A vehicle networking 3D real-time map and 3D trajectory playback system

Abstract

The present invention belongs to the technical field of vehicle networking, and particularly relates to a vehicle networking 3D real-time map and 3D trajectory playback system, including: a map generation module, a data processing module, a 3D real-time map module, and a 3D trajectory playback module. The data processing module repeatedly polls vehicle data to calculate the moving trajectory of the vehicle, and the 3D real-time map module displays it on the 3D map generated by the map generation module, and the 3D trajectory playback module plays back the trajectory. Through the 3D real-time map and trajectory playback, the present invention enables users to observe the position information of the vehicle more objectively and intuitively.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle networking, and in particular relates to a vehicle networking 3D real-time map and 3D trajectory playback system. Background Art

[0002] Vehicle networking takes the vehicles in motion as information perception objects, and with the help of the new generation of information and communication technology, realizes the network connection in all directions between the vehicle and the cloud platform, vehicle-to-vehicle, vehicle-to-road, vehicle-to-person, and inside the vehicle. Vehicle-to-vehicle communication refers to the information exchange and sharing between vehicles, including vehicle state information such as vehicle position and driving speed, which can be used to judge the traffic flow condition of the road. Vehicle-to-road communication refers to the information exchange between the vehicle and the road by means of fixed communication facilities on the bottom road surface, which is used to detect the road surface condition, guide the vehicle to select the best driving path, and at the same time can generate the driving trajectory information of the vehicle. The communication between vehicle-to-vehicle and vehicle-to-road can be reflected through the map system and the trajectory playback system.

[0003] The map system is usually integrated with the trajectory playback system. The map system of the prior art usually uses a traditional 2D map. The 2D map is relatively monotonous, making the display of the vehicle not obvious enough, unable to accurately reflect the driving trajectory of the vehicle, and having a poor visual texture. To solve the problem of poor experience brought by the 2D map, there is also a 3D map used currently. The common 3D map systems on the market have less application in 3D trajectory playback technology and cannot intuitively observe the position information of the vehicle. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a vehicle networking 3D real-time map and 3D trajectory playback system, which enables users to observe the position information of the vehicle more objectively and intuitively through the real-time map and trajectory playback with 3D effects.

[0005] The basic solution provided by the present invention: A vehicle networking 3D real-time map and 3D trajectory playback system, comprising:

[0006] A map generation module: used to generate a 3D map according to map data;

[0007] A data processing module: polling and obtaining the coordinate point data of the target vehicle from the vehicle networking data, extracting the first two coordinate points that have not been extracted in the coordinate point data each time, and after the extraction is completed, polling the extracted coordinate point data repeatedly through a preset time threshold to generate trajectory information, and combining trajectory deviation correction to process the trajectory information to generate the moving trajectory data of the target vehicle;

[0008] The data processing module is also used to obtain the basic data of the vehicle from the vehicle networking data and generate vehicle markings and vehicle basic information;

[0009] 3D Real-time Map Module: Synchronize the vehicle's moving trajectory data, vehicle markers, and vehicle basic information generated by the data processing module to the 3D map and display them in real time;

[0010] 3D Trajectory Replay Module: Used to replay the vehicle's driving trajectory on the 3D map based on the generated vehicle's moving trajectory data and vehicle markers.

[0011] The principle and advantages of the present invention are as follows: A vehicle networking 3D real-time map and 3D trajectory replay system of the present application includes a map generation module, a data processing module, a 3D real-time map module, and a 3D trajectory replay module. Among them, the map generation module constructs a 3D map based on the existing map data, and the data processing module polls according to the vehicle coordinate point data uploaded by the vehicle networking. Each time, the first two unextracted data in the coordinate point data are extracted. On the one hand, it ensures that the coordinate point data polled each time is new and valid. On the other hand, each coordinate point can be obtained, so that there will be no missing part in the vehicle's driving trajectory to ensure the integrity of the trajectory. After the extraction is completed, the polled coordinate point data is polled again through a preset time threshold to generate trajectory information. The second poll is used to generate the vehicle's real-time movement information, which is processed in combination with trajectory deviation correction. Finally, the generated vehicle moving trajectory data is displayed on the 3D map, that is, the vehicle's real-time moving trajectory can be intuitively presented to the user; at the same time, the 3D trajectory replay module also replays the vehicle's moving trajectory data on the 3D map, and the generated 3D trajectory replay effect is the same as the moving trajectory generated on the 3D real-time map, so that the user can more objectively observe the vehicle's driving trajectory;

[0012] In addition, the data processing module also generates vehicle markers and vehicle basic information from the vehicle basic data uploaded by the vehicle networking, and displays them on the 3D real-time map module and the 3D trajectory replay module, so that the user can view the target vehicle and some basic information of the target vehicle through the vehicle markers when viewing the vehicle's moving trajectory information.

[0013] Therefore, the advantages of the present application are as follows: The data processing module generates the vehicle's moving trajectory from the vehicle's coordinate point data in real time, and performs real-time display and trajectory replay on the 3D map, so that the user can more intuitively and objectively understand the vehicle's movement. At the same time, vehicle markers and vehicle basic information recognition are added, so that the user can query the target vehicle targeted, improving the user experience.

