Digital twinborn information accompanying reminding method and device

Abstract

The invention discloses a digital twinborn information accompanying reminding method and device, and solves the problem that digital twinborn traffic violation reminding cannot be sent in time in a traffic management process in the prior art. The invention discloses a digital twin information accompanying reminding method. The method comprises the following steps: acquiring current sensing information of a target vehicle; displaying a twin picture of the traffic scene; in response to a preset behavior contained in the vehicle driving state information, obtaining a reminding message corresponding to the preset behavior, and broadcasting the reminding message through a selected reminding device; according to the invention, vehicle running track monitoring and real-time reminding are realized, and vehicle behavior violation is effectively avoided.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a method and device for digital twin information accompanying reminders. Background Art

[0002] With the acceleration of urbanization and the development of the automobile industry, more and more highways are playing an important role in urban traffic. Traffic participants, especially vehicles, may have various behaviors in traffic scenes, such as guiding correct driving behaviors and providing traffic facility guidance information; sometimes, traffic participants will have illegal driving, dangerous driving or driving behaviors with safety risks, and these behaviors only need a little reminder to avoid adverse consequences, which helps to improve the traffic safety factor. In order to provide vehicles with timely and effective reminders and ensure that the reminders can be delivered stably, the reminder device includes an information accompanying reminder device.

[0003] However, in the process of traffic scene control, it is impossible to track and monitor the real-time information accompanying services throughout the process, and it is difficult to timely and effectively evaluate whether the information accompanying services reach traffic participants, and thus it is impossible to adjust traffic service facilities and rules in a timely manner. Summary of the invention

[0004] The present application proposes a digital twin information accompanying reminder method and device, which solves the problem of whether the traffic behavior reminder information is delivered in time, which is difficult to evaluate in the traffic management process of the prior art.

[0005] In a first aspect, an embodiment of the present application provides a method for information accompanying reminder of a digital twin, comprising the steps of:

[0006] Acquire the current perception information of the target vehicle; display the twin image of the traffic scene; the twin image includes the twin object of the target vehicle and the twin object of the prompt device;

[0007] The current perception information of the target vehicle includes the vehicle driving status information;

[0008] In response to the preset behavior included in the vehicle driving state information, obtaining a reminder message corresponding to the preset behavior, and broadcasting the reminder message through a selected reminder device;

[0009] In the twin scene, the twin object of the selected prompt device is updated to display the current working status information or current reminder message of the selected prompt device.

[0010] In one embodiment, the location range of the selected prompt device is determined based on the vehicle driving status information and the set reach conditions.

[0011] In one of the embodiments, the twin image includes a twin object of a road;

[0012] Acquire geographic information data, where the geographic information data includes geographic coordinates of roads;

[0013] In the twin image of the traffic scene, the centerline direction of the road is mapped to the x direction, and the width direction of the road is mapped to the y direction. A rectangular coordinate system is established to display the two-dimensional graphics of the road.

[0014] The x-coordinate of any point in the two-dimensional figure is determined, corresponding to the cumulative length of the position of the arbitrary point in the geographic information data along the direction parallel to the center line of the road.

[0015] In one embodiment, at least one of the following is determined based on the stake numbers arranged along the road:

[0016] The cumulative length of any point in the road scene, the location of the target vehicle in the road scene, or the location of the prompt device along the direction parallel to the center line of the road;

[0017] The x-coordinate of any point in the road scene, the twin object of the target vehicle in the road scene, or the twin object of the prompt device in the two-dimensional graph.

[0018] In one embodiment, the method further comprises the steps of:

[0019] Compare the positional relationship between the twin object of the selected prompt device and the twin object of the target vehicle to determine whether the set contact conditions are met.

[0020] In one embodiment, the method further comprises the steps of:

[0021] In response to the positional relationship between the twin object of the selected prompting device and the twin object of the target vehicle not satisfying the set contact condition, at least one of the following is triggered:

[0022] Adjust the set reach conditions;

[0023] Change the selected prompt device;

[0024] Adjust the position range of the selected prompt device;

[0025] Adjust the working status information and / or reminder message of at least one prompting device.

[0026] In one embodiment, the prompt device is an information board. The reminder message is displayed on the selected information board; and the twin object of the selected information board is updated to display the current reminder message and / or current working status information.

[0027] In one embodiment, the prompt device is an information board, and the selected information board has a location range that is greater than a first distance threshold from the target vehicle.

[0028] In one embodiment, the prompt device is a directional sound device. The reminder message is played through the selected directional sound device. The twin object of the selected directional sound device is updated to display the current reminder message and / or current working status information.

[0029] In one embodiment, the prompt device is a directional sound device. The distance between the selected directional sound device and the target vehicle is less than a second distance threshold.

[0030] In one of the embodiments, the reminder message includes information indicating a preset action.

[0031] In one embodiment, the preset behavior includes a violation of the vehicle, and the reminder message includes the violation and / or a method of correcting the violation.

[0032] In one embodiment, the alert message includes the license plate number of the target vehicle.

[0033] In a second aspect, an embodiment of the present application further provides an information accompanying reminder device of a digital twin, which is used to implement the method described in any one of the embodiments of the first aspect, and comprises an acquisition module, a display module and a reminder module:

[0034] The acquisition module is used to acquire the current perception information of the target vehicle, and the current perception information of the target vehicle includes the vehicle driving status information. The reminder module, in response to the preset behavior included in the vehicle driving status information, acquires the reminder message corresponding to the preset behavior, and broadcasts the reminder message through the selected reminder device. The display module is used to display or update the twin object of the target vehicle and the twin object of the reminder device in the twin scene; it is also used to update the twin object of the selected reminder device in the twin scene, and display the current working status information or current reminder message of the selected reminder device.

[0035] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in the first aspect or the second aspect above.

[0036] In a fourth aspect, an embodiment of the present application further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first or second aspect above when executing the computer program.

