Ramp fixed-point parking item judgment method and device, electronic equipment and storage medium

Abstract

The invention provides a ramp fixed-point parking item judgment method and device, electronic equipment and a storage medium, and relates to the technical field of motor vehicle driving training. The method comprises the steps of determining gradient information of a ramp where a target vehicle is located, wherein the target vehicle comprises a positioning point and a positioning device; based on the gradient information, projection coordinates corresponding to projection points of the positioning points on the ramp are determined; determining a first coordinate of the projection point in a base station coordinate system based on the projection coordinate and a coordinate of the positioning device in the base station coordinate system, the base station coordinate system being determined based on a positioning base station in a training field where the target vehicle is located; and determining the distance between the positioning point and the marking line in the ramp based on the first coordinate, so as to determine the training condition of the target vehicle in the ramp fixed-point parking project based on the distance, thereby improving the judgment accuracy in the ramp fixed-point parking and starting project training.

Description

Technical Field

[0001] The present disclosure relates to the technical field of motor vehicle driving training, and in particular to a method and device for judging a slope fixed-point parking project, an electronic device and a storage medium. Background Art

[0002] With the progress of society and the improvement of people's living standards, motor vehicles have entered thousands of households, and the demand for motor vehicle driving training has increased accordingly. Traditional driving training usually relies on coaches for guidance, but due to the limited number of coaches and high training costs, many trainees find it difficult to get enough practice opportunities, which affects their learning efficiency. Therefore, with the development of information technology, intelligent driving training systems have emerged.

[0003] In the related technology, the intelligent driving training system usually determines the position of the training vehicle based on the positioning device mounted on the vehicle body. During the training of the fixed-point parking and starting project on the slope, the training vehicle will pitch forward and backward when going uphill, resulting in inaccurate vehicle positioning, which may lead to misjudgment in the evaluation of the training process. Summary of the invention

[0004] In view of this, the present disclosure provides a method and device for judging a fixed-point parking project on a slope, an electronic device and a storage medium, so as to improve the judgment accuracy in the training of fixed-point parking and starting projects on a slope.

[0005] In a first aspect, a method for evaluating a ramp fixed-point parking project is provided, comprising: determining slope information of a ramp where a target vehicle is located, the target vehicle comprising a positioning point and a positioning device; based on the slope information, determining projection coordinates corresponding to a projection point of the positioning point on the ramp; based on the projection coordinates and the coordinates of the positioning device in a base station coordinate system, determining a first coordinate of the projection point in the base station coordinate system, the base station coordinate system being determined based on a positioning base station in a training ground where the target vehicle is located; based on the first coordinates, determining a distance between the positioning point and a marking in the ramp, so as to determine a training situation of the target vehicle in the ramp fixed-point parking project based on the distance.

[0006] In combination with the first aspect, in certain implementations of the first aspect, based on the slope information, the projection coordinates corresponding to the projection point of the positioning point on the ramp are determined, including: determining the height information of the positioning device, the height information representing the height of the positioning device from the ramp; based on the height information of the positioning device and the slope information, determining the projection coordinates.

[0007] In combination with the first aspect, in certain implementations of the first aspect, the projection coordinates include a first coordinate value and a second coordinate value, the first coordinate value represents the position of the projection point in the length direction of the ramp, and the second coordinate value represents the position of the projection point in the width direction of the ramp. Based on the height information and slope information of the positioning device, the projection coordinates are determined, including: determining the second coordinate of the positioning point, the second coordinate includes a third coordinate value and a fourth coordinate value, the third coordinate value represents the position of the positioning point in the length direction of the ramp, and the fourth coordinate value represents the position of the positioning point in the width direction of the ramp; calculating the first coordinate value based on the third coordinate value, the height information, and the slope information; and using the fourth coordinate value in the second coordinate as the second coordinate value.

[0008] In combination with the first aspect, in certain implementations of the first aspect, based on the projection coordinates and the coordinates of the positioning device in the base station coordinate system, the first coordinates of the projection point in the base station coordinate system are determined, including: determining the reference coordinates of the positioning device in the base station coordinate system; determining the first coordinates based on the reference coordinates, the projection coordinates and the slope information.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the markings in the ramp include the sideline of the ramp, the positioning point includes a first positioning point, and the first positioning point is located at the side of the body of the target vehicle. Based on the first coordinate, determining the distance between the positioning point and the markings in the ramp includes: determining the coordinates of the first endpoint and the second endpoint of the sideline in the base station coordinate system; determining the sideline equation corresponding to the sideline based on the coordinates of the first endpoint and the second endpoint in the base station coordinate system; and calculating the first distance between the first positioning point and the sideline based on the first coordinate corresponding to the first positioning point and the sideline equation.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the marking line includes a control line, the control line is perpendicular to the sideline of the ramp, the positioning point includes a second positioning point, the second positioning point is located at the front bumper position of the target vehicle, and the training situation includes a training score. Based on the first coordinate, the distance between the positioning point and the marking line in the ramp is determined, including: based on the first coordinate corresponding to the second positioning point, the second distance between the second positioning point and the control line is determined. Based on the distance, the training situation of the target vehicle in the ramp fixed-point parking project is determined, including: when the second distance is greater than the first threshold and less than the second threshold, the first score is deducted from the training score, and the first threshold and the second threshold are determined based on the examination standard of the ramp fixed-point parking project; when the second distance is greater than the second threshold, the training situation is determined to be unqualified.

