A multifunctional coupled intelligent automobile teaching platform and teaching method

Abstract

The present invention discloses a multifunctional coupled intelligent automobile teaching platform and teaching method, wherein the intelligent automobile teaching platform is provided with an intelligent car, a controller, a display, a camera assembly, and a radar assembly, wherein the camera assembly includes a camera and a camera calibration board, wherein the radar assembly includes a laser radar assembly, an ultrasonic radar assembly, and a millimeter-wave radar assembly, wherein the millimeter-wave radar assembly includes a millimeter-wave radar and a millimeter-wave radar calibration board, and further provided with a camera calibration board and a millimeter-wave radar calibration board remote control rod, and further provided with a controllable traffic light, a movable obstacle, a work light, a safety fence, and a pulley. The present invention also discloses a teaching method. The present invention realizes teaching demonstration and teaching training of intelligent automobiles by integrating the controller, display, camera assembly, laser radar assembly, ultrasonic radar assembly, and millimeter-wave radar assembly of the intelligent automobile, achieves integrated teaching, and effectively improves the teaching efficiency of intelligent automobiles.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent automobile teaching, and in particular to a multifunctional coupled intelligent automobile teaching platform and a teaching method. Background Art

[0002] At present, with the large-scale application of computer technology, integrated circuit technology, big data technology and artificial intelligence technology in the automotive industry, the automotive industry is accelerating its development towards intelligence and networking. Over time, an independent research and development system, production supporting system and industrial cluster for intelligent and connected vehicles will be gradually established, and the field of intelligent vehicles is booming.

[0003] At present, smart car companies are cooperating with colleges and universities to open relevant majors. For the teaching of colleges and universities, the existing automobile professional teaching platforms are mainly focused on the teaching of traditional cars, which can no longer meet the needs of cultivating high-quality smart car technical talents in the whole process and in all aspects. The functions of the smart car teaching platforms currently available on the market are relatively simple and cannot carry out linked teaching, resulting in low teaching efficiency. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a multifunctional coupled smart car teaching platform and teaching method. By integrating the controller, display, camera component, lidar component, ultrasonic radar component and millimeter wave radar component of the smart car, the teaching demonstration and teaching training of the smart car are realized, the integrated teaching is achieved, and the teaching efficiency of the smart car is effectively improved.

[0005] The present invention provides a multifunctional coupled intelligent automobile teaching platform, the intelligent automobile teaching platform comprises a platform base, a top surface of the platform base is provided with an intelligent car and a sports track, the intelligent car runs on the sports track;

[0006] The intelligent automobile teaching platform is provided with a controller, a mouse, a keyboard, and a display, and the mouse, the keyboard, and the display are respectively connected to the controller;

[0007] The intelligent automobile teaching platform is provided with a camera component and a radar component, and the camera component and the radar component are respectively connected to the controller;

[0008] The camera assembly includes a camera and a camera calibration plate, wherein the camera is arranged on one side of the top surface of the platform base, and the camera calibration plate is arranged on one side of the top surface of the platform base opposite to the camera;

[0009] The radar components include laser radar components, ultrasonic radar components, and millimeter wave radar components;

[0010] The laser radar assembly includes a first laser radar, a second laser radar, and a third laser radar, wherein the first laser radar is arranged on one side of the top surface of the platform base, the second laser radar is arranged on one side of the top surface of the platform base opposite to the first laser radar, and the third laser radar is arranged on the smart car;

[0011] The ultrasonic radar assembly includes an ultrasonic radar, and the ultrasonic radar is arranged on the top surface of the platform base and on the side where the first laser radar is located;

[0012] The millimeter wave radar assembly includes a millimeter wave radar and a millimeter wave radar calibration plate, the millimeter wave radar is arranged on the top surface of the platform base and on the side where the first laser radar is located, and the millimeter wave radar calibration plate is arranged on the side of the top surface of the platform base opposite to the millimeter wave radar;

[0013] The intelligent automobile teaching platform is also provided with a camera calibration board remote control rod and a millimeter wave radar calibration board remote control rod, the camera calibration board remote control rod and the millimeter wave radar calibration board remote control rod are arranged on the top surface of the platform base, the camera calibration board remote control rod is connected to the camera calibration board, the millimeter wave radar calibration board remote control rod is connected to the millimeter wave radar calibration board, and the camera calibration board remote control rod and the millimeter wave radar calibration board remote control rod are respectively connected to the controller;

[0014] The intelligent automobile teaching platform is also provided with a controllable traffic light and a movable obstacle, and the controllable traffic light and the movable obstacle are arranged on the top surface of the platform base;

[0015] The intelligent automobile teaching platform is also provided with a work light, a safety fence and a pulley. The work light is arranged on the top surface of the platform base, the work light is connected to the controller, the safety fence completely surrounds the edge of the top surface of the platform base, and the pulley is arranged on the bottom surface of the platform base.

