Driving training teaching plan picture generation method and system based on student observation visual angle

Abstract

The invention discloses a driving training teaching plan picture generation method and system based on a student observation visual angle, and the method comprises the steps: obtaining a reference visual field image, observed by a student, of a rearview mirror through a camera device when the student is in a vehicle, and constructing a rearview mirror reflection model when the student is in the vehicle according to a preset reference point, the student and the mirror surface of the rearview mirror, and determining an actual view image of the rearview mirror observed by the student according to a reflection relation of the rearview mirror reflection model. According to the difference relation between the actual view image and the reference view image of the rearview mirror observed when the trainee is in the vehicle, the actual observation position of the rearview mirror of the trainee is determined, and a driving training teaching plan reference picture corresponding to the actual observation view of the trainee is generated according to the actual observation position of the rearview mirror. According to the invention, the method can eliminate the deviation between the actual condition and the reference picture of the teaching scheme, thereby achieving the purposes of improving the teaching efficiency of a driving school and helping students to quickly master the driving skills.

Description

Technical Field

[0001] The present invention relates to the technical field of driving training, and in particular to a method and system for generating driving training lesson plan pictures based on a trainee's observation perspective. Background Art

[0002] At present, the teaching plan of the intelligent driving training system is only a reference to show the relative relationship between reference objects. Due to factors such as the height of the students, the students' observation perspectives are different, and the actual situation they see deviates from the reference pictures provided by the teaching plan, which creates great difficulties for the instructor's teaching.

[0003] Therefore, a method and system for generating driving training lesson plan pictures based on the student's observation perspective is currently provided, which can intelligently generate customized teaching lesson plan pictures based on the student's actual observation perspective in the training car, eliminate the deviation between the actual situation and the reference pictures of the teaching plan, thereby achieving the purpose of improving the teaching efficiency of the driving school and helping students quickly master driving skills. Summary of the invention

[0004] The present invention provides a method and system for generating driving training lesson plan pictures based on a student's observation perspective, which can be beneficial to improving the teaching efficiency of a driving school and helping students quickly master driving skills.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses a method for generating driving training lesson plan pictures based on the trainee's observation perspective, the method comprising:

[0006] When the trainee is in the car, a reference field of view image of the rearview mirror observed by the trainee is obtained through a camera device, and a rearview mirror reflection model of the trainee when in the car is constructed based on a preset reference point, the trainee, and the mirror surface of the rearview mirror;

[0007] Determining the actual visual field image of the rearview mirror observed by the trainee according to the reflection relationship of the rearview mirror reflection model;

[0008] Determining the actual observation position of the rearview mirror of the trainee according to the difference relationship between the actual field of view image of the rearview mirror observed by the trainee when in the vehicle and the reference field of view image;

[0009] A driving training lesson plan reference picture corresponding to the student's actual observation field of view is generated according to the actual observation position of the rearview mirror.

[0010] As an optional embodiment, in the first aspect of the present invention, the rearview mirror includes a left rearview mirror and a right rearview mirror, and the preset reference points include feature points of a plurality of reference objects on the surface of the external vehicle body;

[0011] The step of obtaining a reference field of view image of the rearview mirror observed by the trainee through a camera device includes:

[0012] Acquiring a reference visual field image of a left rearview mirror and a reference visual field image of a right rearview mirror observed by the trainee through a camera device;

[0013] The step of constructing a rearview mirror reflection model when the student is in the vehicle according to a preset reference point, the student, and the mirror surface of the rearview mirror comprises:

[0014] Constructing a rearview mirror reflection model when the student is in the car according to the preset reference point, the student, and the spatial position of the mirror surface of the rearview mirror in the three-dimensional space;

[0015] The step of determining the actual field of view image of the rearview mirror observed by the trainee according to the reflection relationship of the rearview mirror reflection model includes:

[0016] According to the mirror reflection relationship among the preset reference point, the student, and the mirror surface of the rearview mirror in the rearview mirror reflection model, the actual field of view image of the left rearview mirror and the actual field of view image of the right rearview mirror observed by the student are determined.

[0017] As an optional implementation, in the first aspect of the present invention, determining the actual observation position of the trainee's rearview mirror according to the difference relationship between the actual field of view image of the rearview mirror observed by the trainee when in the vehicle and the reference field of view image includes:

[0018] Extracting an actual feature line and a reference feature line formed by the preset reference point in the actual field of view image and the reference field of view image of the left rearview mirror;

[0019] Calculate the position deviation relationship between the actual field of view image of the left rearview mirror observed by the trainee in the vehicle and the reference field of view image in three-dimensional space according to the position relationship and size relationship between the actual feature line and the reference feature line in the mirror surface of the left rearview mirror;

[0020] Determining a first observation position of the trainee when observing the left rearview mirror according to the position deviation relationship;

[0021] Extracting an actual feature line and a reference feature line formed by the preset reference point in the actual field of view image and the reference field of view image of the right rearview mirror;

[0022] Calculate the position deviation relationship between the actual field of view image of the right rearview mirror observed by the trainee in the vehicle and the reference field of view image in three-dimensional space according to the position relationship and size relationship between the actual feature line and the reference feature line in the mirror surface of the right rearview mirror;

[0023] Determining a second observation position of the trainee when observing the right rearview mirror according to the position deviation relationship;

[0024] The actual observation position of the rearview mirror of the trainee is determined according to the first observation position and the second observation position.

[0025] As an optional implementation, in the first aspect of the present invention, before determining the actual observation position of the trainee according to the first observation position and the second observation position, the method further includes:

[0026] Calculating a position deviation value between the first observation position and the second observation position, and determining whether the position deviation value is greater than or equal to a preset position deviation threshold;

[0027] When it is determined that the position deviation value is greater than or equal to a preset position deviation threshold, re-performing the operation of acquiring the reference field of view images of the left rearview mirror and the right rearview mirror observed by the trainee through a camera device;

[0028] When it is determined that the position deviation value is less than a preset position deviation threshold, the operation of determining the actual observation position of the trainee according to the first observation position and the second observation position is performed.

[0029] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0030] Acquire, by the camera device, a reference visual field image directly in front of the trainee;

[0031] Marking a plurality of reference objects on the surface of the external vehicle body to obtain a plurality of reference points, wherein the reference points are represented as characteristic points of the reference objects;

[0032] Extracting target feature lines formed by the plurality of reference points in the reference field of view image directly in front of the target, and constructing a spatial model according to the positional relationship and size relationship of the target feature lines in the three-dimensional space;

[0033] The actual visual field position of the trainee in front is determined according to the space model, and the actual observation position in front of the trainee is determined according to the actual visual field.

[0034] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0035] Calculating a position deviation value between the actual observation position directly in front and the actual observation position of the rearview mirror, and determining whether the position deviation value is greater than or equal to a preset position deviation threshold;

[0036] When it is determined that the position deviation value is greater than or equal to a preset position deviation threshold, re-performing the operation of acquiring the reference visual field image directly in front of the trainee through the camera device;

[0037] When it is determined that the position deviation value is less than a preset position deviation threshold, a driving training lesson plan reference picture corresponding to the student's actual observation field of view is generated according to the actual observation position directly in front.

