Teaching method and device applied to subject 2, electronic equipment and storage medium

Abstract

The invention provides a teaching method and device applied to a subject II, electronic equipment and a storage medium, and relates to the technical field of motor vehicle driving training. The method comprises the steps of obtaining map information of a driving training scene where a target vehicle is located; under the condition that the target vehicle travels to the identification area, determining a positioning point in a target training area corresponding to the identification area; generating a teaching path corresponding to the training subject based on the positioning point and the vehicle information corresponding to the target vehicle; and the teaching path is converted into the teaching operation information corresponding to the target vehicle, so that the teaching operation of the training subject is performed based on the teaching operation information, the intelligent teaching level of the examination item of the subject II is improved, and the calculation amount of the method is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of motor vehicle driving training, and in particular to a teaching method and device, electronic equipment and storage medium applied to subject two. 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 motor vehicle driving test, the subject two test items (such as reversing into a garage, curve driving, etc.) have always been the focus and difficulty of the driving test. Therefore, there is an urgent need for a teaching method for the subject two test that is applied to intelligent driving training. Summary of the invention

[0004] In view of this, the present disclosure provides a teaching method and device, an electronic device and a storage medium applied to Subject 2, so as to improve the efficiency of intelligent teaching of Subject 2 test item training.

[0005] In a first aspect, a teaching method applied to subject two is provided, comprising: obtaining map information of a driving training scene where a target vehicle is located, the map information including location information of an identification area, the identification area corresponding to a training subject of the driving training; when the target vehicle drives into the identification area, determining a positioning point in a target training area corresponding to the identification area, the positioning point including an end point of a training storage location and / or a training lane in the target training area; generating a teaching path corresponding to the training subject based on the positioning point and vehicle information corresponding to the target vehicle; and converting the teaching path into teaching operation information corresponding to the target vehicle, so as to perform teaching operations of the training subject based on the teaching operation information.

[0006] In combination with the first aspect, in certain implementation methods of the first aspect, the teaching operation information includes multiple control instructions, and the teaching path is converted into teaching operation information corresponding to the target vehicle, including: determining a point in the teaching path as a teaching starting point, the teaching starting point represents the point in the teaching path that is closest to the target vehicle; taking the teaching starting point as the starting point, determining multiple path points on the teaching path; based on the teaching path, respectively determining the control instructions corresponding to each of the multiple path points.

[0007] In combination with the first aspect, in certain implementations of the first aspect, the control instructions include speed adjustment instructions and / or direction adjustment instructions for the target vehicle, and based on the teaching path, the control instructions corresponding to each of the multiple path points are determined respectively, including: for each path point, based on the path points adjacent to the current path point or the position information of the target vehicle, determining the angle information and / or speed information corresponding to the current path point; based on the angle information, determining the direction adjustment instruction corresponding to the current path point, the direction adjustment instruction including the adjustment angle of the steering wheel of the target vehicle; and / or based on the speed information, determining the speed adjustment instruction corresponding to the current path point, the speed adjustment instruction including the control instruction of the throttle and / or brake position of the target vehicle.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the teaching path includes multiple path points, the teaching operation information includes control instructions corresponding to each of the multiple path points, and the control instructions include speed adjustment instructions and / or direction adjustment instructions for the target vehicle.

[0009] The teaching operation of the training subject is performed based on the teaching operation information, including: based on the position information of the target vehicle, determining the target path point among multiple path points, and the target control instruction corresponding to the target path point; executing the target teaching operation corresponding to the target control instruction, so that the target vehicle generates a corresponding actual driving path based on the target teaching operation; based on the actual driving path and the teaching path, determining the completion of the target teaching operation; when the completion meets the preset conditions, executing the teaching operation corresponding to the next control instruction, wherein the next control instruction represents the control instruction corresponding to the adjacent path point of the target path point.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the training subject includes right-angle turn training, the target training area includes a first section and a second section, the first section and the second section intersect to form a right-angle turn area, the first section includes a first sideline and a second sideline, the length of the first sideline is less than the length of the second sideline, and the vehicle information corresponding to the target vehicle includes the body width and turning radius of the target vehicle. Based on the positioning point and the vehicle information corresponding to the target vehicle, a teaching path corresponding to the training subject is generated, including: based on the length of the first sideline and the body width, a point in the second sideline is determined as a reference point; based on the reference point and the turning radius of the target vehicle, two points in the right-angle turn area are determined as endpoints of the turning path; based on the positioning point, the starting point and the end point of the teaching path are determined; based on the endpoints, the starting point and the end point of the turning path, a teaching path corresponding to the right-angle turn training is generated.

[0011] In combination with the first aspect, in certain implementations of the first aspect, the training subject includes parallel parking training, the vehicle information corresponding to the target vehicle includes the turning radius of the target vehicle, the teaching path corresponding to the parallel parking training includes a first curved path, a first straight path, a second curved path and a second straight path connected in sequence, and based on the positioning point and the vehicle information corresponding to the target vehicle, the teaching path corresponding to the training subject is generated, including: based on the positioning point, determining a first reference point and a second reference point, the first reference point being the starting point of the first curved path, and the second reference point being the end point of the second curved path; taking the first reference point and the second reference point as the starting points of the arc respectively, and taking the turning radius as the radius of the arc, drawing the first arc and the second arc until the tangent of the first arc at the endpoint position is parallel to the tangent of the second arc at the endpoint position, thereby obtaining the first curved path and the second curved path; extending the tangent of the second curved path at the endpoint position to obtain the second straight path; connecting the end point of the first curved path and the starting point of the second curved path to obtain the first straight path; generating the teaching path corresponding to the parallel parking training based on the first curved path, the first straight path, the second curved path and the second straight path.

[0012] In combination with the first aspect, in certain implementations of the first aspect, obtaining map information of a driving training scene where a target vehicle is located includes: obtaining a static map of the driving training scene, the static map including an impassable area and a training area in the driving training scene, the training area including an identification area; converting the static map into a raster map; determining a vehicle map corresponding to the target vehicle based on sensor data of the target vehicle, the vehicle map including obstacles within a surrounding range of the target vehicle; and mapping the vehicle map to a raster map to determine map information of the driving training scene where the target vehicle is located.

[0013] In a second aspect, a teaching device for subject two is provided, including: an acquisition module, configured to acquire map information of a driving training scene where a target vehicle is located, the map information including location information of an identification area, the identification area corresponding to a training subject of the driving training; a determination module, configured to determine a positioning point in a target training area corresponding to the identification area when the target vehicle drives into the identification area, the positioning point including an end point of a training storage location and / or a training lane in the target training area; a generation module, configured to generate a teaching path corresponding to the training subject based on the positioning point and vehicle information corresponding to the target vehicle; a conversion module, configured to convert the teaching path into teaching operation information corresponding to the target vehicle, so as to perform teaching operations of the training subject based on the teaching operation information.

[0014] According to 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 teaching method applied to subject two provided in the first aspect above by executing the executable instructions.

[0015] 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 teaching method applied to Subject 2 provided in the first aspect is implemented.

[0016] The teaching method provided by the disclosed embodiment determines the positioning points in the target training area through the map information of the driving training scene, and then generates the teaching path corresponding to the training subject. Therefore, there is no need to establish a complex grid map, saving implementation costs. In addition, the teaching path is determined by the location of the positioning points and the vehicle information, and is simple to implement using a simple geometric splicing method, and the teaching path complies with the teaching process and the subject two examination specifications. Since the teaching path complies with the teaching process, the teaching path can be converted into teaching operation information, so that students can intuitively learn and master the driving skills of the training subject, thereby improving learning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shown is a schematic diagram of an application scenario of a teaching method applied to subject two provided by an exemplary embodiment of the present disclosure.