[0016] The present invention also provides a teaching method, which is implemented based on the above-mentioned multifunctional coupled intelligent automobile teaching platform, and includes:

[0017] The student starts the smart car teaching platform and initializes and calibrates the camera component and the radar component, and the display shows the teaching content of the smart car teaching platform;

[0018] The student inputs a start perception instruction in the controller, and the camera component and the radar component respectively collect the initial state information of the intelligent automobile teaching platform, and send the collected initial state information of the intelligent automobile teaching platform to the controller, and display it on the display at the same time;

[0019] The controller analyzes and processes the initial state information of the intelligent automobile teaching platform, generates an initial state analysis and processing result, and displays the initial state analysis and processing result on a display;

[0020] The student inputs a start demonstration command in the controller, and the camera component and the radar component respectively collect real-time status information of the intelligent automobile teaching platform, and send the collected real-time status information of the intelligent automobile teaching platform to the controller, and display it on the display at the same time;

[0021] The controller analyzes and processes the real-time status information of the intelligent automobile teaching platform, generates real-time status analysis and processing results and real-time control instructions, and displays the real-time status analysis and processing results on a display;

[0022] The intelligent car performs motion control demonstration on the sports track based on the real-time control instructions.

[0023] Further, the initialization calibration of the camera component and the radar component includes:

[0024] The student moves the camera calibration board through the remote control rod of the camera calibration board, so that the camera calibration board cooperates with the camera to complete the initialization calibration;

[0025] The student moves the millimeter-wave radar calibration board through the remote control rod of the millimeter-wave radar calibration board, so that the millimeter-wave radar calibration board cooperates with the millimeter-wave radar to complete the initialization calibration.

[0026] Furthermore, the camera component and the radar component respectively collect the initial state information of the intelligent automobile teaching platform, including:

[0027] Acquiring image information of an initial state of the intelligent automobile teaching platform based on a camera;

[0028] Obtain the relative position information of the smart car based on the laser radar;

[0029] Obtain the location information of movable obstacles based on millimeter-wave radar and ultrasonic radar.

[0030] Furthermore, the controller analyzes and processes the initial state information of the intelligent automobile teaching platform, and generates an initial state analysis and processing result including:

[0031] Processing the relative position information of the smart car based on a single laser radar calibration algorithm to obtain first coordinate information and second coordinate information of the smart car;

[0032] The first coordinate information and the second coordinate information of the smart car are fused and processed based on a dual laser radar fusion calibration algorithm to obtain the real coordinate information of the smart car.

[0033] Furthermore, the relative position information of the smart car is processed based on the single laser radar calibration algorithm to obtain the first coordinate information and the second coordinate information of the smart car, including:

[0034] Calibrate the coordinate systems of the first laser radar, the second laser radar and the smart car;

[0035] Obtaining the real coordinate information of the controllable traffic light on the coordinate systems of the first laser radar, the second laser radar and the smart car respectively;

[0036] Solve the first transformation matrix and the second transformation matrix respectively based on the minimum variance method;

[0037] The first transformation matrix and the second transformation matrix are updated into the configuration file of the processor to obtain the first coordinate information and the second coordinate information of the smart car.

[0038] Furthermore, the fusing process of the first coordinate information and the second coordinate information of the smart car based on the dual laser radar fusion calibration algorithm to obtain the real coordinate information of the smart car includes:

[0039] Obtaining installation coordinate information of the first laser radar and the second laser radar;

[0040] Based on the dual laser radar fusion calibration algorithm, the installation coordinate information of the first laser radar and the second laser radar, and the first coordinate information and the second coordinate information of the smart car are fused and calculated to obtain a third transformation matrix of the smart car;

[0041] The third transformation matrix of the smart car is updated to the configuration file of the controller to obtain the real coordinate information of the smart car.

[0042] Furthermore, the controller analyzes and processes the initial state information of the intelligent automobile teaching platform, and generating the initial state analysis and processing result also includes:

[0043] Get the distance between the millimeter-wave radar and the millimeter-wave radar calibration plate, and get the time from the ultrasonic radar transmitting the signal to receiving the reflected signal;

[0044] The distance between the millimeter wave radar and the millimeter wave radar calibration plate is combined to obtain the distance between the millimeter wave radar and the smart car;

[0045] The number and coordinate information of the movable obstacles are obtained by combining the distance between the millimeter wave radar and the smart car and the time from the ultrasonic radar transmitting the signal to receiving the reflected signal.

[0046] Furthermore, the camera component and the radar component respectively collect real-time status information of the intelligent automobile teaching platform, including:

[0047] Get the status information of controllable traffic lights;

[0048] The relative position information between the smart car and the movable obstacle is obtained based on the third laser radar.

[0049] Furthermore, the controller analyzes and processes the real-time status information of the intelligent automobile teaching platform, and generates real-time status analysis and processing results and real-time control instructions, including:

[0050] Based on the smart car's adaptive cruise control and active obstacle avoidance strategy, the state information of the controllable traffic lights and the relative position information of the smart car and the movable obstacle are analyzed and processed to generate real-time control instructions for the smart car.