[0038] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0039] Detecting whether the intensity of ambient light outside the vehicle changes, or whether the rearview mirror is blocked by foreign objects, by means of a sensor device installed on the vehicle;

[0040] When a change in the ambient light intensity is detected, the reflection parameters of the rearview mirror reflection model are adjusted according to the ambient light intensity to obtain an adjusted rearview mirror reflection model, so as to determine the best actual field of view image of the rearview mirror observed by the trainee according to the adjusted rearview mirror reflection model;

[0041] When it is detected whether the rearview mirror is blocked by a foreign object, the intensity of the ambient reflected light reflected by the mirror surface of the rearview mirror and the position where the foreign object blocks the rearview mirror are determined by the sensing device, and according to the intensity of the ambient reflected light and the position where the foreign object blocks the rearview mirror, the reflection parameters of the rearview mirror reflection model are adjusted to obtain an adjusted rearview mirror reflection model, so as to determine the best actual field of view image of the rearview mirror observed by the trainee according to the adjusted rearview mirror reflection model;

[0042] The reflection parameters at least include a reflection angle of the reflected light and a reflection intensity of the reflected light.

[0043] The second aspect of the present invention discloses a system for generating driving training lesson plan pictures based on a trainee's observation perspective, the system comprising:

[0044] An acquisition module, used for acquiring a reference field of view image of a rearview mirror observed by the trainee through a camera device when the trainee is in the vehicle;

[0045] A construction module, used to construct a rearview mirror reflection model when the student is in the car according to a preset reference point, the student, and the mirror surface of the rearview mirror;

[0046] A determination module, used to determine the actual field of view image of the rearview mirror observed by the trainee according to the reflection relationship of the rearview mirror reflection model constructed by the construction module;

[0047] The determination module is further used to determine the actual observation position of the trainee according to the difference relationship between the actual field of view image of the rearview mirror observed by the trainee when in the vehicle and the reference field of view image acquired by the acquisition module;

[0048] A generating module is used to generate a driving training lesson plan reference picture corresponding to the actual observation field of view of the trainee according to the actual observation position determined by the determining module.

[0049] As an optional implementation, in the second aspect of the present invention, the rearview mirror includes a left rearview mirror and a right rearview mirror, and the preset reference points include feature points of a plurality of reference objects on the surface of the external vehicle body;

[0050] The specific method in which the acquisition module acquires the reference field of view image of the rearview mirror observed by the trainee through the camera device is:

[0051] Acquiring a reference visual field image of a left rearview mirror and a reference visual field image of a right rearview mirror observed by the trainee through a camera device;

[0052] The specific manner in which the construction module constructs the rearview mirror reflection model of the student when the student is in the car according to the preset reference point, the student, and the mirror surface of the rearview mirror is:

[0053] Constructing a rearview mirror reflection model when the student is in the car according to the preset reference point, the student, and the spatial position of the mirror surface of the rearview mirror in the three-dimensional space;

[0054] The specific manner in which the determination module determines the actual field of view image of the rearview mirror observed by the trainee according to the reflection relationship of the rearview mirror reflection model is:

[0055] According to the mirror reflection relationship among the preset reference point, the student, and the mirror surface of the rearview mirror in the rearview mirror reflection model, the actual field of view image of the left rearview mirror and the actual field of view image of the right rearview mirror observed by the student are determined.

[0056] As an optional implementation, in the second aspect of the present invention, the specific manner in which the determination module determines the actual observation position of the trainee's rearview mirror according to the difference relationship between the actual field of view image of the rearview mirror observed by the trainee when in the vehicle and the reference field of view image is:

[0057] Extracting an actual feature line and a reference feature line formed by the preset reference point in the actual field of view image and the reference field of view image of the left rearview mirror;

[0058] Calculate the position deviation relationship between the actual field of view image of the left rearview mirror observed by the trainee in the vehicle and the reference field of view image in three-dimensional space according to the position relationship and size relationship between the actual feature line and the reference feature line in the mirror surface of the left rearview mirror;

[0059] Determining a first observation position of the trainee when observing the left rearview mirror according to the position deviation relationship;

[0060] Extracting an actual feature line and a reference feature line formed by the preset reference point in the actual field of view image and the reference field of view image of the right rearview mirror;

[0061] Calculate the position deviation relationship between the actual field of view image of the right rearview mirror observed by the trainee in the vehicle and the reference field of view image in three-dimensional space according to the position relationship and size relationship between the actual feature line and the reference feature line in the mirror surface of the right rearview mirror;

[0062] Determining a second observation position of the trainee when observing the right rearview mirror according to the position deviation relationship;

[0063] The actual observation position of the rearview mirror of the trainee is determined according to the first observation position and the second observation position.

[0064] As an optional implementation, in the second aspect of the present invention, the system further includes:

[0065] A calculation module, configured to calculate a position deviation value between the first observation position and the second observation position before the determination module determines the actual observation position of the trainee according to the first observation position and the second observation position;

[0066] A judgment module, used to judge whether the position deviation value calculated by the calculation module is greater than or equal to a preset position deviation threshold; when it is judged that the position deviation value is greater than or equal to the preset position deviation threshold, trigger the acquisition module to re-execute the operation of acquiring the reference field of view images of the left rearview mirror and the right rearview mirror observed by the trainee through the camera device; when it is judged that the position deviation value is less than the preset position deviation threshold, trigger the determination module to execute the operation of determining the actual observation position of the trainee based on the first observation position and the second observation position.

[0067] As an optional implementation, in the second aspect of the present invention, the system further includes:

[0068] The acquisition module is further used to acquire, through the camera device, a reference visual field image directly in front of the trainee;

[0069] A marking module, used for marking a plurality of reference objects on the surface of the external vehicle body to obtain a plurality of reference points, wherein the reference points are represented as characteristic points of the reference objects;

[0070] An extraction module, used for extracting a target feature line formed by the multiple reference points marked by the marking module in the reference field of view image directly in front acquired by the acquisition module;

[0071] The construction module is further used to construct a space model according to the position relationship and size relationship of the target feature lines extracted by the extraction module in the three-dimensional space;

[0072] The determination module is further used to determine the actual field of vision position of the trainee in front of the trainee according to the space model constructed by the construction module, and to determine the actual observation position of the trainee in front of the trainee according to the actual field of vision.

[0073] As an optional implementation, in the second aspect of the present invention, the system further includes:

[0074] The calculation module is further used to calculate the position deviation value between the actual observation position directly in front and the actual observation position of the rearview mirror;

[0075] The judging module is further configured to judge whether the position deviation value calculated by the calculating module is greater than or equal to a preset position deviation threshold value; when it is judged that the position deviation value is greater than or equal to the preset position deviation threshold value, trigger the obtaining module to re-execute the operation of obtaining the reference visual field image directly in front of the trainee through the camera device;

[0076] The generation module is also used to generate a driving training lesson plan reference picture corresponding to the student's actual observation field of view according to the actual observation position directly in front when the judgment module determines that the position deviation value is less than a preset position deviation threshold.