[0018] Figure 2 The figure is a flow chart of a teaching method applied to subject 2 provided in one embodiment of the present disclosure.

[0019] Figure 3 Shown is a schematic diagram of a driving training scenario provided by an embodiment of the present disclosure.

[0020] Figure 4 Shown is a schematic diagram of a training area corresponding to right-angle turn training provided by an embodiment of the present disclosure.

[0021] Figure 5 Shown is a schematic diagram of a training area corresponding to the curve driving training provided by an embodiment of the present disclosure.

[0022] Figure 6 The figure is a flow chart of the steps of converting a teaching path into teaching operation information corresponding to a target vehicle provided by an embodiment of the present disclosure.

[0023] Figure 7 The figure is a flowchart of determining the control instruction steps corresponding to each of a plurality of path points based on a teaching path provided by an embodiment of the present disclosure.

[0024] Figure 8The figure is a flowchart of the teaching operation steps for performing training subjects based on teaching operation information provided by an embodiment of the present disclosure.

[0025] Fig. 9 The figure is a flow chart of steps for generating a teaching path corresponding to a training subject based on a positioning point and vehicle information corresponding to a target vehicle provided by an embodiment of the present disclosure.

[0026] Fig.10 The figure is a flowchart of steps for generating a teaching path corresponding to a training subject based on a positioning point and vehicle information corresponding to a target vehicle provided by another embodiment of the present disclosure.

[0027] Fig.11 Shown is a schematic diagram of a training area corresponding to the parallel parking training provided by an embodiment of the present disclosure.

[0028] Fig.12 Shown is a schematic diagram of a training area corresponding to hill start training provided by an embodiment of the present disclosure.

[0029] Fig.13 Shown is a schematic diagram of a training area corresponding to the reversing training provided by an embodiment of the present disclosure.

[0030] Fig.14 The figure is a flow chart of the steps of obtaining map information of a driving training scene where a target vehicle is located, provided in one embodiment of the present disclosure.

[0031] Fig.15 Shown is a schematic diagram of the structure of a teaching device applied to subject two provided by an embodiment of the present disclosure.

[0032] Fig.16 Shown is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] 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.

[0034] In the related technologies, there are few teaching methods specifically for the subject 2 test items. At the same time, the path planning process in autonomous driving technology is relatively complex and not suitable for driving training scenarios. For example, in autonomous driving technology, common path generation methods include global or local planning methods such as hybrid A* algorithm and dynamic window algorithm. This method requires the establishment of a grid map of the driving environment and the generation of a driving path based on the grid map. The establishment of a grid map requires the use of multi-line laser radar, which increases the cost, and some driving schools may not be suitable for establishing a grid map. There are also problems such as large amount of calculation, the generated path is not smooth enough, and the vehicle model is not accurate enough.

[0035] Alternatively, a Dubins curve or RS curve is used to fit the curve path, but the path planned by this method may not conform to the process of intelligent driving training and requires further verification.

[0036] In view of the above technical problems, the present invention provides a teaching method applied to Subject 2 to improve the intelligent teaching level of Subject 2 test items while reducing the calculation amount of the method.

[0037] Figure 1 FIG. 1 is a schematic diagram of an application scenario of a teaching method for subject 2 provided by an exemplary embodiment of the present disclosure. Figure 1 As shown, the implementation environment includes a target vehicle 110 and a training ground 120 for driving training.

[0038] The training ground 120 may include training areas for reverse parking, parallel parking, ramp starting, right-angle turning, curve driving, etc. The training area may be a training location and / or a training lane. In addition, the training ground 120 may also include obstacles such as houses and trees.

[0039] During the driving training process, the target vehicle 110 can practice corresponding training subjects in the training area of ​​the training ground 120. Specifically, the target vehicle 110 includes a computing device, which can be integrated into the target vehicle 110, or can be an independent physical server or a cloud server capable of cloud computing. The computing device can generate a teaching path corresponding to the training subject and generate corresponding teaching operation information based on the method in any embodiment of the present disclosure. After determining the teaching operation information, a corresponding teaching operation can be performed based on the teaching operation information.

[0040] The teaching method for subject 2 provided by the embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0041] The teaching 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 teaching method provided by the present disclosure can also be implemented based on other systems or languages.

[0042] Figure 2 FIG. 1 is a flow chart of a teaching method for subject 2 provided by an embodiment of the present disclosure. Figure 2 As shown, the teaching method applied to subject 2 provided in the embodiment of the present disclosure includes the following steps.

[0043] S210: Obtain map information of a driving training scene where the target vehicle is located.

[0044] Figure 3 FIG. 1 is a schematic diagram of a driving training scenario provided by an embodiment of the present disclosure. Figure 3 As shown, the driving training scenario includes a training area for training for subject two test items, for example, a storage space or lane (indicated by a gray frame) suitable for training for items such as reversing into a garage, parallel parking, starting on a ramp, right-angle turning, and curve driving.

[0045] In each training area, a corresponding identification area (indicated by a dotted line) is marked, and the identification area corresponds to the training subject of the driving training. The identification area is usually located at the entrance of the training area. For example, for the training lane of the curve driving project, its identification area is located at the entrance of the training lane.

[0046] In addition, driving training scenarios also include static obstacles such as houses and trees that are fixed in position and other inaccessible areas (indicated by black frames). In the map, such inaccessible areas are represented as electronic fences.

[0047] After determining the map of the driving training scene, corresponding location information can be generated based on each area marked on the map to obtain map information of the driving training scene. The map information includes location information of the training area and location information of the recognition area in the training area.

[0048] It is understandable that the map of the driving training scene can be drawn by the staff based on the driving school site, or can be obtained based on other methods, and the present disclosure does not impose specific restrictions on this. However, the determined map is static and does not include dynamic obstacles such as animals and pedestrians. After the map information is determined, the map information can be stored in the controller of the target vehicle or other servers, and during the driving training process, the map information can be directly called from the controller of the target vehicle or other servers.

[0049] S220: When the target vehicle drives into the recognition area, determine a positioning point in the target training area corresponding to the recognition area.

[0050] The recognition area corresponds to the training subjects of the driving training. Therefore, when the target vehicle drives to the recognition area, it means that the trainee wants to learn the test items of subject 2, wherein the training subjects that the trainee will take can be determined based on the recognition area. In addition, since there is a corresponding relationship between the recognition area and the training area, the training area that the trainee will use can be determined based on the recognition area as the target training area.

[0051] Next, positioning points and / or lane edges in the target training area may be determined, wherein the positioning points include end points of training lanes or corner points of training storage locations in the target training area.

[0052] Specifically, different training subjects correspond to different training venues. Figure 4 The diagram is a schematic diagram of a training area corresponding to right-angle turn training provided by an embodiment of the present disclosure. Figure 4 As shown, the training area corresponding to the right-angle turn training includes an L-shaped lane, and the positioning points of the training area can be the corner points of the lane, which can specifically include Figure 4 There are six positioning points: point 0, point 1, point 2, point 3, point 4, and point 5.

[0053] Figure 5 FIG. 1 is a schematic diagram of a training area corresponding to the curve driving training provided by an embodiment of the present disclosure. Figure 5 As shown, the training area corresponding to the curve driving training includes an S-shaped curve lane, and the positioning points of the training area can be the starting point A0 and the end point An of the left side line of the curve lane, and the starting point B0 and the end point Bm of the right side line; in addition, the positioning points can also include multiple points spaced apart in the middle of the two side lines.