[0051] The present invention provides a multifunctional coupled intelligent vehicle teaching platform and teaching method, which realizes the teaching demonstration and teaching training of intelligent vehicles by integrating the controller, display, camera component, laser radar component, ultrasonic radar component and millimeter wave radar component of the intelligent vehicle, achieves integrated teaching, is easier to stimulate students' learning interest, and effectively improves the teaching efficiency of intelligent vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 It is a structural schematic diagram of a multifunctional coupled intelligent automobile teaching platform in implementation 1 of the present invention;

[0054] Figure 2 is a flow chart of a multifunctional coupled intelligent vehicle teaching method in Embodiment 2 of the present invention;

[0055] Figure 3 This is a flow chart of analyzing and processing the relative position information of the smart car in the second embodiment of the present invention;

[0056] Figure 4 This is a flow chart of obtaining the first coordinate information and the second coordinate information of the smart car in the second embodiment of the present invention;

[0057] Figure 5 This is a flow chart of obtaining the real coordinate information of the smart car in the second embodiment of the present invention;

[0058] Figure 6 This is a flowchart of obtaining the number and coordinate information of movable obstacles in the second embodiment of the present invention. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] In the present invention, it should be understood that terms such as "include" or "have" are intended to indicate the existence of features, numbers, steps, behaviors, components, parts or a combination thereof disclosed in the specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, behaviors, components, parts or a combination thereof exist or are added.

[0061] It should also be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0062] Embodiment 1

[0063] The multifunctional coupled intelligent automobile teaching platform involved in the first embodiment of the present invention is as follows: Figure 1 As shown, Figure 1 A schematic diagram of the structure of a multifunctional coupled intelligent automobile teaching platform in Embodiment 1 of the present invention is shown.

[0064] In an optional implementation of the present embodiment, the smart car teaching platform includes a platform base 1 , on the top surface of which a smart car 2 and a sports track 3 are arranged, and the smart car 2 runs on the sports track 3 .

[0065] Specifically, the platform base 1 is rectangular as a whole, and the sports track 3 is rectangular as a whole. The sports track 3 can be used for the smart car 2 to follow the track and avoid obstacles.

[0066] In an optional implementation of this embodiment, the smart car teaching platform is provided with a controller 41 , a mouse 42 , a keyboard 43 , and a display 44 , and the mouse 42 , the keyboard 43 , and the display 44 are respectively connected to the controller 41 .

[0067] Specifically, the controller 41 and the display 44 are integrated devices, with the display 44 being an LED screen at the top and the controller 41 at the bottom. The display 44 is used to display information, the controller 41 is used to process information, and the mouse 42 and keyboard 43 can input instructions.

[0068] In an optional implementation of this embodiment, the controller 41 can assist in displaying on the display 44 theoretical knowledge such as smart car onboard systems, C++ programming, smart car control technology, communication technology, as well as practical skills knowledge such as C++ programming, smart car control practice, smart car tracking, obstacle avoidance, intelligent traffic light recognition, and wireless communication technology practice.

[0069] In an optional implementation of this embodiment, the smart car teaching platform is provided with a camera component and a radar component, and the camera component and the radar component are respectively connected to the controller 41.

[0070] In an optional implementation of this embodiment, the camera assembly includes a camera 51 and a camera calibration plate 52, the camera 51 is arranged on one side of the top surface of the platform base 1, and the camera calibration plate 52 is arranged on the side of the top surface of the platform base 1 opposite to the camera 51.

[0071] In an optional implementation of this embodiment, the camera calibration plate 52 is a checkerboard calibration drawing, that is, a black and white calibration plate.

[0072] In an optional implementation of this embodiment, the smart car teaching platform is also provided with a camera calibration board remote control lever 53, and the camera calibration board remote control lever 53 is arranged on the top surface of the platform base 1, and the camera calibration board remote control lever 53 is connected to the camera calibration board 52.

[0073] In an optional implementation of this embodiment, the radar component includes a laser radar component, an ultrasonic radar component, and a millimeter wave radar component.

[0074] In an optional implementation of the present embodiment, the laser radar assembly includes a first laser radar 61, a second laser radar 62, and a third laser radar 63. The first laser radar 61 is arranged on one side of the top surface of the platform base 1, the second laser radar 62 is arranged on the side of the top surface of the platform base 1 opposite to the first laser radar 61, and the third laser radar 63 is arranged on the intelligent car 2.

[0075] It should be noted that at this stage, one of the hardware of the mainstream perception system in China is laser radar, and external parameter calibration must be performed before the application of laser radar. For the theoretical knowledge of laser radar, the concept, working principle, structural characteristics and point cloud characteristics of laser radar can be explained in combination with the teaching platform, and students can be more easily accepted through physical demonstration. In addition, group learning and group demonstration of laser radar installation and driver activation can be used to ensure that every student truly masters the basic theoretical knowledge and basic application skills of laser radar.

