Ramp Fixed-Point Parking Project Judging Method and Device, Electronic Device, and Storage Medium

Abstract

The present disclosure provides a method and apparatus for judging a ramp fixed-point parking project, an electronic device, and a storage medium, relating to the technical field of motor vehicle driving training. The method includes: determining slope information of a ramp where a target vehicle is located, the target vehicle including a positioning point and a positioning device; determining a projection coordinate corresponding to a projection point of the positioning point on the ramp based on the slope information; determining a first coordinate of the projection point in a base station coordinate system based on the projection coordinate and the 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 ground where the target vehicle is located; determining a distance between the positioning point and a 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, thereby improving the judging accuracy in the training of the ramp fixed-point parking and start project.

Description

Technical Field

[0001] The present disclosure relates to the technical field of motor vehicle driving training, and particularly to a method and device for judging a ramp 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. However, due to the limited number of coaches and high training costs, many students are difficult to obtain sufficient practical opportunities, thus affecting the learning efficiency. Therefore, with the development of information technology, intelligent driving training systems have emerged as the times require.

[0003] In related technologies, an intelligent driving training system usually determines the position of a training vehicle based on a positioning device mounted on the vehicle body. During the training process of the ramp fixed-point parking and starting project, since the training vehicle will pitch forward and backward when going uphill, resulting in inaccurate vehicle positioning, misjudgment may occur in the judgment of the training process. Summary of the Invention

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

[0005] In a first aspect, a method for judging a ramp fixed-point parking project is provided, including: determining slope information of a ramp where a target vehicle is located, the target vehicle including 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 coordinate, determining a distance between the positioning point and a marking line in the ramp, so as to determine the 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 some implementation manners of the first aspect, determining projection coordinates corresponding to a projection point of the positioning point on the ramp based on the slope information includes: determining 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 some 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 ramp length direction, and the second coordinate value represents the position of the projection point in the ramp width direction. Determining the projection coordinates based on the height information and slope information of the positioning device includes: determining the second coordinates of the positioning point, where the second coordinates include a third coordinate value and a fourth coordinate value. The third coordinate value represents the position of the positioning point in the ramp length direction, and the fourth coordinate value represents the position of the positioning point in the ramp width direction; calculating the first coordinate value based on the third coordinate value, height information, and slope information; and using the fourth coordinate value in the second coordinates as the second coordinate value.

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

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

[0010] In combination with the first aspect, in some implementations of the first aspect, the markings include a control line perpendicular to the side line of the ramp. The positioning point includes a second positioning point located at the front bumper position of the target vehicle, and the training situation includes a training score. Determining the distance between the positioning point and the markings in the ramp based on the first coordinate includes: determining the second distance between the second positioning point and the control line based on the first coordinate corresponding to the second positioning point. Determining the training situation of the target vehicle in the ramp fixed-point parking project based on the distance includes: deducting a first score from the training score when the second distance is greater than a first threshold and less than a second threshold, where the first threshold and the second threshold are determined based on the examination criteria of the ramp fixed-point parking project; and determining that the training situation is unqualified when the second distance is greater than the second threshold.

[0011] In combination with the first aspect, in some implementations of the first aspect, the marking line includes an induction line, a control line, and a demarcation line. Along the direction of the increasing height of the ramp, the induction line, the control line, and the demarcation line are arranged at intervals in sequence. The positioning points include a second positioning point and a third positioning point. The second positioning point is located at the position of the front bumper of the target vehicle, and the third positioning point is located at the position of the front wheel of the target vehicle. The training situation includes a training score. Based on the first coordinate, determining the distance between the positioning point and the marking line in the ramp includes: determining a third distance between the second positioning point and the demarcation line based on the first coordinate corresponding to the second positioning point; determining a fourth distance between the third positioning point and the induction line based on the first coordinate corresponding to the third positioning point. Based on the distance, determining the training situation of the target vehicle in the ramp fixed-point parking project includes: when the third distance is less than a third threshold, determining that the training situation is unqualified; when the fourth distance is greater than a fourth threshold, deducting a second score from the training score.

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

[0013] In a third aspect, there is provided an electronic device, including: 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 judging method provided in the first aspect above via executing the executable instructions.

[0014] In a fourth aspect, there is provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the ramp fixed-point parking project judging method provided in the first aspect above.