[0054] Based on the above two examples, it can be seen that the positioning points can outline the general outline of the training storage locations and training lanes in the target training area, and based on the map information, the position coordinates of each positioning point can be determined. In other words, the positioning points can reflect the specific shape and position of the training storage locations and training lanes in the target training area.

[0055] S230, generating a teaching path corresponding to the training subject based on the positioning point and the vehicle information corresponding to the target vehicle.

[0056] The vehicle information corresponding to the target vehicle may include body width, length, turning radius, etc. Therefore, the teaching path corresponding to the training subject may be determined based on the positioning points in the target training area and the vehicle information corresponding to the target vehicle.

[0057] Specifically, the teaching path may include a straight path segment determined based on the vehicle body width, length, etc., combined with the width of the training lane or the size of the training location, and / or a curved path segment determined based on the turning radius of the target vehicle. Figure 4 The L-shaped lane suitable for right-angle turn training is shown. The teaching path for right-angle turn training may include a curved path segment s2 determined based on the turning radius, and straight path segments s1 and s3 determined based on information such as vehicle body width, safe distance between the vehicle and lane edge, and the start and end positions of the lane (which may be determined by the position of the positioning point). The path segments s1, s2, and s3 are connected in sequence to generate the final teaching path.

[0058] Alternatively, the teaching path may be determined by the outline of the training track shown by the positioning points. Figure 5 For the S-shaped lane shown for curve driving training, the teaching path should be in the same extension direction as the lane, and the distance between the left and right lane borders should be roughly the same. In addition, the starting point and the end point of the teaching path can be determined by the starting point and the end point of the left sideline, and the starting point and the end point of the right sideline.

[0059] S240, converting the teaching path into teaching operation information corresponding to the target vehicle, so as to perform teaching operations of the training subject based on the teaching operation information.

[0060] The teaching operation information is used to instruct the trainee or the control module of the target vehicle to adjust the speed and / or driving direction of the target vehicle. Based on the teaching operation of the teaching operation information, the control module of the trainee or the target vehicle can complete the teaching behavior of the corresponding training subject along the teaching path.

[0061] After the teaching operation information is generated, the teaching operation of the training subject can be performed based on the teaching operation information. Exemplarily, the teaching operation can be divided into a demonstration mode and a practice mode. In the demonstration mode, the target vehicle can automatically complete the training subject along the teaching path based on the teaching operation information to demonstrate to the trainee. In the practice mode, the teaching operation information can be displayed to the trainee through the on-board terminal of the target vehicle, etc., so that the trainee can drive the target vehicle to complete the teaching path and realize the trainee's autonomous learning.

[0062] In the disclosed embodiment, the positioning points in the target training area are determined by the map information of the driving training scene, and then the teaching path corresponding to the training subject is generated. Therefore, there is no need to establish a complex grid map, saving implementation costs. In addition, the teaching path is determined by the location of the positioning points and the vehicle information, and a simple geometric splicing method is used to achieve simplicity, and the teaching path complies with the teaching process and the subject two examination specifications. Since the teaching path complies with the teaching process, the teaching path can be converted into teaching operation information, so that students can intuitively learn and master the driving skills of the training subject, improving learning efficiency.

[0063] A teaching method in the related art stores a predetermined driving trajectory in a server or a terminal of a target vehicle, and calls the driving trajectory corresponding to the training ground when the trainee is practicing. This method needs to store the driving trajectories corresponding to all training locations and training lanes in the driving school. For a driving school with a large area and a large number of training locations and training lanes, the required storage volume is large, and compared with the method in the present disclosure, it needs to occupy more resources.

[0064] The following will continue to introduce the specific implementation method of converting the teaching path into the teaching operation information corresponding to the target vehicle.

[0065] Figure 6 FIG. 1 is a flow chart showing steps of converting a teaching path into teaching operation information corresponding to a target vehicle according to an embodiment of the present disclosure. Figure 6 As shown, the steps of converting the teaching path into the teaching operation information corresponding to the target vehicle provided in the embodiment of the present disclosure include the following steps.

[0066] S241, determining a point in the teaching path as the teaching starting point.

[0067] The teaching starting point represents the point in the teaching path that is closest to the target vehicle. Figure 3 ,The recognition area is a larger range. When the target vehicle drives to the recognition area, the target vehicle should be located near the entrance of the target training area.

[0068] At this point, it is necessary to find the point closest to the target vehicle in the teaching path as the teaching starting point. And determine the coordinates of the teaching starting point, recorded as (pose_x, pose_y).

[0069] S242, taking the teaching starting point as the starting point, determining multiple path points on the teaching path.

[0070] The spacing between adjacent waypoints can be the same or different.

[0071] For example, a preset interval can be set, and the teaching path is traversed from the teaching starting point, and a point on the teaching path is collected as a path point at every preset interval, until the distance between the final determined path point and the end point of the teaching path is less than the preset interval. At this time, the intervals between adjacent path points are the same.

[0072] Alternatively, the spacing between adjacent path points can be changed based on the curvature of the teaching path. For path points in a straight path segment, a larger spacing can be set; for path points in a curved path segment, a smaller spacing can be set.

[0073] S243, based on the teaching path, respectively determine the control instructions corresponding to the multiple path points.

[0074] The teaching operation information includes multiple control instructions, and there is a corresponding relationship between the control instructions and the path points. After determining multiple path points, the control instructions corresponding to each of the multiple path points can be determined based on the length, curvature and other information of the teaching path. For example, for a path point in a curved path segment, the steering angle of the target vehicle can be determined by the path points adjacent to it, and the control instruction corresponding to the path point can be determined based on the steering angle to adjust the driving direction of the target vehicle.

[0075] In the disclosed embodiment, by determining the teaching starting point and multiple path points of the teaching path, the teaching path is divided into control instructions corresponding to each path point. In addition, the multiple path points are spaced along the extension direction of the teaching path, that is, in this embodiment, the teaching operation of the training subject is divided into multiple consecutive step-by-step teaching operations, which conforms to the teaching process. This allows students to clearly understand the adjustment and control operations required at each stage of driving during the learning process, thereby improving learning efficiency.

[0076] In addition, the overall process of the dual-state machine model programming teaching method can be used. When executing the teaching task of driving training, based on the process of entering the large state machine of the corresponding subject (such as reversing into a garage, parallel parking, etc.), each large state machine defines multiple small state machines, and the small state machines correspond to the control instructions corresponding to multiple path points.

[0077] Figure 7 The figure is a flowchart of determining the control instruction steps corresponding to each of a plurality of path points based on a teaching path provided by an embodiment of the present disclosure.

[0078] The control instruction includes a speed adjustment instruction and / or a direction adjustment instruction for the target vehicle. The direction adjustment instruction is used to indicate the adjusted driving direction of the target vehicle; for example, the direction adjustment instruction may include the direction and number of turns of the steering wheel. The speed adjustment instruction is used to indicate the adjusted driving speed of the target vehicle; for example, the speed adjustment instruction may include pressing or lifting the accelerator or brake pedal.

[0079] Specifically, for a straight path segment in the teaching path, it is not necessary to change the driving direction of the target vehicle when traveling along the straight path segment, and it is only necessary to control the speed of the target vehicle, so the straight path segment can be converted into at least one speed adjustment instruction. For a curved path segment in the teaching path, it is necessary to change the driving direction of the target vehicle when traveling along the curved path segment, so the curved path segment can be converted into at least one direction adjustment instruction; in addition, it may also be necessary to control the speed of the target vehicle when traveling along the curved path segment, so the curved path segment can be converted into at least one direction adjustment instruction and at least one speed adjustment instruction.

