Calibration method and calibration system of mobile examination room based on motor vehicle and storage medium

Abstract

The invention provides a calibration method and system for a mobile examination room based on a motor vehicle and a storage medium, and the method comprises the following steps: providing a plurality of feature point calibration strategies; matching corresponding feature point calibration strategies according to different vehicles, sites and roads to form calibration models corresponding to the vehicles, the sites and the roads; according to the feature points in the calibration model, the vehicle, the site and the road are measured and marked with the feature points, and position data, measurement data and feature point marking data corresponding to the vehicle, the site and the road are obtained; and generating a surveying and mapping model corresponding to the vehicle, the site and the road according to the position data, the measurement data and the feature point labeling data. The technical scheme has the beneficial effects that the road, site and vehicle drawing models are quickly generated according to the driving test standard, and the drawing model is automatically generated through key data, so that the technical scheme is higher in drawing efficiency compared with the existing drawing software.

Description

Technical Field

[0001] The present invention belongs to the technical field of computer graphics, and in particular relates to a calibration method, a calibration system and a storage medium based on a mobile test site of a motor vehicle. Background Art

[0003] Domestic manufacturers of relevant examination system equipment have developed similar mobile examination center driver examination systems. The system is based on the principle of RTK vehicle contour tracking technology, mainly through satellite systems such as GPS (Global Positioning System) and GLONASS (Global Satellite Navigation System) to achieve accurate tracking of vehicle contours. RTK technology is a high-precision GPS measurement technology. By installing RTK receivers and antennas on the vehicle, the vehicle's location information can be obtained in real time, and the accuracy can reach the centimeter level, which is very suitable for vehicle contour tracking.

[0004] Even though the above technology is relatively mature and can judge the driving skills of candidates based on information such as the vehicle's location, site and road model, combined with the driving test evaluation criteria, there are still some problems to be solved.

[0005] Due to the poor conditions of the mobile site and the lack of a unified surveying and mapping calibration method, rapid surveying and mapping cannot be achieved, and the deployment efficiency is low. The production of surveying and mapping data requires manual intervention, and a series of professional tools are used to process data such as drawing, correction, and encoding to obtain the site model and road model data that can be finally used. In order to ensure data security, special personnel are designated to implement different links in the production of surveying and mapping data. These surveying and mapping data production methods have data errors on the one hand, and the data reliability of the site model or road model cannot be guaranteed. On the other hand, it increases labor costs and time costs. Summary of the invention

[0006] In view of the above-mentioned problems existing in the model mapping of mobile test sites in the prior art, a method for calibrating the mapping model that is automatically generated through key data is provided, which aims to quickly generate mapping models of roads, sites and vehicles according to driving test standards.

[0007] A calibration method for a mobile test site based on a motor vehicle, comprising the following steps: S1, providing a plurality of feature point calibration strategies; S2, matching the feature point calibration strategies corresponding to different vehicles, sites and roads to form calibration models corresponding to the vehicles, sites and roads; S3, measuring and annotating the feature points of the vehicles, sites and roads respectively according to the feature points in the calibration model, and obtaining the position data, measurement data and feature point annotation data corresponding to the vehicles, sites and roads; S4, generating a surveying and mapping model corresponding to the vehicles, sites and roads according to the position data, measurement data and feature point annotation data, wherein each surveying and mapping model comprises feature points calibrated on the surveying and mapping model and position information corresponding to the feature points.

[0008] Preferably, in step S1, the feature point calibration strategy includes calibration of feature points of different vehicle types, calibration of feature points of different site types, and calibration of different road features and landmarks on the road.

[0009] Preferably, the method for obtaining the road calibration model includes:

[0010] Form a route map based on the actual characteristics of the road;

[0011] According to the characteristic point calibration strategy corresponding to the road, forming corresponding characteristic points on the route map;

[0012] Classify each feature point.

[0013] Preferably, in the step S4, an operation display interface is provided, the operation display interface is used to display the mapping model, and the mapping model includes graphics of a vehicle mapping model, a site mapping model and a road mapping model.

[0014] Preferably, in step S4, an operation display interface is provided, and the operation display interface is used to display the mapping model, the mapping model includes a vehicle mapping model, a site mapping model and a road mapping model, and is also used to define the classification of feature points and the names of feature points.

[0015] Preferably, in step S4, each of the mapping models is generated in a predetermined format.

[0016] Preferably, the predetermined format includes an Excel format.

[0017] Preferably, before step S1, the step also includes configuration of the driving test vehicle, site and road signal collection and transmission equipment.