[0011] In combination with the first aspect, in certain implementations of the first aspect, the marking line includes a sensing line, a control line, and an out-of-bounds line, and the sensing line, the control line, and the out-of-bounds line are arranged in sequence along the direction of increasing height of the ramp, the positioning point includes a second positioning point and a third positioning point, the second positioning point is located at the front bumper position of the target vehicle, and the third positioning point is located at the front wheel position of the target vehicle, and the training situation includes a training score. Based on the first coordinate, the distance between the positioning point and the marking line in the ramp is determined, including: based on the first coordinate corresponding to the second positioning point, the third distance between the second positioning point and the out-of-bounds line is determined; based on the first coordinate corresponding to the third positioning point, the fourth distance between the third positioning point and the sensing line is determined. Based on the distance, the training situation of the target vehicle in the ramp fixed-point parking project is determined, including: when the third distance is less than the third threshold, the training situation is determined to be unqualified; when the fourth distance is greater than the fourth threshold, the second score is deducted from the training score.

[0012] In a second aspect, a device for evaluating a ramp fixed-point parking project is provided, comprising: a first determination module, configured to determine the slope information of a ramp where a target vehicle is located, the target vehicle comprising a positioning point and a positioning device; a second determination module, configured to determine, based on the slope information, the projection coordinates corresponding to the projection point of the positioning point on the ramp; a third determination module, configured to determine, based on the projection coordinates and the coordinates of the positioning device in the base station coordinate system, the first coordinate of the projection point in the base station coordinate system, the base station coordinate system being determined based on a positioning base station in a training ground where the target vehicle is located; a fourth determination module, configured to determine, based on the first coordinates, the distance between the positioning point and the marking line in the ramp, so as to determine the training status of the target vehicle in the ramp fixed-point parking project based on the distance.

[0013] In a third aspect, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the ramp fixed-point parking project evaluation method provided in the first aspect by executing the executable instructions.

[0014] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for evaluating the ramp fixed-point parking project provided in the first aspect is implemented.

[0015] The method provided by the present disclosure corrects the offset error caused by the change of vehicle posture when the target vehicle is located on the ramp by determining the projection point of the positioning point of the target vehicle on the slope and determining the coordinates of the projection point in the base station coordinate system. In this way, the distance between the projection point and the marking line on the ramp can be accurately calculated, so that the students can be given accurate judgment, thereby improving the accuracy of the teaching process and the learning efficiency of the students. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a schematic diagram of an application scenario of a method for evaluating a ramp fixed-point parking project provided by an exemplary embodiment of the present disclosure.

[0017] Figure 2 The figure is a flow chart of a method for evaluating a ramp fixed-point parking project provided by an embodiment of the present disclosure.

[0018] Figure 3 Shown is a schematic diagram of positioning points included in a target vehicle provided by an embodiment of the present disclosure.

[0019] Figure 4 The figure is a flow chart of the steps of determining the projection coordinates corresponding to the projection point of the positioning point on the ramp based on the slope information provided by one embodiment of the present disclosure.

[0020] Figure 5 The figure is a flow chart of the steps of determining projection coordinates based on the height information and slope information of the positioning device provided by an embodiment of the present disclosure.

[0021] Figure 6 The figure shows a flow chart of a first coordinate step of determining a projection point in a base station coordinate system based on the projection coordinates and the coordinates of a positioning device in a base station coordinate system, provided by an embodiment of the present disclosure.

[0022] Figure 7 The figure is a schematic flow chart of the steps of determining the distance between a positioning point and a marking line in a ramp based on a first coordinate provided by an embodiment of the present disclosure.

[0023] Figure 8 Shown is a schematic diagram of the structure of a device for evaluating a ramp fixed-point parking project provided in one embodiment of the present disclosure.

[0024] Fig. 9 Shown is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0026] The slope fixed-point parking and starting project in the driving test is an important driving skill assessment, and its main purpose is to test the trainee's ability to park correctly and start safely on an uphill road. This project requires the trainee to park the vehicle accurately and steadily at a specific position on a designated slope section according to the road markings, and to be able to start smoothly without sliding backwards after parking.

[0027] The specific judging criteria for this project include: if the vehicle runs over the solid center line or the solid edge line of the lane while driving, 100 points will be deducted; if the vehicle body exceeds 50cm from the edge of the road after the vehicle stops, it will be unqualified, if it exceeds 30cm but does not exceed 50cm, 10 points will be deducted; if the front bumper of the vehicle is not on the control line after the vehicle stops, and exceeds 50cm from front to back, it will be unqualified, if it does not exceed 50cm from front to back, 10 points will be deducted, etc. It can be seen that in the training process of this project, mastering the distance between the vehicle body and the edge of the road, control line and other markings is a necessary condition for accurately judging the training situation.

[0028] In the related art, a real-time kinematic (RTK) positioning device mounted on the vehicle body is usually used to determine the position of the vehicle. However, the RTK positioning device is usually installed on the roof of the vehicle. When the vehicle goes uphill, the vehicle body pitches forward and backward, causing the RTK positioning device to tilt. At this time, the relative position of the vehicle and the marking line determined by the RTK positioning device will be inaccurate.

