A driving training teaching plan picture generation method and system based on a student observation perspective

Abstract

This invention discloses a method and system for generating driver training lesson plan images based on the student's observation perspective. The method includes: acquiring a reference field-of-view image of the rearview mirror observed by the student while they are inside the vehicle using a camera device; constructing a rearview mirror reflection model based on a preset reference point, the student, and the mirror surface; determining the actual field-of-view image of the rearview mirror observed by the student based on the reflection relationship of the rearview mirror reflection model; determining the student's actual observation position in the rearview mirror based on the difference between the actual field-of-view image and the reference field-of-view image; and generating a driver training lesson plan reference image corresponding to the student's actual field of view based on the actual observation position in the rearview mirror. Therefore, implementing this invention can eliminate the deviation between the actual situation and the reference image of the teaching plan, thereby improving the teaching efficiency of driving schools and helping students quickly master driving skills.

Description

Technical Field

[0001] This invention relates to the field of driver training technology, and in particular to a method and system for generating driver training lesson plan images based on the student's observation perspective. Background Technology

[0002] Currently, the teaching plans of intelligent driver training systems are only used as references to demonstrate the relative relationships between reference objects. Due to factors such as the height of the students, their observation perspectives differ, and the actual situation they see deviates from the reference pictures provided in the teaching plan, which causes great difficulties for instructors.

[0003] Therefore, a method and system for generating driver training lesson plan images based on the student's observation perspective is provided. This method can intelligently generate customized teaching lesson plan images by combining the student's actual observation perspective inside the training vehicle, eliminating the deviation between the actual situation and the reference images of the teaching plan, thereby improving the teaching efficiency of driving schools and helping students quickly master driving skills. Summary of the Invention

[0004] This invention provides a method and system for generating driver training lesson plan images based on the student's observation perspective, which can help improve the teaching efficiency of driving schools and help students quickly master driving skills.

[0005] To address the aforementioned technical problems, the first aspect of this invention discloses a method for generating driver training lesson plan images based on the student's observation perspective, the method comprising:

[0006] When the student is inside the vehicle, a reference field of view image of the rearview mirror observed by the student is obtained through a camera device, and a rearview mirror reflection model when the student is inside the vehicle is constructed based on a preset reference point, the student, and the mirror surface of the rearview mirror.

[0007] The actual field of view image of the rearview mirror observed by the trainee is determined based on the reflection relationship of the rearview mirror reflection model.

[0008] Based on the difference between the actual field of view image of the rearview mirror observed by the student when he / she is inside the vehicle and the reference field of view image, the actual observation position of the student in the rearview mirror is determined.

[0009] The driving training lesson plan reference image is generated based on the actual observation position of the rearview mirror, corresponding to the student's actual field of vision.

[0010] As an optional implementation, 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 point includes feature points of multiple reference objects on the external vehicle body surface.

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

[0012] The reference field-of-view image of the left rearview mirror and the reference field-of-view image of the right rearview mirror are obtained by the trainee through a camera device.

[0013] The step of constructing a rearview mirror reflection model of the student when he / she is inside the vehicle, based on a preset reference point, the student, and the mirror surface of the rearview mirror, includes:

[0014] Based on the preset reference point, the student, and the spatial position of the rearview mirror in three-dimensional space, construct a rearview mirror reflection model when the student is inside the vehicle;

[0015] The step of determining 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 includes:

[0016] Based on the preset reference point in the rearview mirror reflection model, the mirror reflection relationship between the student 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 student are determined.

[0017] As an optional implementation, in a first aspect of the invention, determining the student's actual observation position in the rearview mirror based on the difference between the actual field-of-view image and the reference field-of-view image observed by the student while inside the vehicle includes:

[0018] Extract the actual feature line and 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] Based on the positional and size relationship between the actual feature line and the reference feature line in the mirror surface of the left rearview mirror, calculate the positional deviation relationship between the actual field of view image and the reference field of view image of the left rearview mirror observed by the student when he / she is inside the vehicle in three-dimensional space.

[0020] The student's first observation position when observing the left rearview mirror is determined based on the positional deviation relationship.

[0021] Extract the actual feature line and 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] Based on the positional and size relationship between the actual feature line and the reference feature line in the mirror surface of the right rearview mirror, calculate the positional deviation relationship between the actual field of view image and the reference field of view image of the right rearview mirror observed by the student when he / she is inside the vehicle in three-dimensional space.

[0023] The second observation position of the trainee when observing the right rearview mirror is determined based on the positional deviation relationship.

[0024] The actual observation position of the trainee in the rearview mirror is determined based on the first observation position and the second observation position.

[0025] As an optional implementation, in a first aspect of the invention, before determining the student's actual observation position based on the first observation position and the second observation position, the method further includes:

[0026] Calculate the positional deviation between the first observation position and the second observation position, and determine whether the positional deviation is greater than or equal to a preset positional deviation threshold.

[0027] 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 and right rearview mirrors observed by the trainee through the camera device is re-executed.

[0028] When it is determined that the position deviation value is less than the preset position deviation threshold, the operation of determining the student's actual observation position based on the first observation position and the second observation position is executed.

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

[0030] The camera device is used to acquire a reference field-of-view image of the student's direct view in front of them.

[0031] Multiple reference objects on the external vehicle body surface are marked to obtain multiple reference points, which are represented as feature points of the reference objects;

[0032] Extract the target feature lines formed by the multiple reference points in the reference field of view image directly in front, and construct a spatial model based on the positional and size relationships of the target feature lines in three-dimensional space;

[0033] The actual field of view position of the student directly in front is determined based on the spatial model, and the actual observation position of the student directly in front is determined based on the actual field of view.