[0077] As an optional implementation, in the second aspect of the present invention, the system further includes:

[0078] A detection module, used to detect whether the intensity of ambient light outside the vehicle changes, or whether the rearview mirror is blocked by foreign objects, by means of a sensor device installed on the vehicle;

[0079] an adjustment module, configured to adjust the reflection parameters of the rearview mirror reflection model constructed by the construction module according to the ambient light intensity when the detection module detects a change in the ambient light intensity, so as to obtain an adjusted rearview mirror reflection model, and to determine the best actual field of view image of the rearview mirror observed by the trainee according to the adjusted rearview mirror reflection model;

[0080] The determination module is further configured to determine, by means of the sensing device, the intensity of the ambient reflected light reflected by the mirror surface of the rearview mirror and the position of the rearview mirror blocked by the foreign object when the detection module detects whether the rearview mirror is blocked by a foreign object;

[0081] The adjustment module is further used to adjust the reflection parameters of the rearview mirror reflection model constructed by the construction module according to the intensity of the ambient reflected light determined by the determination module and the position of the foreign object blocking the rearview mirror, so as to obtain an adjusted rearview mirror reflection model, so as to determine the best actual field of view image of the rearview mirror observed by the trainee according to the adjusted rearview mirror reflection model;

[0082] The reflection parameters at least include a reflection angle of the reflected light and a reflection intensity of the reflected light.

[0083] The third aspect of the present invention discloses another system for generating driving training lesson plan pictures based on the trainee's observation perspective, the system comprising:

[0084] A memory storing executable program code;

[0085] a processor coupled to the memory;

[0086] The processor calls the executable program code stored in the memory to execute the method for generating driving training lesson plan pictures based on the trainee's observation perspective disclosed in the first aspect of the present invention.

[0087] The fourth aspect of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the method for generating driving training lesson plan pictures based on the student's observation perspective disclosed in the first aspect of the present invention.

[0088] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0089] The present invention provides a method and system for generating driving training teaching plan pictures based on the student's observation angle of view, the method comprising: when the student is in the car, obtaining the reference field of view image of the rearview mirror observed by the student through a camera device, and constructing a rearview mirror reflection model when the student is in the car according to a preset reference point, the student, and the mirror surface of the rearview mirror, determining the actual field of view image of the rearview mirror observed by the student according to the reflection relationship of the rearview mirror reflection model, which is conducive to more quickly and clearly obtaining the actual field of view of the rearview mirror observed by the student; according to the difference relationship between the actual field of view image of the rearview mirror observed by the student when in the car and the reference field of view image, determining the actual observation position of the rearview mirror of the student, generating a driving training teaching plan reference picture corresponding to the actual observation field of view of the student according to the actual observation position of the rearview mirror, which is conducive to improving the driving training effect of the student and the proficiency of the student in mastering driving training knowledge. It can be seen that the implementation of the present invention can intelligently generate customized teaching lesson plan pictures in combination with the actual observation angle of view of the student in the training car, eliminate the deviation between the actual situation and the reference picture of the teaching plan, thereby achieving the purpose of improving the teaching efficiency of the driving school and helping students quickly master driving skills. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0091] Figure 1 It is a flow chart of a method for generating driving training lesson plan pictures based on a trainee's observation perspective disclosed in an embodiment of the present invention;

[0092] Figure 2 is a schematic diagram of another rearview mirror reflection model disclosed in an embodiment of the present invention;

[0093] Figure 3 It is a flow chart of another method for generating driving training teaching plan pictures based on the trainee's observation perspective disclosed in an embodiment of the present invention;

[0094] Figure 4 It is a structural schematic diagram of a driving training lesson plan picture generation system based on a trainee's observation perspective disclosed in an embodiment of the present invention;

[0095] Figure 5 It is a structural schematic diagram of another driving training lesson plan picture generation system based on the trainee's observation perspective disclosed in an embodiment of the present invention;

[0096] Figure 6 It is a structural schematic diagram of another driving training lesson plan picture generation system based on the trainee's observation perspective disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0097] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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.

[0098] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or terminal including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or terminals.

[0099] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0100] The present invention discloses a method and system for generating driving training lesson plan pictures based on the observation angle of a student, which can obtain the reference field of view image of the rearview mirror observed by the student through a camera device when the student is in the car, and construct a rearview mirror reflection model when the student is in the car according to a preset reference point, the student, and the mirror surface of the rearview mirror, determine the actual field of view image of the rearview mirror observed by the student according to the reflection relationship of the rearview mirror reflection model, determine the actual observation position of the rearview mirror of the student according to the difference relationship between the actual field of view image of the rearview mirror observed by the student when in the car and the reference field of view image, generate a driving training lesson plan reference picture corresponding to the actual observation field of the student according to the actual observation position of the rearview mirror, and can intelligently generate customized teaching lesson plan pictures in combination with the actual observation angle of the student in the car, eliminate the deviation between the actual situation and the reference picture of the teaching plan, so as to improve the teaching efficiency of the driving school and help the students quickly master driving skills. The following are described in detail.

[0101] Embodiment 1

[0102] See also Figure 1 , Figure 1The flowchart of a method for generating driving training lesson plan pictures based on the trainee's observation perspective disclosed in an embodiment of the present invention is shown in FIG. Figure 1 The described method for generating driving training lesson plan images based on the student's observation perspective can be applied to a driving training lesson plan image generation system based on the student's observation perspective, and the system can be applied as a subsystem in a driving training teaching system of a driving school. Optionally, the system can be applied to a central control module in a driving school training car, and the training car is provided with a camera device and a plurality of sensor devices (such as radar ranging equipment, etc.), and the camera device and the sensor device are connected to the central control module by wired and / or wireless connection, which is not limited in the embodiments of the present invention. Figure 1 As shown, the method for generating driving training lesson plan pictures based on the trainee's observation perspective may include the following operations:

[0103] 101. When the trainee is in the car, a reference field of view image of the rearview mirror observed by the trainee is obtained through a camera device, and a rearview mirror reflection model of the trainee when in the car is constructed based on a preset reference point, the trainee, and the mirror surface of the rearview mirror.

[0104] In an embodiment of the present invention, optionally, the rearview mirror may include a left rearview mirror and a right rearview mirror. The process of obtaining the reference field of view image of the rearview mirror observed by the trainee through the camera device is as follows: the trainee is required to sit in the driving position of the vehicle according to the sitting posture required by the instructor, and adjust the rearview mirror, and use the camera device to take a picture of the left rearview mirror and a picture of the right rearview mirror seen in the current sitting posture, and it is necessary to ensure that the picture is consistent with the perspective observed while driving. The preset reference points include characteristic points of multiple reference objects on the surface of the external vehicle body, and the reference objects may include: the outer edge curves of the door handles on both sides of the vehicle body, the taillights, the end points of the rear tires when they touch the ground along the tangent direction, etc., which are not limited in the embodiment of the present invention.