[0029] In view of the above technical problems, the present invention provides a method for judging the fixed-point parking project on a slope, so as to accurately determine the relative position relationship between the vehicle and the marking line on the slope, improve the accuracy of judging the fixed-point parking and starting projects on the slope, and thereby improve the learning efficiency of students.

[0030] Figure 1 The figure shows an application scenario of a method for judging a ramp fixed-point parking project provided by an exemplary embodiment of the present disclosure. Figure 1 As shown, the implementation environment includes a target vehicle 110 and a ramp 120 for practicing the ramp fixed-point parking and starting project.

[0031] The target vehicle 110 includes a positioning device 111 and a computing device 112, and the positioning device 111 and the computing device 112 are communicatively connected. The positioning device 111 can determine its own position in real time. The computing device can determine the distance between a certain point on the body of the target vehicle 110 and the marking line in the ramp 120 based on the method in any embodiment of the present disclosure, and then judge the completion of the training. It is understandable that the computing device 112 can be integrated into the target vehicle 110, or it can also be an independent physical server or a cloud server capable of cloud computing, etc.

[0032] The ramp 120 includes the left road line (side 01 position) and the right road line (side 89 position) on both sides of the slope, as well as the sensing line (side 67 position), the control line (side 45 position) and the out-of-bounds line (side 23 position) perpendicular to the road line and spaced apart from each other. The endpoints of the above-listed markings are marked with marking points, namely point 0, point 1, point 2, point 3, point 4, point 5, point 6, point 7, point 8, and point 9. The position of the markings can be determined by the coordinates of these marking points.

[0033] During the training or simulation test of the ramp fixed-point parking and starting project, the trainee drives the target vehicle 110 on the ramp 120 and parks at the control line. After parking, the distance between the target vehicle and the road sideline and the control line is determined, and the trainee's operation is scored according to the scoring rules.

[0034] The following is an example of the slope fixed-point parking project evaluation method provided by the embodiment of the present disclosure, with reference to the accompanying drawings.

[0035] The method provided by the present disclosure can be developed based on the Robot Operating System (ROS) system, and the functions and information interactions mentioned in the following embodiments are all applicable to the ROS system. It should be understood that these functions are only exemplary explanations and should not be construed as limitations of the present disclosure. The method provided by the present disclosure can also be implemented based on other systems or languages.

[0036] Figure 2 FIG. 1 is a flow chart of a method for evaluating a ramp fixed-point parking project provided by an embodiment of the present disclosure. Figure 2 As shown, the method for evaluating a ramp fixed-point parking project provided in an embodiment of the present disclosure includes the following steps.

[0037] S210, determining the slope information of the ramp where the target vehicle is located.

[0038] Specifically, the target vehicle is the vehicle driven by the trainee during the training process, which may be a driving school training vehicle or a vehicle equipped with an intelligent driving training system, etc. The ramp where the target vehicle is located refers to a ramp site used for ramp fixed-point parking and starting project training, and the site may be marked with control lines, lane side lines, and other markings in advance.

[0039] The slope information of the ramp indicates the inclination of the ramp. In the driving school scenario, the ramp is set based on the relevant test specifications, usually a uniform ramp, and the slope needs to be greater than or equal to 10%. In this case, the slope information can be obtained by directly looking up the relevant parameters when the ramp is built.

[0040] Alternatively, the slope information of the ramp can be determined by simple measurement. For example, the slope information of the ramp can be calculated by directly using relevant tools for measuring the slope (such as a slope meter, an inclinometer, etc.), or by measuring the vertical distance and horizontal distance of the slope surface of the ramp in the vertical direction and the horizontal direction.

[0041] The target vehicle includes a positioning point and a positioning device. The positioning point of the target vehicle is a point pre-marked on the body of the target vehicle. For example, Figure 3 FIG. 1 is a schematic diagram of positioning points included in a target vehicle provided by an embodiment of the present disclosure, such as Figure 3 As shown, there can be multiple positioning points, and the multiple positioning points together outline the outer contour of the target vehicle. Through the above multiple positioning points, the position of the entire vehicle body can be determined. Alternatively, it is also possible to mark the key positions that need to be paid attention to in the target vehicle, such as the front bumper position mentioned above ( Figure 3 point 0 in the image).

[0042] The positioning device of the target vehicle can determine its current position coordinates. Exemplarily, the positioning device can be an RTK positioning device. RTK positioning technology is a high-precision positioning technology based on carrier phase observation values. It receives satellite signals through a fixed-position positioning base station and compares them with the data of the mobile station (i.e., the RTK positioning device) to eliminate the influence of common error sources, thereby achieving centimeter-level or even higher positioning accuracy, and has the advantages of high positioning accuracy and simple operation. Usually, the positioning device is set on the roof of the target vehicle.

[0043] S220: Determine the projection coordinates corresponding to the projection point of the positioning point on the ramp based on the slope information.

[0044] observe Figure 1 It can be seen that the control line of the ramp has a certain width. In the test specifications for the fixed-point parking project on the ramp, it is required that the vertical position of the front bumper of the target vehicle falls within the range of the control line. Therefore, during the training process, it is actually necessary to determine the relative position of the projection of the front bumper of the target vehicle on the slope and the control line.