[0037] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0038] This application implements vehicle operation trajectory monitoring and real-time reminders, effectively avoiding vehicle behavior violations. On the basis of a one-picture overview, it can intuitively and conveniently evaluate service equipment and adjust and optimize service capabilities. This application combines preset behaviors with prompt messages to twin reminder devices, which can effectively manage reminder device effects or find abnormal devices. This application implements closed-loop feedback on specific prompt devices, behaviors, and the process of generating reminder messages. It can timely evaluate whether reminder messages have been delivered, and further facilitates real-time adjustment and optimization of accompanying reminder services. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0040] Figure 1 An application environment diagram of the information accompanying reminder method of the digital twin provided in the embodiment of the present application;

[0041] Figure 2 A flow chart of a digital twin information accompanying reminder method provided in an embodiment of the present application;

[0042] Figure 3 A flowchart of a method including the step of selecting a prompt device according to an embodiment of the present application;

[0043] Figure 4 A flow chart of a coordinate transformation process for determining a position range in an embodiment of the present application;

[0044] Figure 5 A flow chart of a method including evaluation and adjustment steps according to an embodiment of the present application;

[0045] Figure 6 It is a twin picture schematic diagram showing the actual service effect on site in the embodiment of the present application;

[0046] Figure 7 is another twin view schematic diagram showing the actual on-site service effect in the embodiment of the present application; Figure 8 A diagram showing the structure of a device according to an embodiment of the present application;

[0047] Fig. 9 This is a structural diagram of a computer device in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0049] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0050] Figure 1 The present invention provides an application environment for the information accompanying reminder method of the digital twin provided in the embodiment of the present application.

[0051] like Figure 1 As shown, the application environment in which the information accompanying reminder method of the digital twin provided by the embodiment of the present application can be implemented. Among them, the application environment includes a computer 101, a network 102, a multi-source perception device 103, a device pile 104 and a road device (prompt device 105); the computer device and the multi-source perception device can communicate through a wired network or a wireless network; wherein the computer device can be a roadside computing unit / terminal / edge server, optionally, the computer device can also be a cloud server, a vehicle-mounted computing unit / terminal on the vehicle side, etc., and the embodiment of the present application does not specifically limit the type of computer device. Among them, the multi-source perception device is a roadside perception device / road test multi-source fusion perception system set at the entrance of the traffic scene and a set position inside the traffic scene. For example, it can be on a uniformly distributed device pile in the traffic scene, or it can also be a millimeter wave radar sensor, a laser radar sensor, and at least one of a camera and a camera, etc., and the embodiment of the present application does not specifically limit the type of multi-source perception device.

[0052] The current perception information of the digital twin of the computer device can also be visualized to form a visualization interface. The visualization processing module can be integrated on the computer device or set separately in other locations.

[0053] It may also include a data storage system for storing data that the computer device needs to process. The data storage system may be integrated with the computer device or placed separately on the cloud or other network.

[0054] Figure 2 A flowchart of a digital twin information accompanying reminder method provided in an embodiment of the present application. Figure 1 Based on the device application scenario shown, the embodiment of the present application provides a digital twin information accompanying reminder method, comprising steps 210 to 240:

[0055] Step 210: obtaining current perception information of the target vehicle;

[0056] The vehicle's current perception information includes the vehicle's driving status information;

[0057] The target vehicle can be any vehicle that enters the perception coverage area of ​​the traffic scene perception device. The multi-source perception device performs data perception on the target vehicle to obtain the perception information of the target vehicle.

[0058] The perception information is obtained through multi-source perception devices in the traffic scene.

[0059] Optionally, the multi-source perception device is a roadside perception device / road test multi-source fusion perception system arranged at the entrance of the traffic scene and at a set position inside the traffic scene.

[0060] The embodiments of the present application do not limit the location of the multi-source sensing device in the traffic scene, as long as the sensing range of the multi-source sensing device can cover the set detection area.

[0061] In actual application, the multi-source perception device set in the traffic scene can perceive the vehicles in the traffic scene in real time to obtain the perception information of the target vehicle in the traffic scene. It is understandable that the area that the multi-source perception device of the traffic scene can perceive can be determined according to the location of the multi-source perception device set according to actual needs.

[0062] The perception system can be a combination of one or more of a smart base station, a smart camera device, a millimeter-wave radar sensor, or a lidar sensor. In actual application, the perception system set up in the traffic scene can perceive the vehicle in real time to obtain the perception information of the vehicle.

[0063] The current perception information in the embodiment of the present application refers to the perception information at the current moment, which generally refers to any moment when the perception system perceives vehicles in the road scene, that is, the computer device can receive the perception information sent by the perception system of at least a part of the vehicles or all the vehicles on the road scene perceived at the current moment (any moment).

[0064] Optionally, the vehicle's perception information includes but is not limited to the vehicle's ID, category, location, time, size, speed information, heading angle information, etc. Among them, the vehicle's ID is a serial number generated for each vehicle after the multi-source perception device perceives each vehicle; the category refers to the vehicle type, for example, a large truck, a car, a motorcycle, a tricycle, etc.; the location refers to the location of each vehicle when the vehicle is perceived, and the perception time refers to the time when each vehicle is perceived; the size refers to the size information of each perceived vehicle, and the speed information refers to the vehicle's driving speed; the heading angle information refers to the angle between the vehicle's center of mass speed and the horizontal axis in the ground coordinate system.

[0065] Step 220: Display a twin image of the traffic scene; the twin image includes a twin object of the target vehicle and a twin object of the prompt device;

[0066] The twin scene refers to the visual expression of the traffic scene presented on the screen, which includes but is not limited to static or dynamic scene twin displays, visual charts, rendering services and interoperability tools.

[0067] Twin objects refer to the visual expressions of objects in the real physical world, including but not limited to static objects such as buildings, landforms, and transportation facilities, as well as dynamic objects such as traffic participants (vehicles, pedestrians, etc.), meteorological environment, and traffic time.

[0068] For example, during the use of the twin scene, the generated static objects can always be maintained, and only the generated dynamic objects are updated.