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

[0035] Calculate the positional deviation between the actual observation position directly in front and the actual observation position in the rearview mirror, and determine whether the positional deviation is greater than or equal to a preset positional deviation threshold.

[0036] 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 image directly in front of the student through the camera device is re-executed;

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

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

[0039] The sensor device installed on the vehicle is used to detect whether the ambient light intensity outside the vehicle changes, or whether there are foreign objects obstructing the rearview mirror;

[0040] When a change in 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 based on the adjusted rearview mirror reflection model.

[0041] When a foreign object is detected obstructing the rearview mirror, the sensor determines the intensity of the ambient light reflected by the mirror and the position of the foreign object obstructing the mirror. Based on the ambient light intensity and the position of the foreign object obstructing the mirror, the reflection parameters of the rearview mirror reflection model are adjusted to obtain the adjusted rearview mirror reflection model. The optimal actual field of view image of the rearview mirror observed by the trainee is then determined based on the adjusted rearview mirror reflection model.

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

[0043] A second aspect of this invention discloses a driver training lesson plan image generation system based on the student's observation perspective, the system comprising:

[0044] The acquisition module is used to acquire a reference field-of-view image of the rearview mirror observed by the student when the student is inside the vehicle, via a camera device.

[0045] The construction module is used to construct a rearview mirror reflection model when the student is inside the vehicle, based on a preset reference point, the student, and the mirror surface of the rearview mirror.

[0046] The determination module is used to 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 constructed by the construction module.

[0047] The determining module is further configured to determine the student's actual observation position based on the difference between the actual field of view image of the rearview mirror observed by the student when he / she is inside the vehicle and the reference field of view image obtained by the acquiring module.

[0048] The generation module is used to generate a reference image for the driver training lesson plan corresponding to the actual field of view of the trainee, based on the actual observation position determined by the determining module.

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

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

[0051] The reference field-of-view image of the left rearview mirror and the reference field-of-view image of the right rearview mirror are obtained by the trainee through a camera device.

[0052] The specific method by which the construction module constructs the rearview mirror reflection model of the student when he / she is inside the vehicle, based on a preset reference point, the student, and the mirror surface of the rearview mirror, is as follows:

[0053] Based on the preset reference point, the student, and the spatial position of the rearview mirror in three-dimensional space, construct a rearview mirror reflection model when the student is inside the vehicle;

[0054] The specific method by which the determining module determines 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 is as follows:

[0055] Based on the preset reference point in the rearview mirror reflection model, the mirror reflection relationship between the student 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 student are determined.

[0056] As an optional implementation, in a second aspect of the invention, the determining module determines the student's actual observation position in the rearview mirror based on the difference between the actual field of view image and the reference field of view image observed by the student while inside the vehicle, in the following specific manner:

[0057] Extract the actual feature line and 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] Based on the positional and size relationship between the actual feature line and the reference feature line in the mirror surface of the left rearview mirror, calculate the positional deviation relationship between the actual field of view image and the reference field of view image of the left rearview mirror observed by the student when he / she is inside the vehicle in three-dimensional space.

[0059] The student's first observation position when observing the left rearview mirror is determined based on the positional deviation relationship.

[0060] Extract the actual feature line and 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] Based on the positional and size relationship between the actual feature line and the reference feature line in the mirror surface of the right rearview mirror, calculate the positional deviation relationship between the actual field of view image and the reference field of view image of the right rearview mirror observed by the student when he / she is inside the vehicle in three-dimensional space.

[0062] The second observation position of the trainee when observing the right rearview mirror is determined based on the positional deviation relationship.

[0063] The actual observation position of the trainee in the rearview mirror is determined based on the first observation position and the second observation position.

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

[0065] The calculation module is used to calculate the positional deviation value between the first observation position and the second observation position before the determining module determines the actual observation position of the trainee based on the first observation position and the second observation position;

[0066] The judgment module is used to determine whether the position deviation value calculated by the calculation module is greater than or equal to a preset position deviation threshold; when the position deviation value is determined to be 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 images of the left rearview mirror and the right rearview mirror observed by the student through the camera device; when the position deviation value is determined to be less than the preset position deviation threshold, the determination module is triggered to execute the operation of determining the student's actual observation position based on the first observation position and the second observation position.

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

[0068] The acquisition module is also used to acquire a reference field-of-view image of the front view observed by the trainee through the camera device;

[0069] The marking module is used to mark multiple reference objects on the external vehicle body surface to obtain multiple reference points, which are represented as feature points of the reference objects;

[0070] An extraction module is used to extract the target feature line formed by the plurality of reference points marked by the marking module in the reference field of view image directly in front of the acquisition module;

[0071] The construction module is also used to construct a spatial model based on the positional and size relationships of the target feature lines extracted by the extraction module in three-dimensional space.

[0072] The determining module is further configured to determine the actual field of view position of the student in front of him based on the spatial model constructed by the building module, and to determine the actual observation position of the student in front of him based on the actual field of view.

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

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

[0075] The judgment module is also used to determine whether the position deviation value calculated by the calculation module 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 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;

[0076] The generation module is also used to generate a driver training lesson plan reference image corresponding to the student's actual field of vision based on 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 a second aspect of the invention, the system further includes:

[0078] The detection module is used to detect whether the ambient light intensity outside the vehicle changes or whether there are foreign objects obstructing the rearview mirror by using sensors installed on the vehicle.

