Geometric calculation teaching method for driving training

Abstract

The invention relates to a geometric calculation teaching method for driving training, which comprises an abstract algorithm framework. According to the framework, teaching points in a driving training project are abstracted into an object algorithm framework with unified characteristics, all point positions in current teaching are calculated in real time according to the current state of a vehicle according to calculation methods of different subjects, a first uncompleted point position is found through traversal, and whether the vehicle reaches the point position or not is judged; the same project has a corresponding method for calculating the position of the point location, the method has a unified data format and calling mode, and a configuration file for configuring the feature of the point location exists for loading of an algorithm framework. According to the method, the teaching point is calculated in real time, corresponding guidance can be provided according to the actual running state of the vehicle, the method is suitable for changes of various vehicle initial postures, effective correction suggestions can be provided when trainees deviate from a standard path, and the effectiveness and flexibility of driving training are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of driving training, and in particular to a geometric calculation teaching method for driving training. Background Art

[0002] In the traditional driving training model, the coach judges the key points of the operation based on personal experience and provides teaching guidance accordingly. The current robot coaching technology relies on manually set teaching points, and the teaching activities are carried out when the vehicle arrives at these preset positions. However, this approach lacks the necessary flexibility, and cannot adjust the teaching content according to the real-time status of the vehicle, nor can it provide effective guidance to students when the vehicle deviates from the established path. In addition, the existing system has shortcomings in adapting to different environments and changes in vehicle status, which limits the dynamic optimization of the teaching process.

[0003] The main drawbacks of existing technologies are their lack of flexibility, over-reliance on manually set teaching points, and inability to cope with situations where the vehicle deviates from the planned path. Given that the vehicle's state changes during actual operation, fixed teaching points often cannot fully cope with various possible situations, thus limiting the improvement of teaching effectiveness.

[0004] Therefore, it is necessary for those skilled in the art to develop a new method that can calculate the teaching points in real time according to the position and posture of the vehicle to solve the above problems. In this way, the flexibility and intelligence level of teaching can be improved, thereby making the driving training process more effective and efficient. Summary of the invention

[0005] In view of the shortcomings of the current related existing technologies, the present invention provides a geometric calculation teaching method for driving training. The teaching method of the present invention calculates the teaching points in real time, combines the vehicle sensor data and environmental factors, makes the best teaching decision according to the current position and state of the vehicle, provides more flexible and intelligent driving training guidance, and can cope with complex and changeable driving situations.

[0006] To achieve the above-mentioned object, the present invention provides a geometric calculation teaching method for driving training, comprising an abstract algorithm framework, which abstracts the teaching points in the driving training program into objects with unified characteristics, wherein the unified characteristics include the order of the points, the teaching content, and the expected results of the trainees' machine operation; The algorithm framework calculates the positions of all points in the current teaching in real time according to the current state of the vehicle based on the calculation methods of different subjects, finds the first unfinished point by traversal, and determines whether the vehicle has reached the point. If it has reached the point, the teaching stored in the point is given; Different projects have corresponding methods for calculating point positions. The methods have a unified data format and calling method, and there are configuration files for configuring point features for the algorithm framework to load.

[0007] Furthermore, the method further comprises the following steps: Load the corresponding teaching point update algorithm according to the location; Load the teaching point configuration file; assign a unique index to each point, record the teaching sentence content, vehicle component status requirements, and the status information of the vehicle component after point teaching, and prepare the corresponding point location algorithm; Calculate the next teaching point; determine whether the vehicle has reached the teaching point. If so, trigger the teaching content; Determine whether the operation is completed correctly. If completed, further determine whether all teaching points are completed. If so, record the results and summarize the feedback.

[0008] Furthermore, the specific implementation method of the algorithm for loading and updating teaching points also includes at least the following steps: recording the teaching points in a configuration file, assigning a unique index to each point in the configuration file, recording the content of the teaching sentences, the vehicle mechanical status requirements, and the status information of the vehicle mechanical parts after the point teaching; at the same time, a corresponding point location algorithm needs to be prepared.

[0009] When the vehicle enters the reverse parking project, the algorithm will automatically load the corresponding configuration file, that is, set the corresponding point position; the algorithm needs to call the point position calculation algorithm in real time when the vehicle position or heading angle changes to update the point position information.