[0076] It should be noted that by setting the first laser radar 61 and the second laser radar 62 at different positions, different dual laser radar combinations are obtained, which can be used to examine students' mastery of dual laser radar calibration, and allow students to learn to draw inferences and truly master the laser radar and dual laser radar calibration process and operation.

[0077] In an optional implementation of this embodiment, the ultrasonic radar assembly includes an ultrasonic radar 7, and the ultrasonic radar 7 is arranged on the top surface of the platform base 1 and on the side where the first laser radar 61 is located.

[0078] It should be noted that ultrasonic radar is the most commonly used obstacle detection sensor in smart cars. Therefore, the smart car teaching platform integrated with ultrasonic radar is particularly important.

[0079] In an optional implementation of this embodiment, the millimeter wave radar assembly includes a millimeter wave radar 81 and a millimeter wave radar calibration plate 82, the millimeter wave radar 81 is arranged on the top surface of the platform base 1 and on the side where the first laser radar 61 is located, and the millimeter wave radar calibration plate 82 is arranged on the top surface of the platform base 1 on the side opposite to the millimeter wave radar 81.

[0080] It should be noted that at present, millimeter-wave radar is mainly used in adaptive cruise control and active obstacle avoidance of smart cars.

[0081] In an optional implementation of the present embodiment, the intelligent automobile teaching platform is also provided with a millimeter-wave radar calibration board remote control rod 83, and the millimeter-wave radar calibration board remote control rod 83 is arranged on the top surface of the platform base 1, and the millimeter-wave radar calibration board remote control rod 83 is connected to the millimeter-wave radar calibration board 82, and the millimeter-wave radar calibration board remote control rod 83 is respectively connected to the controller 41.

[0082] In an optional implementation of this embodiment, the smart car teaching platform is further provided with a controllable traffic light 91 , and the controllable traffic light 91 is arranged on the top surface of the platform base 1 .

[0083] In an optional implementation of this embodiment, the smart car teaching platform is further provided with a movable obstacle 92 , and the movable obstacle 92 is arranged on the top surface of the platform base 1 .

[0084] It should be noted that the number and position of the movable obstacles 92 are determined according to actual needs. Figure 1 The number of movable obstacles 92 shown in the figure is two and the positions are as shown.

[0085] In an optional implementation of the present embodiment, the intelligent automobile teaching platform is also provided with a work light 93, a safety fence 94 and a pulley 95. The work light 93 is arranged on the top surface of the platform base 1, the work light 93 is connected to the controller 41, the safety fence 94 completely surrounds the edge of the top surface of the platform base 1, and the pulley 95 is arranged on the bottom surface of the platform base 1.

[0086] It should be noted that there are four pulleys 95 , which are distributed at the four corners of the bottom surface of the platform base 1 .

[0087] In summary, Embodiment 1 of the present invention provides a multifunctional coupled smart car teaching platform, which realizes the teaching demonstration and teaching training of smart cars by integrating the controller, display, camera component, lidar component, ultrasonic radar component and millimeter wave radar component of the smart car, achieves integrated teaching, is easier to stimulate students' interest in learning, and effectively improves the teaching efficiency of smart cars.

[0088] Embodiment 2

[0089] The teaching method involved in the second embodiment of the present invention is implemented based on the multifunctional coupled intelligent automobile teaching platform described in the first embodiment, such as Figure 2 As shown, Figure 2 A flowchart of a multifunctional coupled intelligent vehicle teaching method in Embodiment 2 of the present invention is shown, comprising the following steps:

[0090] S201, the student starts the smart car teaching platform, and initializes and calibrates the camera component and the radar component, and the display shows the teaching content of the smart car teaching platform;

[0091] In an optional implementation of this embodiment, the student inputs a start command in the controller through the mouse and keyboard to start the smart car teaching platform, and the working light turns on to display the teaching content of the smart car teaching platform.

[0092] Specifically, the teaching content includes knowledge functions such as laser radar recognition, installation, adjustment, and fusion; knowledge functions such as camera recognition, installation, adjustment, and calibration; knowledge functions such as millimeter wave radar recognition, installation, adjustment, and testing; knowledge functions such as smart car recognition, tracking, active obstacle avoidance, remote control, and communication.

[0093] The teaching content displayed here, combined with the subsequent physical demonstration, can meet the teaching needs of key technologies of smart cars.

[0094] In an optional implementation of this embodiment, the student moves the camera calibration board through the camera calibration board remote control rod, so that the camera calibration board cooperates with the camera to complete the initialization calibration.

[0095] Specifically, the camera calibration board is a checkerboard calibration drawing, that is, a black and white calibration board. Students can control the camera calibration board remote control rod to move the camera calibration board forward and backward, left and right, and rotate it until the camera calibration board meets the calibration effect.

[0096] In an optional implementation of this embodiment, the camera assembly is calibrated based on Zhang Zhengyou's classic calibration algorithm.