[0079] An adjustment module is used 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 determine the best actual field of view image of the rearview mirror observed by the trainee based on the adjusted rearview mirror reflection model.

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

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

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

[0083] A third aspect of this invention discloses another driver training lesson plan image generation system based on the student's observation perspective, the system comprising:

[0084] Memory containing 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 driver training lesson plan image generation method based on the student'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 storing computer instructions, which, when invoked, are used to execute the driver training lesson plan image generation method 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] This invention provides a method and system for generating driver training lesson plan images based on the student's observation perspective. The method includes: acquiring a reference field-of-view image of the rearview mirror observed by the student while inside the vehicle using a camera device; constructing a rearview mirror reflection model based on a preset reference point, the student, and the mirror surface; determining the actual field-of-view image of the rearview mirror observed by the student based on the reflection relationship of the rearview mirror reflection model, which facilitates a faster and clearer determination of the student's actual observation angle; determining the student's actual observation position in the rearview mirror based on the difference between the actual field-of-view image and the reference field-of-view image; and generating a driver training lesson plan reference image corresponding to the student's actual observation position based on the actual observation position in the rearview mirror, which helps improve the effectiveness of driver training and the student's mastery of driver training knowledge. Therefore, implementing this invention can intelligently generate customized teaching lesson plan images based on the student's actual observation perspective inside the training vehicle, eliminating the deviation between the actual situation and the teaching plan reference image, thereby improving the efficiency of driving school teaching and helping students quickly master driving skills. Attached Figure Description

[0090] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0091] Figure 1 This is a flowchart illustrating a method for generating driver training lesson plan images based on the student's observation perspective, as disclosed in an embodiment of the present invention.

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

[0093] Figure 3 This is a flowchart illustrating another method for generating driver training lesson plan images based on the student's observation perspective, as disclosed in an embodiment of the present invention.

[0094] Figure 4 This is a schematic diagram of the structure of a driver training lesson plan image generation system based on the student's observation perspective disclosed in an embodiment of the present invention;

[0095] Figure 5 This is a schematic diagram of another driver training lesson plan image generation system based on the student's observation perspective disclosed in an embodiment of the present invention;

[0096] Figure 6 This is a schematic diagram of another driver training lesson plan image generation system based on the student's observation perspective disclosed in an embodiment of the present invention. Detailed Implementation

[0097] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0098] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

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

[0100] This invention discloses a method and system for generating driver training lesson plan images based on the student's observation perspective. When a student is inside a vehicle, the system acquires a reference field-of-view image of the rearview mirror observed by the student using a camera. It also constructs a rearview mirror reflection model based on preset reference points, the student, and the mirror surface, determining the student's actual field-of-view image. Furthermore, it determines the student's actual observation position in the rearview mirror based on the difference between the actual and reference field-of-view images. Finally, it generates a driver training lesson plan reference image corresponding to the student's actual field of view. This intelligently generates customized teaching lesson plan images by combining the student's actual observation perspective from inside the vehicle, eliminating discrepancies between the actual situation and the reference image, thereby improving driving school teaching efficiency and helping students quickly master driving skills. Detailed explanations follow.

[0101] Example 1

[0102] Please see Figure 1 , Figure 1This is a flowchart illustrating a method for generating driver training lesson plan images based on the student's perspective, as disclosed in an embodiment of the present invention. Figure 1 The described method for generating driver training lesson plan images based on the student's perspective can be applied to a driver training lesson plan image generation system based on the student's perspective. This system can be used as a subsystem in a driving school's driver training system. Optionally, the system can be applied to the central control module inside a driving school training vehicle. This training vehicle is equipped with camera equipment and multiple sensing devices (such as radar ranging devices). The camera equipment and sensing devices are connected to the central control module via wired and / or wireless connections. This embodiment of the invention is not limited to this method. Figure 1 As shown, the method for generating driver training lesson plan images based on the student's perspective can include the following operations:

[0103] 101. When the trainee is inside the vehicle, 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 inside the vehicle is constructed based on the preset reference point, the trainee, and the mirror surface of the rearview mirror.

[0104] In this embodiment of the invention, optionally, the rearview mirror may include a left rearview mirror and a right rearview mirror. The process of acquiring the reference field of view image of the rearview mirror observed by the trainee through the camera device is as follows: the trainee needs to sit in the driving position of the vehicle according to the sitting posture required by the instructor, adjust the rearview mirror, and use the camera device to take one image each of the left and right rearview mirrors seen from the current sitting posture, and it must be ensured that the image is consistent with the viewing angle observed while driving. The preset reference points include feature points of multiple reference objects on the external vehicle body surface. These reference objects may include: the outer edge curve of the door handles on both sides of the vehicle body, the taillights, the endpoints of the rear tires when they contact the ground along the tangential direction, etc., which are not limited in this embodiment of the invention.

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

[0106] The reference field of view images of the left and right rearview mirrors are obtained from the trainees using video equipment.

[0107] In this embodiment of the invention, constructing a rearview mirror reflection model when the student is inside the vehicle based on a preset reference point, the student, and the mirror surface of the rearview mirror can include:

[0108] Based on the preset reference points, the student, and the three-dimensional spatial positions of the left and right rearview mirrors, a rearview mirror reflection model is constructed when the student is inside the vehicle. This allows for the acquisition of a reference field-of-view image of the rearview mirror observed by the student using a camera device, and the construction of the rearview mirror reflection model based on the preset reference points, the student, and the mirror surfaces. This facilitates a faster and clearer determination of both the reference and actual viewing angles of the rearview mirrors observed by the student.