[0015] The method provided by the present disclosure corrects the offset error caused by the change of the vehicle attitude when the target vehicle is located on the ramp by determining the projection points of the positioning points of the target vehicle on the slope and determining the coordinates of the projection points in the base station coordinate system. Thereby, the distance between the projection points and the marking lines in the ramp can be accurately calculated, so that accurate evaluation can be given to the trainees, and further the accuracy of the teaching process and the learning efficiency of the trainees can be improved. Description of the Drawings

[0016] Figure 1 The figure shows a schematic diagram of an application scenario of a ramp fixed-point parking project evaluation method provided by an exemplary embodiment of the present disclosure.

[0017] Figure 2 The figure shows a schematic flowchart of a ramp fixed-point parking project evaluation method provided by an embodiment of the present disclosure.

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

[0019] Figure 4 The figure shows a schematic flowchart of steps for determining projection coordinates corresponding to a projection point of a positioning point on a ramp based on slope information provided by an embodiment of the present disclosure.

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

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

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

[0023] Figure 8 The figure shows a schematic structural diagram of a ramp fixed-point parking project evaluation device provided by an embodiment of the present disclosure.

[0024] Figure 9 The figure shows a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. Detailed implementation manners

[0025] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0026] The ramp fixed-point parking and start-up project in driving tests is an important driving skill assessment, and its main purpose is to test the ability of trainees to correctly park and safely start on an uphill section. This project requires trainees to accurately stop the vehicle at a specific position according to the road surface markings on a designated ramp section and be able to smoothly start without sliding backward after stopping.

[0027] The specific evaluation criteria for this project include: If the vehicle straddles the center solid line or the edge solid line of the lane during driving, 100 points will be deducted; after the vehicle stops, if the distance between the vehicle body and the roadside edge line exceeds 50 cm, it is unqualified. If it exceeds 30 cm but does not exceed 50 cm, 10 points will be deducted; after the vehicle stops, if the front bumper of the vehicle is not positioned on the control line and exceeds 50 cm in the front and back, it is unqualified. If it does not exceed 50 cm in the front and back, 10 points will be deducted, and so on. It can be seen that during the training process of this project, mastering the distance between the vehicle body and the roadside edge line, control line and other marking lines is a necessary condition for accurately evaluating the training situation.

[0028] In related technologies, the position of the vehicle is usually determined by using a Real-time Kinematic (RTK) positioning device mounted on the vehicle body. 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, resulting in the RTK positioning device also tilting. At this time, the relative position between the vehicle and the marking line determined based on the RTK positioning device will have inaccurate problems.

[0029] In the face of the above technical problems, the present disclosure provides a method for evaluating the ramp fixed-point parking project to accurately determine the relative position relationship between the vehicle and the marking line in the ramp, improve the evaluation accuracy of the ramp fixed-point parking and start project, and thus improve the learning efficiency of the trainees.

[0030] Figure 1 The following shows a schematic diagram of the application scenario of the method for evaluating the ramp fixed-point parking project provided by an exemplary embodiment of the present disclosure. As Figure 1 shown, the present implementation environment includes a target vehicle 110 and a ramp 120 for practicing the ramp fixed-point parking and start 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 evaluate the completion situation of the training. It can be understood 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 performing 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 is determined by simple measurement. Exemplarily, relevant tools for measuring the slope (such as a slope meter, an inclinometer, etc.) can be directly used, or the vertical distance and horizontal distance of the slope surface of the ramp in the vertical and horizontal directions can be measured to calculate the slope information of the ramp.

[0041] The target vehicle includes a positioning point and a positioning device. The positioning point of the target vehicle is a point marked in advance on the body of the target vehicle. Exemplarily, Figure 3 The following is a schematic diagram of the positioning points included in the target vehicle provided by an embodiment of the present disclosure. As Figure 3 shown, the number of positioning points can be multiple, and the multiple positioning points jointly outline the outer contour of the body of the target vehicle. Through the above-mentioned multiple positioning points, the overall position of the body can be determined. Alternatively, key positions that need to be concerned in the target vehicle can also be marked, such as the position of the front bumper of the vehicle mentioned above ( Figure 3 the position of point 0 in).

[0042] The positioning device of the target vehicle can determine its own 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 observations. It receives satellite signals through a fixed-position positioning base station and compares the data with that of the rover (i.e., the RTK positioning device) to eliminate the influence of common error sources, thereby achieving centimeter-level or even higher positioning accuracy, and having the advantages of high positioning accuracy and simple operation. Usually, the positioning device is arranged on the top of the target vehicle.

[0043] S220. Based on the slope information, determine the projection coordinates corresponding to the projection points of the positioning points on the ramp.