[0045] For the above reasons, in the evaluation process, it is necessary to determine the position of the projection point of the target vehicle's positioning point in the vertical direction (i.e., perpendicular to the ground plane) projected onto the slope surface. The line connecting the positioning point and the corresponding projection point is perpendicular to the ground plane and has a certain angle with the slope surface. The projection coordinates are the coordinates corresponding to the projection point.

[0046] When the target vehicle is completely on the slope, the positioning device tilts due to the change in the position of the vehicle body. However, in the process of positioning the positioning point, the coordinates of the positioning point are calculated based on the positional relationship between the positioning point and the positioning device, and this positional relationship is usually fixed. Therefore, when the positioning device tilts, the coordinates of the positioning point determined based on this method will have an offset error. The size of the offset error is associated with the slope of the ramp. The greater the slope, the greater the offset error.

[0047] Therefore, based on the slope information, the projection point of the positioning point on the slope surface of the ramp can be determined, and the coordinates of the projection point can be used as the projection coordinates. The projection coordinates can be understood as being obtained by rotating the coordinates of the positioning point determined by the positioning device.

[0048] S230, determining a first coordinate of the projection point in the base station coordinate system based on the projection coordinates and the coordinates of the positioning device in the base station coordinate system.

[0049] In the driving school scenario, based on the static landmarks in the scene (such as Figure 1 The scene shown has many markings and marking points, and the road conditions are simple. Usually, a static map corresponding to the driving school is pre-drawn. The static map is drawn with the positioning base station in the driving school as the center, and training areas such as training locations, training ramps, and training curves are marked, as well as special points such as markings and marking points marked in the training areas. In addition, the static map also marks inaccessible areas such as trees and houses. When the target vehicle needs the scene information of the driving school, it only needs to obtain the static map and convert it into the required map format (such as a raster map, etc.).

[0050] The base station coordinate system is determined based on the positioning base station in the training field where the target vehicle is located. Specifically, in the static map, the base station coordinate system is established with the positioning base station as the center, and the coordinates of each element (e.g., a marking point) in the static map are determined based on the distance and direction between the element and the positioning base station.

[0051] Based on the above method, the position of each marking line in the ramp in the base station coordinate system can be determined. Therefore, in order to determine the distance between the projection point and the marking line, the projection coordinates need to be converted into coordinates in the base station coordinate system. Based on the positioning device of the target vehicle, the coordinates of the positioning device in the base station coordinate system can be determined, and the relative position relationship between the positioning device and the positioning point is fixed, and there is also a corresponding relationship between the positioning point and the projection point. Therefore, based on the coordinates of the positioning device in the base station coordinate system, the coordinates of the projection point in the base station coordinate system, that is, the first coordinate, can be determined.

[0052] S240, based on the first coordinate, determine the distance between the positioning point and the marking line in the ramp, so as to determine the training status of the target vehicle in the ramp fixed-point parking project based on the distance.

[0053] In the base station coordinate system, the distance between the positioning point and the marking line in the ramp can be calculated based on the first coordinate. Through this distance, combined with the scoring criteria of the ramp fixed-point parking project, the training situation of the target vehicle in the ramp fixed-point parking project can be accurately determined. The training situation may include whether the target vehicle has any illegal behavior during the training process, the training score calculated based on the scoring criteria, etc.

[0054] In the disclosed embodiment, by determining the projection point of the target vehicle's positioning point on the slope and determining the coordinates of the projection point in the base station coordinate system, the offset error caused by the change in the vehicle's posture when the target vehicle is located on the ramp is corrected. In this way, the distance between the projection point and the marking line on the ramp can be accurately calculated, so that the students can be given accurate judgments, thereby improving the accuracy of the teaching process and the students' learning efficiency.

[0055] The specific implementation of each step in the above embodiment is further described below.

[0056] Figure 4 FIG. 1 is a flow chart of the steps of determining the projection coordinates corresponding to the projection point of the positioning point on the ramp based on the slope information provided by an embodiment of the present disclosure. Figure 4 As shown, the step of determining the projection coordinates corresponding to the projection point of the positioning point on the ramp based on the slope information provided in the embodiment of the present disclosure includes the following steps.

[0057] S221, determining the height information of the positioning device.

[0058] The height information represents the height of the positioning device from the slope. Since the positioning device is usually fixed on the vehicle body, the height is consistent with the height of the positioning device from the ground plane when the target vehicle is at the ground plane. It can be measured and determined in advance.

[0059] S222: Determine the projection coordinates based on the height information and slope information of the positioning device.

[0060] The angle of the ramp can be calculated based on the slope information. The angle of the ramp represents the angle between the slope surface of the ramp and the ground plane.

[0061] As described above, when the vehicle is going uphill, the vehicle body tilts backward, and the positioning device fixed on the vehicle body also tilts accordingly. Affected by the change in the vehicle body posture, the coordinates of the positioning point determined by the positioning device are offset from the position of the projection point.

[0062] During the uphill process, in the direction of the ramp length (i.e. Figure 1 In the direction of the edge 01 shown in FIG. 1 ), the position of the positioning point determined by the positioning device is closer to the intersection of the ramp and the ground plane than the position of the projection point; and in the direction of the ramp width (i.e. Figure 1 In the direction of the edge 09 shown in the figure, the position of the positioning point determined by the positioning device does not change compared to the position of the projection point.

[0063] Therefore, the projection coordinates corresponding to the positioning point can be determined based on the height information and slope information of the positioning device.