[0097] Specifically, based on the camera imaging principle, shooting is performed through a camera calibration plate of known size to obtain the pixel coordinates and actual coordinates of the camera calibration plate in the image, and the internal parameters and external parameters of the camera are calculated to achieve calibration, wherein the internal parameters include focal length, principal point coordinates and distortion parameters, and the external parameters include the position and posture of the camera in the world coordinate system.

[0098] In an optional implementation of the present embodiment, the student moves the millimeter-wave radar calibration board through the remote control rod of the millimeter-wave radar calibration board, so that the millimeter-wave radar calibration board cooperates with the millimeter-wave radar to complete the initialization calibration.

[0099] Specifically, students can control the remote control rod of the millimeter-wave radar calibration board to move the millimeter-wave radar calibration board forward and backward, left and right, and rotate it, and set the distance between the millimeter-wave radar calibration board and the millimeter-wave radar until the millimeter-wave radar calibration board meets the calibration effect.

[0100] Calibration of the camera and millimeter-wave radar here will help improve the accuracy of subsequent information acquisition.

[0101] S202, the student inputs a start perception instruction in the controller, and the camera component and the radar component respectively collect initial state information of the intelligent automobile teaching platform, and send the collected initial state information of the intelligent automobile teaching platform to the controller, and display it on the display at the same time;

[0102] In an optional implementation of this embodiment, image information of the initial state of the smart car teaching platform is acquired based on a camera.

[0103] Specifically, image information of the initial state of the smart car teaching platform is obtained based on the camera, and preliminary image annotation is performed on all components in the image, including laser radar, ultrasonic radar, millimeter wave radar, smart car, controllable traffic lights, movable obstacles and other components.

[0104] In an optional implementation of this embodiment, the relative position information of the smart car is obtained based on a laser radar.

[0105] Specifically, the relative position information of the smart car is obtained based on the first laser radar and the second laser radar.

[0106] In an optional implementation of this embodiment, the position information of the movable obstacle is acquired based on millimeter wave radar and ultrasonic radar.

[0107] In an optional implementation of this embodiment, the acquired image information of the initial state of the smart car teaching platform, the relative position information of the smart car and the position information of the movable obstacle are sent to the controller and displayed on the display.

[0108] S203, the controller analyzes and processes the initial state information of the intelligent automobile teaching platform, generates an initial state analysis and processing result, and displays the initial state analysis and processing result on a display;

[0109] In an optional implementation of this embodiment, the controller analyzes and processes the relative position information of the smart car.

[0110] Specifically, Figure 3 As shown, Figure 3 The flowchart of analyzing and processing the relative position information of the smart car in the second embodiment of the present invention is shown, and includes the following steps:

[0111] S301, processing the relative position information of the smart car based on a single laser radar calibration algorithm to obtain first coordinate information and second coordinate information of the smart car;

[0112] In an optional implementation of this embodiment, Figure 4 As shown, Figure 4 The flowchart of obtaining the first coordinate information and the second coordinate information of the intelligent vehicle in the second embodiment of the present invention is shown, including the following steps:

[0113] S401, calibrating the coordinate systems of the first laser radar, the second laser radar and the smart car;

[0114] In an optional implementation of this embodiment, the coordinate system of the first laser radar, the coordinate system of the second laser radar and the coordinate system of the smart car are calibrated respectively, as well as the relationship between them.

[0115] S402, obtaining real coordinate information of the controllable traffic light in the coordinate systems of the first laser radar, the second laser radar and the smart car respectively;

[0116] In an optional implementation of the present embodiment, a controllable traffic light is used as a marker, and the real coordinate information of the controllable traffic light is collected in the coordinate system of the first laser radar, the coordinate system of the second laser radar and the coordinate system of the smart car.

[0117] S403, solving the first transformation matrix and the second transformation matrix respectively based on the minimum variance method;

[0118] In an optional implementation of this embodiment, the first transformation matrix in the coordinate system of the first laser radar and the coordinate system of the smart car, and the second transformation matrix in the coordinate system of the second laser radar and the coordinate system of the smart car are solved based on the minimum variance method.

[0119] It should be noted that the first transformation matrix and the second transformation matrix are both TF transformation matrices.

[0120] Specifically, the TF is TensorFlow, which is a symbolic digital system based on data flow programming, widely used in the field of machine learning. Its design concept is called computational flow graph. The TF transformation matrix is ​​a matrix form based on TensorFlow, which is often used in position calibration and has the advantages of high accuracy and fast calculation speed.

[0121] S404: Update the first transformation matrix and the second transformation matrix into the configuration file of the processor to obtain the first coordinate information and the second coordinate information of the smart car.

[0122] In an optional implementation of this embodiment, the first transformation matrix and the second transformation matrix are updated to the configuration file of the processor, the single laser radar calibration algorithm is completed, and the first coordinate information and the second coordinate information of the smart car are obtained.

[0123] S302: Based on a dual laser radar fusion calibration algorithm, the first coordinate information and the second coordinate information of the smart car are fused and processed to obtain the real coordinate information of the smart car.