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

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

[0046] When the target vehicle is completely located on the slope, the positioning device tilts due to the change in the body position. However, during the positioning process of 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, there will be an offset error in the coordinates of the positioning point determined based on this method. The magnitude of the offset error is related to 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 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 based on the positioning device.

[0048] S230, 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.

[0049] In the driving school scenario, based on the characteristics of many static markers (such as Figure 1 the markings and marking points in the shown scenario) and simple road conditions in this scenario, a static map corresponding to the driving school is usually pre-drawn. This static map is drawn centered on the positioning base station in the driving school, which marks training areas such as training bays, training ramps, and training curves, as well as special points such as markings and marking points in the training areas. In addition, this static map also marks non-traversable areas such as trees and houses. When the target vehicle needs the scenario information of the driving school, only need to obtain this 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 ground where the target vehicle is located. Specifically, in this static map, a base station coordinate system is established centered on the positioning base station, and the coordinates of each element (for example, the marking point) in the base station coordinate system are determined based on the distance and direction between the element and the positioning base station in the static map.

[0051] Based on the above method, the positions of each marking 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, the projection coordinates need to be converted into the 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 positional 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 coordinates, can be determined.

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

[0053] In the base station coordinate system, based on the first coordinate, the distance between the positioning point and the marking line in the ramp can be calculated. 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. This training situation may include whether there are any violations during the training process of the target vehicle, the training score calculated based on the scoring criteria, etc.

[0054] In the embodiments of the present disclosure, by determining the projection point of the positioning point of the target vehicle on the slope surface and determining the coordinates of the projection point in the base station coordinate system, the offset error caused by the change in the vehicle attitude when the target vehicle is located on the ramp is corrected. In this way, the distance between the projection point and the marking line in the ramp can be accurately calculated, so as to be able to give accurate evaluation to the trainees, and further improve the accuracy of the teaching process and the learning efficiency of the trainees.

[0055] The following further introduces the specific implementation manners of each step in the above embodiments.

[0056] Figure 4 The following shows a schematic flowchart of the steps for 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. As Figure 4 shown, the steps for determining the projection coordinates corresponding to the projection point of the positioning point on the ramp based on the slope information provided in the embodiments of the present disclosure include the following steps.

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

[0058] The height information represents the height of the positioning device from the slope surface. Since the positioning device is usually fixedly arranged on the vehicle body. Therefore, this height is the same as the height of the positioning device from the ground plane when the target vehicle is on the ground plane. It can be determined by pre-measurement.

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

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

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

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

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

[0064] In the embodiments of the present disclosure, the offset error caused by the change in the vehicle attitude 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, improving the positioning accuracy.

[0065] Figure 5 The following is a schematic flowchart of the steps for determining the projection coordinates based on the height information and slope information of the positioning device provided by an embodiment of the present disclosure. As Figure 5 shown, the steps for determining the projection coordinates based on the height information and slope information of the positioning device provided in the embodiments of the present disclosure include the following steps.

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

[0067] The second coordinates of the positioning point are determined based on the positioning device of the target vehicle. As described above, there is an offset error in the second coordinates. The second coordinates include a third coordinate value and a fourth coordinate value. The third coordinate value represents the position of the positioning point in the ramp length direction, and the fourth coordinate value represents the position of the positioning point in the ramp width direction. Exemplarily, the second coordinates are denoted as (x0, y0), where 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, height information, and slope information.

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

[0070] During the process of the target vehicle fully driving onto the ramp from the ground plane, the attitude of the target vehicle changes. Therefore, during the process of the target vehicle driving onto the ramp, in the ramp length direction, 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 fixed after the target vehicle fully drives onto 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 attitude can be corrected based on the offset, that is, the third coordinate value in the second coordinates of the positioning point can be corrected based on the offset. Its specific calculation method can be expressed by the following formula.

[0071] x0’ = cos(α)·x0 - h·sin(α);

[0072] Where 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] During the process of the target vehicle driving onto the ramp, in the width direction of the ramp, the actual position of the positioning point is consistent with the coordinate position determined based on 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 embodiments of the present disclosure, a method for determining the projection coordinate based on the height information and slope information of the positioning device is given, which corrects the offset error caused by the forward and backward 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 The following shows a schematic flowchart of the steps for determining the first coordinate of the projection point in the base station coordinate system based on the projection coordinate and the coordinate of the positioning device in the base station coordinate system provided by an embodiment of the present disclosure. As Figure 6 shown, the steps for determining the first coordinate of the projection point in the base station coordinate system based on the projection coordinate and the coordinate of the positioning device in the base station coordinate system provided by the embodiments of the present disclosure include the following steps.