[0064] In the disclosed embodiment, the offset error caused by the change in vehicle posture can be determined based on the inclination angle of the ramp and the height of the positioning device, and then the projection coordinates corresponding to the positioning point can be obtained based on the offset error, thereby improving the positioning accuracy.

[0065] Figure 5 FIG. 1 is a flow chart of the steps of determining projection coordinates based on the height information and slope information of the positioning device provided by an embodiment of the present disclosure. Figure 5 As shown, the step of determining the projection coordinates based on the height information and slope information of the positioning device provided in the embodiment of the present disclosure includes the following steps.

[0066] S2221, determine the second coordinate of the positioning point.

[0067] The second coordinate of the positioning point is determined based on the positioning device of the target vehicle. As mentioned above, the second coordinate has an offset error. The second coordinate includes a third coordinate value and a fourth coordinate value. The third coordinate value represents the position of the positioning point in the length direction of the ramp, and the fourth coordinate value represents the position of the positioning point in the width direction of the ramp. Exemplarily, the second coordinate is denoted as (x0, y0), x0 represents the third coordinate value, and y0 represents the fourth coordinate value.

[0068] S2222: Calculate the first coordinate value based on the third coordinate value, the height information, and the slope information.

[0069] The projection coordinates include a first coordinate value and a second coordinate value, wherein the first coordinate value represents the position of the projection point in the length direction of the ramp, and the second coordinate value represents the position of the projection point in the width direction of the ramp. Exemplarily, the projection coordinates are denoted as (x0', y0'), where x0' represents the first coordinate value and y0' represents the second coordinate value.

[0070] In the process of the target vehicle completely entering the ramp from the ground plane, the posture of the target vehicle changes. Therefore, in the process of the target vehicle entering the ramp, in the length direction of the ramp, the offset between the actual position of the positioning point and the coordinate position determined based on the positioning device gradually increases from zero, and remains unchanged after the target vehicle completely enters the ramp. At this time, the offset can be calculated from the height information and slope information of the positioning device. After determining the offset, the offset error caused by the change in the vehicle posture can be corrected based on the offset, that is, the third coordinate value in the second coordinate of the positioning point can be corrected based on the offset. Its specific calculation method can be expressed as the following formula.

[0071] x0'=cos(α)·x0-h·sin(α);

[0072] Wherein, α represents the angle of the ramp; h represents the height of the positioning device.

[0073] S2223: Use the fourth coordinate value in the second coordinate as the second coordinate value.

[0074] When the target vehicle enters the ramp, the actual position of the positioning point in the width direction of the ramp is consistent with the coordinate position determined by the positioning device. Therefore, the fourth coordinate value in the second coordinate can be directly used as the second coordinate value of the projection coordinate. Specifically, it can be expressed as y0'=y0.

[0075] In the disclosed embodiment, a method for determining projection coordinates based on the height information and slope information of the positioning device is provided, which corrects the offset error caused by the pitching of the target vehicle and improves the positioning accuracy. It can be understood that the above steps are only applicable to the case where the target vehicle is completely located on the ramp.

[0076] Figure 6 FIG. 1 is a flow chart of a first coordinate step of determining a projection point in a base station coordinate system based on the projection coordinates and the coordinates of the positioning device in the base station coordinate system according to an embodiment of the present disclosure. Figure 6 As shown, the step of determining the first coordinate of the projection point in the base station coordinate system based on the projection coordinates and the coordinates of the positioning device in the base station coordinate system provided in the embodiment of the present disclosure includes the following steps.

[0077] S231, determining the reference coordinates of the positioning device in the base station coordinate system.

[0078] As described above, the base station coordinate system is determined based on the positioning base station in the training field where the target vehicle is located. Based on the relative position between the positioning device and the positioning base station, the reference coordinates of the positioning device in the base station coordinate system can be obtained, recorded as (x, y).

[0079] For example, the positioning base station may be a GPS base station, and the positioning device may be an RTK positioning device installed on the roof of the target vehicle. In the process of determining the reference coordinates, the RTK positioning data may be obtained through the Transmission Control Protocol (TCP), and the positioning data may be parsed to obtain the reference coordinates of the positioning device in the base station coordinate system.

[0080] S232, determining a first coordinate based on the reference coordinate, the projection coordinate and the slope information.

[0081] As mentioned above, the relative position relationship between the positioning device and the positioning point is fixed, and there is also a corresponding relationship between the positioning point and the projection point. Therefore, based on the coordinates of the positioning device in the base station coordinate system, the first coordinates (x0", y0") of the projection point in the base station coordinate system can be determined. The specific calculation method can be expressed as the following formula.

[0082] x0”=x+x0’·cos(α)-y0’·sin(α);

[0083] y0”=y+x0’·sin(α)+y0’·cos(α);

[0084] Here, α represents the angle of the ramp, which can be determined based on the slope information.

[0085] Based on the above method, the projection coordinates of the projection point on the ramp can be converted into the coordinates of the projection point in the base station coordinate system by simple calculation. Based on the above embodiments, it can be found that the method in the present disclosure can be implemented based on a positioning device, so the implementation cost is relatively low.