[0124] In an optional implementation of this embodiment, Figure 5 As shown, Figure 5 The flowchart of obtaining the real coordinate information of the smart car in the second embodiment of the present invention is shown, including the following steps:

[0125] S501, obtaining installation coordinate information of the first laser radar and the second laser radar;

[0126] In an optional implementation of this embodiment, by querying the design information of the smart car teaching platform, combining the coordinate system of the smart car, and using the NDT scanning matching algorithm, the installation coordinate information of the first laser radar and the second laser radar is obtained.

[0127] Specifically, the installation coordinate information of the first laser radar and the second laser radar includes the transfer amount, offset angle, axial distance, and roll distance (x, y, z, yaw, pitch, roll) in the three-axis directions of x, y, and z.

[0128] S502: Based on the dual laser radar fusion calibration algorithm, the installation coordinate information of the first laser radar and the second laser radar, the first coordinate information and the second coordinate information of the smart car are fused and calculated to obtain a third transformation matrix of the smart car;

[0129] In an optional implementation of the present embodiment, based on the dual laser radar fusion calibration algorithm, the installation coordinate information of the first laser radar and the second laser radar, the transfer amount in the three-axis directions of x, y, and z, the offset angle, the axial distance, and the roll distance (x, y, z, yaw, pitch, roll), and the first coordinate information and the second coordinate information of the smart car obtained in step S301 are fused and calculated to obtain the third transformation matrix of the smart car.

[0130] S503: Update the third transformation matrix of the smart car into the configuration file of the controller to obtain the real coordinate information of the smart car.

[0131] In an optional implementation of this embodiment, the third transformation matrix is ​​updated to the configuration file of the processor, the dual laser radar calibration algorithm is completed, and the real coordinate information of the smart car is obtained.

[0132] Here, calibration is performed based on a single laser radar calibration algorithm and a dual laser radar calibration algorithm to obtain the real coordinate information of the smart car with high accuracy and fast calculation speed.

[0133] In an optional implementation of this embodiment, Figure 6 As shown, Figure 6 The flowchart of obtaining the number and coordinate information of movable obstacles in the second embodiment of the present invention is shown, including the following steps:

[0134] S601, obtaining the distance between the millimeter wave radar and the millimeter wave radar calibration plate, and obtaining the time from the ultrasonic radar transmitting the signal to receiving the reflected signal;

[0135] In an optional implementation of this embodiment, the distance between the millimeter-wave radar and the millimeter-wave radar calibration plate is obtained, and the ultrasonic radar is controlled to transmit a signal, which is reflected after contacting a movable obstacle, and the ultrasonic radar receives the reflected signal.

[0136] S602: Acquire the distance between the millimeter wave radar and the smart car based on the distance between the millimeter wave radar and the millimeter wave radar calibration plate;

[0137] In an optional implementation of this embodiment, the millimeter wave radar is controlled to transmit a millimeter wave signal, and the distance between the millimeter wave radar and the millimeter wave radar calibration plate is combined to determine the distance between the millimeter wave radar and the smart car.

[0138] S603. Acquire the number and coordinate information of the movable obstacles based on the distance between the millimeter wave radar and the smart car and the time from the ultrasonic radar transmitting the signal to receiving the reflected signal.

[0139] In an optional implementation of this embodiment, the number and coordinate information of the movable obstacles are obtained in combination with the number of reflection signals received by the ultrasonic radar and the corresponding time.

[0140] S204, the student inputs a start demonstration instruction in the controller, and the camera component and the radar component respectively collect real-time status information of the intelligent automobile teaching platform, and send the collected real-time status information of the intelligent automobile teaching platform to the controller, and display it on the display at the same time;

[0141] In an optional implementation of this embodiment, the student inputs a start demonstration command to the controller through the mouse and keyboard, the camera component and the radar component respectively collect real-time status information of the smart car teaching platform, and send the collected real-time status information of the smart car teaching platform to the controller, and display it on the monitor at the same time.

[0142] In an optional implementation of this embodiment, image information of the real-time status of the smart car teaching platform is obtained based on the camera.

[0143] Specifically, the real-time state image information of the smart car teaching platform is obtained based on the camera, and the real-time image annotation of the smart car and the movable obstacles is performed.

[0144] In an optional implementation of this embodiment, obtaining status information of a controllable traffic light;

[0145] Specifically, the status information of the controllable traffic lights is obtained, including the red light status, the yellow light status and the green light status.

[0146] In an optional implementation of this embodiment, the relative position information of the smart car and the movable obstacle in the forward direction of the smart car is obtained based on a third laser radar arranged on the smart car.

[0147] S205, the controller analyzes and processes the real-time status information of the intelligent automobile teaching platform, generates a real-time status analysis and processing result and a real-time control instruction, and displays the real-time status analysis and processing result on a display;

[0148] In an optional implementation of this embodiment, based on the smart car's adaptive cruise control and active obstacle avoidance strategy, the status information of the controllable traffic lights and the relative position information between the smart car and the movable obstacle are analyzed and processed to generate real-time control instructions for the smart car.

