positioning anchor point is installed at a first position point on the physical vehicle, the first position point is different from a second position point on the physical vehicle, the second position point is a position point on the body of the physical vehicle, or the second position point is a spatial point in a determined relative position relationship with the physical vehicle; The vehicle-mounted device includes: a memory, a processor and a display; The display is used to provide a graphical user interface, wherein the graphical user interface displays a three-dimensional teaching scene corresponding to the actual teaching scene, wherein the three-dimensional teaching scene includes a vehicle object corresponding to the physical vehicle, and the vehicle object includes a third position point and a fourth position point corresponding to the first position point and the second position point respectively; The memory is used to store a computer program; the processor is coupled to the memory and is used to execute the computer program, so as to: during the driving process of the physical vehicle, regularly obtain the first coordinate information of the first position point in the actual teaching scene according to the positioning information of the positioning anchor point; determine the second coordinate information of the second position point in the actual teaching scene according to the relative position relationship between the first position point and the second position point on the physical vehicle in combination with the first coordinate information; regularly update the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point in combination with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene according to the first coordinate information and the second coordinate information; control the vehicle object to drive in the three-dimensional teaching scene in a driving state adapted to the physical vehicle according to the regularly updated third coordinate information and fourth coordinate information; The actual teaching scene includes an actual slope section, and the three-dimensional teaching scene includes a virtual slope section corresponding to the actual slope section; When the processor periodically updates the third coordinate information corresponding to the third position point on the vehicle object and the fourth coordinate information corresponding to the fourth position point according to the first coordinate information and the second coordinate information in combination with the mapping relationship between the actual teaching scene and the three-dimensional teaching scene, it is specifically used to: For each updating process, when the vehicle object is in the virtual slope section, the pitch angle of the vehicle object is calculated according to the current posture of the vehicle object, and the current posture of the vehicle object is adapted to the current posture of the physical vehicle; Determining an offset between the first position point and the second position point according to a relative position relationship between the first position point and the second position point on the physical vehicle; According to the mapping relationship between the actual teaching scene and the three-dimensional teaching scene, converting the second coordinate information into fourth coordinate information corresponding to a fourth position point; The third coordinate information corresponding to the third position point is determined according to the fourth coordinate information, the offset and the pitch angle.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the processor is caused to implement the steps in the method according to any one of claims 1 to 7.

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