[0018] Also included is a calibration system, which includes:

[0019] A matching module, used to provide a variety of feature point calibration strategies, and to match the feature point calibration strategies corresponding to different vehicles, sites and roads, so as to form calibration models corresponding to the vehicles, sites and roads;

[0020] A feature calibration and data acquisition module, for measuring and marking feature points of the vehicle, the site and the road respectively according to the feature points in the calibration model, and obtaining position data, measurement data and feature point marking data corresponding to the vehicle, the site and the road;

[0021] A mapping model generation module is used to generate a mapping model corresponding to the vehicle, the site and the road according to the position data, the measurement data and the feature point annotation data, wherein each mapping model includes feature points calibrated on the mapping model and position information corresponding to the feature points.

[0022] Also included is a computer-readable storage medium, wherein the computer program for the evaluation method is stored therein, wherein the computer program enables a computer to execute the calibration method as described above.

[0023] The above technical solution has the following advantages or beneficial effects: it can quickly generate mapping models of roads, sites and vehicles according to driving test standards. The mapping models automatically generated by key data have higher mapping efficiency than existing mapping software, and the mapping models are more in line with reality. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The embodiments of the present invention will be described more fully with reference to the attached drawings, which are provided for illustration and description only and are not intended to limit the scope of the present invention.

[0025] Figure 1 The present invention is a flow chart of an embodiment of a calibration method based on a mobile testing site of a motor vehicle. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0029] The present invention provides an embodiment of a calibration method based on a mobile test site of a motor vehicle, such as Figure 1 As shown, the following steps are included: S1, providing a variety of feature point calibration strategies; S2, matching the feature point calibration strategies corresponding to different vehicles, venues and roads to form calibration models corresponding to the vehicles, venues and roads; S3, measuring and annotating the feature points of the vehicles, venues and roads respectively according to the feature points in the calibration model, and obtaining the position data, measurement data and feature point annotation data corresponding to the vehicles, venues and roads; S4, generating a surveying and mapping model corresponding to the vehicles, venues and roads according to the position data, the measurement data and the feature point annotation data, wherein each surveying and mapping model includes feature points calibrated on the surveying and mapping model and position information corresponding to the feature points.

[0030] In the existing technology, whether it is mapping vehicles, sites or roads, a large amount of manpower is required to draw drawings based on measurement data. On the one hand, it is difficult to unify the standards, and on the other hand, the mapping efficiency and accuracy are not high.

[0031] The technical solution of the present invention, by matching the calibration model, firstly makes it strictly meet the standards of the driving test. On this basis, the feature points of the actual vehicle, site and road are marked according to the calibration model and the measurement data and position data are obtained. The vehicle mapping model, the site mapping model and the road mapping model are automatically generated through the feature points, the measurement data and the position data. Each model can be stored or sent in a file or multiple files in a unified format. It should be noted that the vehicle measurement data may include vehicle length, width, wheelbase, turning radius, etc., of course, these data can come from the vehicle manual. Similarly, the site measurement data may include the site's terrain, road contour, obstacle location and other information (specific starting point, end point, fixed point, parking pile, etc.), and the road measurement data includes the road's terrain, road contour, obstacle location and other information (specifically including the starting and end road widths, key markers (zebra crossings, traffic lights, intersection traffic signs, etc.)), wherein the measurement method can be selected based on the different measurement objects, such as manual mapping, laser mapping, drone mapping, etc.

[0032] In a preferred embodiment, in step S1, the feature point calibration strategy includes the calibration of feature points of different vehicle types, the calibration of feature points of different site types, and the calibration of different road features and road markers. It should be noted in this embodiment that the selection of each feature point must meet the standards of the driving test.

[0033] In a preferred embodiment, the method for obtaining the road calibration model includes: forming a route map according to the actual characteristics of the road; forming corresponding feature points on the route map according to the feature point calibration strategy corresponding to the road; and classifying each feature point, so that even if the road is changeable, the feature points can be quickly mapped according to the standards of the driving test.

[0034] In a preferred embodiment, in the step S4, an operation display interface is provided, and the operation display interface is used to display the mapping model, and the mapping model includes graphics of the vehicle mapping model, the site mapping model and the road mapping model. In this embodiment, the specific implementation scheme is as follows: Use the Qt graphics view framework to create a two-dimensional graphic display of the vehicle model, the site model and the road model. First, create a QGraphicsScene object for managing and displaying graphic elements, and load various graphic elements of QGraphicsItem generated by the vehicle model, site model and road model into the QGraphicsScene scene, bind the QGraphicsScene object to QGraphicsView, and QGraphicsView is displayed in the main window, thereby realizing the two-dimensional map display and interactive operation of the vehicle model, site model and road model.