[0077] S231, determine the reference coordinate 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 ground where the target vehicle is located. Based on the relative position between the positioning device and the positioning base station, the reference coordinate of the positioning device in the base station coordinate system can be obtained, denoted as (x, y).

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

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

[0081] As described above, the relative positional 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 by the following formula.

[0082] x0” = x + x0’·cos(α) - y0’·sin(α);

[0083] y0” = y + x0’·sin(α) + y0’·cos(α);

[0084] Where α represents the angle of the ramp, and this angle 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 through simple calculations. It can be found from the above embodiments that the method in the present disclosure can be implemented based on one positioning device, so the implementation cost is relatively low.

[0086] Observing the expression form of the first coordinates, it can be found that in the embodiments of the present disclosure, the distance between the positioning point and the positioning base station in the vertical direction is not concerned. Therefore, the first coordinates can also be regarded as the coordinates of the positioning point in the base station coordinate system. After determining the first coordinates, the distance between the positioning point and the marking line in the ramp can be further calculated. Continuing to refer to Figure 1 , the marking lines in the ramp include the edge lines of the ramp. The following introduces the specific implementation method for calculating the distance between the positioning point and the edge line of the ramp.

[0087] Figure 7 As shown in the flowchart of the steps for determining the distance between the positioning point and the marking line in the ramp based on the first coordinates provided by an embodiment of the present disclosure. As Figure 7 shown, the steps for determining the distance between the positioning point and the marking line in the ramp based on the first coordinates provided by the embodiments of the present disclosure include 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 road edge line 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] Continuing to refer to Figure 1, the first endpoint and the second endpoint of the sideline are point 8 and point 9 respectively. Exemplarily, point 8 can be used as the first endpoint and point 9 as the second endpoint; alternatively, point 9 can be used as the first endpoint and point 8 as the second endpoint. Or, any two points on edge 89 can be used as the first endpoint and the second endpoint. For example, point 7 and point 3 are used as the first endpoint and the second endpoint of the sideline, and the present disclosure does not make specific limitations on this.

[0091] As described above, special points such as the markings and marking points marked in the static map of the driving school, and the coordinates of the special points in the base station coordinate system. Therefore, the coordinates of the first endpoint and the second endpoint of the sideline in the base station coordinate system can be determined directly through the static map.

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

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

[0094] S243, based on the first coordinate corresponding to the first positioning point and the sideline equation, calculate the first distance between the first positioning point and the sideline.

[0095] The positioning points of the target vehicle include the first positioning point, and the first positioning point is located on the side position of the body of the target vehicle. Continuing to refer to Figure 3 , taking the right side of the vehicle body as an example, the first positioning point can 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 embodiments, or the position coordinate of the projection point of the first positioning point projected vertically onto the slope surface.

[0096] Then, based on the point-to-line distance formula, the distance between the first positioning point and the sideline can be calculated, that is, the first distance. Based on this first distance, the training situation of the target vehicle can be judged. Exemplarily, if the first distance is greater than 50 cm, it is determined that this training is 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 obtained distance between the first positioning point and the sideline is also more accurate. Therefore, this distance can more accurately reflect the training situation of the trainee, enabling the trainee and the coach to master the real level of the trainee, and then conduct targeted practice on the skills not mastered, improving the learning efficiency.

[0098] In some other embodiments, the marking line further includes a control line (i.e., 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 1At the position of edge 23 in (), both the induction line and the exit line are perpendicular to the edge line of the ramp, and along the direction of the increasing height of the ramp, the induction line, the control line, and the exit line are arranged at intervals in sequence. In addition to the second positioning point introduced in the above embodiments, the positioning points of the target vehicle further include a third positioning point, and the third positioning point is located at the front wheel position of the target vehicle (i.e., Figure 3 At the position of point 30 in, etc.).

[0106] In this embodiment, based on the first coordinate, the steps of determining the distance between the positioning point and the marking line in the ramp further include: determining a third distance between the second positioning point and the exit line based on the first coordinate corresponding to the second positioning point; determining a fourth distance between the third positioning point and the induction line based on the first coordinate corresponding to the third positioning point.

[0107] The determination methods of the third distance and the fourth distance are similar to those in the above embodiments and will not be elaborated here.