[0109] The rearview mirror reflection model can include: the left rearview mirror reflection model and the 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 embodiments of the present invention, such as Figure 2 As shown, the actual field of view image of the rearview mirror observed by the trainee is determined based on the reflection relationship of the rearview mirror reflection model, which may include:

[0112] Based on the mirror reflection model and the pre-set reference point, the student, and the mirror surface's reflection relationship (where the angle of incidence equals the angle of reflection), the actual field of view images of the left and right rearview mirrors observed by the student are determined. This method of determining the student's actual field of view images based on the reflection relationship of the rearview mirror model allows for a faster and clearer understanding of the rearview mirrors, thus improving the student's mastery of driving training knowledge, increasing driving school teaching efficiency, and helping students quickly acquire driving skills.

[0113] 103. Based on the difference between the actual field of view image and the reference field of view image observed by the student in the rearview mirror while inside the vehicle, determine the student's actual observation position in the rearview mirror.

[0114] In this embodiment of the invention, determining the student's actual observation position in the rearview mirror based on the difference between the actual field of view image observed by the student while inside the vehicle and the reference field of view image may include:

[0115] The target feature detection algorithm extracts the actual feature line and 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.

[0116] Based on the positional and magnitude relationships of the actual and reference feature lines within the mirror surface of the left rearview mirror (the mirror area within the rearview mirror's outline), the positional deviation between the actual and reference field-of-view images observed by the student while inside the vehicle is calculated in three-dimensional space. These positional and magnitude relationships can be expressed as the position, angle, and size of the actual and reference feature lines within the rearview mirror's outline.

[0117] The trainee's primary observation position when observing the left rearview mirror is determined based on the positional deviation relationship.

[0118] Furthermore, the actual feature line and 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 are extracted by the target feature detection algorithm.

[0119] Based on the positional and size relationships between the actual feature line and the reference feature line in the mirror surface of the right rearview mirror, calculate the positional deviation between the actual field of view image and the reference field of view image observed by the student when inside the vehicle in three-dimensional space.

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

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

[0122] By analyzing the positional and size differences between the actual field of view image observed by the student in the rearview mirror and the reference field of view image while inside the vehicle, the student's actual observation position in the rearview mirror can be determined more accurately. This improves the accuracy of determining the student's actual viewing angle in the rearview mirror, thereby enhancing the effectiveness of driver training and the student's mastery of driver training knowledge, increasing the teaching efficiency of driving schools, and helping students quickly master driving skills.

[0123] In an embodiment of the present invention, optionally, before determining the student's actual observation position in the rearview mirror based on the first observation position and the second observation position, the method further includes the following operations:

[0124] Calculate the positional deviation between the first and second observation positions, and determine whether the positional deviation is greater than or equal to a preset positional deviation threshold. The first and second observation positions can be represented by the positions of the student's naked eye when observing the left and right rearview mirrors, respectively. The positional deviation can be represented by the distance difference between the naked eye observation positions obtained from the left and right rearview mirrors. The positional deviation threshold is based on half the normal human interpupillary distance (IPD), which is generally 55-80mm. Therefore, 40mm can be used as the positional deviation threshold. A deviation exceeding 40mm between the first and second observation positions is considered excessive.

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

[0126] When the position deviation value is determined to be less than the preset position deviation threshold, the operation of determining the student's actual observation position based on the first observation position and the second observation position is executed.

[0127] This allows the system to correct the student's actual observation position in the rearview mirrors based on the calculated positional deviation between the left and right rearview mirrors, further improving the accuracy of determining the student's actual viewing angle in the rearview mirrors.

[0128] 104. Generate reference images for driver training lessons based on the actual observation position of the rearview mirror, corresponding to the student's actual field of vision.

[0129] In this embodiment of the invention, optionally, the generated driver training lesson reference image is used to guide the student to perform matching vehicle driving operations at the corresponding position in the driver training lesson reference image. Generating a driver training lesson reference image corresponding to the student's actual field of vision based on the actual observation position in the rearview mirror is beneficial for improving the effectiveness of driver training and the student's mastery of driver training knowledge, thereby increasing the teaching efficiency of driving schools and helping students quickly master driving skills.

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

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

[0132] Multiple reference objects on the external vehicle body surface are marked to obtain multiple reference points, which can be represented as feature points of the reference objects. Furthermore, the reference objects can include objects within the vehicle's direct frontal view, such as: the vehicle logo, the top curve of the steering wheel, etc.

[0133] Extract the target feature lines formed by multiple reference points in the reference field of view image directly in front, and construct a spatial model based on the positional and size relationships of the target feature lines in three-dimensional space.

[0134] The actual field of vision position of the trainee directly in front is determined based on the spatial model, and the actual observation position of the trainee directly in front is determined based on the actual field of vision.

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

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

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

[0138] When the position deviation value is determined to be less than the preset position deviation threshold, a reference image for the driver training lesson plan corresponding to the student's actual field of vision is generated based on the actual observation position directly in front.

[0139] As can be seen, this optional embodiment can construct a spatial model in three-dimensional space based on the feature lines of the reference field of view image directly in front of the vehicle observed by the student when inside the vehicle. It can accurately determine the student's actual observation position directly in front of the vehicle based on the spatial model, thereby improving the accuracy of determining the student's actual viewing angle directly in front of the vehicle. This is conducive to improving the student's driver training effect and mastery of driver training knowledge, improving the teaching efficiency of driving schools, and helping students quickly master driving skills.