[0105] In the embodiment of the present invention, obtaining the reference field of view image of the rearview mirror observed by the trainee through the camera device may include:

[0106] The reference visual field image of the left rearview mirror and the reference visual field image of the right rearview mirror observed by the trainee are obtained through the camera equipment.

[0107] In an embodiment of the present invention, constructing a rearview mirror reflection model when the trainee is in the car based on a preset reference point, the trainee, and the mirror surface of the rearview mirror may include:

[0108] According to the spatial positions of the preset reference points, the trainee, the mirror surfaces of the left and right rearview mirrors in three-dimensional space, a rearview mirror reflection model when the trainee is in the car is constructed. In this way, the reference field of view image of the rearview mirror observed by the trainee is obtained through the camera equipment, and the rearview mirror reflection model when the trainee is in the car is constructed according to the preset reference points, the trainee, and the mirror surfaces of the rearview mirror, which is conducive to more quickly and clearly obtaining the reference viewing angle and actual viewing angle of the rearview mirror observed by the trainee.

[0109] The rearview mirror reflection model may include: a left rearview mirror reflection model and a right rearview mirror reflection model.

[0110] 102. Determine the actual field of view image of the rearview mirror observed by the trainee based on the reflection relationship of the rearview mirror reflection model.

[0111] In the embodiment of the present invention, Figure 2 As shown, determining the actual field of view image of the rearview mirror observed by the trainee according to the reflection relationship of the rearview mirror reflection model may include:

[0112] According to the mirror reflection relationship between the preset reference point, the student, and the mirror surface of the rearview mirror in the rearview mirror reflection model (the incident angle of the light is equal to the reflection angle), the actual field of view image of the left rearview mirror and the actual field of view image of the right rearview mirror observed by the student are determined. In this way, the actual field of view image of the rearview mirror observed by the student is determined according to the reflection relationship of the rearview mirror reflection model, and the rearview mirror observed by the student can be obtained more quickly and clearly, which is conducive to improving the student's proficiency in mastering driving training knowledge, improving the teaching efficiency of the driving school, and helping students quickly master driving skills.

[0113] 103. According to the difference between the actual field of view image of the rearview mirror observed by the trainee when in the car and the reference field of view image, determine the actual observation position of the trainee's rearview mirror.

[0114] In an embodiment of the present invention, determining the actual observation position of the trainee's rearview mirror according to the difference relationship between the actual field of view image of the rearview mirror observed by the trainee when in the vehicle and the reference field of view image may include:

[0115] The actual feature line and the reference feature line formed by the preset reference point in the actual field of view image and the reference field of view image of the left rearview mirror are extracted through the target feature detection algorithm.

[0116] According to the positional relationship and size relationship between the actual characteristic line and the reference characteristic line in the mirror surface of the left rearview mirror (the mirror surface area within the rearview mirror contour), the positional deviation relationship between the actual field of view image of the left rearview mirror observed by the trainee in the car and the reference field of view image in three-dimensional space is calculated. Among them, the positional relationship and size relationship can be expressed as the position, angle, and size of the actual characteristic line and the reference characteristic line within the scope of the rearview mirror contour.

[0117] The first observation position of the trainee when observing the left rearview mirror is determined according to the position deviation relationship.

[0118] Furthermore, an actual feature line and a reference feature line formed by a preset reference point in the actual field of view image and the reference field of view image of the right rearview mirror are extracted through a target feature detection algorithm.

[0119] According to the positional relationship and size relationship between the actual characteristic line and the reference characteristic line in the mirror surface of the right rearview mirror, the positional deviation relationship between the actual field of view image of the right rearview mirror observed by the trainee when in the car and the reference field of view image in three-dimensional space is calculated.

[0120] The second observation position of the trainee when observing the right rearview mirror is determined according to the position deviation relationship.

[0121] The actual observation position of the student's rearview mirror is determined based on the first observation position and the second observation position. Further, the midpoint position on the straight-line distance between the first observation position and the second observation position can be calculated, and the midpoint position can be determined as the actual observation position of the student's rearview mirror.

[0122] In this way, based on the position and size difference between the actual field of view image of the rearview mirror observed by the student when in the car and the reference field of view image, the student's actual observation position of the rearview mirror can be determined more accurately, thereby improving the accuracy of determining the student's actual viewing angle of the rearview mirror, which is beneficial to improving the driving training effect for the students and the students' proficiency in mastering driving training knowledge, improving the teaching efficiency of the driving school, and helping students quickly master driving skills.

[0123] In the embodiment of the present invention, optionally, before determining the actual observation position of the trainee's rearview mirror according to the first observation position and the second observation position, the method further includes the following operations:

[0124] The position deviation value between the first observation position and the second observation position is calculated, and it is determined whether the position deviation value is greater than or equal to a preset position deviation threshold value. The first observation position and the second observation position can be represented by the positions of the naked eyes when the trainee observes the left rearview mirror and the right rearview mirror, the position deviation value can be represented by the distance deviation value between the naked eye observation position obtained by the left rearview mirror and the naked eye observation position obtained by the right rearview mirror, and the position deviation threshold value is based on the range of half of the normal human pupil distance, which is generally 55-80mm, so 40mm can be used as the position deviation threshold value. When the deviation between the first observation position and the second observation position exceeds 40mm, it can be regarded as too large a deviation.

[0125] When it is determined that the position deviation value is greater than or equal to the preset position deviation threshold, the operation of obtaining the reference field of view images of the left rearview mirror and the right rearview mirror observed by the trainee through the camera device is re-executed.

[0126] When it is determined that the position deviation value is less than the preset position deviation threshold, an operation of determining the actual observation position of the trainee according to the first observation position and the second observation position is performed.

[0127] In this way, the actual observation position of the student observing the rearview mirror can be corrected according to the calculated position deviation value between the observation positions of the left rearview mirror and the right rearview mirror, further improving the accuracy of determining the actual viewing angle of the student observing the rearview mirror.

[0128] 104. Generate a driving training lesson plan reference picture corresponding to the student's actual observation field of view based on the actual observation position of the rearview mirror.

[0129] In an embodiment of the present invention, the generated driving training lesson plan reference picture is optionally used to guide the trainee to perform a matching vehicle driving operation at a corresponding position in the driving training lesson plan reference picture. In this way, the driving training lesson plan reference picture corresponding to the trainee's actual observation field of view is generated according to the actual observation position of the rearview mirror, which is conducive to improving the driving training effect of the trainee and the trainee's proficiency in mastering driving training knowledge, improving the teaching efficiency of the driving school, and helping the trainee to quickly master driving skills.

[0130] In an optional embodiment, after executing step 104, the method may further include the following operations:

[0131] The reference visual field image directly in front of the trainee is obtained through the camera equipment.