[0080] like Figure 7 As shown, the steps of respectively determining the speed adjustment instructions and / or direction adjustment instructions corresponding to a plurality of path points based on the teaching path provided in the embodiment of the present disclosure include the following steps.

[0081] S2431, for each path point, based on the position information of the path points adjacent to the current path point or the target vehicle, determine the turning angle information and / or speed information corresponding to the current path point.

[0082] As described above, the turning angle information can be determined based on the positional relationship between adjacent path points. For the teaching starting point, its adjacent path points can be understood as the current position of the target vehicle, which can be specifically determined based on the position information of the target vehicle.

[0083] Exemplarily, the following steps may be specifically included.

[0084] The coordinates of the current path point are represented as (target_x, target_y), and the vector vector_vehicle is defined as

[0085] {cos(pose_yaw), sin(pose_yaw)}; vector_baselink_2_target = {target_x-pose_x, target_y-pose_y}. Among them, pose_yaw is the yaw angle of the target vehicle, and vector_vehicle can show the current direction of the target vehicle. And vector_baselink_2_target shows the straight line direction and distance between the current path point and the location of the target vehicle.

[0086] Defining variables

[0087] dot=vector_vehicle[0]*vector_baselink_2_target[0]+vector_vehicle[1]*vector_baselink_2_target[1],define variable sec_bottom_angle=M_PI / 2.0-acos(dot). Wherein, vector_vehicle[0] and vector_vehicle[1] are respectively the first element (cos(pose_yaw)) and the second element (sin(pose_yaw)) in vector vector_vehicle, vector_baselink_2_target[0] and vector_baselink_2_target[1] are respectively the first element and the second element in vector vector_baselink_2_target, and M_PI represents π.

[0088] At this time, the turning angle information corresponding to the current path point can be determined through the vehicle's kinematic model, which can be specifically expressed as the following formula.

[0089] bc_radius=dis_baselink_2_target / (2.0*cos(sec_bottom_angle));

[0090] front_angle=atan(wheel_base / bc_radius);

[0091] Among them, bc_radius is an intermediate variable, front_angle represents the front wheel turning angle, and wheel_base represents the wheelbase of the target vehicle, that is, the distance between the front wheel and the rear wheel of the target vehicle. At this time, the front wheel turning angle can be used as the turning angle information corresponding to the current path point.

[0092] Alternatively, the direction of the vehicle can be further determined. Define the variable cross =

[0093] vector_vehicle[0]*vector_baselink_2_target[1]-vector_vehicle[1]*vector_baselink_2_target[0].

[0094] When cross is less than zero, it means that the target vehicle is moving backwards. In this case, the front wheel steering angle needs to be multiplied by -1 and used as the steering angle information corresponding to the current path point.

[0095] Then, the speed information corresponding to each path point can be determined based on the control algorithm. At this time, the test standard of the corresponding training subject in the subject 2 test also needs to be considered. Among them, the control algorithm can be an adaptive cruise control (ACC) algorithm, etc., and the present disclosure does not make specific restrictions on this.

[0096] Based on the above steps, the turning angle information and / or speed information corresponding to each path point is determined respectively.

[0097] S2432, based on the turning angle information, determine the direction adjustment instruction corresponding to the current path point.

[0098] The direction adjustment instruction includes an adjustment angle of a steering wheel of the target vehicle.

[0099] Specifically, the turning angle information represents the heading angle that the target vehicle needs to adjust. There is a linear conversion relationship between the turning angle and the rotation angle of the steering wheel of the target vehicle. Therefore, based on the conversion relationship, the turning angle information can be mapped to the adjustment angle of the steering wheel. It is understandable that for vehicles of different specifications, the conversion relationship may be different. Therefore, the direction adjustment instruction corresponding to the current path point should be determined based on the conversion relationship corresponding to the target vehicle.

[0100] Exemplarily, the direction adjustment instruction may include turning the steering wheel two circles to the right, turning the steering wheel all the way to the left, etc.

[0101] S2433, based on the speed information, determine the speed adjustment instruction corresponding to the current path point.

[0102] The speed adjustment instructions may include control instructions for the throttle and / or brake position of the target vehicle.

[0103] Specifically, after the speed information is determined, it can be determined through the speed information corresponding to the adjacent path points whether the target vehicle needs to accelerate, decelerate, or maintain the current speed.

[0104] For example, the corresponding actions of the throttle or the accelerator, and the brake can be determined based on the control algorithm to generate a speed adjustment instruction corresponding to the path point. The control algorithm can include a PID algorithm, etc., and the present disclosure does not make specific restrictions on this.

[0105] In the disclosed embodiment, the teaching path is split into multiple step-by-step teaching operations corresponding to each path point through simple calculation, which conforms to the teaching process. And when the target vehicle is controlled based on the step-by-step teaching operation, the target vehicle can travel along the teaching path. By breaking down the teaching path into specific actions (such as turning the steering wheel, etc.), the trainee understands how to control the vehicle to travel along the desired trajectory, making the method of this embodiment more suitable for novice trainees who have just started driving training.

[0106] After the control instructions corresponding to the multiple path points are determined, the corresponding teaching operation can be performed based on the control instructions. Specifically, the following steps may be included.

[0107] Figure 8 FIG. 1 is a flow chart of the teaching operation steps for training subjects based on teaching operation information provided by an embodiment of the present disclosure. Figure 8 As shown, the teaching operation steps for performing training subjects based on teaching operation information provided in the embodiment of the present disclosure include the following steps.

[0108] S810, based on the position information of the target vehicle, determining a target path point among multiple path points, and a target control instruction corresponding to the target path point.

[0109] Wherein, multiple path points correspond to respective control instructions, and the control instructions corresponding to each path point include speed adjustment instructions and / or direction adjustment instructions corresponding to the path point. That is, the speed adjustment instructions and direction adjustment instructions corresponding to each path point determined in the above embodiment are integrated to form the control instructions corresponding to the path point.

[0110] Based on the position information of the target vehicle, the current position of the target vehicle can be determined. Based on the current position of the target vehicle, the path point closest to the target vehicle among the multiple path points is used as the target path point.

[0111] For example, when the target vehicle is located at a certain path point, the path point is used as the target path point, and the control instruction corresponding to the target path point is used as the target control instruction. When the position of the target vehicle does not coincide with the position of the path point, the path point closest to the target vehicle should be used as the target path point, and the control instruction corresponding to the target path point should be used as the target control instruction; in this case, the target vehicle should be adjusted to the target path point first, and then the corresponding teaching operation should be performed.

[0112] S820, executing a target teaching operation corresponding to the target control instruction, so that the target vehicle generates a corresponding actual driving path based on the target teaching operation.

[0113] The target teaching operation may be to show the target control instruction to the trainee so that the trainee can control the target vehicle to drive based on the target control instruction. Alternatively, the target teaching operation may also be to automatically control the target vehicle to drive based on the target control instruction. That is, the teaching behavior based on the target teaching operation can make the target vehicle move and generate the corresponding actual driving path.

[0114] S830: Determine the degree of completion of the target teaching operation based on the actual driving path and the teaching path.

[0115] By comparing the actual driving path with the teaching path, the completion of the target teaching operation can be monitored in real time. For example, the degree of overlap between the actual driving path and the teaching path can be used as the completion of the target teaching operation; when the actual driving path overlaps with the teaching path, it is determined that the target teaching operation is fully completed.