[0140] Example 2

[0141] Please see Figure 3 , Figure 3 This is a flowchart illustrating a method for generating driver training lesson plan images based on the student's perspective, as disclosed in an embodiment of the present invention. Figure 3 The described method for generating driver training lesson plan images based on the student's perspective can be applied to a driver training lesson plan image generation system based on the student's perspective. This system can be used as a subsystem in a driving school's driver training system. Optionally, the system can be applied to the central control module inside a driving school training vehicle. This training vehicle is equipped with camera equipment and multiple sensing devices (such as radar ranging devices). The camera equipment and sensing devices are connected to the central control module via wired and / or wireless connections. This embodiment of the invention is not limited to this method. Figure 3 As shown, the method for generating driver training lesson plan images based on the student's perspective can include the following operations:

[0142] 201. When the trainee is inside the vehicle, 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 inside the vehicle is constructed based on the preset reference point, the trainee, and the mirror surface of the rearview mirror.

[0143] 202. Detect changes in ambient light intensity outside the vehicle by installing sensors on the vehicle, or whether there are foreign objects obstructing the rearview mirror.

[0144] 203. When a change in ambient light intensity is detected, the reflection parameters of the rearview mirror reflection model are adjusted according to the ambient light intensity to obtain the adjusted rearview mirror reflection model.

[0145] 204. When a foreign object is detected obstructing the rearview mirror, the intensity of the ambient light reflected by the mirror surface and the position of the foreign object obstructing the rearview mirror are determined by the sensing device. Based on the intensity of the ambient light reflected and the position of the foreign object obstructing the rearview mirror, the reflection parameters of the rearview mirror reflection model are adjusted to obtain the adjusted rearview mirror reflection model.

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

[0147] 205. Based on the reflection relationship corresponding to the adjusted rearview mirror reflection model, determine the best actual field of view image of the rearview mirror observed by the student, and determine the student's actual observation position in the rearview mirror based on the 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.

[0148] 206. Generate reference images for driver training lessons that correspond to the student's actual field of vision based on the actual observation position in the rearview mirror.

[0149] In this embodiment of the invention, for other descriptions of steps 201, 202, 205, and 206, please refer to the detailed description of steps 101-104 in Embodiment 1. This embodiment of the invention will not repeat them.

[0150] As can be seen, implementing the embodiments of the present invention can detect whether the ambient light intensity outside the vehicle changes or whether there are foreign objects obstructing the rearview mirror by installing sensors on the vehicle. When a change in ambient light intensity or foreign objects obstructing the rearview mirror are detected, the reflection parameters of the rearview mirror reflection model are adjusted in a timely manner, thereby further improving the accuracy and flexibility of determining the actual viewing angle of the student's observation of the rearview mirror. This is conducive to improving the teaching efficiency of driving schools and helping students quickly master driving skills.

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

[0152] When a change in 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 camera device.

[0153] When a foreign object is detected obstructing the rearview mirror, the position of the camera device is adjusted according to the position of the obstructing rearview mirror to capture the reference field of view image of the rearview mirror observed by the trainee.

[0154] As can be seen, this optional embodiment can detect whether the ambient light intensity outside the vehicle changes or whether there are foreign objects obstructing the rearview mirror by installing sensors on the vehicle. When a change in ambient light intensity or a foreign object obstructing the rearview mirror is detected, the position of the camera device to capture the reference field of view image of the rearview mirror observed by the student is adjusted in time, thereby further improving the accuracy and flexibility of determining the actual angle of the student's observation of the rearview mirror, which is conducive to improving the teaching efficiency of driving schools and helping students quickly master driving skills.

[0155] visible, Figure 3 The driving training lesson plan image generation method based on the student's observation perspective described in this embodiment can acquire a reference field-of-view image of the rearview mirror observed by the student when the student is inside the vehicle through a camera device. It also constructs a rearview mirror reflection model based on preset reference points, the student, and the mirror surface, determining the actual field-of-view image of the rearview mirror observed by the student based on the reflection relationship of the model. Furthermore, it determines the student's actual observation position in the rearview mirror based on the difference between the actual field-of-view image and the reference field-of-view image, generating a driving training lesson plan reference image corresponding to the student's actual field of view, thus eliminating the deviation between the actual situation and the reference image. Additionally, it can detect changes in ambient light intensity or obstructions to the rearview mirror using sensors installed in the vehicle. When changes in ambient light intensity or obstructions are detected, it adjusts the reflection parameters of the rearview mirror reflection model in a timely manner, further improving the accuracy and flexibility in determining the student's actual observation angle in the rearview mirror. This is beneficial for improving driving school teaching efficiency and helping students quickly master driving skills.

[0156] Example 3

[0157] Please see Figure 4 , Figure 4 This is a schematic diagram of a driver training lesson plan image generation system based on the student's observation perspective, as disclosed in an embodiment of the present invention. Figure 4 The described driver training lesson plan image generation system based on the student's perspective can execute the aforementioned driver training lesson plan image generation method based on the student's perspective. This system can be applied as a subsystem to a driving school's driver training system. Optionally, this system can be applied to the central control module inside a driving school training vehicle. This training vehicle is equipped with camera equipment and multiple sensing devices (such as radar ranging devices), and the camera equipment and sensing devices are connected to the central control module via wired and / or wireless connections. This embodiment of the invention does not impose limitations. Figure 4 As shown, the driver training lesson plan image generation system based on the student'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 a reference field-of-view image of the rearview mirror observed by the student when the student is inside the vehicle via a camera device.