[0010] During the driving process, once the vehicle reaches a certain point, the algorithm can provide correct teaching guidance; if the vehicle fails to operate correctly according to the teaching content at a certain point, resulting in failure to enter the warehouse correctly, the algorithm can guide the trainee to return to the previous teaching point based on the way the vehicle missed the point, and continue teaching until it successfully enters the warehouse; According to the specific requirements of each point on the status of vehicle components, the algorithm can provide a teaching plan with a high degree of freedom.

[0011] Furthermore, the method for calculating the point position considers the conditions for completing each operation step in the corresponding position and heading angle range when calculating the point position of the reverse parking project, wherein the reverse parking operation steps include straight backing, full direction, returning to the correct direction and parking, and the position range of each operation is dynamic and is calculated in real time according to the vehicle position and the parking position; Furthermore, when reversing into a parking space with full steering, the vehicle geometry and parking space geometry are taken into consideration, and the position range for full steering is calculated based on the coordinates of specific points on the vehicle body, the turning radius, the range of the center of the circle, and the relevant coordinates of the solid line in the project. This range includes the earliest position for full steering and the latest position for full steering.

[0012] Furthermore, when reversing into a parking garage and returning to the correct direction, the earliest and latest return positions are calculated as the upper and lower limits of the return range according to the position conditions that the vehicle is just completely in the parking garage and the front of the vehicle enters the parking garage at the latest on different sides; When reversing into a garage, the parking position range is calculated based on the contact between the rear end of the vehicle and the different sides and bottom line of the garage.

[0013] Furthermore, the algorithm framework can adapt to a variety of driving training subjects, including one or more of the following: reversing into a garage, parallel parking, and curve driving, and can accurately calculate the location of teaching points in different subjects; The vehicle's current state information includes vehicle position, heading angle, vehicle speed, and related data acquired by vehicle sensors, which are used to calculate the teaching point position in real time.

[0014] Furthermore, when the vehicle deviates from the preset teaching path, the algorithm framework can recalculate the teaching points according to the real-time status of the vehicle to provide effective guidance and ensure the continuity and effectiveness of the teaching process.

[0015] Furthermore, the configuration information for each point in the configuration file includes but is not limited to the name of the point, index, teaching content, expected machine operation results of students, requirements for vehicle machine status, and logical relationship with front and rear points.

[0016] Furthermore, during the vehicle operation at a teaching point, if the trainee's operation does not meet the point's requirements for the state of the machine, the algorithm framework can provide corresponding teaching guidance based on the actual situation, including prompting the trainee to correct the state of the machine or re-execute the operation steps.

[0017] The present invention adopts the above technical solution, which has at least the following beneficial effects: 1. It provides an efficient and intelligent teaching method for geometric calculation of driving training. Through the abstract algorithm framework, the teaching points are uniformly abstracted, so that the teaching of different projects can be managed and executed in a unified way, which greatly improves the versatility and scalability of the teaching method.

[0018] 2. The teaching point position is calculated in real time according to the current state of the vehicle to ensure the timeliness and accuracy of teaching. Whether it is the change of vehicle position, heading angle or other state information, it can be quickly reflected in the calculation of teaching points, providing students with the most accurate teaching guidance.

[0019] 3. According to the characteristics of different projects, a method of calculating point positions with a unified format and calling method is adopted, and at the same time, with the configuration file, the teaching method can flexibly adapt to the needs of various driving training projects. Whether it is reversing into a garage, parallel parking or curve driving, accurate teaching can be achieved.

[0020] 4. In the reversing into the garage project, the point positions of each operation step are calculated carefully, taking into account the vehicle geometry, garage geometry and various actual conditions, to ensure that students can receive accurate guidance at each key operation node and improve the success rate of reversing into the garage.

[0021] 5. When the vehicle deviates from the preset teaching path, the algorithm framework can respond quickly, recalculate the teaching points according to the real-time status of the vehicle, provide effective corrective guidance to students, ensure the continuity and effectiveness of the teaching process, and prevent students from getting into trouble due to momentary mistakes.