[0014] Furthermore, the data processing module includes a coordinate acquisition unit and a trajectory calculation unit, and the preset time threshold includes at least a first time threshold, a second time threshold and a third time threshold, the first time threshold is half of the second time threshold, and the third time threshold is less than the second time threshold; the coordinate acquisition unit is used to obtain the coordinate point data of the target vehicle in the current time period in the historical record according to the first time threshold, and judge whether it is valid data until the first two valid coordinate point data in the coordinate point data are obtained; the trajectory calculation unit is used to poll the first two valid coordinate point data obtained by the coordinate acquisition unit according to the second time threshold to calculate the valid movement trajectory data of the vehicle, and then repeatedly poll the valid movement trajectory data generated by the second time threshold according to the third time threshold and perform calculation to generate real-time movement trajectory data of the target vehicle.

[0015] Beneficial effect: First, the coordinate acquisition unit is used to obtain the first two valid coordinate data in the vehicle's coordinate point data, that is, polling and acquiring according to the set first time threshold. The trajectory calculation unit first polls the two coordinate point data obtained by the first time threshold according to the set second time threshold, and generates the vehicle's valid movement trajectory data through calculation. At this time, the vehicle's valid movement trajectory obtained according to the second time threshold is calculated as the trajectory information between the two coordinate points, and then the valid movement trajectory calculated by the second time threshold is polled according to the third time threshold. At this time, a complete vehicle movement trajectory data can be generated. At the same time, the third time threshold is less than the second time threshold, so that the vehicle movement trajectory data obtained at each polling according to the third time threshold will not have a missing trajectory.

[0016] Furthermore, the 3D trajectory playback module includes a trajectory rendering module and a trajectory switching module. The trajectory rendering module is used to generate high-precision 3D trajectory playback and trajectory point 3D trajectory playback by rendering the 3D trajectory playback according to the trajectory correction. The high-precision 3D trajectory playback is to perform trajectory correction through the coordinates, angles, speeds, and timestamps uploaded by the vehicle, and display the vehicle's trajectory line in the 3D trajectory playback; the trajectory point 3D trajectory playback is to display the trajectory points and trajectory lines in the 3D trajectory playback through coordinate point correction; the trajectory switching module is used to switch between high-precision 3D trajectory playback and trajectory point 3D trajectory playback.

[0017] Beneficial effect: High-precision 3D trajectory playback has a high correction rate, but lacks trajectory point details. Through trajectory point-type 3D trajectory playback, users can query the trajectory point details of a certain event. The trajectory switching unit allows users to switch the corresponding 3D trajectory playback according to their needs.

[0018] Further, the 3D trajectory playback module further includes a progress bar rendering module, a trajectory filtering module, a trajectory positioning module, and a trajectory analysis module. The progress bar rendering module is used to render a trajectory progress bar at the top of the 3D map; the trajectory filtering module is used to filter the time range, speed limit area, crossing line area, drift points, positioning points, parking points, and parking duration in the 3D trajectory playback. The trajectory positioning module is used to position to the corresponding progress of the 3D trajectory playback according to the filtering results of the trajectory filtering module and the progress bar rendered by the progress bar rendering module. The trajectory analysis module performs trajectory detail analysis, alarm record analysis, speed analysis, and parking analysis based on the trajectory line and trajectory points.

[0019] Beneficial effects: The trajectory progress bar rendered by the progress bar rendering module is used for the user to adjust the progress and speed of the 3D trajectory playback, and is also used for the user to pause and reset the 3D trajectory playback. Through the trajectory filtering module, the user can filter the relevant data to be queried in the 3D trajectory playback, improving the user experience. Through the trajectory positioning module, the progress position of the 3D trajectory playback queried by the user can be accurately positioned. Through the trajectory analysis module, data analysis can be performed on the trajectory line and trajectory points of the vehicle's driving, facilitating the user to view and correct driving habits.

[0020] Further, the vehicle basic information includes vehicle details information, fuel quantity information, driver information, speed limit area, and video monitoring information. The vehicle markings include license plate number markings and vehicle status markings. The vehicle status markings are specifically: vehicles in the driving state are marked in blue, vehicles in the parking state are marked in green, vehicles in the abnormal state are marked in yellow, vehicles in the alarm state are marked in red, and vehicles in the offline state are marked in gray.

[0021] Beneficial effects: Through the vehicle basic information, the user can view the basic condition of the vehicle. Through the license plate number markings and vehicle status markings, the user can intuitively query the target vehicle and the status of the target vehicle.

[0022] Further, the map generation module includes a map switching unit, a day-night rendering unit, a layer switching unit, and a fuzzy query unit. The map switching unit is used for switching between the 2D map and the 3D map. The day-night rendering unit is used to render the 3D map style according to the day-night mode. The layer switching unit is used for switching between the standard layer and the satellite layer. The satellite layer includes a road network and road conditions that can be custom-loaded. The fuzzy query unit is used to locate the query address according to the fuzzy address input by the user.