[0159] Module 302 is used to construct a rearview mirror reflection model when the student is inside the vehicle, based on a 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 based on the reflection relationship of the rearview mirror reflection model constructed by the construction module 302.

[0161] The determining module 303 is also used to determine the student's actual observation position based on the difference between the actual field of view image of the rearview mirror observed by the student when he / she is inside the vehicle and the reference field of view image acquired by the acquiring module 301.

[0162] The generation module 304 is used to generate a reference image for the driver training lesson plan corresponding to the actual observation field of the trainee, based on the actual observation position determined by the determination module 303.

[0163] It is evident that implementation Figure 4 The described driver training lesson plan image generation system based on the student's observation perspective can acquire a reference field-of-view image of the rearview mirror observed by the student while they are inside the vehicle using a camera device. It also constructs a rearview mirror reflection model based on preset reference points, the student, and the mirror surface, determining the actual field-of-view image of the rearview mirror as observed by the student. Furthermore, it determines the student's actual observation position in the rearview mirror based on the difference between the actual field-of-view image and the reference field-of-view image. This system intelligently generates customized teaching lesson plan images based on the student's actual observation perspective, eliminating discrepancies between the actual situation and the reference image, thereby improving driving school teaching efficiency and helping 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 external vehicle body surface.

[0165] And, such as Figure 5 As shown, the specific method by 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 as follows:

[0166] The reference field of view images of the left and right rearview mirrors are obtained from the trainees using video equipment.

[0167] The specific method by which module 302 constructs the rearview mirror reflection model when the student is inside the vehicle, based on preset reference points, the student, and the mirror surface of the rearview mirror, is as follows:

[0168] Based on the preset reference point, the student, and the spatial position of the rearview mirror in three-dimensional space, a rearview mirror reflection model is constructed when the student is inside the vehicle.

[0169] The specific method by which module 303 determines 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 is as follows:

[0170] Based on 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 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.

[0171] It is evident that implementation Figure 5 The described driver training lesson plan image generation system based on the student's observation perspective can more accurately determine the student's actual observation position in the rearview mirror by considering the positional and size differences between the actual field of view image and the reference field of view image observed by the student while inside the vehicle. This improves the accuracy of determining the student's actual observation angle in the rearview mirror, thereby enhancing the effectiveness of driver training and the student's mastery of driver training knowledge, increasing the teaching efficiency of driving schools, and helping students quickly master driving skills.

[0172] In another alternative embodiment, such as Figure 5 As shown, the determining module 303 determines the student's actual observation position in the rearview mirror based on the difference between the actual field of view image observed by the student while inside the vehicle and the reference field of view image.

[0173] Extract the actual feature line and 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.

[0174] Based on the positional and size relationships between the actual feature line and the reference feature line in the mirror surface of the left rearview mirror, the positional deviation between the actual field of view image and the reference field of view image observed by the student when inside the vehicle is calculated in three-dimensional space.

[0175] The trainee's primary observation position when observing the left rearview mirror is determined based on the positional deviation relationship.

[0176] Extract the actual feature line and 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.

[0177] Based on the positional and size relationships between the actual feature line and the reference feature line in the mirror surface of the right rearview mirror, calculate the positional deviation between the actual field of view image and the reference field of view image observed by the student when inside the vehicle in three-dimensional space.

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

[0179] The trainee's actual observation position in the rearview mirror is determined based on the first and second observation positions.

[0180] It is evident that implementation Figure 5 The described driver training lesson plan image generation system based on the student's observation perspective can more accurately determine the student's actual observation position in the rearview mirror by considering the positional and size differences between the actual field of view image and the reference field of view image observed by the student while inside the vehicle. This improves the accuracy of determining the student's actual observation angle in the rearview mirror, thereby enhancing the effectiveness of driver training and the student's mastery of driver training knowledge, increasing the teaching efficiency of driving schools, and helping students quickly master driving skills.

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

[0182] The calculation module 305 is used to calculate the positional 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 based on the first observation position and the second observation position.

[0183] The judgment module 306 is used to determine whether the position deviation value calculated by the calculation module 305 is greater than or equal to the preset position deviation threshold. When the position deviation value is determined to be greater than or equal to the preset position deviation threshold, the acquisition module 301 is triggered to re-execute the operation of acquiring the reference field images of the left and right rearview mirrors observed by the student through the camera device. When the position deviation value is determined to be less than the preset position deviation threshold, the determination module 303 is triggered to execute the operation of determining the student's actual observation position based on the first observation position and the second observation position.

[0184] It is evident that implementation Figure 5 The described driver training lesson plan image generation system based on the student's observation perspective can correct the student's actual observation position in the rearview mirror by calculating the positional deviation between the observation positions of the left and right rearview mirrors, thereby further improving the accuracy of determining the student's actual observation angle in the rearview mirror.

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

[0186] The acquisition module 301 is also used to acquire a reference field-of-view image of the trainee's direct view through a camera device.

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

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

[0189] The construction module 302 is also used to construct a spatial model based on the positional and size relationships of the target feature lines extracted by the extraction module 308 in three-dimensional space.

[0190] The determination module 303 is also used to determine the student's actual field of vision position directly in front of him based on the spatial model constructed by the construction module 302, and to determine the student's actual observation position directly in front of him based on the actual field of vision.