[0069] The twin image of the traffic scene contains the twin object of the target vehicle; the twin image contains a frame set in parallel with the road for displaying the video image. The video image is collected by the perception system set on the road; the position of the frame used to display the video image is determined according to the acquisition position of the video image. The frame contains the video image of the target vehicle.

[0070] Furthermore, in order to achieve the positional alignment of the twin object of the road and the frame, it is necessary to read the information of at least one position of the road. At least one position in the road scene is mapped as a first position in the road twin object and mapped as a second position in the frame. In the twin scene, the first position and the second position are aligned in a direction perpendicular to the centerline of the road.

[0071] Step 230: in response to the preset behavior included in the vehicle driving state information, obtain a reminder message corresponding to the preset behavior, and broadcast the reminder message through the selected reminder device;

[0072] The preset behavior can be any behavior of the vehicle during driving.

[0073] Optionally, the preset behavior is a violation of the target vehicle during driving.

[0074] Violations may include illegal parking, speeding, slowing, crossing the line, illegal lane changing, etc.

[0075] In the embodiment of the present application, when the target vehicle enters the traffic scene, the target vehicle's vehicle speed, vehicle position and other information can be obtained according to the sensing device in the traffic scene. According to the vehicle speed, vehicle position and other information, the violation of the target vehicle is identified and the violation category of the target vehicle is obtained.

[0076] For example, the vehicle's driving speed is 100 km / h, but the maximum driving speed specified in the traffic scene is 80 km / h, then it can be determined that the target vehicle is suspected of speeding.

[0077] For another example, if the left and right sides of the vehicle are located on the two sides of the middle line of the road respectively, it can be determined that the target and the two rays are on the line.

[0078] Specifically, the driving speed and vehicle position of the target vehicle are identified to obtain the violation behavior of the target vehicle, and the computer device determines the violation category of the target vehicle according to the violation category corresponding to the violation behavior.

[0079] In one embodiment, the violation category of the target vehicle can be obtained by means of a preset neural network model, and the vehicle speed and vehicle position of the target vehicle are used as inputs of the neural network model. By training the neural network model, the violation category of the target vehicle is output.

[0080] Specifically, for example, the reminder message includes information indicating a preset behavior.

[0081] The preset behavior contains the violation of the vehicle. The reminder message contains the violation and / or the way to correct the violation.

[0082] The alert message contains the target vehicle's license plate number.

[0083] A reminder message is played to the owner of the target vehicle through the selected reminder device to inform him of the violation.

[0084] For example, the reminder message is "Owner of the vehicle with license plate number XXX, you are speeding, please slow down", etc., where "XXX" represents the license plate number of the target vehicle.

[0085] The violation reminder message is used to indicate the violation behavior of the target vehicle and the way to correct the violation behavior, which may include the violation behavior of the target vehicle and the way to correct the violation behavior. For example, the content of the violation reminder message may include "You are illegally parked, please leave in time", "You are speeding, please slow down", "You are illegally changing lanes, please return to the original lane in time", etc.

[0086] For the judgment of illegal behavior, for example:

[0087] If the vehicle speed of the target vehicle is 0 and parking of the vehicle is not allowed in the traffic scene, the violation category of the target vehicle is determined to be vehicle stagnation.

[0088] If the target vehicle's driving speed is 0, it means that the vehicle is in a stopped state, then it is determined whether parking is allowed in the traffic scene. If parking is not allowed in the traffic scene, it means that the target vehicle has a violation of vehicle stagnation. For example, taking the traffic scene as a tunnel, vehicles are not allowed to park at will in the tunnel. Therefore, once the target vehicle is detected to be in a stagnant state in the tunnel, it can be determined that the violation category of the target vehicle is vehicle stagnation.

[0089] If the vehicle speed of the target vehicle is 0 and parking is allowed in the traffic scene, the violation category of the target vehicle is obtained according to the current position of the target vehicle.

[0090] In the case where the vehicle speed of the target vehicle is 0, in addition to the situation where parking is not allowed in the traffic scene, there is also a situation where parking the vehicle is allowed in the traffic scene.

[0091] For example, the traffic scene is a service area, where parking is allowed and generally fixed parking areas are designated. Therefore, if the target vehicle is detected to have a driving speed of 0 and parking is allowed in the traffic scene, it is necessary to further identify whether there is any parking violation based on the target vehicle's current position.

[0092] For the judgment of illegal behavior, for example:

[0093] Under the premise that parking is allowed in the traffic scene, whether the target vehicle has violated the regulations needs to be determined in combination with the parking area pre-set in the traffic scene.

[0094] A parking area is a pre-demarcated area in a traffic scene where parking is allowed. Each parking area has corresponding parking rules set up to regulate the parking environment of vehicles in the traffic scene. For example, the parking rules include vehicle type, parking direction, parking time, parking duration, parking fee rules, parking method, etc.

[0095] Optionally, when a computer device obtains parking areas and parking rules for each parking area in a traffic scene, it may obtain them by making a real-time request to a main control console of a server, or it may obtain them in real-time through sensing devices, camera devices, and detection devices that are identified in the traffic scene. This embodiment of the present application is not limited to this method.

[0096] If the current position of the target vehicle is not within the parking area, the violation category of the target vehicle is determined to be illegal parking.

[0097] After acquiring the parking area of ​​the traffic scene, based on the current position of the target vehicle in the aforementioned vehicle perception information, the positional relationship between the current position and the parking area of ​​the traffic scene is analyzed, that is, whether the current position of the target vehicle is within the parking area. If the current position of the target vehicle is not within the parking area, it means that although the target vehicle is within a parkingable traffic scene, it is not parked in the correct position. Therefore, the violation category of the target vehicle is determined to be illegal parking.

[0098] If the current position of the target vehicle is within the parking area but does not comply with the parking rules of the parking area, the violation category of the target vehicle is determined to be illegal parking.

[0099] After analyzing the positional relationship between the current position of the target vehicle and the parking area of ​​the traffic scene, if the current position of the target vehicle is within the parking area, it is further determined whether the parking of the target vehicle complies with the parking rules of the parking area obtained previously.