[0149] Here, with the help of movable obstacles, the position and number of movable obstacles can be set arbitrarily, allowing students to program independently to control the smart car to avoid obstacles autonomously and truly master the smart car control technology and programming technology; with the help of controllable traffic lights, by setting the duration of traffic lights, students can program independently to realize the parking, driving or waiting of the smart car, and cultivate students' independent programming and smart car control technology.

[0150] S206: The intelligent car performs a motion control demonstration on the sports track based on the real-time control instructions.

[0151] In an optional implementation of this embodiment, the intelligent car implements an autonomous motion control demonstration on the sports track based on the real-time control instructions, including an autonomous obstacle avoidance demonstration of movable obstacles, and a parking, driving or waiting demonstration at controllable traffic lights.

[0152] In summary, the second embodiment of the present invention provides a teaching method, which is based on the multifunctional coupled smart car teaching platform of the first embodiment, and calibrates the camera and millimeter-wave radar, which is beneficial to improve the accuracy of subsequent information acquisition; based on the single laser radar calibration algorithm and the dual laser radar calibration algorithm, the real coordinate information of the smart car is obtained with high accuracy and fast calculation speed; the ultrasonic radar and the millimeter-wave radar are combined to obtain the number and position information of movable obstacles, as well as the controllable traffic lights, and the position and number of movable obstacles are arbitrarily set, so that students can program independently to realize the control of the smart car to avoid obstacles autonomously, and truly master the control technology and programming technology of the smart car. At the same time, by setting the duration of the traffic lights, students can program independently to realize the parking, driving or waiting of the smart car, cultivate students' independent programming and smart car control technology, realize the teaching demonstration and teaching training of smart cars, achieve integrated teaching, and more easily stimulate students' interest in learning, effectively improving the teaching efficiency of smart cars.

[0153] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0154] In addition, the embodiments of the present invention are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A multifunctional coupled intelligent car teaching method, It is characterized in that The teaching method is implemented based on a multifunctional coupled intelligent automobile teaching platform, wherein the intelligent automobile teaching platform comprises a platform base, and an intelligent car and a sports track are arranged on the top surface of the platform base, and the intelligent car runs on the sports track; The intelligent automobile teaching platform is provided with a controller, a mouse, a keyboard, and a display, and the mouse, the keyboard, and the display are respectively connected to the controller; The controller and the display are integrated devices, with an LED screen display at the top and a controller at the bottom. The display is used to display information, the controller is used to process information, the mouse and keyboard are used to input instructions, and the controller assists in displaying on the display the theoretical knowledge of intelligent vehicle onboard systems, C++ programming, intelligent vehicle control technology, communication technology, etc., as well as practical skills knowledge of C++ programming, intelligent vehicle control practice, intelligent vehicle tracking driving, obstacle avoidance driving, intelligent traffic light recognition, and wireless communication technology practice; The intelligent automobile teaching platform is provided with a camera component and a radar component, and the camera component and the radar component are respectively connected to the controller; The camera assembly includes a camera and a camera calibration plate, wherein the camera is arranged on one side of the top surface of the platform base, and the camera calibration plate is arranged on one side of the top surface of the platform base opposite to the camera; The radar components include laser radar components, ultrasonic radar components, and millimeter wave radar components; The laser radar assembly includes a first laser radar, a second laser radar, and a third laser radar, wherein the first laser radar is arranged on one side of the top surface of the platform base, the second laser radar is arranged on one side of the top surface of the platform base opposite to the first laser radar, and the third laser radar is arranged on the smart car; The ultrasonic radar assembly includes an ultrasonic radar, and the ultrasonic radar is arranged on the top surface of the platform base and on the side where the first laser radar is located; The millimeter wave radar assembly includes a millimeter wave radar and a millimeter wave radar calibration plate, the millimeter wave radar is arranged on the top surface of the platform base and on the side where the first laser radar is located, and the millimeter wave radar calibration plate is arranged on the side of the top surface of the platform base opposite to the millimeter wave radar; The intelligent automobile teaching platform is also provided with a camera calibration board remote control rod and a millimeter wave radar calibration board remote control rod, the camera calibration board remote control rod and the millimeter wave radar calibration board remote control rod are arranged on the top surface of the platform base, the camera calibration board remote control rod is connected to the camera calibration board, the millimeter wave radar calibration board remote control rod is connected to the millimeter wave radar calibration board, and the camera calibration board remote control rod and the millimeter wave radar calibration board remote control rod are respectively connected to the controller; The intelligent automobile teaching platform is also provided with a controllable traffic light and a movable obstacle, and the controllable traffic light and the movable obstacle are arranged on the top surface of the platform base; The intelligent automobile teaching platform is also provided with a working light, a safety fence and a pulley, wherein the working light is provided on the top surface of the platform base, the working light is connected to the controller, the safety fence fully surrounds the edge of the top surface of the platform base, and the pulley is provided on the bottom surface of the platform base; The teaching methods include: The student starts the smart car teaching platform and initializes and calibrates the camera component and the radar component, and the display shows the teaching content of the smart car teaching platform; The student inputs a start perception instruction in the controller, and the camera component and the radar component respectively collect the initial state information of the intelligent automobile teaching platform, and send the collected initial state information of the intelligent automobile teaching platform to the controller, and display it on the display at the same time; The camera component and the radar component respectively collect the initial state information of the intelligent automobile teaching platform, including: obtaining the image information of the initial state of the intelligent automobile teaching platform based on the camera; obtaining the relative position information of the intelligent car based on the laser radar; obtaining the position information of the movable obstacle based on the millimeter wave radar and the ultrasonic radar; The controller analyzes and processes the initial state information of the intelligent automobile teaching platform, generates an initial state analysis and processing result, and displays the initial state analysis and processing result on a display; The controller analyzes and processes the initial state information of the intelligent car teaching platform to generate the initial state analysis and processing result, including: processing the relative position information of the intelligent car based on a single laser radar calibration algorithm to obtain the first coordinate information and the second coordinate information of the intelligent car; fusing the first coordinate information and the second coordinate information of the intelligent car based on a dual laser radar fusion calibration algorithm to obtain the real coordinate information of the intelligent car; The student inputs a start demonstration command in the controller, and the camera component and the radar component respectively collect real-time status information of the intelligent automobile teaching platform, and send the collected real-time status information of the intelligent automobile teaching platform to the controller, and display it on the display at the same time; The controller analyzes and processes the real-time status information of the intelligent automobile teaching platform, generates a real-time status analysis and processing result and a real-time control instruction, and displays the real-time status analysis and processing result on a display; The intelligent car performs motion control demonstration on the sports track based on the real-time control instructions.