[0132] Multiple reference objects on the surface of the external vehicle body are marked to obtain multiple reference points, which can be represented as feature points of the reference object. Furthermore, the reference object can include objects in the field of vision directly in front of the vehicle, such as: vehicle logo, top arc of steering wheel, etc.

[0133] The target feature lines formed by multiple reference points in the reference field of view image directly in front are extracted, and a spatial model is constructed according to the positional relationship and size relationship of the target feature lines in three-dimensional space.

[0134] The actual visual field position of the trainee in front is determined according to the spatial model, and the actual observation position of the trainee in front is determined according to the actual visual field.

[0135] In this optional embodiment, optionally, the method may further include the following operations:

[0136] Calculate the position deviation between the actual observation position in front and the actual observation position of the rearview mirror, and determine whether the position deviation is greater than or equal to a preset position deviation threshold.

[0137] When it is determined that the position deviation value is greater than or equal to the preset position deviation threshold, the operation of acquiring the reference visual field image directly in front of the trainee through the camera device is re-executed.

[0138] When it is determined that the position deviation value is less than a preset position deviation threshold, a driving training lesson plan reference picture corresponding to the student's actual observation field of view is generated according to the actual observation position directly in front.

[0139] It can be seen that this optional embodiment can construct a spatial model in three-dimensional space based on the characteristic lines of the reference field of view image directly in front of the vehicle observed by the student when the student is in the car, and can accurately determine the student's actual observation position directly in front based on the spatial model, thereby improving the accuracy of determining the student's actual viewing angle directly in front, thereby helping to improve the driving training effect for the students and the students' proficiency in mastering driving training knowledge, improve the teaching efficiency of the driving school, and help students quickly master driving skills.

[0140] Embodiment 2

[0141] See also Figure 3 , Figure 3 The flowchart of a method for generating driving training lesson plan pictures based on the trainee's observation perspective disclosed in an embodiment of the present invention is shown in FIG. Figure 3 The described method for generating driving training lesson plan images based on the student's observation perspective can be applied to a driving training lesson plan image generation system based on the student's observation perspective, and the system can be applied as a subsystem in a driving training teaching system of a driving school. Optionally, the system can be applied to a central control module in a driving school training car, and the training car is provided with a camera device and a plurality of sensor devices (such as radar ranging equipment, etc.), and the camera device and the sensor device are connected to the central control module by wired and / or wireless connection, which is not limited in the embodiments of the present invention. Figure 3 As shown, the method for generating driving training lesson plan pictures based on the trainee's observation perspective may include the following operations:

[0142] 201. When the trainee is in the car, a reference field of view image of the rearview mirror observed by the trainee is obtained through a camera device, and a rearview mirror reflection model of the trainee when in the car is constructed based on a preset reference point, the trainee, and the mirror surface of the rearview mirror.

[0143] 202. Use the sensor equipment installed on the vehicle to detect whether the intensity of the ambient light outside the vehicle changes, or whether there is any foreign object blocking the rearview mirror.

[0144] 203. When it is detected that the ambient light intensity changes, the reflection parameters of the rearview mirror reflection model are adjusted according to the ambient light intensity to obtain an adjusted rearview mirror reflection model.

[0145] 204. When it is detected that the rearview mirror is blocked by a foreign object, the intensity of the ambient reflected light reflected by the mirror surface of the rearview mirror and the position of the foreign object blocking the rearview mirror are determined by a sensing device, and the reflection parameters of the rearview mirror reflection model are adjusted according to the intensity of the ambient reflected light and the position of the foreign object blocking the rearview mirror to obtain an adjusted rearview mirror reflection model.

[0146] In the embodiment of the present invention, optionally, the reflection parameters of the rearview mirror reflection model may at least include the reflection point position, reflection angle, reflection intensity, etc. of the reflected light.

[0147] 205. Determine the best actual field of view image of the rearview mirror observed by the trainee based on the reflection relationship corresponding to the adjusted rearview mirror reflection model, and determine the actual observation position of the rearview mirror of the trainee based on the difference relationship between the actual field of view image of the rearview mirror observed by the trainee when in the car and the reference field of view image.

[0148] 206. Generate a driving training lesson plan reference picture corresponding to the student's actual observation field of view according to the actual observation position of the rearview mirror.

[0149] In the embodiment of the present invention, for other descriptions of steps 201, 202, 205, and 206, please refer to the detailed description of steps 101 to 104 in the first embodiment, and the embodiment of the present invention will not be repeated here.

[0150] It can be seen that the implementation of the embodiment of the present invention can detect whether the ambient light intensity outside the vehicle has changed or whether there is a foreign object blocking the rearview mirror by installing a sensor device on the vehicle. When it is detected that the ambient light intensity has changed or the rearview mirror is blocked by a foreign object, the reflection parameters of the rearview mirror reflection model are adjusted in time, thereby further improving the accuracy and flexibility of determining the actual viewing angle of the student observing the rearview mirror, which is conducive to improving the teaching efficiency of the driving school and helping students quickly master driving skills.

[0151] In an optional embodiment, after executing step 202, the method may further include the following operations:

[0152] When a change in the ambient light intensity is detected, the reflection parameters of the rearview mirror reflection model are adjusted according to the ambient light intensity to adjust the position of the reference field of view image of the rearview mirror observed by the trainee captured by the camera device.

[0153] When it is detected that the rearview mirror is blocked by a foreign object, the position of the reference field of view image of the rearview mirror observed by the trainee is adjusted according to the position of the foreign object blocking the rearview mirror.

[0154] It can be seen that this optional embodiment can detect whether the ambient light intensity outside the vehicle has changed or whether there is a foreign object blocking the rearview mirror by installing a sensor device on the vehicle. When it is detected that the ambient light intensity has changed or the rearview mirror is blocked by a foreign object, the camera device is promptly adjusted to capture the position of the reference field of view image of the rearview mirror observed by the student, thereby further improving the accuracy and flexibility of determining the actual viewing angle of the student's rearview mirror, which is beneficial to improving the teaching efficiency of the driving school and helping students quickly master driving skills.

[0155] visible, Figure 3 The method for generating driving training lesson plan pictures based on the student's observation perspective described in the embodiment can obtain the reference field of view image of the rearview mirror observed by the student through the camera equipment when the student is in the car, and construct the rearview mirror reflection model when the student is in the car according to the preset reference point, the student, and the mirror surface of the rearview mirror, determine the actual field of view image of the rearview mirror observed by the student according to the reflection relationship of the rearview mirror reflection model, determine the actual observation position of the student's rearview mirror according to the difference relationship between the actual field of view image of the rearview mirror observed by the student when in the car and the reference field of view image, and generate the driving training lesson plan reference picture corresponding to the student's actual observation field of view according to the actual observation position of the rearview mirror, thereby eliminating the deviation between the actual situation and the reference picture of the teaching plan; and can detect whether the ambient light intensity outside the car changes or whether the rearview mirror is blocked by foreign objects through the sensor equipment installed on the car. When it is detected that the ambient light intensity changes or the rearview mirror is blocked by foreign objects, the reflection parameters of the rearview mirror reflection model are adjusted in time, thereby further improving the accuracy and flexibility of determining the actual viewing angle of the student's rearview mirror, which is conducive to improving the teaching efficiency of the driving school and helping students quickly master driving skills.