[0191] It is evident that implementation Figure 5 The described driver training lesson plan image generation system based on the student's observation perspective can construct a spatial model in three-dimensional space based on the feature lines of the reference field of view image directly in front of the vehicle observed by the student while inside the vehicle. It can accurately determine the student's actual observation position directly in front of the vehicle based on the spatial model, thereby improving the accuracy of determining the actual perspective of the student's observation. This is conducive to improving the driving training effect and the student's mastery of driving training knowledge, improving the teaching efficiency of driving schools, and helping students quickly master driving skills.

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

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

[0194] The judgment module 306 is also used to determine whether the position deviation value calculated by the calculation module 305 is greater than or equal to the preset position deviation threshold; when it is determined 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 driver training lesson plan reference image corresponding to the student's actual field of vision based on the actual observation position directly in front when the judgment module 306 determines that the position deviation value is less than the preset position deviation threshold.

[0196] It is evident that implementation Figure 5The described driver training lesson plan image generation system based on the student's observation perspective can correct the student's actual observation position based on the calculated positional deviation between the actual observation position directly in front and the actual observation position in the rearview mirror, further improving the accuracy of determining the student's actual observation angle in the rearview mirror.

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

[0198] The detection module 309 is used to detect whether the ambient light intensity outside the vehicle changes or whether there are foreign objects obstructing the rearview mirror by using sensors 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 ambient light intensity, so as to obtain the adjusted rearview mirror reflection model and determine the best actual field of view image of the rearview mirror observed by the trainee based on the adjusted rearview mirror reflection model.

[0200] The determination module 303 is also used to determine the intensity of the ambient light reflected by the mirror surface of the rearview mirror and the position of the object obstructing the rearview mirror when the detection module 309 detects that there is a foreign object obstructing the rearview mirror.

[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 based on the intensity of ambient reflected light and the position of the foreign object obstructing the rearview mirror determined by the determination module 303, so as to obtain the adjusted rearview mirror reflection model and determine the best actual field of view image of the rearview mirror observed by the trainee based on the adjusted rearview mirror reflection model.

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

[0203] It is evident that implementation Figure 5 The described driver training lesson plan image generation system based on the student's observation perspective can detect changes in ambient light intensity or obstructions to the rearview mirror using sensors installed in the vehicle. When changes in ambient light intensity or obstructions are detected, the system adjusts the reflection parameters of the rearview mirror reflection model in a timely manner, thereby improving the accuracy and flexibility in determining the student's actual observation angle from the rearview mirror. This is beneficial for improving driving school teaching efficiency and helping students quickly master driving skills.

[0204] Example 4

[0205] Please see Figure 6 , Figure 6This is a schematic diagram of another driver training lesson plan image generation system based on the student's observation perspective disclosed in an embodiment of the present invention. For example... Figure 6 As shown, the driver training lesson plan image generation system based on the student's observation perspective may include:

[0206] Memory 401 storing executable program code;

[0207] Processor 402 coupled to memory 401;

[0208] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the driver training lesson plan image generation method based on the student's observation perspective described in Embodiment 1 or Embodiment 2 of the present invention.

[0209] Example 5

[0210] This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute the steps in the driver training lesson plan image generation method based on the student's observation perspective described in Embodiment 1 or Embodiment 2 of this invention.

[0211] Example 6

[0212] This 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 cause a computer to perform the steps in the driver training lesson plan image generation method based on the student's observation perspective described in Embodiment 1 or Embodiment 2.

[0213] The system embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0214] Through the detailed 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 necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, 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 driver training lesson plan images based on the student's observation perspective disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for generating driver training lesson plan images based on the student's observation perspective, characterized in that, The method includes: When the student is inside the vehicle, a reference field of view image of the rearview mirror observed by the student is obtained through a camera device, and a rearview mirror reflection model when the student is inside the vehicle is constructed based on a preset reference point, the student, and the mirror surface of the rearview mirror. The actual field of view image of the rearview mirror observed by the student is determined based on the reflection relationship of the rearview mirror reflection model. The actual observation position of the student in the rearview mirror is determined based on the difference between the actual field of view image of the rearview mirror observed by the student when he / she is in the vehicle and the reference field of view image. Based on the actual observation position of the rearview mirror, a reference image for the driver training lesson plan corresponding to the student's actual field of vision is generated; The rearview mirrors include a left rearview mirror and a right rearview mirror, and the preset reference points include feature points of multiple reference objects on the external vehicle body surface; The step of acquiring the reference field-of-view image of the rearview mirror observed by the trainee through a camera device includes: The reference field-of-view image of the left rearview mirror and the reference field-of-view image of the right rearview mirror are obtained by the trainee through a camera device. The step of constructing a rearview mirror reflection model of the student when he / she is inside the vehicle, based on a preset reference point, the student, and the mirror surface of the rearview mirror, includes: Based on the preset reference point, the student, and the spatial position of the rearview mirror in three-dimensional space, construct a rearview mirror reflection model when the student is inside the vehicle; The step of determining 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 includes: Based on the preset reference point in the rearview mirror reflection model, the mirror reflection relationship between the student 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 student are determined. The method further includes: The camera device is used to acquire a reference field-of-view image of the student's direct view in front of them. Multiple reference objects on the external vehicle body surface are marked to obtain multiple reference points, which are represented as feature points of the reference objects; Extract the target feature lines formed by the multiple reference points in the reference field of view image directly in front, and construct a spatial model based on the positional and size relationships of the target feature lines in three-dimensional space; The actual field of view position of the student directly in front is determined based on the spatial model, and the actual observation position of the student directly in front is determined based on the actual field of view.