2. The teaching method according to claim 1, It is characterized in that The initialization calibration of the camera component and the radar component includes: The student moves the camera calibration board through the remote control rod of the camera calibration board, so that the camera calibration board cooperates with the camera to complete the initialization calibration; The student moves the millimeter-wave radar calibration board through the remote control rod of the millimeter-wave radar calibration board, so that the millimeter-wave radar calibration board cooperates with the millimeter-wave radar to complete the initialization calibration.

3. The teaching method according to claim 1, It is characterized in that The processing of the relative position information of the smart car based on the single laser radar calibration algorithm to obtain the first coordinate information and the second coordinate information of the smart car includes: Calibrate the coordinate systems of the first laser radar, the second laser radar and the smart car; Obtaining the real coordinate information of the controllable traffic light on the coordinate systems of the first laser radar, the second laser radar and the smart car respectively; Solve the first transformation matrix and the second transformation matrix respectively based on the minimum variance method; The first transformation matrix and the second transformation matrix are updated into the configuration file of the controller to obtain the first coordinate information and the second coordinate information of the smart car.

4. The teaching method according to claim 3, It is characterized in that The fusing the first coordinate information and the second coordinate information of the smart car based on the dual laser radar fusion calibration algorithm to obtain the real coordinate information of the smart car includes: Obtaining installation coordinate information of the first laser radar and the second laser radar; Based on the dual laser radar fusion calibration algorithm, the installation coordinate information of the first laser radar and the second laser radar, and the first coordinate information and the second coordinate information of the smart car are fused and calculated to obtain a third transformation matrix of the smart car; The third transformation matrix of the smart car is updated to the configuration file of the controller to obtain the real coordinate information of the smart car.

5. The teaching method according to claim 1, It is characterized in that The controller analyzes and processes the initial state information of the intelligent automobile teaching platform, and generates the initial state analysis and processing result, which further includes: Get the distance between the millimeter-wave radar and the millimeter-wave radar calibration plate, and get the time from the ultrasonic radar transmitting the signal to receiving the reflected signal; The distance between the millimeter wave radar and the millimeter wave radar calibration plate is combined to obtain the distance between the millimeter wave radar and the smart car; The number and coordinate information of the movable obstacles are obtained by combining the distance between the millimeter wave radar and the smart car and the time from the ultrasonic radar transmitting the signal to receiving the reflected signal.

6. The teaching method according to claim 5, It is characterized in that The camera component and the radar component respectively collect the real-time status information of the intelligent automobile teaching platform, including: Get the status information of controllable traffic lights; The relative position information between the smart car and the movable obstacle is obtained based on the third laser radar.

7. The teaching method according to claim 6, It is characterized in that The controller analyzes and processes the real-time status information of the intelligent automobile teaching platform to generate real-time status analysis and processing results and real-time control instructions, including: Based on the smart car's adaptive cruise control and active obstacle avoidance strategy, the state information of the controllable traffic lights and the relative position information of the smart car and the movable obstacle are analyzed and processed to generate real-time control instructions for the smart car.

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