[0156] Embodiment 3

[0157] See also Figure 4 , Figure 4 The invention discloses a structural diagram of a system for generating driving training lesson plan pictures based on a trainee's observation perspective, as disclosed in an embodiment of the invention. Figure 4 The described driving training lesson plan image generation system based on the student's observation perspective can execute the above-mentioned driving training lesson plan image generation method based on the student's observation perspective, and the system can be applied as a subsystem in the driving training teaching system of a driving school. Optionally, the system can be applied to the central control module in the driving school training car, and the training car is provided with a camera device and a plurality of sensor devices (such as radar ranging equipment, etc.), and the camera device and the sensor device are connected to the central control module by wired and / or wireless connection methods, which is not limited in the embodiments of the present invention. Figure 4 As shown, the driving training teaching plan picture generation system based on the trainee's observation perspective may include: an acquisition module 301, a construction module 302, a determination module 303, and a generation module 304, wherein:

[0158] The acquisition module 301 is used to acquire, through a camera device, a reference field of view image of the rearview mirror observed by the trainee when the trainee is in the car.

[0159] The construction module 302 is used to construct a rearview mirror reflection model when the student is in the car based on the preset reference point, the student, and the mirror surface of the rearview mirror.

[0160] The determination module 303 is used to determine the actual field of view image of the rearview mirror observed by the trainee according to the reflection relationship of the rearview mirror reflection model constructed by the construction module 302.

[0161] The determination module 303 is further used to determine the actual observation position of the trainee according to the difference between the actual field of view image of the rearview mirror observed by the trainee when in the car and the reference field of view image acquired by the acquisition module 301 .

[0162] The generating module 304 is used to generate a driving training lesson plan reference picture corresponding to the trainee's actual observation field of view according to the actual observation position determined by the determining module 303 .

[0163] It can be seen that the implementation Figure 4 The described driving training lesson plan image generation system based on the student's observation perspective can obtain the reference field of view image of the rearview mirror observed by the student through the camera equipment when the student is in the car, and construct the rearview mirror reflection model when the student is in the car according to the preset reference point, the student, and the mirror surface of the rearview mirror, determine the actual field of view image of the rearview mirror observed by the student according to the reflection relationship of the rearview mirror reflection model, determine the actual observation position of the student's rearview mirror according to the difference relationship between the actual field of view image of the rearview mirror observed by the student when in the car and the reference field of view image, and can intelligently generate customized teaching lesson plan images based on the actual observation perspective of the student in the car, eliminate the deviation between the actual situation and the reference image of the teaching plan, thereby helping to improve the teaching efficiency of the driving school and help students quickly master driving skills.

[0164] In an optional embodiment, the rearview mirror includes a left rearview mirror and a right rearview mirror, and the preset reference points include feature points of multiple reference objects on the surface of the external vehicle body.

[0165] And, if Figure 5 As shown, the specific method in which the acquisition module 301 acquires the reference field of view image of the rearview mirror observed by the trainee through the camera device is:

[0166] The reference visual field image of the left rearview mirror and the reference visual field image of the right rearview mirror observed by the trainee are obtained through the camera equipment.

[0167] The specific method of the construction module 302 to construct the rearview mirror reflection model when the trainee is in the car according to the preset reference point, the trainee, and the mirror surface of the rearview mirror is:

[0168] According to the spatial positions of the preset reference points, the trainee, and the mirror surface of the rearview mirror in three-dimensional space, a rearview mirror reflection model is constructed when the trainee is in the car.

[0169] The specific method in which the determination module 303 determines the actual field of view image of the rearview mirror observed by the trainee according to the reflection relationship of the rearview mirror reflection model is:

[0170] According to the mirror reflection relationship among the reference point preset in the rearview mirror reflection model, the trainee and the mirror surface of the rearview mirror, the actual field of view image of the left rearview mirror and the actual field of view image of the right rearview mirror observed by the trainee are determined.

[0171] It can be seen that the implementation Figure 5 The described driving training lesson plan image generation system based on the student's observation perspective can more accurately determine the student's actual observation position of the rearview mirror according to the position and size difference relationship between the actual field of view image of the rearview mirror observed by the student when in the car and the reference field of view image, thereby improving the accuracy of determining the student's actual field of view of the rearview mirror, which is beneficial to improving the driving training effect for the students and the students' proficiency in mastering driving training knowledge, improving the teaching efficiency of the driving school, and helping students quickly master driving skills.

[0172] In another optional embodiment, Figure 5 As shown, the specific method of determining the actual observation position of the trainee's rearview mirror according to the difference between the actual field of view image of the rearview mirror observed by the trainee when in the car and the reference field of view image is as follows:

[0173] The actual characteristic line and the reference characteristic line formed by the preset reference point in the actual field of view image and the reference field of view image of the left rearview mirror are extracted.

[0174] According to the positional relationship and size relationship between the actual characteristic line and the reference characteristic line in the mirror surface of the left rearview mirror, the positional deviation relationship between the actual field of view image of the left rearview mirror observed by the trainee when in the car and the reference field of view image in three-dimensional space is calculated.

[0175] The first observation position of the trainee when observing the left rearview mirror is determined according to the position deviation relationship.

[0176] The actual characteristic line and the reference characteristic line formed by the preset reference point in the actual field of view image and the reference field of view image of the right rearview mirror are extracted.

[0177] According to the positional relationship and size relationship between the actual characteristic line and the reference characteristic line in the mirror surface of the right rearview mirror, the positional deviation relationship between the actual field of view image of the right rearview mirror observed by the trainee when in the car and the reference field of view image in three-dimensional space is calculated.

[0178] The second observation position of the trainee when observing the right rearview mirror is determined according to the position deviation relationship.

[0179] The actual observation position of the trainee's rearview mirror is determined according to the first observation position and the second observation position.

[0180] It can be seen that the implementation Figure 5 The described driving training lesson plan image generation system based on the student's observation perspective can more accurately determine the student's actual observation position of the rearview mirror according to the position and size difference relationship between the actual field of view image of the rearview mirror observed by the student when in the car and the reference field of view image, thereby improving the accuracy of determining the student's actual field of view of the rearview mirror, which is beneficial to improving the driving training effect for the students and the students' proficiency in mastering driving training knowledge, improving the teaching efficiency of the driving school, and helping students quickly master driving skills.