[0100] Taking the vehicle category and parking direction included in the above parking rules as an example, in one embodiment, taking the traffic scenario as a service area as an example, the parking rules that do not comply with the parking area include: the vehicle category of the target vehicle does not match the vehicle category required by the parking area, and / or the front position and rear position of the target vehicle do not match the vehicle parking direction required by the parking area.

[0101] At the beginning, the current perception information of the target vehicle obtained by the computer device includes the vehicle category, front position and rear position of the target vehicle. The vehicle category may include sedan / cargo, automobile / bus / trailer / incomplete vehicle and motorcycle, etc. The parking direction may be the direction of the front position and rear position of the vehicle. The front position and rear position may be the position coordinates of the front and rear of the vehicle when the perception device perceives the target vehicle, and the position coordinates may be the position coordinates in any coordinate system such as longitude and latitude, traffic scene coordinate system, etc.

[0102] Then, by comparing the vehicle category of the target vehicle with the vehicle category required by the parking area in the traffic scene, it can be determined whether the two match. For example, if the target vehicle is a sedan, the vehicle category required by the parking area in the traffic scene must also be a sedan. In this case, it is determined that the vehicle category of the target vehicle matches the vehicle category required by the parking area.

[0103] Similarly, the front position and rear position of the target vehicle can be compared with the front position and rear position required by the parking area in the traffic scene to determine whether the two match. For example, the target vehicle has its front facing inward and its rear facing outward in the parking area, while the parking area in the traffic scene requires the front of the vehicle to face outward and the rear facing inward, then it is determined that the front position and rear position of the target vehicle do not match the vehicle parking direction required by the parking area.

[0104] Optionally, based on the vehicle category required by the preset parking area and combined with the vehicle category of the target vehicle, when the current position of the target vehicle is within the parking area but the vehicle category does not match the vehicle category required by the parking area, it is determined that the parking is not carried out in accordance with the vehicle category; based on the vehicle parking direction required by the preset parking area and combined with the front position and rear position of the target vehicle, when the current position of the target vehicle is within the parking area but the vehicle parking direction does not match the vehicle parking direction required by the parking area, it is determined that the parking is not carried out in accordance with the direction.

[0105] If the vehicle speed of the target vehicle is greater than 0 and parking of vehicles is not allowed in the traffic scene, the violation category of the target vehicle is obtained according to the vehicle speed of the target vehicle and a preset speed threshold.

[0106] In actual applications, when a vehicle is traveling on a road, its driving speed is greater than or equal to 0. The above describes the determination of the violation category when the vehicle's driving speed is 0. Next, the determination of the violation category when the target vehicle's driving speed is greater than 0 will be described.

[0107] If the target vehicle's speed is greater than 0 and the traffic scene allows parking, it means that the target vehicle is looking for a parking location or is in the process of parking, and no violation monitoring is required. However, if the target vehicle's speed is greater than 0 and the traffic scene does not allow parking, for example, parking is not allowed in tunnels, and vehicles may violate regulations such as slowing down or speeding when driving in tunnels. Therefore, it is necessary to determine the violation category of the target vehicle in this scenario.

[0108] Specifically, the computer device may obtain the violation category of the target vehicle according to the vehicle speed of the target vehicle and a preset speed threshold.

[0109] In one embodiment, taking a tunnel as an example of a traffic scenario, different speed thresholds may be set for speeding and chronic driving, respectively, that is, the speed threshold includes a first speed threshold and a second speed threshold, and the first speed threshold is greater than the second speed threshold.

[0110] The first speed threshold corresponds to a speed threshold for determining whether a vehicle is speeding, and the second speed threshold corresponds to a speed threshold for determining whether a vehicle is slowing.

[0111] If the target vehicle's driving speed is greater than the first speed threshold, the target vehicle's violation category is determined to be speeding; if the target vehicle's driving speed is less than the second speed threshold, the target vehicle's violation category is determined to be slow driving.

[0112] It should be noted that the first speed threshold is the maximum speed limit preset in the traffic scene, and the second speed threshold is the minimum speed limit preset in the traffic scene.

[0113] Then, the vehicle speed of the target vehicle is compared with the first speed threshold, and the magnitude relationship between the vehicle speed of the target vehicle and the second speed threshold is compared.

[0114] If the target vehicle's driving speed is greater than the first speed threshold, the target vehicle's violation category is determined to be speeding; for example, when the target vehicle's driving speed is 90KM / h, but the first speed threshold is 80KM / h, it can be determined that the target vehicle's violation category is speeding.

[0115] If the target vehicle's driving speed is less than the second speed threshold, the target vehicle's violation category is determined to be slow-moving; for example, when the target vehicle's driving speed is 20KM / h, but the second speed threshold is 30KM / h, it can be determined that the target vehicle's violation category is slow-moving.

[0116] By analyzing the violation category of the target vehicle determined according to the above embodiment, the violation category can be obtained to obtain the method of correcting the violation corresponding to the violation category of the target vehicle. Then, the computer device uses the violation category and the method of correcting the violation, or other information that needs to be informed to the owner as a reminder message, and plays it to the target vehicle using the above prompt device.

[0117] In the above steps, the current perception information of the target vehicle is first obtained. The current perception information of the vehicle includes the vehicle driving status information of the target vehicle, which includes identifying the preset behavior of the target vehicle according to the preset behavior of the target vehicle, judging whether there is any violation, obtaining the violation category of the target vehicle, and prompting the device to issue a reminder message to the target vehicle according to the violation category of the target vehicle.

[0118] Step 240: In the twin scene, the twin object of the selected prompt device is updated to display the current working status information or current reminder message of the selected prompt device.

[0119] The working status is an expression to judge whether the prompting device is performing its specified function or the degree to which it is performing its specified function.

[0120] Specifically, it includes the switching status of the equipment or the switching function performance such as working level, working process, etc.

[0121] Reminder messages include, for example, device prompts, broadcast sounds, and other informational functions.