[0116] Alternatively, when the trainee controls the target vehicle to drive based on the target control instruction, there may be a deviation between the actual driving path and the teaching path, which may be caused by the trainee's inability to correctly execute the target control instruction. In this case, the completion of the target teaching operation can be determined based on the distance between the end point of the actual driving path and the next path point of the target path point in the teaching path; when the actual driving path represents that the target vehicle drives to the next path point of the target path point in the teaching path (that is, the distance is zero), it is determined that the target teaching operation is completely completed.

[0117] S840, when the degree of completion meets the preset conditions, executing the teaching operation corresponding to the next control instruction.

[0118] The next control instruction represents the control instruction corresponding to the adjacent path point of the target path point. The preset condition may be that the degree of completion represents the complete completion of the target teaching operation, or that the degree of completion is greater than a completion threshold.

[0119] Specifically, when the completion degree meets the preset conditions, the target vehicle should be located at the adjacent path point position of the target path point in the teaching path or the position near the adjacent path point. At this time, the teaching operation corresponding to the adjacent path point is then executed, that is, the teaching operation corresponding to the next control instruction.

[0120] In the disclosed embodiment, the completion degree of the target teaching operation can be determined based on the actual driving path and the teaching path, and the next teaching operation can be automatically executed when the completion degree meets the preset conditions, thereby improving the continuity of the teaching process. At the same time, there is no need to determine the path point closest to the target vehicle multiple times, thereby reducing the amount of calculation.

[0121] Then, the methods of generating teaching paths corresponding to the reversing training, parallel parking training, ramp starting training, right-angle turning training, and curve driving training in Subject 2 are introduced respectively.

[0122] First, the method of generating the teaching path corresponding to the right-angle turn training is introduced.

[0123] Fig. 9 FIG. 1 is a flow chart of steps for generating a teaching path corresponding to a training subject based on a positioning point and vehicle information corresponding to a target vehicle according to an embodiment of the present disclosure. Fig. 9 As shown, the steps of generating a teaching path corresponding to a training subject based on a positioning point and vehicle information corresponding to a target vehicle provided in an embodiment of the present disclosure include the following steps.

[0124] S910: Based on the length of the first sideline and the width of the vehicle body, determine a point on the second sideline as a reference point.

[0125] Continue to refer Figure 4 The target training area includes a first section (composed of edge 01 and edge 45) and a second section (composed of edge 12 and edge 23). The first section and the second section meet to form a right-angle turn area. The first section includes a first sideline (side 01) and a second sideline (side 45). The length of the first sideline is less than the length of the second sideline.

[0126] The vehicle information corresponding to the target vehicle includes the body width of the target vehicle.

[0127] The reference point tem_1_pose is a point on the second edge line, which is used to determine the endpoint of the turning path s2. Therefore, the position (tem_1_pose_x, tem_1_pose_y) of the reference point tem_1_pose can be determined by the following formula.

[0128] lambda_1=(gap_12+distance_01+vehicle_width / 2.0) / distance_54;

[0129] tem_1_pose_x=(1.0-lambda_1)*point_5.x+lambda_1*point_4.x;

[0130] tem_1_pose_y=(1.0-lambda_1)*point_5.y+lambda_1*point_4.y;

[0131] Among them, gap_12 represents the safety distance between path s3 and edge 12, and can be set to 0.2 meters for example; distance_01 represents the length of edge 01; vehicle_width represents the body width of the target vehicle; distance_54 represents the length of edge 45; point_4.x and point_4.y represent the horizontal and vertical coordinates of point 4 respectively; point_5.x and point_5.y represent the horizontal and vertical coordinates of point 5 respectively.

[0132] S920: Based on the reference point and the turning radius of the target vehicle, determine two points in the right-angle turning area as endpoints of the turning path.

[0133] The vehicle information corresponding to the target vehicle also includes the turning radius of the target vehicle. After determining the reference point, two points in the right-angle turning area can be determined as the end points of the turning path based on the reference point and the turning radius of the target vehicle, so that the turning path s2 meets the turning radius of the target vehicle and also meets the safety requirements and the right-angle turning test standards.

[0134] Specifically, the reference point tem_1_pose can be translated to the second road section (i.e., moved to the left) by a first distance, and then translated to the first road section (i.e., moved down) by a second distance to obtain the starting point A of the turning path s2. The first distance and the second distance can be determined based on the vehicle information and the position of the positioning point; specifically, the first distance can be expressed as (gap45+vehicle_width / 2.0) meters, where gap45 represents the safe distance between the path s1 and the edge 45. The second distance can be equal to the length of the turning radius.

[0135] Next, the reference point tem_1_pose is translated (ie, moved left) by a third distance in the direction of the second road section to obtain the end point B of the turning path s2. The third distance may be equal to the length of the turning radius.

[0136] S930: Determine the starting point and the end point of the teaching path based on the positioning point.

[0137] Specifically, the starting point C of the teaching path, that is, the starting point of the s1 path, can be determined based on the positions of point 0 and point 5. For example, the midpoint of the line connecting point 0 and point 5 is used as the starting point of the teaching path; or point 5 is translated to the left by (gap45+vehicle_width / 2.0) meters to obtain the starting point of the teaching path.

[0138] Based on the positions of point 2 and point 3, determine the end point D of the teaching path. For example, the midpoint of the line connecting point 2 and point 3 is used as the end point of the teaching path; or, find a point tem_2_pose in the line connecting point 2 and point 3, so that the line connecting point tem_2_pose and point B is perpendicular to edge 45, and use this point tem_2_pose_x as the end point D of the teaching path. The specific calculation method can be expressed as the following formula.

[0139] lambda_2=(vector_54[0]*(tem_1_pose_x-point_2.x)+vector_54[1]*

[0140] (tem_1_pose_y-point_2.y)) / (vector_54[0]*(point_3.x-point_2.x)+vector_54[1]*(point_3.y-point_2.y));

[0141] tem_2_pose_x=(1.0-lambda_2)*point_2.x+lambda_2*point_3.x;

[0142] tem_2_pose_y=(1.0-lambda_2)*point_2.y+lambda_2*point_3.y;

[0143] yaw_temp_2=yaw_54+M_PI / 2.0;

[0144] Among them, yaw_temp_2 is the orientation angle of tem_2_pose; vector_54 is the vector representation of edge 45, vector_54[0] and vector_54[1] represent the first element and the second element of vector_54 respectively; point_2.x and point_2.y represent the horizontal and vertical coordinates of point 2 respectively; point_3.x and point_3.y represent the horizontal and vertical coordinates of point 3 respectively, and yaw_54 represents the orientation angle of edge 45.

[0145] S940: Generate a teaching path corresponding to right-angle turn training based on the endpoint, starting point, and end point of the turning path.

[0146] Connect the starting point C and the endpoint A of the turning path to obtain a straight path segment s1. Generate a curved path segment s2 based on the endpoint A of the turning path, the endpoint B of the turning path, and the turning radius; the curved path segment s2 is determined based on the turning radius of the target vehicle and conforms to the kinematic model of the vehicle. Connect the endpoint B of the turning path and the end point D of the turning path to obtain a straight path segment s3.

[0147] Next, connect s1, s2, and s3 in sequence to obtain the teaching path corresponding to the right-angle turn training.

[0148] In the disclosed embodiment, a method for determining the teaching path corresponding to right-angle turn training is introduced. The teaching path is determined based on the coordinates of the positioning points combined with a geometric method, which is simple to calculate and does not require the use of a multi-line laser radar to establish a complex grid map, saving implementation costs. In addition, the teaching path complies with the teaching process and the subject two examination specifications.

[0149] Next, the method for generating the teaching path corresponding to the parallel parking training is introduced.