[0181] In yet another optional embodiment, Figure 5 As shown, the system also includes:

[0182] A calculation module 305, used for calculating a position deviation value between the first observation position and the second observation position before the determination module 303 determines the actual observation position of the trainee according to the first observation position and the second observation position;

[0183] The judgment module 306 is used to judge whether the position deviation value calculated by the calculation module 305 is greater than or equal to a preset position deviation threshold; when it is judged that the position deviation value is greater than or equal to the preset position deviation threshold, the triggering acquisition module 301 re-executes the operation of acquiring the reference field of view images of the left rearview mirror and the right rearview mirror observed by the trainee through the camera device; when it is judged that the position deviation value is less than the preset position deviation threshold, the triggering determination module 303 executes the operation of determining the actual observation position of the trainee according to the first observation position and the second observation position.

[0184] It can be seen that the implementation Figure 5 The described driving training lesson plan image generation system based on the student's observation perspective can correct the student's actual observation position of the rearview mirror according to the calculated position deviation value between the observation positions of the left rearview mirror and the right rearview mirror, further improving the accuracy of determining the student's actual perspective of the rearview mirror.

[0185] In yet another optional embodiment, Figure 5 As shown, the system also includes:

[0186] The acquisition module 301 is also used to acquire a reference visual field image directly in front of the trainee through a camera device.

[0187] The marking module 307 is used to mark multiple reference objects on the surface of the external vehicle body to obtain multiple reference points, where the reference points are represented as feature points of the reference objects.

[0188] The extraction module 308 is used to extract the target feature line formed by the multiple reference points marked by the marking module 307 in the reference field of view image directly in front acquired by the acquisition module 301 .

[0189] The construction module 302 is further used to construct a space model according to the position relationship and size relationship of the target feature lines extracted by the extraction module 308 in the three-dimensional space.

[0190] The determination module 303 is further used to determine the actual visual field position of the trainee in front according to the space model constructed by the construction module 302, and to determine the actual observation position of the trainee in front according to the actual visual field.

[0191] It can be seen that the implementation Figure 5 The described driving training lesson plan image generation system based on the student's observation perspective can construct a spatial model in three-dimensional space according to the characteristic lines of the reference field of view image directly in front of the vehicle observed by the student when in the car, and can accurately determine the student's actual observation position directly in front according to the spatial model, thereby improving the accuracy of determining the student's actual perspective of observing directly in front, which is beneficial to improving the driving training effect for the students and the students' proficiency in mastering driving training knowledge, improving the teaching efficiency of the driving school, and helping students quickly master driving skills.

[0192] In yet another optional embodiment, Figure 5 As shown, the method also includes:

[0193] The calculation module 305 is also used to calculate the position deviation value between the actual observation position in front and the actual observation position of the rearview mirror.

[0194] The judgment module 306 is also used to judge whether the position deviation value calculated by the calculation module 305 is greater than or equal to a preset position deviation threshold; when it is judged that the position deviation value is greater than or equal to the preset position deviation threshold, the acquisition module is triggered to re-execute the operation of acquiring the reference field of view image directly in front of the trainee through the camera device.

[0195] The generation module 304 is also used to generate a driving training lesson plan reference picture corresponding to the student's actual observation field of view according to the actual observation position directly in front when the judgment module 306 determines that the position deviation value is less than a preset position deviation threshold.

[0196] It can be seen that the implementation Figure 5The described driving training lesson plan image generation system based on the student's observation perspective can correct the student's actual observation position in front of the front according to the calculated position deviation value between the actual observation position in front and the actual observation position of the rearview mirror, further improving the accuracy of determining the student's actual viewing angle when observing the rearview mirror.

[0197] In yet another optional embodiment, Figure 5 As shown, the method also includes:

[0198] The detection module 309 is used to detect whether the intensity of ambient light outside the vehicle changes, or whether there is a foreign object blocking the rearview mirror, by means of a sensor device installed on the vehicle.

[0199] The adjustment module 310 is used to adjust the reflection parameters of the rearview mirror reflection model constructed by the construction module 302 according to the ambient light intensity when the detection module 309 detects a change in the ambient light intensity, so as to obtain an adjusted rearview mirror reflection model, so as to determine the best actual field of view image of the rearview mirror observed by the trainee according to the adjusted rearview mirror reflection model.

[0200] The determination module 303 is also used to determine the intensity of the ambient reflected light reflected by the mirror surface of the rearview mirror and the position of the foreign object blocking the rearview mirror through a sensing device when the detection module 309 detects whether the rearview mirror is blocked by a foreign object.

[0201] The adjustment module 310 is also used to adjust the reflection parameters of the rearview mirror reflection model constructed by the construction module 302 according to the intensity of the ambient reflected light and the position of the foreign object blocking the rearview mirror determined by the determination module 303, so as to obtain an adjusted rearview mirror reflection model, so as to determine the best actual field of view image of the rearview mirror observed by the trainee according to the adjusted rearview mirror reflection model.

[0202] The reflection parameters at least include a reflection angle of the reflected light and a reflection intensity of the reflected light.

[0203] It can be seen that the implementation Figure 5 The described driving training lesson plan image generation system based on the student's observation perspective can detect whether the ambient light intensity outside the vehicle has changed or whether there is a foreign object blocking the rearview mirror through the sensor equipment installed on the vehicle. When it is detected that the ambient light intensity has changed or the rearview mirror is blocked by a foreign object, the reflection parameters of the rearview mirror reflection model are adjusted in time, thereby further improving the accuracy and flexibility of determining the actual perspective of the student observing the rearview mirror, which is conducive to improving the teaching efficiency of the driving school and helping students quickly master driving skills.

[0204] Embodiment 4

[0205] See also Figure 6 , Figure 6Schematic diagram of another structure of a driving training lesson plan image generation system based on the trainee's observation perspective disclosed in an embodiment of the present invention. Figure 6 As shown, the driving training lesson plan image generation system based on the trainee's observation perspective may include:

[0206] A memory 401 storing executable program codes;

[0207] a processor 402 coupled to the memory 401;

[0208] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the method for generating driving training teaching plan pictures based on the trainee's observation perspective described in the first embodiment of the present invention or the second embodiment of the present invention.

[0209] Embodiment 5

[0210] An embodiment of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the steps in the method for generating driving training lesson plan pictures based on the student's observation perspective described in Embodiment 1 or Embodiment 2 of the present invention.

[0211] Embodiment 6

[0212] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute the steps in the method for generating driving training lesson plan images based on the student's observation perspective described in Example 1 or Example 2.

[0213] The system embodiment described above is only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without paying creative labor.

[0214] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0215] Finally, it should be noted that the method and system for generating driving training teaching plan images based on the student's observation perspective disclosed in the embodiment of the present invention only discloses a preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions recorded in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for generating driving training lesson plan pictures based on the trainee's observation perspective, characterized in that: The method comprises: When the trainee is in the car, a reference field of view image of the rearview mirror observed by the trainee is obtained through a camera device, and a rearview mirror reflection model of the trainee when in the car is constructed based on a preset reference point, the trainee, and the mirror surface of the rearview mirror; Determine the actual field of view image of the rearview mirror observed by the trainee according to the reflection relationship of the rearview mirror reflection model, and determine the actual observation position of the rearview mirror of the trainee according to the difference relationship between the actual field of view image of the rearview mirror observed by the trainee when in the vehicle and the reference field of view image; A driving training lesson plan reference picture corresponding to the student's actual observation field of view is generated according to the actual observation position of the rearview mirror.