[0022] 6. The configuration file makes the management of teaching points more convenient and standardized. The detailed information contained therein, such as point name, index, teaching content, machine status requirements, etc., provides a comprehensive teaching basis for the algorithm framework, and also facilitates the adjustment and optimization of teaching content.

[0023] 7. If the student's operation does not meet the requirements of the mechanical status, the algorithm framework can provide corresponding teaching guidance in a timely manner to help students correct their mistakes and increase their attention to the status of vehicle components, thereby improving the overall quality of driving training.

[0024] 8. The advantages of the present invention are its flexibility and intelligence. By calculating the teaching points in real time, it can provide corresponding guidance according to the actual operating status of the vehicle. It is not only applicable to the changes in the initial posture of various vehicles, but also can provide effective correction suggestions when the trainees deviate from the standard path, greatly improving the effectiveness and flexibility of driving training. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is a schematic diagram of the geometric calculation teaching method used for driving training of the present invention Figure 1 .

[0027] Figure 2This is a schematic diagram of the geometric calculation teaching method used for driving training of the present invention Figure 2 . DETAILED DESCRIPTION

[0028] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims. Embodiment 1

[0029] like Figure 1 As shown, this embodiment provides a geometric calculation teaching method for driving training, including an abstract algorithm framework, which abstracts the teaching points in the driving training project into objects with unified characteristics, and the unified characteristics include the order of the points, the teaching content, and the expected results of the trainees' machine operation; The algorithm framework calculates the positions of all points in the current teaching in real time according to the current state of the vehicle based on the calculation methods of different subjects, finds the first unfinished point by traversal, and determines whether the vehicle has reached the point. If it has reached the point, the teaching stored in the point is given; Different projects have corresponding methods for calculating point positions. The methods have a unified data format and calling method, and there are configuration files for configuring point features for the algorithm framework to load.

[0030] like Figure 2 As shown, as an implementation mode, in this embodiment, the corresponding teaching point update algorithm is loaded according to the location; Load the configuration file of each teaching point; Calculate the next teaching point; determine whether the vehicle has reached the teaching point. If so, trigger the teaching content; Determine whether the operation is completed correctly. If completed, further determine whether all teaching points are completed. If so, record the results and summarize the feedback.

[0031] As an implementation method, this embodiment also includes at least the following steps of a specific implementation method of the algorithm for loading and updating teaching points: recording the teaching points in a configuration file, assigning a unique index to each point in the configuration file, recording the content of the teaching statements, the vehicle mechanical status requirements, and the status information of the vehicle mechanical parts after the point teaching; at the same time, a corresponding point location algorithm needs to be prepared.

[0032] When the vehicle enters the reverse parking project, the algorithm will automatically load the corresponding configuration file, that is, set the corresponding point position; the algorithm needs to call the point position calculation algorithm in real time when the vehicle position or heading angle changes to update the point position information.

[0033] During the driving process, once the vehicle reaches a certain point, the algorithm can provide correct teaching guidance; if the vehicle fails to operate correctly according to the teaching content at a certain point, resulting in failure to enter the warehouse correctly, the algorithm can guide the trainee to return to the previous teaching point based on the way the vehicle missed the point, and continue teaching until it successfully enters the warehouse; According to the specific requirements of each point on the status of vehicle components, the algorithm can provide a teaching plan with a high degree of freedom.

[0034] As an implementation mode, the method for calculating the point position described in this embodiment considers the conditions for completing each operation step in the corresponding position and heading angle range when calculating the point position of the reverse parking project, wherein the reverse parking operation steps include straight backing, full direction, returning to the correct direction and parking, and the position range of each operation is dynamic and is calculated in real time according to the vehicle position and the parking position; As an implementation method, in this embodiment, when reversing into a parking space and turning the full direction, the vehicle geometry and the parking space geometry are taken into consideration, and the position range of the full direction is calculated based on the coordinates of specific points on the vehicle body, the turning radius, the range of the center of the circle, and the relevant coordinates of the solid line in the project. The range includes the earliest position for turning the full direction and the latest position for turning the full direction.