[0122] The current working state information of the selected prompt device refers to the information of the actual working state of the prompt device at the current moment. The current reminder message in the embodiment of the present application refers to the reminder message actually sent at the current moment, and the current moment generally refers to any moment when the perception system perceives the vehicles on the road scene, that is, the computer device can receive the perception information sent by the perception system of at least a part of the vehicles or all the vehicles on the road scene perceived at the current moment (any moment).

[0123] According to the prompt device triggered in step 230, according to its identity identification, the current working status of the prompt device and the output reminder message are retrieved in real time through the communication and control network of the intelligent transportation, and the twin data of the current working status of the prompt device and the reminder message are obtained. That is to say, the twin object displaying the current working status is displayed together with the twin object of the prompt device in the twin scene.

[0124] Alternatively, the current working status and reminder message of the prompt device can also be obtained through the perception system. Regarding the current working status or reminder message of the prompt device, for example, the perception signal is obtained through the sensor, the brightness, sound, and environmental changes are identified, and the twin data of the operating effect of the prompt device is obtained. In other words, the twin object showing the current operating effect of the prompt device is displayed together with the twin object of the prompt device in the twin picture.

[0125] Figure 3 This is a method flow chart including the step of selecting a prompt device according to an embodiment of the present application, and further includes steps 310 to 320 based on other embodiments of the present application.

[0126] Step 310: Determine the location range of the selected prompt device based on the vehicle driving status information and the set contact conditions.

[0127] The positional relationship of the set touch conditions, for example,

[0128] Check whether the vehicle position meets the prompting conditions of the prompting device, including:

[0129] Obtaining the position of a preset prompt device, and detecting whether the distance between the vehicle position and the prompt device position is less than a first distance threshold;

[0130] If the distance between the vehicle position and the prompt device position is less than the first distance threshold, it is determined that the vehicle position meets the prompt device prompt condition.

[0131] After the first reminder message is displayed by the prompting device, the method further includes:

[0132] Detecting whether the distance between the vehicle position and the prompt device position is less than a second distance threshold, the second distance threshold being less than the first distance threshold;

[0133] If the distance between the vehicle position and the screen position is less than a second distance threshold, the first reminder message is displayed in an enhanced manner on the preset screen.

[0134] It should be noted that judging whether the reach condition is met according to the first distance threshold and the second distance threshold is only a specific embodiment. Considering factors such as vehicle speed and spatial transmission attenuation of prompt information, the reach conditions of different types of prompt devices may be different.

[0135] Step 320: The location range of the prompt device changes with the selected prompt device type.

[0136] For example, the prompting device is an information board.

[0137] The selected information board location range is greater than the first distance threshold from the target vehicle. This is to take into account the moving speed of the target vehicle. When the selected information board location is too close to the target vehicle, the driver may not have enough time to pay attention to the text information broadcast by the information board.

[0138] For example, the prompt device is a directional sound device.

[0139] The selected directional sound device has a position range that is less than the second distance threshold from the target vehicle. This is because the intensity and attenuation of the sound broadcast by the directional sound device are taken into consideration. When the selected directional sound device is too far away from the target vehicle, the sound intensity reaching the target vehicle is low and may not attract the driver's attention.

[0140] Figure 4 A flow chart of the coordinate transformation process for determining the location range in an embodiment of the present application, which, based on other embodiments of the present application, displays the processing process of the twin object of the road in the twin picture of the traffic scene, includes steps 410 to 420.

[0141] Step 410: Acquire geographic information data, where the geographic information data includes the geographic coordinates of the road;

[0142] Based on high-precision map data, static objects including but not limited to roads, building gantries, roadside poles, guardrails, LED screens, trees, etc. in real scenes are modeled. Terrain and landforms are modeled by sensing data and importing 3D GSI data, and digital support is provided for the definition of urban terrain.

[0143] In the prior art, a twin instance object of a specific terrain is created through an API, and other systems can interact with the object during runtime, including data interaction and API calls.

[0144] In the present application, the display process of the road twin object is performed based on the two-dimensional data after preprocessing the three-dimensional geographic information data of the road in step 420.

[0145] Step 420: In the twin view of the traffic scene, the centerline direction of the road is mapped as the x direction, and the width direction of the road is mapped as the y direction, and a rectangular coordinate system is established to display a two-dimensional graph of the road; the x coordinate of any point in the two-dimensional graph corresponds to the cumulative length of the position of the arbitrary point in the geographic information data of the road along the direction parallel to the centerline of the road;

[0146] In this way, the image of the road is "straightened" into a two-dimensional figure with the coordinate of the center line of the road in the y direction unchanged (for example, y = 0). Correspondingly, the y coordinate of any point in the twin object of the road corresponds to the distance between the position of the arbitrary point in the three-dimensional geographic information data of the road and the center line of the road.

[0147] Furthermore, the coordinate transformation of the roads in the twin scene is performed, and other objects in the twin scene also require corresponding coordinate transformation.

[0148] Furthermore, the position of the dynamic twin object of the traffic participant (such as the target vehicle, etc.) on the twin scene is also processed according to the above algorithm, that is, the x-coordinate of the twin object of the traffic participant in the two-dimensional graph is determined, which corresponds to the cumulative length of the position of the traffic participant at the road scene along the direction parallel to the center line of the road; the y-coordinate of the twin object of the traffic participant in the two-dimensional graph is determined, which corresponds to the relative position of the position of the traffic participant at the road scene along the road width direction.

[0149] Furthermore, the position of the twin object of the static object such as the prompt device on the twin scene is also processed according to the above algorithm, that is, the x-coordinate of the twin object of the static object in the two-dimensional graphic is determined, which corresponds to the cumulative length of the position of the static object at the road scene along the direction parallel to the center line of the road; the y-coordinate of the twin object of the static object in the two-dimensional graphic is determined, which corresponds to the relative position of the static object at the road scene along the road width direction.

[0150] The cumulative length can be a relative position, indicating the distance between the current position and the starting point. The starting point can be customized.