[0086] By observing the expression of the first coordinate, it can be found that the embodiment of the present disclosure does not care about the distance between the positioning point and the positioning base station in the vertical direction, so the first coordinate can also be regarded as the coordinate of the positioning point in the base station coordinate system. After determining the first coordinate, the distance between the positioning point and the center line of the ramp can be further calculated. Figure 1 , the markings in the ramp include the edge of the ramp. The following describes the specific implementation method of calculating the distance between the positioning point and the edge of the ramp.

[0087] Figure 7 FIG. 1 is a flow chart of the steps of determining the distance between the positioning point and the marking line in the ramp based on the first coordinate provided by an embodiment of the present disclosure. Figure 7 As shown, the step of determining the distance between the positioning point and the marking line in the ramp based on the first coordinate provided in the embodiment of the present disclosure includes the following steps.

[0088] S241, determine the coordinates of the first endpoint and the second endpoint of the edge line in the base station coordinate system.

[0089] The edge line of the ramp is used to mark the edge line of the road in the ramp, which can be the left edge line or the right edge line of the road. Here, the right edge line is taken as an example.

[0090] Continue to refer Figure 1, the first endpoint and the second endpoint of the edge are point 8 and point 9 respectively. For example, point 8 can be used as the first endpoint and point 9 can be used as the second endpoint; or point 9 can be used as the first endpoint and point 8 can be used as the second endpoint. Alternatively, any two points in edge 89 can be used as the first endpoint and the second endpoint. For example, point 7 and point 3 can be used as the first endpoint and the second endpoint of the edge, and the present disclosure does not make any specific restrictions on this.

[0091] As described above, the marking lines, marking points and other special points marked in the static map of the driving school, as well as the coordinates of the special points in the base station coordinate system. Therefore, the coordinates of the first end point and the second end point of the edge line in the base station coordinate system can be directly determined through the static map.

[0092] S242: Determine a sideline equation corresponding to the sideline based on the coordinates of the first endpoint and the second endpoint in the base station coordinate system.

[0093] After determining the coordinates of the first endpoint and the second endpoint in the base station coordinate system, the equation of the line connecting the two endpoints in the base station coordinate system can be determined based on the coordinates of the first endpoint and the second endpoint, that is, the edge line equation corresponding to the edge line.

[0094] S243: Calculate a first distance between the first positioning point and the edge line based on the first coordinates corresponding to the first positioning point and the edge line equation.

[0095] The positioning points of the target vehicle include a first positioning point, and the first positioning point is located at the side of the vehicle body of the target vehicle. Figure 3 Taking the right side of the vehicle body as an example, the first positioning point may be point 20, point 21, etc. The first coordinate corresponding to the first positioning point refers to the coordinate of the first positioning point in the base station coordinate system determined by the method in the above embodiment, or the position coordinate of the projection point of the first positioning point projected onto the slope in the vertical direction.

[0096] Next, based on the distance formula from a point to a straight line, the distance between the first positioning point and the edge line, i.e., the first distance, can be calculated. Based on the first distance, the training situation of the target vehicle can be judged. For example, if the first distance is greater than 50 cm, the training is judged to be unqualified.

[0097] In this embodiment, since the first coordinate corresponding to the first positioning point can accurately reflect the real position of the first positioning point, the distance between the first positioning point and the edge line is also more accurate. Therefore, the distance can more accurately reflect the training situation of the trainee, so that the trainee and the coach can understand the real level of the trainee, and then carry out targeted practice on the skills that have not been mastered, thereby improving learning efficiency.

[0098] In other embodiments, the marking line also includes a control line (ie Figure 1The control line is perpendicular to the edge of the ramp. The positioning point of the target vehicle includes a second positioning point, which is located at the front bumper position of the target vehicle (i.e. Figure 3 point 0 in the image).

[0099] In this embodiment, the step of determining the distance between the positioning point and the marking line in the ramp based on the first coordinates further includes: determining the second distance between the second positioning point and the control line based on the first coordinates corresponding to the second positioning point.

[0100] Here, the second distance can be determined based on the steps in the above embodiment. That is, the control line equation of the control line in the base station coordinate system is established based on the endpoints of the control line (i.e., point 4 and point 5); then, the second distance between the second positioning point and the control line is determined based on the distance formula from a point to a straight line.

[0101] Then, the training status of the target vehicle can be judged based on the second distance. In this embodiment, the step of determining the training status of the target vehicle in the ramp fixed-point parking project based on the distance includes: when the second distance is greater than the first threshold and less than the second threshold, deducting the first score from the training score; when the second distance is greater than the second threshold, determining that the training status is unqualified.

[0102] Among them, the training situation includes the training score, which can reflect the completion of the project as a whole. When the second distance is greater than the first threshold and less than the second threshold, it means that when the target vehicle is parked on the ramp, the front bumper position exceeds or does not reach the control line, and the distance exceeds the reasonable error range; at this time, the first score is deducted from the training score to remind the trainee to pay attention to the parking position during practice; illustratively, the first score can be set to 10 points. When the second distance is greater than the second threshold, it means that when the target vehicle is parked on the ramp, the front bumper position is too far from the control line. At this time, the training situation is determined to be unqualified, and the trainee should practice after learning the corresponding parking skills.

[0103] The first threshold and the second threshold are determined based on the examination standard of the slope fixed-point parking project. Exemplarily, the first threshold is 30 cm and the second threshold is 50 cm.