[0035] As an implementation mode, in this embodiment, when the vehicle is reversed into the parking space and the return direction is operated, the earliest and latest return positions are calculated as the upper and lower limits of the return range according to the position condition that the vehicle is just completely entered into the parking space and the front of the vehicle enters the parking space at the latest on different sides; When reversing into a garage, the parking position range is calculated based on the contact between the rear end of the vehicle and the different sides and bottom line of the garage.

[0036] As an implementation method, the algorithm framework in this embodiment can adapt to a variety of driving training subjects, including one or more items of reversing into a garage, parallel parking and curve driving, and can accurately calculate the location of teaching points in different subjects; The vehicle's current state information includes vehicle position, heading angle, vehicle speed, and related data acquired by vehicle sensors, which are used to calculate the teaching point position in real time.

[0037] As an implementation method, in this embodiment, when the vehicle deviates from the preset teaching path, the algorithm framework can recalculate the teaching points according to the real-time status of the vehicle to provide effective guidance and ensure the continuity and effectiveness of the teaching process.

[0038] As an implementation mode, the configuration information for each point in the configuration file described in this embodiment includes but is not limited to the name, index, teaching content, expected machine operation results of students, requirements for vehicle machine status, and logical relationship with front and rear points.

[0039] As an implementation method, in this embodiment, during the vehicle teaching point operation process, if the trainee's operation does not meet the point's requirements for the machine status, the algorithm framework can provide corresponding teaching guidance based on the actual situation, including prompting the trainee to correct the machine status or re-execute the operation steps. Embodiment 2

[0040] Top-level design There are multiple projects in driving training, and each project has a different teaching plan. If you need to write a teaching algorithm for each project independently, the workload will be very large, and the code reuse rate will be low, making it difficult to maintain.

[0041] Therefore, an abstract algorithm framework is needed, which needs to include the commonality of all subjects, that is, all are point-to-point teaching. The "point" can be abstracted as an object, and each point should have unified characteristics, such as the order of the points, teaching content, and expected machine operation results of students. Therefore, the work of the algorithm framework is to calculate the positions of all points in the current teaching in real time according to the current state of the vehicle based on the calculation methods of different subjects, and traverse all points in the current teaching, find the first unfinished point in sequence, and determine whether the vehicle has reached this point. If it has reached this point, it will give the teaching stored in the point.

[0042] Different projects need to write a method to calculate the point position. This method needs to have a unified data format and a unified calling method so that the algorithm framework can use a unified processing method in different projects. In addition, a configuration file for configuring point features is also required for the algorithm framework to load.

[0043] Teaching point location calculation method Each teaching point position in the project exercise needs to be matched with the corresponding operation. The following takes the exercise of reversing into a parking space on the left as an example to introduce the core idea of ​​the method of calculating the point position.

[0044] As mentioned above, there are four common steps for reversing into a warehouse: reversing straight ahead, turning the steering wheel to the full, returning to the correct direction, and parking. Each operation here needs to be completed within a certain position and heading angle range to successfully enter the warehouse. The range of each subsequent operation depends on the position of the previous operation. Therefore, the operation position range is dynamic and needs to be calculated in real time based on the vehicle position and warehouse location. The logical relationship between the front and rear points Intuitively, the starting position for backing into a parking space is relatively broad. The vehicle may be successfully parked even if it is positioned upward or downward, or the front of the vehicle is facing left or right. However, different initial postures of the vehicle determine the range of the operating position for the next step (full steering). The factors that determine the range of the full steering position are the geometry of the vehicle and the geometry of the parking space. For example, after fully steering, during the backing process, there are several positions that are most likely to cross the line first: the right side of the front of the vehicle is the point with the largest radius during the vehicle turning process, which may touch the top solid line of the project; in the single-vehicle model centered on the midpoint of the rear axle of the vehicle, the left rear wheel of the vehicle is the point with the smallest turning radius at this time, which may touch the upper left corner of the parking space; the turning radius on the right side of the parking space is larger, which may touch the upper right corner of the parking space. Therefore, the full steering position range (i.e. the earliest full steering position and the latest full steering position) can be calculated based on the coordinates of these points on the vehicle body, the turning radius, the range of the center of the circle, and the relevant coordinates of the solid lines in the project. It can be imagined that the earliest full position is that the left rear wheel of the vehicle rubs the upper left corner of the storage space and enters the storage space, and the latest full position is that the right side of the rear of the vehicle rubs the upper right corner of the storage space and enters the storage space.