[0150] Fig.10 FIG. 1 is a flow chart of another embodiment of the present disclosure for generating a teaching path corresponding to a training subject based on a positioning point and vehicle information corresponding to a target vehicle. Fig.10As shown, the steps of generating a teaching path corresponding to a training subject based on a positioning point and vehicle information corresponding to a target vehicle provided in an embodiment of the present disclosure include the following steps.

[0151] S1010: Determine a first reference point and a second reference point based on the positioning point.

[0152] Fig.11 FIG. 1 is a schematic diagram of a training area corresponding to the parallel parking training provided by an embodiment of the present disclosure. Fig.11 As shown, the positioning points in the training area corresponding to the parallel parking training include point 0, point 1, point 2, point 3, point 4, point 5, point 6, and point 7.

[0153] The teaching path corresponding to the parallel parking training includes a first curved path s1, a first straight path s2, a second curved path s3 and a second straight path s4 connected in sequence, and the first reference point is the starting point of the first curved path, and the second reference point is the end point of the second curved path.

[0154] The method for determining the first reference point includes determining the midpoint head_c of edge 24 based on point 3 and point 4. Moving point head_c in a direction close to edge 01 (i.e., moving upward) by a fourth distance; then moving in a direction parallel to edge 01 and in a direction close to edge 12 (i.e., moving right) by a fifth distance to obtain the first reference point A. The fourth distance and the fifth distance can be determined according to the vehicle information. For example, the fourth distance can be 2.4 meters, and the fifth distance can be 1.5 meters.

[0155] The second reference point B is determined by moving the point head_c toward the edge 56 (ie, moving it to the left) by a sixth distance. The sixth distance can be determined based on the vehicle information, and by way of example, the sixth distance can be 6.0 meters.

[0156] S1020, using the first reference point and the second reference point as the starting points of the arc respectively and the turning radius as the radius of the arc, draw the first arc and the second arc until the tangent of the first arc at the endpoint position is parallel to the tangent of the second arc at the endpoint position, thereby obtaining the first curve path and the second curve path.

[0157] First, define the end point of s1 as tangency_pose_2 and the starting point of s3 as tangency_pose_1. Take the first reference point A as the starting point and the turning radius as the radius of the arc, and make an arc to tangency_pose_2 to obtain the first arc; take the second reference point B as the starting point and the turning radius as the radius of the arc, and make an arc to tangency_pose_1 to obtain the second arc. Define an angle thete with an initial value of 0.01. Angle thete can be regarded as the center angle of the first arc and the second arc. Then, increase the degree of thete through a loop. At this time, tangency_pose_2 and tangency_pose_1 gradually move away from the first reference point and the second reference point, and the length of the first arc and the second arc gradually increases. Until the tangent of the first arc at the endpoint is parallel to the tangent of the second arc at the endpoint, stop the loop, and the first arc obtained is the first curve path, and the second arc is the second curve path. The endpoints of the first curved path s1 are the first reference point and tangency_pose_2, and the endpoints of the second curved path s3 are tangency_pose_1 and the second reference point.

[0158] The specific calculation method can be expressed as the following formula.

[0159] Define vector csc_t1, tp2_tp1, where

[0160] csc_t1={tangency_pose_1.x-circle_s_center.x,tangency_pose_1.y-circle_s_center.y};

[0161] tp2_tp1={tangency_pose_1.x-tangency_pose_2.x, tangency_pose_1.y-tangency_pose_1.y};

[0162] Find the dot product of these two vectors residual = csc_t1[0]*tp2_tp1[0]+csc_t1[1]*tp2_tp1[1]. When residual is less than 0.01, it means that the line connecting tangency_pose_1 and tangency_pose_2 is the tangent of the two arcs. That is, the tangent of the first arc at the endpoint is parallel to the tangent of the second arc at the endpoint.

[0163] Among them, circle_s_center.x and circle_s_center.y represent the position coordinates of the center of the first arc; tangency_pose_1.x and tangency_pose_1.y represent the position coordinates of point tangency_pose_1; tangency_pose_2.x and tangency_pose_2.y represent the position coordinates of point tangency_pose_2.

[0164] S1030: Extend the tangent line of the second curved path at the end point to obtain a second straight line path.

[0165] The second curved path ends at the second reference point, and the tangent of the second curved path at this position is extended to point C to obtain the second straight path. The distance between point C and edge 56 should be greater than the safe distance between the vehicle and the edge of the storage location, and the distance meets the corresponding test standards.

[0166] S1040: Connect an end point of the first curved path and a starting point of the second curved path to obtain a first straight path.

[0167] The end point tangency_pose_2 of the first curved path and the starting point tangency_pose_1 of the second curved path are connected to obtain a first straight line path s2.

[0168] S1050: Generate a teaching path corresponding to the parallel parking training based on the first curved path, the first straight path, the second curved path, and the second straight path.

[0169] The first curved path s1, the first straight path s2, the second curved path s3 and the second straight path s4 are sequentially connected to obtain a teaching path corresponding to the parallel parking training.

[0170] In the disclosed embodiment, a method for determining the teaching path corresponding to parallel parking training is introduced. The teaching path is determined based on the coordinates of the positioning points combined with a geometric method, which is simple to calculate and does not require the use of a multi-line laser radar to establish a complex grid map, saving implementation costs. In addition, the teaching path complies with the teaching process and the subject two examination specifications.

[0171] Next, the method for generating the teaching path corresponding to the curve driving training is introduced.

[0172] Continue to refer Figure 5First, the coordinates of the center point of the entrance of the curved lane (start_x, start_y) are determined based on the starting point A0 of the left sideline of the curved lane and the starting point B0 of the right sideline, and the coordinates of the center point of the exit of the curved lane (end_x, end_y) are determined based on the end point An of the left sideline of the curved lane and the end point Bm of the right sideline.

[0173] Next, the orientation start_yaw of the entrance of the curved lane is determined based on the coordinates of the positioning point. The values ​​of start_x and start_y are continuously updated. When the distance between the start point and the end point is greater than the path resolution path_interval, the following loop is entered:

[0174] yaw_ex=start_yaw+2.0*j*M_PI / 180.0;

[0175] x_ex=start_x+path_interval*cos(yaw_ex);

[0176] y_ex=start_y+path_interval*sin(yaw_ex);

[0177] Where yaw_ex is the direction of the updated start point (hereinafter referred to as the current_pose point), and (x_ex, y_ex) is the coordinate of the current_pose point if the coordinates meet the following conditions:

[0178] fabs(min_dis(current_pose,left_line_points)-min_dis(current_point,right_line_points))<0.05

[0179] Among them, left_line_points and right_line_points are the positioning points of the left and right side lines respectively. That is, when the difference between the current_pose point and the left and right side lines is less than 0.05, the current_pose point is used as a path point of the teaching path, and the path is continuously updated with this path point as the starting point. It can be understood that the threshold of 0.05 is only indicative, and those skilled in the art can adjust its value according to actual conditions.

[0180] Through the above method, the teaching path corresponding to the curve driving training can be obtained.

[0181] Next, the method for generating the teaching path corresponding to the hill start training is introduced.

[0182] Fig.12FIG. 1 is a schematic diagram of a training area corresponding to a hill start training provided by an embodiment of the present disclosure. Fig.12 As shown, the positioning points in the training area corresponding to the hill start training include point 0, point 1, point 2, point 3, point 4, point 5, point 6, point 7, point 8, and point 9.

[0183] The hill start test requires the target vehicle to be within 30cm of the edge line (i.e. edge 89), brake when the front of the vehicle approaches line 45, and stop for about 10 seconds before continuing to start. The teaching path corresponding to the hill start is a straight line as a whole.