[0035] In a preferred embodiment, in step S4, an operation display interface is provided, and the operation display interface is used to display the mapping model, the mapping model includes a vehicle mapping model, a site mapping model and a road mapping model, and is also used to define the classification of feature points and the names of feature points. In this embodiment, data comparison can be performed between the finally generated mapping model and the calibration model to correct the mapping model, wherein the correction may include the correction of the location information (including GNSS data) of the feature points.

[0036] In a preferred embodiment, in the step S4, each of the mapping models is generated in a predetermined format, wherein the predetermined format may include an Excel format or XML and other file formats.

[0037] In a preferred embodiment, the predetermined format is preferably an Excel format.

[0038] In a preferred embodiment, the configuration of the driving test vehicle and site and the road signal collection and transmission equipment is also included before step S1. In this example, the road signal collection and transmission equipment mainly includes the construction of RTK base station and the connection of GNSS surveying and mapping terminal.

[0039] The technical solution of the present invention also includes an embodiment of a calibration system, which includes:

[0040] A matching module, used to provide a variety of feature point calibration strategies, and to match the feature point calibration strategies corresponding to different vehicles, sites and roads, so as to form calibration models corresponding to the vehicles, sites and roads;

[0041] A feature calibration and data acquisition module, for measuring and marking feature points of the vehicle, the site and the road respectively according to the feature points in the calibration model, and obtaining position data, measurement data and feature point marking data corresponding to the vehicle, the site and the road;

[0042] A mapping model generation module is used to generate a mapping model corresponding to the vehicle, the site and the road according to the position data, the measurement data and the feature point annotation data, wherein each mapping model includes feature points calibrated on the mapping model and position information corresponding to the feature points.

[0043] The technical solution of the present invention also includes a computer-readable storage medium, wherein the computer program for the calibration method is stored, wherein the computer program enables the computer to execute the calibration method as described above. Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented with hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0044] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A calibration method for a mobile test site based on a motor vehicle, characterized in that: The following steps are involved: S1. Provide multiple feature point calibration strategies; S2, according to the different matching of the vehicle, the site and the road, the corresponding feature point calibration strategy is used to form a calibration model corresponding to the vehicle, the site and the road; S3, measuring and marking feature points of the vehicle, the site and the road respectively according to the feature points in the calibration model, and obtaining position data, measurement data and feature point marking data corresponding to the vehicle, the site and the road; S4. Generate a surveying and mapping model corresponding to the vehicle, the site and the road according to the position data, the measurement data and the feature point annotation data, wherein each surveying and mapping model includes feature points calibrated on the surveying and mapping model and position information corresponding to the feature points.

2. The calibration method according to claim 1, characterized in that: In the step S1, the feature point calibration strategy includes the calibration of feature points of different vehicle types, the calibration of feature points of different site types, and the calibration of different road features and landmarks on the road.

3. The calibration method according to claim 1, characterized in that: The method for obtaining the road calibration model includes: Form a route map based on the actual characteristics of the road; According to the characteristic point calibration strategy corresponding to the road, forming corresponding characteristic points on the route map; Classify each feature point.

4. The calibration method according to claim 1, characterized in that: In the step S4, an operation display interface is provided, and the operation display interface is used to display the mapping model, and the mapping model includes graphics of a vehicle mapping model, a site mapping model, and a road mapping model.

5. The calibration method according to claim 1, characterized in that: In the step S4, an operation display interface is provided, and the operation display interface is used to display the mapping model, which includes a vehicle mapping model, a site mapping model, and a road mapping model, and is also used to define the classification of feature points and the names of the feature points.

6. The calibration method according to claim 1, characterized in that: In the step S4, each of the mapping models is generated in a predetermined format.

7. The calibration method according to claim 6, characterized in that: The predetermined format includes an Excel format.

8. The calibration method according to claim 1, characterized in that: Before step S1, the configuration of the driving test vehicle, venue and road signal collection and transmission equipment is also included.

9. A calibration system, characterized in that: include: A matching module, used to provide a variety of feature point calibration strategies, and to match the feature point calibration strategies corresponding to different vehicles, sites and roads, so as to form calibration models corresponding to the vehicles, sites and roads; A feature calibration and data acquisition module, used to measure and mark feature points of the vehicle, the site and the road respectively according to the feature points in the calibration model, and to obtain position data, measurement data and feature point marking data corresponding to the vehicle, the site and the road; A mapping model generation module is used to generate a mapping model corresponding to the vehicle, the site and the road according to the position data, the measurement data and the feature point annotation data, wherein each mapping model includes feature points calibrated on the mapping model and position information corresponding to the feature points.

10. A computer-readable storage medium, characterized in that: It stores a computer program for the evaluation method, wherein the computer program enables a computer to execute the calibration method according to any one of claims 1 to 8.

Images