[0108] In the examination standard of the ramp fixed-point parking project, when the target vehicle parks on the ramp, the front wheel of the target vehicle needs to press on the induction line, and if it does not press on the induction line, 20 points will be deducted. And when the front bumper of the target vehicle exceeds the control line position and reaches the exit line position, it is unqualified.

[0109] Based on the above rules, in this embodiment, the steps of determining the training situation of the target vehicle in the ramp fixed-point parking project based on the distance include: determining that the training situation is unqualified when the third distance is less than the third threshold; deducting a second score from the training score when the fourth distance is greater than the fourth threshold. Wherein, 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 indicates that the front bumper of the target vehicle is too close to the exit line position. At this time, it is determined that the training situation is unqualified, and the trainee should practice again after learning the corresponding parking skills. When the fourth distance is greater than the fourth threshold, it indicates that the front wheel position of the target vehicle is incorrect and needs to be adjusted accordingly. At this time, a 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, by combining the distances between the positioning points and the induction line and the exit line with the examination standard of the ramp fixed-point parking project, the training situation of the trainee is judged intelligently, improving the learning efficiency of the trainee.

[0112] As described above in combination with Figures 1 to 7 The method embodiments of the present disclosure have been described in detail above. Next, the apparatus embodiments of the present disclosure will be described in detail in combination with Figure 8 It should be understood that the description of the method embodiments corresponds to the description of the apparatus embodiments. Therefore, the parts not described in detail can be referred to the previous method embodiments.

[0113] Figure 8 The following is a schematic structural diagram of a ramp fixed-point parking project evaluation device provided by an embodiment of the present disclosure. As Figure 8 shown, the ramp fixed-point parking project evaluation device 800 according to 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 ramp 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 situation of the target vehicle in the ramp fixed-point parking project based on the distance.

[0118] Next, reference is made to Figure 9 to describe the electronic device according to the embodiment of the present disclosure. Figure 9 The following is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. As Figure 9 shown, the electronic device 900 includes one or more processors 910 and a memory 920.

[0119] The processor 910 may be a central processing unit (CPU) or other forms of processing units with 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, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage media, and the processor 910 may run the program instructions to implement the ramp fixed-point parking item 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 through 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, etc.

[0123] The output device 940 may output the training situation of the target vehicle in the ramp fixed-point parking item, etc. The output device 940 may include, for example, a display, a speaker, and a communication network and its connected remote output devices, etc.

[0124] Of course, for simplicity, Figure 9 only some of the components related to the present disclosure in the electronic device 900 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 900 may further include any other appropriate components.

[0125] In addition to the above methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions that, when run by a processor, cause the processor to execute the steps in the ramp fixed-point parking item 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 embodiments of the present disclosure. The programming languages include object-oriented programming languages, such as Java, C++, etc., and also include conventional procedural programming languages, such as the "C" language or similar programming languages. The program code may be executed completely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or executed completely on a remote computing device or server.

[0127] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium storing computer program instructions, which, when run by a processor, cause the processor to execute the steps in the ramp fixed-point parking item evaluation method according to various embodiments of the present disclosure described above in this specification.

[0128] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium 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 have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present disclosure. In addition, the above-described specific details are only for illustrative and easy-to-understand purposes and are not limitations. The above details do not limit the present disclosure to necessarily adopt the above specific details for implementation.

[0130] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present disclosure are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended words, meaning "including but not limited to", and can be used interchangeably with each other. The words "or" and "and" used herein refer to the word "and / or" and can be used interchangeably with each other, 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 with each other.

[0131] It should also be noted that in the systems, equipment, and methods of the present disclosure, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present disclosure.

[0132] The foregoing 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. Thus, the present disclosure is not intended to be limited to the aspects shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0133] The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present disclosure to the form disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some of their variations, modifications, alterations, additions, and subcombinations.

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 including 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 coordinate, determining 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; The step of determining, based on the slope information, a projection coordinate corresponding to a 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, wherein 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, 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.

2. 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.

3. 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.

4. 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.

5. 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.

6. A device for judging a fixed-point parking project 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; a fourth determination module configured to determine, based on the first coordinates, a distance between the positioning point and a marking line in the ramp, so as to determine, based on the distance, a training condition of the target vehicle in the ramp fixed-point parking project; The step of determining, based on the slope information, a projection coordinate corresponding to a 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, wherein 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, 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.

7. 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 5 by executing the executable instructions.

8. 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 5 is implemented.

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