[0045] After the direction is fully turned, the position range for returning to the correct position should be calculated. As you can imagine, whether returning to the correct position too early or too late, the vehicle may not be able to fully enter the warehouse (the rear end of the vehicle will touch the line). Therefore, there will be an earliest and latest return position. In the process of left entry, the earliest position is when the vehicle is completely entered into the warehouse, and the right side of the vehicle's head is the last to enter the warehouse; the latest position is when the vehicle is just entered into the warehouse, and the left side of the vehicle's head is the last to enter the warehouse. These two positions can also be calculated based on the geometric relationship as the upper and lower limits of the return range.

[0046] After the direction is corrected, it is time to prepare for parking. The calculation of the parking range is relatively simple. The following three points need to be considered: the left side of the rear of the vehicle touches the left side of the storage space, the right side of the rear of the vehicle touches the right side of the storage space, and the left / right side of the rear of the vehicle touches the bottom line of the storage space. These three points can also be obtained based on the geometric relationship, and the parking position range of the vehicle can be given.

[0047] In other projects, there are also such key geometric relationships. Based on these key geometric relationships, the vehicle operating position can be restricted, and the teaching point position can be further determined based on the operating position range. This is the core of this algorithm. Embodiment 3

[0048] 1. Overall architecture and design concept The present invention provides a geometric calculation teaching method for driving training, aiming to improve the efficiency and quality of driving training and enhance the flexibility and intelligence of teaching. Its core is an abstract algorithm framework, which can abstract the teaching points in different driving training programs into objects with unified characteristics, achieving high code reuse rate and easy maintainability.

[0049] 2. Characteristics of the Algorithm Framework Unified Feature Abstraction Teaching points are abstracted into objects with clear and unified characteristics, including a clear point sequence, detailed teaching content, and the expected form of machine operation results after students' operation.

[0050] The algorithm framework calculates the positions of all teaching points in real time according to the current state of the vehicle based on the calculation methods of different subjects. It finds the first unfinished point by traversing and determines whether the vehicle has reached the point. If it has reached the point, it gives the teaching content stored in the corresponding point.

[0051] Project adaptability Different driving training programs have corresponding methods for calculating point positions. These methods have a unified data format and calling method, which facilitates the algorithm framework to be processed uniformly in different programs.

[0052] At the same time, there is a configuration file for configuring point features for the algorithm framework to load, ensuring that the management of teaching points is more convenient and standardized. The configuration file contains detailed information such as the name, index, teaching content, expected machine operation results of students, requirements for vehicle machine status, and logical relationship with previous and next points.

[0053] 3. Calculation method of teaching point location Taking the left-side reversing into a garage as an example, this embodiment demonstrates the application of the algorithm through the reversing into a garage project. In this process, it should be made clear that the reversing into a garage project is only used as an example to illustrate the characteristics of the algorithm and does not represent the full scope of the algorithm. The content covered by the claims includes but is not limited to this example.

[0054] Common steps for reverse parking include straight-ahead reverse parking, full turn, return to normal direction, and parking. Each operation needs to be completed within a specific position and heading angle range to ensure successful parking. The operating position range is dynamic and needs to be calculated in real time based on the vehicle position and storage location.

[0055] The determination of the full-steering position range takes into account the vehicle geometry and the location geometry. Based on the coordinates of specific points on the vehicle body, the turning radius, the range of the center of the circle, and the relevant coordinates of the solid lines in the project, the full-steering position range is calculated, including the earliest full-steering position and the latest full-steering position.

[0056] The calculation of the return direction position range is based on the position condition that the vehicle has just completely entered the garage and the different sides of the vehicle front enter the garage at the latest. The earliest and latest return positions are determined as the upper and lower limits of the return range.

[0057] The calculation of the parking position range takes into account the contact between the rear end of the vehicle and different sides of the parking space and the bottom line, and determines the parking position range of the vehicle through geometric relationships.