[0104] In this embodiment, the distance between the positioning point and the control line is combined with the examination standard of the ramp fixed-point parking project to intelligently judge the training situation of the trainees and improve the learning efficiency of the trainees.

[0105] In some other embodiments, the marking line also includes a sensing line (ie Figure 1 The edge 67 position in the middle) and the out-of-bounds line (i.e. Figure 1The sensing line and the out-of-bounds line are perpendicular to the edge of the ramp, and along the direction of increasing height of the ramp, the sensing line, the control line and the out-of-bounds line are arranged in sequence. In addition to the second positioning point described in the above embodiment, the positioning point of the target vehicle also includes a third positioning point, which is located at the front wheel position of the target vehicle (i.e. Figure 3 point 30 position in the image, etc.).

[0106] In this embodiment, based on the first coordinate, the step of determining the distance between the positioning point and the marking line in the ramp also includes: based on the first coordinate corresponding to the second positioning point, determining the third distance between the second positioning point and the out-of-bounds line; based on the first coordinate corresponding to the third positioning point, determining the fourth distance between the third positioning point and the sensing line.

[0107] The method for determining the third distance and the fourth distance is similar to that in the above embodiment and will not be described again here.

[0108] In the test standard for fixed-point parking on a ramp, when the target vehicle is parked on a ramp, the front wheels of the target vehicle need to press the sensing line. If they do not press the sensing line, 20 points will be deducted. In addition, when the front bumper of the target vehicle exceeds the control line position and reaches the out-of-bounds line position, it will fail.

[0109] Based on the above rules, in this embodiment, the step of determining the training status of the target vehicle in the ramp fixed-point parking project based on the distance includes: when the third distance is less than the third threshold, determining the training status as unqualified; when the fourth distance is greater than the fourth threshold, deducting the second score from the training score. The third threshold and the fourth threshold are determined based on the examination standard of the ramp fixed-point parking project.

[0110] When the third distance is less than the third threshold, it means that the front bumper of the target vehicle is too close to the out-of-bounds position. In this case, the training is determined to be unqualified and the trainee should practice after learning the corresponding parking skills. When the fourth distance is greater than the fourth threshold, it means that the front wheel position of the target vehicle is incorrect and needs to be adjusted accordingly. In this case, the second score is deducted from the training score to remind the trainee to pay attention to the front wheel position during practice.

[0111] In this embodiment, the distance between the positioning point and the sensing line and the out-of-bounds line is combined with the examination standard of the ramp fixed-point parking project to intelligently judge the training situation of the trainees and improve the learning efficiency of the trainees.

[0112] Combination of the above Figures 1 to 7 The method embodiment of the present disclosure is described in detail. Figure 8 The device embodiment of the present disclosure is described in detail. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment, so the parts not described in detail can refer to the previous method embodiment.

[0113] Figure 8 The figure is a schematic diagram of the structure of a device for judging a fixed-point parking project on a ramp provided by an embodiment of the present disclosure. Figure 8 As shown, the slope fixed-point parking item evaluation device 800 of the embodiment of the present disclosure includes: a first determination module 810, a second determination module 820, a third determination module 830, and a fourth determination module 840.

[0114] Specifically, the first determination module 810 is configured to determine the slope information of the slope where the target vehicle is located, and the target vehicle includes a positioning point and a positioning device.

[0115] The second determination module 820 is configured to determine the projection coordinates corresponding to the projection point of the positioning point on the ramp based on the slope information.

[0116] The third determination module 830 is configured to determine the first coordinate of the projection point in the base station coordinate system based on the projection coordinates and the coordinates of the positioning device in the base station coordinate system, and the base station coordinate system is determined based on the positioning base station in the training ground where the target vehicle is located.

[0117] The fourth determination module 840 is configured to determine the distance between the positioning point and the marking line in the ramp based on the first coordinate, so as to determine the training status of the target vehicle in the ramp fixed-point parking project based on the distance.

[0118] Below, reference Fig. 9 An electronic device according to an embodiment of the present disclosure is described. Fig. 9 FIG. 1 is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure. Fig. 9 As shown, electronic device 900 includes one or more processors 910 and memory 920 .

[0119] The processor 910 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 900 to perform desired functions.

[0120] The memory 920 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 910 may execute the program instructions to implement the ramp fixed-point parking project evaluation method of each embodiment of the present disclosure described above and / or other desired functions.

[0121] In some embodiments, the electronic device 900 may further include: an input device 930 and an output device 940 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0122] The input device 930 may include, for example, a touch screen, a microphone, a keyboard, a mouse, and the like.

[0123] The output device 940 can display the training status of the target vehicle in the ramp fixed-point parking project, etc. The output device 940 can include, for example, a display, a speaker, and a communication network and a remote output device connected thereto.

[0124] Of course, to simplify, Fig. 9 Only some of the components related to the present disclosure in the electronic device 900 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 900 may also include any other appropriate components.

[0125] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the ramp fixed-point parking project evaluation method according to various embodiments of the present disclosure described above in this specification.

[0126] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0127] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the processor executes the steps of the method for evaluating ramp fixed-point parking items according to various embodiments of the present disclosure described above in this specification.