[0151] Therefore, a twin map data set is proposed in the present application, which includes two-dimensional graphic data. In this embodiment, through the processing of step 420, not only the three-dimensional geographic information data is transformed into two-dimensional graphic data, but also the coordinate transformation is performed based on the center line of the road. The x-coordinate of any point contained in the transformed two-dimensional graphic data is expressed by the cumulative length; the y-coordinate of any point in the two-dimensional graphic data is expressed by the distance between the point and the center line of the road. In step 420, the map drawn based on the transformed two-dimensional graphic data is used as the twin map of the present application solution, and on this basis, a twin picture of the traffic scene is further generated. The twin map data set includes the location information of the road equipment (prompt equipment) after the coordinate transformation.

[0152] Furthermore, the present application uses stake numbers as a reference to locate the positions of twin objects of a large number of physical entities in the twin scene through stake numbers.

[0153] Based on the stakes laid out along the road, determine at least one of the following:

[0154] The cumulative length of any point on the road scene, the location of the target vehicle, the location of the prompt device, and any point in the range along the direction parallel to the center line of the road;

[0155] Any point in the road scene, the twin object of the target vehicle, the twin object of the prompt device, the x-coordinate of any point in the range in the two-dimensional graph.

[0156] It should be noted that the geographic location of the road equipment (such as a multi-source perception device including a laser radar) included in the geographic information system can be used to calculate the cumulative length based on the geographic location information. Furthermore, after the perception information of the target vehicle is acquired through the multi-source perception device, at least the relative position information between the target vehicle and the location of the multi-source perception device can be determined. Based on the cumulative length of the location of the road equipment along the direction parallel to the center line of the road, the cumulative length of the location of the target vehicle in the road scene along the direction parallel to the center line of the road can be determined; or, based on the x-coordinate of the twin object of the road equipment in the two-dimensional graph, and the relative position information between the target vehicle and the location of the road equipment, the x-coordinate of the target vehicle in the two-dimensional graph can be determined.

[0157] When the above-mentioned cumulative lengths are represented by the information of the pile number, or when the x-coordinate corresponds to the pile number, the cumulative lengths or the x-coordinates can be determined according to the pile numbers arranged along the road.

[0158] For example, according to the stake numbers arranged along the road, at least one position in the road scene is determined, mapped as a first position in the road twin object and mapped as a second position in the frame;

[0159] For example, the position of the target vehicle is determined based on the stake numbers arranged along the road, and is mapped as the third position in the twin object of the road and as the fourth position in the frame;

[0160] For example, according to the stake numbers arranged along the road, the cumulative length of the position of any point in the three-dimensional geographic information data of the road along the center line direction of the road is determined.

[0161] Furthermore, the present application uses information indicating the pile number to indicate the cumulative length, and any position-related information of the present application can be indicated by the pile number, for example, the location of the prompt device, the location of the traffic participant (including the target vehicle), etc.

[0162] It should be noted that in the present application, the first position, the third position, and the position of the prompt device can all be expressed by pile numbers. For example, the pile number is an integer in meters. An example of a common expression for positioning on a highway section is: T20+527 is the pile number of the equipment pile, the letter T represents the up or down direction, 20 is kilometers, and 527 is meters. The position of the twin object can be uniformly expressed by the pile number, or the position resolution can be further improved based on the pile number.

[0163] It should also be noted that one equipment pile can be set every 100 meters. For example, the entrance to the tunnel is taken as the reference, where the pile number is T20+200. If the target vehicle is at the entrance, its pile number position is T20+200. After driving forward 1 meter, its real-time position expressed by the pile number position is T20+201; if it has not entered the tunnel and is 2 meters away from the entrance, its real-time position expressed by the pile number position is T20+198.

[0164] It should also be noted that the pile number twin expresses the position in the pile number coordinate system, and there is a mapping relationship with the geodetic coordinate system, that is, the longitude and latitude of the vehicle road in the geodetic coordinate system are mapped to the preprocessed two-dimensional data space through this mapping relationship. In this way, the pile number twin maps the high-precision map twin to the "pile number twin map".

[0165] Step 430: In response to the preset behavior included in the vehicle driving status information, a reminder message corresponding to the preset behavior is obtained, and the reminder message is broadcast through the selected reminder device.

[0166] Since the road graphics in the twin scene are straightened, the target vehicle also needs to change its position in the traffic scene. Therefore, when entering the traffic scene, the sensing device in the traffic scene obtains the target vehicle's speed and vehicle position after coordinate transformation. Based on the speed and position after coordinate transformation, the target vehicle's coordinate transformation behavior is identified to obtain the target vehicle's violation category.

[0167] Figure 5This is a method flow chart including evaluation and adjustment steps in an embodiment of the present application, and further includes the following steps based on other embodiments of the present application:

[0168] Step 500, in the embodiment of step 210, the vehicle perception information is obtained, which includes the vehicle driving status information; further, according to the vehicle driving status information, according to steps 410 to 420, the coordinates on the two-dimensional graph after the coordinate transformation can be determined.

[0169] Since the reach condition is related to the position, based on the position of the target vehicle, the position information required to determine whether the reach condition is met, such as the actual position that meets the first distance threshold and the second distance threshold, is coordinate transformed according to the method of step 420 to generate the set reach condition after coordinate transformation. In the twin map dataset, the position range of the selected prompt device after coordinate transformation is determined, and then the selected prompt device is determined in the twin map dataset.

[0170] The position range of the prompt device after coordinate transformation varies with the selected prompt device type.

[0171] Step 510: Compare the positional relationship between the twin object of the selected prompt device and the twin object of the target vehicle to determine whether the set contact condition is met.

[0172] In one embodiment, the method further comprises the steps of:

[0173] Step 520: In response to the positional relationship between the twin object of the selected prompt device and the twin object of the target vehicle not satisfying the set contact condition, at least one of the following is triggered:

[0174] Adjust the set reach conditions;

[0175] Change the selected prompt device;

[0176] Adjust the position range of the selected prompt device;

[0177] Adjust the working status information and / or reminder message of at least one prompting device.