2. The method for generating driver training lesson plan images based on the student's observation perspective according to claim 1, characterized in that, Determining the student's actual observation position in the rearview mirror based on the difference between the actual field of view image and the reference field of view image observed by the student while inside the vehicle includes: Extract the actual feature line and 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; Based on the positional and size relationship between the actual feature line and the reference feature line in the mirror surface of the left rearview mirror, calculate the positional deviation relationship between the actual field of view image and the reference field of view image of the left rearview mirror observed by the student when he / she is inside the vehicle in three-dimensional space. The student's first observation position when observing the left rearview mirror is determined based on the positional deviation relationship. Extract the actual feature line and 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; Based on the positional and size relationship between the actual feature line and the reference feature line in the mirror surface of the right rearview mirror, calculate the positional deviation relationship between the actual field of view image and the reference field of view image of the right rearview mirror observed by the student when he / she is inside the vehicle in three-dimensional space. The second observation position of the trainee when observing the right rearview mirror is determined based on the positional deviation relationship. The actual observation position of the trainee in the rearview mirror is determined based on the first observation position and the second observation position.

3. The method for generating driver training lesson plan images based on the student's observation perspective according to claim 2, characterized in that, Before determining the trainee's actual observation position based on the first observation position and the second observation position, the method further includes: Calculate the positional deviation between the first observation position and the second observation position, and determine whether the positional deviation is greater than or equal to a preset positional deviation threshold. 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 and right rearview mirrors observed by the trainee through the camera device is re-executed; When it is determined that the position deviation value is less than the preset position deviation threshold, the operation of determining the student's actual observation position in the rearview mirror based on the first observation position and the second observation position is performed.

4. The method for generating driver training lesson plan images based on the student's observation perspective according to claim 1, characterized in that, The method further includes: Calculate the positional deviation between the actual observation position directly in front and the actual observation position in the rearview mirror, and determine whether the positional deviation is greater than or equal to a preset positional deviation threshold. 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 field of view image directly in front of the student through the camera device is re-executed; When it is determined that the position deviation value is less than the preset position deviation threshold, a driver training lesson plan reference image corresponding to the student's actual field of vision is generated based on the actual observation position directly in front.

5. The method for generating driver training lesson plan images based on the student's observation perspective according to claim 1, characterized in that, The method further includes: The sensor device installed on the vehicle detects whether the ambient light intensity outside the vehicle changes, or whether there are foreign objects obstructing the rearview mirror; When a change in 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 based on the adjusted rearview mirror reflection model; When a foreign object is detected obstructing the rearview mirror, the sensing device determines the intensity of the ambient reflected light reflected by the mirror and the position of the foreign object obstructing the mirror. Based on the ambient reflected light intensity and the position of the foreign object obstructing the mirror, the reflection parameters of the rearview mirror reflection model are adjusted to obtain the adjusted rearview mirror reflection model. The optimal actual field of view image of the rearview mirror observed by the trainee is then determined based on the adjusted rearview mirror reflection model. The reflection parameters include at least the reflection angle and the reflection intensity of the reflected light.

6. A driver training lesson plan image generation system based on the student's observation perspective, characterized in that, The system includes: The acquisition module is used to acquire a reference field-of-view image of the rearview mirror observed by the student when the student is inside the vehicle, via a camera device. The construction module is used to construct a rearview mirror reflection model when the student is inside the vehicle, based on a preset reference point, the student, and the mirror surface of the rearview mirror. The determination module is used to 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 constructed by the construction module. The determining module is further configured to determine the student's actual observation position based on the difference between the actual field of view image of the rearview mirror observed by the student when he / she is inside the vehicle and the reference field of view image obtained by the acquiring module. The generation module is used to generate a reference image of the driver training lesson plan corresponding to the actual field of view of the trainee, based on the actual observation position determined by the determining module. The rearview mirrors include a left rearview mirror and a right rearview mirror, and the preset reference points include feature points of multiple reference objects on the external vehicle body surface; The specific method by which the acquisition module acquires the reference field-of-view image of the rearview mirror observed by the trainee through the camera device is as follows: The reference field-of-view image of the left rearview mirror and the reference field-of-view image of the right rearview mirror are obtained by the trainee through a camera device. The specific method by which the construction module constructs the rearview mirror reflection model of the student when he / she is inside the vehicle, based on a preset reference point, the student, and the mirror surface of the rearview mirror, is as follows: Based on the preset reference point, the student, and the spatial position of the rearview mirror in three-dimensional space, construct a rearview mirror reflection model when the student is inside the vehicle; The specific method by which the determining module determines 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 is as follows: Based on the preset reference point in the rearview mirror reflection model, the mirror reflection relationship between the student 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 student are determined. The system also includes: The acquisition module is also used to acquire a reference field-of-view image of the front view observed by the trainee through the camera device; The marking module is used to mark multiple reference objects on the external vehicle body surface to obtain multiple reference points, which are represented as feature points of the reference objects; An extraction module is used to extract the target feature line formed by the plurality of reference points marked by the marking module in the reference field of view image directly in front of the acquisition module; The construction module is also used to construct a spatial model based on the positional and size relationships of the target feature lines extracted by the extraction module in three-dimensional space. The determining module is further configured to determine the student's actual field of vision position in front of him based on the spatial model constructed by the building module, and to determine the student's actual observation position in front of him based on the actual field of vision.

7. A driver training lesson plan image generation system based on the student's observation perspective, characterized in that, The system includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the driver training lesson plan image generation method based on the student's observation perspective as described in any one of claims 1-5.

8. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the driver training lesson plan image generation method based on the student's observation perspective as described in any one of claims 1-5.

Images