[0128] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0129] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0130] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0131] It should also be noted that in the system, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0132] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0133] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for evaluating a ramp fixed-point parking project, characterized in that: include: Determining the slope information of the ramp where the target vehicle is located, the target vehicle comprising a positioning point and a positioning device; Based on the slope information, determining the projection coordinates corresponding to the projection point of the positioning point on the ramp; Based on the projection coordinates and the coordinates of the positioning device in the base station coordinate system, determine the first coordinates of the projection point in the base station coordinate system, wherein the base station coordinate system is determined based on the positioning base station in the training field where the target vehicle is located; Based on the first coordinates, the distance between the positioning point and the marking line in the ramp is determined, so as to determine the training situation of the target vehicle in the ramp fixed-point parking project based on the distance.

2. The method according to claim 1, characterized in that The determining, based on the slope information, the projection coordinates corresponding to the projection point of the positioning point on the ramp includes: Determine height information of the positioning device, wherein the height information represents the height of the positioning device from the ramp; The projection coordinates are determined based on the height information of the positioning device and the slope information.

3. The method according to claim 2, characterized in that The projection coordinates include a first coordinate value and a second coordinate value, wherein the first coordinate value represents the position of the projection point in the length direction of the ramp, and the second coordinate value represents the position of the projection point in the width direction of the ramp. The determining the projection coordinates based on the height information of the positioning device and the slope information includes: Determine a second coordinate of the positioning point, the second coordinate includes a third coordinate value and a fourth coordinate value, the third coordinate value represents the position of the positioning point in the length direction of the ramp, and the fourth coordinate value represents the position of the positioning point in the width direction of the ramp; Calculating the first coordinate value based on the third coordinate value, the height information, and the slope information; The fourth coordinate value in the second coordinate is used as the second coordinate value.

4. The method according to claim 1, characterized in that: The determining, based on the projection coordinates and the coordinates of the positioning device in the base station coordinate system, the first coordinates of the projection point in the base station coordinate system comprises: Determining the reference coordinates of the positioning device in the base station coordinate system; The first coordinate is determined based on the reference coordinate, the projection coordinate, and the slope information.

5. The method according to claim 1, characterized in that The marking line in the ramp includes the edge line of the ramp, the positioning point includes a first positioning point, and the first positioning point is located at the side of the body of the target vehicle. The step of determining the distance between the positioning point and the marking line in the ramp based on the first coordinate comprises: Determine the coordinates of the first endpoint and the second endpoint of the edge line in the base station coordinate system; Determine a sideline equation corresponding to the sideline based on coordinates of the first endpoint and the second endpoint in a base station coordinate system; Based on the first coordinates corresponding to the first positioning point and the edge line equation, a first distance between the first positioning point and the edge line is calculated.

6. The method according to claim 1, characterized in that The marking line includes a control line, the control line is perpendicular to the sideline of the ramp, the positioning point includes a second positioning point, the second positioning point is located at the front bumper position of the target vehicle, and the training situation includes a training score; The step of determining the distance between the positioning point and the marking line in the ramp based on the first coordinate comprises: Determine a second distance between the second positioning point and the control line based on the first coordinate corresponding to the second positioning point; The step of determining the training status of the target vehicle in the ramp fixed-point parking project based on the distance includes: When the second distance is greater than a first threshold and less than a second threshold, a first score is deducted from the training score, wherein the first threshold and the second threshold are determined based on an examination standard for a slope fixed-point parking project; When the second distance is greater than a second threshold, the training condition is determined to be unqualified.

7. The method according to claim 1, characterized in that The marking line includes a sensing line, a control line and an out-of-bounds line, and the sensing line, the control line and the out-of-bounds line are arranged in sequence in a direction in which the height of the ramp increases. The positioning point includes a second positioning point and a third positioning point, the second positioning point is located at the front bumper position of the target vehicle, and the third positioning point is located at the front wheel position of the target vehicle. The training situation includes a training score. The step of determining the distance between the positioning point and the marking line in the ramp based on the first coordinate comprises: Determine a third distance between the second positioning point and the out-of-bounds line based on the first coordinate corresponding to the second positioning point; Determine a fourth distance between the third positioning point and the sensing line based on the first coordinate corresponding to the third positioning point; The step of determining the training status of the target vehicle in the ramp fixed-point parking project based on the distance includes: When the third distance is less than a third threshold, determining that the training condition is unqualified; When the fourth distance is greater than a fourth threshold, a second score is deducted from the training score.

8. A device for judging a parking project at a fixed point on a slope, characterized in that: include: A first determination module is configured to determine the slope information of the ramp where the target vehicle is located, wherein the target vehicle includes a positioning point and a positioning device; A second determination module is configured to determine, based on the slope information, a projection coordinate corresponding to a projection point of the positioning point on the ramp; A third determination module is configured to determine a first coordinate of the projection point in a base station coordinate system based on the projection coordinates and the coordinates of the positioning device in a base station coordinate system, wherein the base station coordinate system is determined based on a positioning base station in a training field where the target vehicle is located; The fourth determination module is configured to determine the distance between the positioning point and the marking line in the ramp based on the first coordinate, so as to determine the training situation of the target vehicle in the ramp fixed-point parking project based on the distance.

9. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; Wherein, the processor is configured to execute the ramp fixed-point parking project evaluation method according to any one of claims 1 to 7 by executing the executable instructions.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for evaluating a ramp fixed-point parking project according to any one of claims 1 to 7 is implemented.

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