[0178] For example, the prompting device is an information board;

[0179] Display reminder messages on selected intelligence boards;

[0180] Updates the selected board's twin to display current alert messages and / or current work status information.

[0181] The location range of the selected information board is greater than a first distance threshold from the target vehicle.

[0182] For example, the prompt device is a directional sound device;

[0183] Play a reminder message through a selected directional sound device;

[0184] Update the twin object of the selected directional sound device to display the current reminder message and / or the current working status information.

[0185] The position range of the selected directional sound device is less than a second distance threshold from the target vehicle.

[0186] Figure 6 This is a schematic diagram (partial) of the twin picture showing the actual on-site service effect in the embodiment of the present application, which includes twin objects of roads and service devices, and the service devices include information boards.

[0187] For example, as Figure 6 shown, based on the twin object of the information board at the position of YK6+550, a twin object of a prompt message, such as "Do not change lanes for vehicle license number 粤XXXXXXX", is added to further form a dynamic information board twin object.

[0188] In this embodiment, the prompt message, that is, the above-mentioned work content information, in the illustrated twin picture, the work content information displayed is the twin information identifying the actual work content of the current device.

[0189] In this embodiment, the working status that can be identified by different colors (shown as grayscale in the attached drawings), that is, the above-mentioned working status information, in the illustrated twin picture, the working status information displayed is the twin information representing the actual working status of the current device.

[0190] Figure 7 This is another schematic diagram (partial) of the twin picture showing the actual on-site service effect in the embodiment of the present application, which includes twin objects of roads and service devices, and the service devices include directional sound devices.

[0191] For example, as Figure 7 shown, based on the twin object of the directional sound device at the position of YK6+550, the twin object of the prompt message of the directional sound device is changed, such as "Do not change lanes for vehicle license number 粤XXXXXXX", to further form a dynamic directional sound device twin object.

[0192] It should be noted that the prompt message of the directional sound device represents the sound emitted by the device in the actual scenario in the form of text, rather than the actual text content displayed by the directional sound device.

[0193] In this embodiment, the prompt message, that is, the above-mentioned work content information, in the illustrated twin picture, the work content information displayed is the twin information identifying the actual work content of the current device.

[0194] In this embodiment, the working status marked with different colors, that is, the working status information mentioned above, is displayed in the twin picture shown in the figure. The working status information is twin information representing the real working status of the current device.

[0195] Figure 8 In order to implement the method of the first aspect of the embodiment of the present application, in the second aspect, the embodiment of the present application also provides a digital twin information accompanying reminder device, which is used to implement the method described in any one of the embodiments of the first aspect, and includes an acquisition module 801, a display module 802 and a reminder module 803:

[0196] The acquisition module is used to acquire the current perception information of the target vehicle, and the current perception information of the target vehicle includes the vehicle driving state information.

[0197] The reminder module, in response to the preset behavior included in the vehicle driving state information, obtains a reminder message corresponding to the preset behavior and broadcasts the reminder message through a selected reminder device.

[0198] The display module is used to display or update the twin object of the target vehicle and the twin object of the prompt device in the twin scene. It is also used to update the twin object of the selected prompt device in the twin scene and display the working status information or reminder message of the selected prompt device.

[0199] In one embodiment, a determination module is also included, and the determination module includes a first determination unit, which is used to determine the location range of the selected prompt device according to the vehicle driving state information and the set contact conditions.

[0200] In one embodiment, the device also includes a road display module, which is used to: obtain road geographic information data, map the centerline direction of the road to the x direction, and map the width direction of the road to the y direction in the twin picture of the traffic scene, establish a rectangular coordinate system, and display a two-dimensional graph of the road; determine the x coordinate of any point in the two-dimensional graph, which corresponds to the cumulative length of the position of the any point in the geographic information data of the road along a direction parallel to the centerline of the road.

[0201] The geographic information data contains the geographic coordinates of the roads.

[0202] In one embodiment, the determination module includes a second determination unit, which is used to determine at least one of the following items according to the stake numbers arranged along the road:

[0203] The cumulative length of any point in the road scene, the location of the target vehicle in the road scene, or the location of the prompt device along the direction parallel to the center line of the road;

[0204] The x-coordinate of any point in the road scene, the twin object of the target vehicle in the road scene, or the twin object of the prompt device in the two-dimensional graph.

[0205] In one embodiment, the apparatus further includes an evaluation module 804 for comparing the positional relationship between the twin object of the selected prompt device and the twin object of the target vehicle to determine whether the set contact condition is met.

[0206] In one embodiment, the apparatus further comprises an adjustment module 805: in response to the positional relationship between the twin object of the selected prompt device and the twin object of the target vehicle not satisfying the set contact condition, for implementing at least one of the following:

[0207] Adjust the set reach conditions;

[0208] Change the selected prompt device;

[0209] Adjust the position range of the selected prompt device;

[0210] Adjust the working status information and / or reminder message of at least one prompting device.

[0211] In one embodiment, the prompt module includes an information board prompt unit, which is used to: when the prompt device is an information board, display a reminder message on a selected information board;

[0212] Optionally, the display module includes an information board twin unit, which is used to: update the twin object of the selected information board, display reminder messages and / or working status information.

[0213] In one embodiment, the determination module includes an information board determination unit for determining the location range of the selected information board.

[0214] For example, the distance between the information board and the target vehicle is greater than a first distance threshold.

[0215] Furthermore, the information board is arranged on the road side where the distance in front of the target vehicle is greater than a first distance threshold.

[0216] The information board should be located on the roadside in front of the vehicle or on the side of the vehicle to ensure that the driver can see the information board. However, since the target vehicle is in motion and the information board is located on the side of the vehicle, it is difficult to ensure that the driver can see the content of the information board in time. Therefore, the information board can display a reminder message when it is located a certain distance in front of the target vehicle.

[0217] In one embodiment, the prompt module includes a directional sound device prompt unit, which is used to play a reminder message through a selected directional sound device.