2. The method for generating driving training lesson plan pictures based on the trainee's observation perspective according to claim 1, characterized in that: The rearview mirrors include a left rearview mirror and a right rearview mirror, and the preset reference points include feature points of a plurality of reference objects on the surface of the external vehicle body; The step of obtaining a reference field of view image of the rearview mirror observed by the trainee through a camera device includes: Acquiring a reference visual field image of a left rearview mirror and a reference visual field image of a right rearview mirror observed by the trainee through a camera device; The step of constructing a rearview mirror reflection model when the student is in the vehicle according to a preset reference point, the student, and the mirror surface of the rearview mirror comprises: Constructing a rearview mirror reflection model when the student is in the car according to the preset reference point, the student, and the spatial position of the mirror surface of the rearview mirror in the three-dimensional space; The step of determining the actual field of view image of the rearview mirror observed by the trainee according to the reflection relationship of the rearview mirror reflection model includes: According to the mirror reflection relationship among the preset reference point, the student, and the mirror surface of the rearview mirror in the rearview mirror reflection model, the actual field of view image of the left rearview mirror and the actual field of view image of the right rearview mirror observed by the student are determined.

3. The method for generating driving training lesson plan pictures based on the trainee's observation perspective according to claim 2, characterized in that: The determining the actual observation position of the rearview mirror of the trainee according to the difference relationship between the actual field of view image of the rearview mirror observed by the trainee when in the vehicle and the reference field of view image comprises: Extracting an actual feature line and a reference feature line formed by the preset reference point in the actual field of view image and the reference field of view image of the left rearview mirror; Calculate the position deviation relationship between the actual field of view image of the left rearview mirror observed by the trainee in the vehicle and the reference field of view image in three-dimensional space according to the position relationship and size relationship between the actual feature line and the reference feature line in the mirror surface of the left rearview mirror; Determining a first observation position of the trainee when observing the left rearview mirror according to the position deviation relationship; Extracting an actual feature line and a reference feature line formed by the preset reference point in the actual field of view image and the reference field of view image of the right rearview mirror; Calculate the position deviation relationship between the actual field of view image of the right rearview mirror observed by the trainee in the vehicle and the reference field of view image in three-dimensional space according to the position relationship and size relationship between the actual feature line and the reference feature line in the mirror surface of the right rearview mirror; Determining a second observation position of the trainee when observing the right rearview mirror according to the position deviation relationship; The actual observation position of the rearview mirror of the trainee is determined according to the first observation position and the second observation position.

4. The method for generating driving training lesson plan pictures based on the trainee's observation perspective according to claim 3, characterized in that: Before determining the actual observation position of the trainee according to the first observation position and the second observation position, the method further includes: Calculating a position deviation value between the first observation position and the second observation position, and determining whether the position deviation value is greater than or equal to a preset position deviation threshold; When it is determined that the position deviation value is greater than or equal to a preset position deviation threshold, re-performing the operation of acquiring the reference field of view images of the left rearview mirror and the right rearview mirror observed by the trainee through a camera device; When it is determined that the position deviation value is less than a preset position deviation threshold, the operation of determining the actual observation position of the trainee according to the first observation position and the second observation position is performed.

5. The method for generating driving training lesson plan pictures based on the trainee's observation perspective according to claim 1 or 4, characterized in that: The method further comprises: Acquire, by the camera device, a reference visual field image directly in front of the trainee; Marking a plurality of reference objects on the surface of the external vehicle body to obtain a plurality of reference points, wherein the reference points are represented as characteristic points of the reference objects; Extracting target feature lines formed by the plurality of reference points in the reference field of view image directly in front of the target, and constructing a spatial model according to the positional relationship and size relationship of the target feature lines in the three-dimensional space; The actual visual field position of the trainee in front is determined according to the space model, and the actual observation position in front of the trainee is determined according to the actual visual field.

6. The method for generating driving training lesson plan pictures based on the trainee's observation perspective according to claim 5, characterized in that: The method further comprises: Calculating a position deviation value between the actual observation position directly in front and the actual observation position of the rearview mirror, and determining whether the position deviation value is greater than or equal to a preset position deviation threshold; When it is determined that the position deviation value is greater than or equal to a preset position deviation threshold, re-performing the operation of acquiring the reference visual field image directly in front of the trainee through the camera device; When it is determined that the position deviation value is less than a preset position deviation threshold, a driving training lesson plan reference picture corresponding to the student's actual observation field of view is generated according to the actual observation position directly in front.

7. The method for generating driving training lesson plan pictures based on the trainee's observation perspective according to claim 1, characterized in that: The method further comprises: Detecting whether the intensity of ambient light outside the vehicle changes, or whether the rearview mirror is blocked by foreign objects, by means of a sensor device installed on the vehicle; When a change in the ambient light intensity is detected, the reflection parameters of the rearview mirror reflection model are adjusted according to the ambient light intensity to obtain an adjusted rearview mirror reflection model, so as to determine the best actual field of view image of the rearview mirror observed by the trainee according to the adjusted rearview mirror reflection model; When it is detected whether the rearview mirror is blocked by a foreign object, the intensity of the ambient reflected light reflected by the mirror surface of the rearview mirror and the position where the foreign object blocks the rearview mirror are determined by the sensing device, and according to the intensity of the ambient reflected light and the position where the foreign object blocks the rearview mirror, the reflection parameters of the rearview mirror reflection model are adjusted to obtain an adjusted rearview mirror reflection model, so as to determine the best actual field of view image of the rearview mirror observed by the trainee according to the adjusted rearview mirror reflection model; The reflection parameters at least include a reflection angle of the reflected light and a reflection intensity of the reflected light.

8. A driving training lesson plan image generation system based on the trainee's observation perspective, characterized in that: The system comprises: An acquisition module, used for acquiring a reference field of view image of a rearview mirror observed by the trainee through a camera device when the trainee is in the vehicle; A construction module, used to construct a rearview mirror reflection model when the student is in the car according to a preset reference point, the student, and the mirror surface of the rearview mirror; A determination module, used to determine the actual field of view image of the rearview mirror observed by the trainee according to the reflection relationship of the rearview mirror reflection model constructed by the construction module; The determination module is further used to determine the actual observation position of the trainee according to the difference relationship between the actual field of view image of the rearview mirror observed by the trainee when in the vehicle and the reference field of view image acquired by the acquisition module; A generating module is used to generate a driving training lesson plan reference picture corresponding to the actual observation field of view of the trainee according to the actual observation position determined by the determining module.

9. A driving training lesson plan image generation system based on the trainee's observation perspective, characterized in that: The system comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the method for generating driving training lesson plan pictures based on the student's observation perspective as described in any one of claims 1-7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the method for generating driving training lesson plan pictures based on the student's observation perspective as described in any one of claims 1-7.

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