[0058] Applications of other projects In other driving training projects, there are also key geometric relationships. According to these relationships, the vehicle operation position can be restricted, and the teaching point position can be further determined according to the operation position range. This is the core idea of ​​this algorithm.

[0059] 4. Algorithm for loading teaching points and updating points Reversing parking teaching point setting Taking reverse parking as an example, there are usually 7 teaching points, namely the starting position (instructing students to start and reverse straight), about to reach the full position (give a notice), reach the full position (give guidance on the timing of full steering), about to reach the return position during the full process (give a notice), reach the return position (give guidance on the timing of return), about to reach the parking position (give a notice), and reach the parking position (give guidance on the timing of parking). These point information is recorded in the configuration file, and each point has a unique index. At the same time, it records the content of the teaching sentence, the status requirements of the vehicle parts, and the status information of the vehicle parts after the point teaching. In addition, the corresponding point position algorithm needs to be prepared.

[0060] Point loading and updating When the vehicle reaches the reverse parking project, the algorithm automatically loads the corresponding configuration file and sets the corresponding point. However, the point position is unknown at this time, so when the vehicle position or heading angle changes, the point position calculation algorithm needs to be called in real time to update the point position information.

[0061] Teaching guidance and correction During the driving process, once the vehicle reaches a certain point, the algorithm can provide correct teaching guidance. If the vehicle fails to operate correctly according to the teaching content at a certain point, resulting in failure to enter the warehouse correctly, the algorithm can guide the trainee to return to the previous teaching point based on how the vehicle missed the point, and continue teaching until it successfully enters the warehouse.

[0062] According to the specific requirements of each point on the vehicle's mechanical state, the algorithm provides a teaching plan with clearly defined degrees of freedom. For example, if the trainee is not wearing a seat belt, appropriate teaching can be given according to the different mechanical state requirements and actual conditions, including reminding the trainee to fasten the seat belt first, and then carry out standard teaching or give a reminder for situations such as reverse steering.

[0063] 5. Multi-subject adaptability and intelligence of algorithms Multi-subject adaptation The algorithm framework can adapt to a variety of driving training subjects, including reverse parking, parallel parking and curve driving, etc. The location of teaching points can be accurately calculated in different subjects, which improves the versatility of the teaching method.

[0064] Vehicle deviation handling When the vehicle deviates from the preset teaching path, the algorithm framework can recalculate the teaching points according to the real-time status of the vehicle, provide effective guidance, and ensure the continuity and effectiveness of the teaching process.

[0065] Intelligent teaching decision-making The vehicle's current status information includes the vehicle's position, heading angle, speed, and related data obtained by the vehicle's sensors. These data are used to calculate the location of the teaching points in real time, and combined with the vehicle's sensor data and environmental factors, the optimal teaching decision is made according to the vehicle's current position and status, providing more flexible and intelligent driving training guidance that can cope with complex and changing driving situations.

[0066] This embodiment solves the above problem by calculating the teaching points in real time according to the vehicle position and posture, so as to improve the flexibility and intelligence of teaching and make driving training more effective and efficient.

[0067] The teaching method provided in this embodiment calculates the teaching points in real time, combines vehicle sensor data and environmental factors, makes the best teaching decision according to the current position and status of the vehicle, and provides more flexible and intelligent driving training guidance, which can cope with complex and changeable driving situations.

[0068] Although the embodiments of the present invention have been shown and described above, it will be appreciated that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, substitute and vary the above embodiments within the scope of the present invention.

Claims

1. A geometric calculation teaching method for driving training, characterized in that: An abstract algorithm framework is included, which abstracts the teaching points in the driving training program into objects with unified characteristics, wherein the unified characteristics include the order of the points, the teaching content, and the expected results of the trainees' machine operation; The algorithm framework calculates the positions of all points in the current teaching in real time according to the current state of the vehicle based on the calculation methods of different subjects, finds the first unfinished point by traversal, and determines whether the vehicle has reached the point. If it has reached the point, the teaching stored in the point is given; Different projects have corresponding methods for calculating point positions. The methods have a unified data format and calling method, and there are configuration files for configuring point features for the algorithm framework to load.