[0218] In one embodiment, the display module includes a directional sound device twin unit, which is used to: update the twin object of the selected directional sound device, display the current reminder message and / or the current working status information.

[0219] In one embodiment, the determination module includes a directional sound device determination unit, which is used to: determine the location range of the selected directional sound device.

[0220] For example, the distance to the target vehicle is less than a second distance threshold.

[0221] The reminder module contains a fusion unit.

[0222] In one of the embodiments, the fusion unit is used to: fuse the information representing the preset behavior into the reminder message.

[0223] In one embodiment, the fusion unit is used to: take the illegal behavior of the vehicle as a preset behavior, and fuse the illegal behavior and / or the method of correcting the illegal behavior into the reminder message.

[0224] In one of the embodiments, the fusion unit is used to: fuse the license plate number of the target vehicle into the reminder message.

[0225] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0226] Therefore, the present application also proposes a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in any embodiment of the present application is implemented.

[0227] The present invention is described with reference to flowcharts and / or block diagrams of methods, prompting devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing prompting device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing prompting device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0228] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0229] These computer program instructions may also be loaded onto a computer or other programmable data processing prompting device so that a series of operating steps are executed on the computer or other programmable prompting device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable prompting device provide for implementing the process Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0230] Fig. 9 This is a structural diagram of a computer device in an embodiment of the present application.

[0231] Furthermore, the present application also proposes a computer device (or electronic device), including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any embodiment of the present application when executing the computer program.

[0232] In a typical configuration, the computing prompt device includes one or more processors (CPU), input / output interfaces, network interfaces and memory. The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium. Computer-readable media include permanent and non-permanent, removable and non-removable media and can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage prompt devices or any other non-transmission media that can be used to store information that can be accessed by the computing prompt device. According to the definition in this article, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0233] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or prompting device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or prompting device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or prompting device including the elements.

[0234] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A digital twin information accompanying reminder method, characterized in that: Contains steps: Acquire current perception information of the target vehicle; display a twin image of the traffic scene; the twin image includes a twin object of the target vehicle and a twin object of the prompt device; The current perception information of the target vehicle includes vehicle driving state information; In response to the preset behavior included in the vehicle driving state information, obtaining a reminder message corresponding to the preset behavior, and broadcasting the reminder message through a selected reminder device; In the twin scene, the twin object of the selected prompt device is updated to display the current working status information and / or the current reminder message of the selected prompt device.

2. The information accompanying reminder method according to claim 1, characterized in that: The location range of the selected prompt device is determined according to the vehicle driving status information and the set contact conditions.

3. The information accompanying reminder method according to claim 1, characterized in that: The twin scene includes a twin object of a road; Acquiring geographic information data, wherein the geographic information data includes the geographic coordinates of the road; In the twin image of the traffic scene, the centerline direction of the road is mapped as the x direction, the width direction of the road is mapped as the y direction, a rectangular coordinate system is established, and a two-dimensional graph of the road is displayed; The x-coordinate of any point in the two-dimensional figure is determined, corresponding to the cumulative length of the position of the any point in the geographic information data along a direction parallel to the center line of the road.

4. The information accompanying reminder method according to claim 1, characterized in that: Based on the stakes arranged along the road, at least one of the following is determined: The cumulative length of any point in the road scene, the location of the target vehicle in the road scene, or the location of the prompt device in the road scene along the direction parallel to the center line of the road; The x coordinate of any point in the road scene, the twin object of the target vehicle in the road scene, or the twin object of the prompt device in the two-dimensional graph.

5. The information accompanying reminder method according to claim 1, characterized in that: Also includes the steps: Compare the positional relationship between the twin object of the selected prompt device and the twin object of the target vehicle to determine whether the set contact condition is met.

6. The information accompanying reminder method according to claim 1, characterized in that: Also includes the steps: In response to the positional relationship between the twin object of the selected prompting device and the twin object of the target vehicle not satisfying the set contact condition, at least one of the following is triggered: Adjusting the set reach conditions; changing the selected prompting device; adjusting the position range of the selected prompting device; Adjust the working status information and / or reminder message of at least one of the prompting devices.

7. The information accompanying reminder method according to claim 1, characterized in that: The prompting device is an information board; displaying the reminder message on a selected information board; Updates the selected board's twin to display current alert messages and / or current work status information.

8. The information accompanying reminder method according to claim 1, characterized in that: The prompting device is an information board; The location range of the selected information board is greater than a first distance threshold from the target vehicle.

9. The information accompanying reminder method according to claim 1, characterized in that: The prompt device is a directional sound device; Playing the reminder message via the selected directional sound device; Updates the selected directional sound device's twin object to display the current alert message and / or current operating status information.

10. The information accompanying reminder method according to claim 1, characterized in that: The prompt device is a directional sound device; The location range of the selected directional sound device is less than a second distance threshold from the target vehicle.

11. The information accompanying reminder method according to any one of claims 1 to 10, characterized in that: The reminder message includes information indicating the preset behavior.

12. The information accompanying reminder method according to any one of claims 1 to 10, characterized in that: The preset behavior includes the violation of the vehicle; The reminder message includes the violation and / or how to correct the violation.

13. The information accompanying reminder method according to any one of claims 1 to 10, characterized in that: The reminder message includes the license plate number of the target vehicle.

14. A digital twin information accompanying reminder device, characterized in that: Used to implement the method described in any one of claims 1 to 13, comprising an acquisition module, a display module and a reminder module: The acquisition module is used to acquire current perception information of the target vehicle, wherein the current perception information of the target vehicle includes vehicle driving state information; The reminder module, in response to the preset behavior included in the vehicle driving state information, obtains a reminder message corresponding to the preset behavior, and broadcasts the reminder message through the selected reminder device; The display module is used to display or update the twin object of the target vehicle and the twin object of the prompt device in the twin scene; it is also used to update the twin object of the selected prompt device in the twin scene, and display the current working status information or current reminder message of the selected prompt device.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 13 is implemented.

16. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 13 is implemented.

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