[0184] The method for generating the teaching path corresponding to the hill start training includes: determining the direction yaw_sp of the teaching path based on the connecting edge 89 of point 8 and point 9, and the specific calculation method can be expressed as the following formula.

[0185] vector_98={subject.sub_point[8].x-subject.sub_points[9].x,

[0186] subject.sub_points[8].y-subject.sub_points[9].y};

[0187] yaw_sp=vector_98[1]>0.0? acos(vector_98[0]):-1.0*acos(vector_98[0]);

[0188] Among them, vector_98 is the vector representation corresponding to edge 89; subject.sub_point[8].x, subject.sub_points[8].y represent the horizontal and vertical coordinates of point 8 respectively; subject.sub_point[9].x, subject.sub_points[9].y represent the horizontal and vertical coordinates of point 9 respectively; vector_98[0], vector_98[1] represent the first and second elements of vector_98 respectively.

[0189] Next, point 8 and point 9 are offset toward the opposite side line by (gap_89+vehicle_width / 2.0) meters, where gap_89 is the safety distance parameter between the target vehicle and the side line. Then, the offset points 8 and 9 are used as the starting point and end point of the teaching path. A straight teaching path is generated according to the path resolution, which is the teaching path corresponding to the hill start training.

[0190] Next, the method of generating the teaching path corresponding to the reversing parking training is introduced.

[0191] Fig.13 The figure shows a schematic diagram of a training area corresponding to the reverse parking training provided by an embodiment of the present disclosure. Fig.13 As shown, the positioning points in the training area corresponding to the reverse parking training include point 0, point 1, point 2, point 3, point 4, point 5, point 6, and point 7. The teaching path corresponding to the reverse parking training consists of a straight path segment s1, a curved path segment s2, and a straight path segment s3 connected in sequence.

[0192] The method for generating the teaching path corresponding to the reverse parking training includes: first, based on point 3, point 6, point 4, and point 5, point head_c and point tail_c are respectively selected. Among them, head_c is the midpoint of the line connecting point 3 and point 6, and tail_c is the midpoint of the line connecting point 4 and point 5. Then, the direction yaw_rp of the storage location is calculated through these two points, and the specific calculation method can be expressed as the following formula.

[0193] rp_vector={head_c_x-tail_c_x,head_c_y-tail_c_y};

[0194] yaw_rp=rp_vector[1]>0.0? acos(rp_vector[0]):-1.0*acos(rp_vector[0]);

[0195] Among them, head_c_x, head_c_y represent the horizontal and vertical coordinates of the point head_c respectively; tail_c_x, tail_c_y represent the horizontal and vertical coordinates of the point tail_c respectively; rp_vector[0], rp_vector[1] represent the first element and the second element of rp_vector respectively.

[0196] Translate point tail_c 1.4 meters toward edge 01 to obtain the starting point rp_inner_line_start_pose of the straight path segment s1, and translate head_c 0.2 meters toward edge 01 to obtain the end point rp_inner_line_end_pose of the straight path segment s1. Through the above two points, we can obtain the straight path segment s1 that goes back straight inside the storage location.

[0197] Next, use rp_inner_line_end_pose as the starting point of curve path segment s2

[0198] rp_circle_start_pose, find the end point rp_circle_end_pose of the curve path segment s2 based on this point and the vehicle turning radius, and get the curve path segment s2 through the starting point and the end point.

[0199] Finally, rp_circle_end_pose is used as the starting point of the straight path segment s3.

[0200] rp_outter_line_start_pose. Move rp_circle_end_pose 2 meters toward edge 12 to get the end point rp_outter_line_end_pose. Generate a straight line path s3 through the start and end points.

[0201] The three paths s1, s2, and s3 are spliced ​​together to obtain the teaching path corresponding to the right-side reverse parking training. The method for generating the teaching path corresponding to the left-side reverse parking training is similar, and only the angle needs to be reversed 180 degrees. It can be understood that the parameters listed above such as 1.4 meters, 0.2 meters, and 2 meters are only schematic, and those skilled in the art can adjust their values ​​according to the data such as the storage space length and the vehicle body length.

[0202] In the above embodiments, the map information of the driving training scene can be obtained based on the map of the driving training scene drawn in advance and the corresponding location information can be generated based on each area marked on the map. There is no need to use multi-line laser radar to build a complex grid map, which reduces costs.

[0203] However, although the road conditions in the driving school scenario are relatively simple, obstacles that are not marked on the map of the driving training scenario need to be considered during driving to avoid danger.

[0204] Fig.14 FIG. 1 is a flow chart of the steps of obtaining map information of a driving training scene where a target vehicle is located, provided in an embodiment of the present disclosure. Fig.14 As shown, the step of obtaining map information of the driving training scene where the target vehicle is located provided in the embodiment of the present disclosure includes the following steps.

[0205] S211, obtaining a static map of the driving training scene.

[0206] The static map here is the map of the driving training scene mentioned in the above embodiment. The static map includes the impassable area and the training area in the driving training scene, and the training area includes the recognition area.

[0207] Exemplarily, the static map may be drawn with the GPS base station of the driving school as the center.

[0208] S212, converting the static map into a raster map.

[0209] Since the raster map is converted from a static map, it is cheaper than a raster map created using multi-line lidar.

[0210] S213, determining a vehicle map corresponding to the target vehicle based on the sensor data of the target vehicle.

[0211] Among them, the sensor data is the radar data sensed by the single-line laser radar installed in the front and rear positions of the target vehicle. The sensor data can determine the information of obstacles around the vehicle body. Based on the sensor data, a vehicle map within a certain range around the target vehicle is generated. The vehicle map includes obstacles within the surrounding range of the target vehicle.

[0212] S214, mapping the vehicle map to the grid map to determine map information of the driving training scene where the target vehicle is located.

[0213] Based on the real-time location information of the target vehicle, the vehicle map is mapped to the grid map. That is, the obstacles marked in the vehicle map are spliced ​​into the grid map to obtain the complete map information of the driving training scene.

[0214] In the disclosed embodiment, obstacles around the vehicle body are sensed by a single-line laser radar, which is relatively low in cost. Combined with the impassable areas marked in advance in the static map, the map information of the final driving training scene is obtained. This not only reduces the cost, but also meets the demand for driving training based on the map information. The map information determined in this way is more suitable for driving training scenes.

[0215] Combination of the above Figures 1 to 14 The method embodiment of the present disclosure is described in detail. Fig.15 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.

[0216] Fig.15 FIG. 1 is a schematic diagram of a teaching device for subject 2 provided by an embodiment of the present disclosure. Fig.15 As shown, the teaching device 1500 applied to subject 2 of the embodiment of the present disclosure includes: an acquisition module 1510 , a determination module 1520 , a generation module 1530 , and a conversion module 1540 .

[0217] Specifically, the acquisition module 1510 is configured to acquire map information of the driving training scene where the target vehicle is located, the map information includes location information of a recognition area, and the recognition area corresponds to a training subject of the driving training.

[0218] The determination module 1520 is configured to determine, when the target vehicle drives into the identification area, a positioning point in the target training area corresponding to the identification area, the positioning point including an end point of a training storage location and / or a training lane in the target training area.

[0219] The generation module 1530 is configured to generate a teaching path corresponding to the training subject based on the positioning point and the vehicle information corresponding to the target vehicle.

[0220] The conversion module 1540 is configured to convert the teaching path into teaching operation information corresponding to the target vehicle, so as to perform the teaching operation of the training subject based on the teaching operation information.