2. The geometric calculation teaching method for driving training according to claim 1, characterized in that: The following steps are also included: Load the corresponding teaching point update algorithm according to the location; Load the teaching point configuration file; assign a unique index to each point, record the teaching sentence content, vehicle component status requirements, and the status information of the vehicle component after point teaching, and prepare the corresponding point location algorithm; Calculate the next teaching point; determine whether the vehicle has reached the teaching point. If so, trigger the teaching content; Determine whether the operation is completed correctly. If completed, further determine whether all teaching points are completed. If so, record the results and summarize the feedback.

3. The geometric calculation teaching method for driving training according to claim 2 is characterized in that: The specific implementation method of the algorithm for loading teaching points and updating points also includes at least the following steps: recording the teaching points in a configuration file, assigning a unique index to each point in the configuration file, recording the teaching sentence content, vehicle component state requirements, and the state information of the vehicle component after the point teaching; at the same time, a corresponding point location algorithm needs to be prepared; When the vehicle enters the reverse parking project, the algorithm will automatically load the corresponding configuration file, that is, set the corresponding point position; the algorithm needs to call the point position calculation algorithm in real time when the vehicle position or heading angle changes to update the point position information; During the driving process, once the vehicle reaches a certain point, the algorithm can provide correct teaching guidance; if the vehicle fails to operate correctly according to the teaching content at a certain point, resulting in failure to enter the warehouse correctly, the algorithm can guide the trainee to return to the previous teaching point based on the way the vehicle missed the point, and continue teaching until it successfully enters the warehouse; According to the specific requirements of each point on the status of vehicle components, the algorithm can provide a teaching plan with a high degree of freedom.

4. The geometric calculation teaching method for driving training according to claim 3 is characterized in that: When calculating the point positions of the reversing-into-warehouse project, the method for calculating point positions considers the conditions for completing each operation step in the corresponding position and heading angle range, wherein the reversing-into-warehouse operation steps include straight-ahead reversing, full steering, returning to the correct direction and parking, and the position range of each operation is dynamic and is calculated in real time based on the vehicle position and warehouse location.

5. The geometric calculation teaching method for driving training according to claim 4 is characterized in that: When reversing into a parking space and turning the full direction, the vehicle geometry and parking space geometry are taken into consideration, and the position range for turning the full direction is calculated based on the coordinates of specific points on the vehicle body, the turning radius, the range of the center of the circle and the relevant coordinates of the solid lines in the project. This range includes the earliest position for turning the full direction and the latest position for turning the full direction.

6. The geometric calculation teaching method for driving training according to claim 5, characterized in that: When reversing into a parking garage and returning to the correct direction, the earliest and latest return positions are calculated as the upper and lower limits of the return range based on the condition that the vehicle is completely in the garage and the different sides of the vehicle are the last to enter the garage. When reversing into a garage, the parking position range is calculated based on the contact between the rear end of the vehicle and the different sides and bottom line of the garage.

7. The geometric calculation teaching method for driving training according to any one of claims 1 to 6, characterized in that: The algorithm framework can adapt to a variety of driving training subjects, including one or more of the following: reversing into a garage, parallel parking, and curve driving, and can accurately calculate the location of teaching points in different subjects; The vehicle's current state information includes vehicle position, heading angle, vehicle speed, and related data acquired by vehicle sensors, which are used to calculate the teaching point position in real time.

8. The geometric calculation teaching method for driving training according to claim 7, characterized in that: When the vehicle deviates from the preset teaching path, the algorithm framework can recalculate the teaching points according to the real-time status of the vehicle to provide effective guidance and ensure the continuity and effectiveness of the teaching process.

9. The geometric calculation teaching method for driving training according to claim 8, characterized in that: The configuration information for each point in the configuration file includes but is not limited to the name, index, teaching content, expected results of machine operation of trainees, requirements for vehicle machine status, and logical relationship with front and rear points.

10. The geometric calculation teaching method for driving training according to claim 9, characterized in that: During the vehicle teaching point operation process, if the trainee's operation does not meet the point's requirements for the machine status, the algorithm framework can provide corresponding teaching guidance based on the actual situation, including prompting the trainee to correct the machine status or re-execute the operation steps.

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