[0221] Below, reference Fig.16 An electronic device according to an embodiment of the present disclosure is described. Fig.16 FIG. 1 is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure. Fig.16 As shown, electronic device 1600 includes one or more processors 1610 and memory 1620 .

[0222] The processor 1610 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 1600 to perform desired functions.

[0223] The memory 1620 may include one or more computer program products, and the computer program product 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 1610 may run the program instructions to implement the teaching method applied to subject two of the various embodiments of the present disclosure described above and / or other desired functions.

[0224] In some embodiments, the electronic device 1600 may further include: an input device 1630 and an output device 1640 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0225] The input device 1630 may include, for example, a touch screen, a microphone, a keyboard, a mouse, and the like.

[0226] The output device 1640 can output the teaching path, teaching operation information, etc. to the outside. The output device 1640 can include, for example, a display, a speaker, a communication network and a remote output device connected thereto.

[0227] Of course, to simplify, Fig.16Only some of the components related to the present disclosure in the electronic device 1600 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 1600 may also include any other appropriate components.

[0228] 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 teaching method applied to Subject 2 according to various embodiments of the present disclosure described above in this specification.

[0229] 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.

[0230] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the teaching method applied to Subject 2 according to various embodiments of the present disclosure described above in this specification.

[0231] 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.

[0232] 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.

[0233] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present disclosure are intended only as illustrative examples and are not intended to require or imply that they must be connected, arranged, or 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 may be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and may be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and /

[0234] or” and can be used interchangeably therewith unless the context clearly indicates otherwise. The word “such as” as used herein refers to the phrase “such as but not limited to” and can be used interchangeably therewith.

[0235] 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.

[0236] 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.

[0237] 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 teaching method applied to subject 2, characterized in that: include: Acquire map information of a driving training scene where the target vehicle is located, the map information including location information of an identification area, the identification area corresponding to a training subject of the driving training; When the target vehicle drives to the identification area, determining a positioning point in a target training area corresponding to the identification area, the positioning point including an end point of a training storage location and / or a training lane in the target training area; Based on the positioning point and the vehicle information corresponding to the target vehicle, generating a teaching path corresponding to the training subject; The teaching path is converted into teaching operation information corresponding to the target vehicle so as to perform the teaching operation of the training subject based on the teaching operation information.

2. The teaching method according to claim 1, characterized in that: The teaching operation information includes a plurality of control instructions, and the converting of the teaching path into the teaching operation information corresponding to the target vehicle includes: Determine a point in the teaching path as a teaching starting point, wherein the teaching starting point represents a point in the teaching path that is closest to the target vehicle; Taking the teaching starting point as a starting point, determining a plurality of path points on the teaching path; Based on the teaching path, control instructions corresponding to each of the plurality of path points are determined respectively.

3. The teaching method according to claim 2, characterized in that: The control instruction includes a speed adjustment instruction and / or a direction adjustment instruction for the target vehicle, and the control instructions corresponding to each of the plurality of path points are determined based on the teaching path, including: For each path point, based on the path points adjacent to the current path point or the position information of the target vehicle, determine the turning angle information and / or speed information corresponding to the current path point; Based on the turning angle information, determining a direction adjustment instruction corresponding to the current path point, the direction adjustment instruction including an adjustment angle of a steering wheel of the target vehicle; and / or Based on the speed information, a speed adjustment instruction corresponding to the current path point is determined, and the speed adjustment instruction includes a control instruction of the throttle and / or brake position of the target vehicle.

4. The teaching method according to claim 1, characterized in that: The teaching path includes a plurality of path points, the teaching operation information includes control instructions corresponding to each of the plurality of path points, and the control instructions include speed adjustment instructions and / or direction adjustment instructions for the target vehicle. The teaching operation of the training subject based on the teaching operation information includes: Based on the position information of the target vehicle, determining a target path point among a plurality of path points, and a target control instruction corresponding to the target path point; Executing a target teaching operation corresponding to the target control instruction so that the target vehicle generates a corresponding actual driving path based on the target teaching operation; Determining the degree of completion of the target teaching operation based on the actual driving path and the teaching path; When the degree of completion meets a preset condition, a teaching operation corresponding to a next control instruction is executed, wherein the next control instruction represents a control instruction corresponding to an adjacent path point of the target path point.

5. The teaching method according to claim 1, characterized in that: The training subject includes right-angle turn training, the target training area includes a first road section and a second road section, the first road section and the second road section intersect to form a right-angle turn area, the first road section includes a first sideline and a second sideline, the length of the first sideline is less than the length of the second sideline, and the vehicle information corresponding to the target vehicle includes the body width and turning radius of the target vehicle, The generating a teaching path corresponding to the training subject based on the positioning point and the vehicle information corresponding to the target vehicle includes: Based on the length of the first sideline and the width of the vehicle body, determining a point on the second sideline as a reference point; Based on the reference point and the turning radius of the target vehicle, determining two points in the right-angle turning area as endpoints of the turning path; Based on the positioning point, determine the starting point and the end point of the teaching path; Based on the endpoints of the turning path, the starting point and the end point, a teaching path corresponding to the right-angle turn training is generated.

6. The teaching method according to claim 1, characterized in that: The training subject includes parallel parking training, the vehicle information corresponding to the target vehicle includes a turning radius of the target vehicle, and the teaching path corresponding to the parallel parking training includes a first curved path, a first straight path, a second curved path, and a second straight path connected in sequence. The generating a teaching path corresponding to the training subject based on the positioning point and the vehicle information corresponding to the target vehicle includes: Based on the positioning point, determine a first reference point and a second reference point, wherein the first reference point is the starting point of the first curved path, and the second reference point is the end point of the second curved path; Taking the first reference point and the second reference point as the starting points of the arc respectively and the turning radius as the radius of the arc, drawing the first arc and the second arc until the tangent of the first arc at the endpoint position is parallel to the tangent of the second arc at the endpoint position, thereby obtaining the first curved path and the second curved path; Extending the tangent of the second curved path at the end point to obtain the second straight line path; Connecting the end point of the first curved path and the starting point of the second curved path to obtain the first straight path; A teaching path corresponding to the parallel parking training is generated based on the first curved path, the first straight path, the second curved path, and the second straight path.

7. The teaching method according to claim 1, characterized in that: The obtaining of map information of the driving training scene where the target vehicle is located includes: Acquire a static map of the driving training scene, wherein the static map includes an impassable area and a training area in the driving training scene, and the training area includes the identification area; Converting the static map into a raster map; Determining a vehicle map corresponding to the target vehicle based on the sensor data of the target vehicle, wherein the vehicle map includes obstacles within a surrounding range of the target vehicle; The vehicle map is mapped to the grid map to determine map information of the driving training scene where the target vehicle is located.

8. A teaching device for subject 2, characterized in that: include: An acquisition module is configured to acquire map information of a driving training scene where a target vehicle is located, wherein the map information includes location information of an identification area, and the identification area corresponds to a training subject of the driving training; A determination module is configured to determine, when the target vehicle drives into the identification area, a positioning point in a target training area corresponding to the identification area, wherein the positioning point includes an end point of a training storage location and / or a training lane in the target training area; A generating module, configured to generate a teaching path corresponding to the training subject based on the positioning point and the vehicle information corresponding to the target vehicle; The conversion module is configured to convert the teaching path into teaching operation information corresponding to the target vehicle so as to perform the teaching operation of the training subject based on the teaching operation information.

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 teaching method applied to subject two as described in 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 teaching method for subject 2 described in any one of claims 1 to 7 is implemented.

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