[0023] Beneficial effects: The switching unit enables users to conveniently switch between 2D maps and 3D maps. The day-night rendering unit enables users to switch between day and night modes as needed. The layer switching unit enables users to switch between standard layers and satellite layers. The fuzzy query unit enables users to query detailed addresses by inputting fuzzy addresses, enhancing the user experience.

[0024] Furthermore, it further includes a storage module, which is used to store the 3D trajectory playback generated by the 3D trajectory playback module.

[0025] Beneficial effects: The storage module enables users to view the 3D trajectory playback at any time.

[0026] Furthermore, it further includes a clearing module, which is used to clear the data generated by the 3D trajectory playback module and the 3D real-time map module.

[0027] Beneficial effects: Since the driving routes and road conditions may vary, and the goals of users to query the 3D trajectory playback video are also different, the clearing module can initialize after the user finishes using the 3D map interface or the trajectory playback function, facilitating the next use. Description of the Drawings

[0028] Figure 1 is the functional block diagram of the embodiment of the present invention;

[0029] Figure 2 is the flow block diagram of the embodiment of the present invention. Detailed Embodiments

[0030] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. At the same time, although the logical order is shown in the embodiments, in some cases, the steps shown or described may be executed in a different order than here.

[0031] The following is a further detailed description through specific embodiments:

[0032] The embodiment is basically as Figure 1 and Figure 2 shown: A vehicle networking 3D real-time map and 3D trajectory playback system, which is constructed based on the existing vehicle networking technology and the relevant APIs of Amap. Specifically, it includes a map generation module, a data processing module, a 3D real-time map module, a 3D trajectory playback module, a storage module, and a clearing module, where:

[0033] The map generation module is used to generate a 3D map based on map data. In this embodiment, the map generation module includes a map switching unit, a day-night rendering unit, a layer switching unit, and a fuzzy query unit. The map switching unit is used to switch between 2D maps and 3D maps. The day-night rendering unit is used to render the 3D map style according to the day-night mode. The layer switching unit is used to switch between the standard layer and the satellite layer. The satellite layer includes a road network and road conditions that can be custom-loaded. The fuzzy query unit is used to locate the query address according to the fuzzy address input by the user. The specific implementation method is as follows: First, call the API-JSAPI of AutoNavi Map, and use the AMapLoader method to load and render the 3D map. When loading, set the custom viewing angle, range, and map style. After the map is loaded, use the API of AutoNavi Map to select plugins and tools to load the vehicle tree model. The loading plugins include AMap.MoveAnimation, AMap.GraspRoad, AMap.MapType, AMap.PlaceSearch, AMap.Geocoder, etc.

[0034] The data processing module is used to poll and obtain the coordinate point data of the target vehicle from the vehicle networking data. Each time, the first two unextracted coordinate points in the coordinate point data are extracted. After the extraction is completed, the extracted coordinate point data is polled repeatedly through a preset time threshold to generate trajectory information, and the trajectory information is processed in combination with trajectory deviation correction to generate the moving trajectory data of the target vehicle. The data processing module includes a coordinate acquisition unit and a trajectory calculation unit. The preset time threshold is implemented through the setTimeout of the timer. The preset time threshold includes at least a first time threshold, a second time threshold, and a third time threshold. The first time threshold is half of the second time threshold, and the third time threshold is less than the second time threshold. For example, if the first time threshold is set to 5s, the second time threshold is set to 10s, and the third time threshold is set to 8s. The coordinate acquisition unit is used to obtain the coordinate point data of the target vehicle in the current time period in the historical record according to the first time threshold and determine whether it is valid data until the first two valid coordinate point data in the coordinate point data are obtained. The trajectory calculation unit is used to poll the first two valid coordinate point data obtained by the coordinate acquisition unit according to the second time threshold to calculate the effective moving trajectory data of the vehicle, and then poll and calculate the effective moving trajectory data generated by the second time threshold according to the third time threshold to generate the real-time moving trajectory data of the target vehicle. The specific implementation process is as follows: First, obtain several pieces of data before the current time period in the current vehicle's historical record according to the current time. If there is no historical point data, the vehicle does not move immediately. After obtaining the point data for several times later through the timer, then process the data. If there is data, take the first two pieces of data each time, perform deviation correction on the points and the trajectory, and then perform the movement between two coordinate points through the mobile API provided by Amap. Preset a certain time threshold through the timer. When the vehicle is about to move to the end point of the two points, delete the first two coordinate point data used, then destroy the current map vehicle, and then immediately obtain the new first two data and perform repeated operations. If there is a lack of point data during the process, suspend the movement of the vehicle. After the timer re-executes the logic, determine again whether there are points for processing. At this time, the timer always exists.

[0035] In addition, the data processing module is also used to obtain the basic data of the vehicle from the vehicle networking data and generate vehicle markings and vehicle basic information. Among them, the vehicle basic information includes vehicle details information, fuel quantity information, driver information, speed limit area, and video surveillance information. The vehicle markings include license plate number markings and vehicle status markings. Among them, in this embodiment, the license plate numbers of 10 vehicles are selected for license plate number markings. The vehicle status markings are specifically as follows: The vehicle in the driving state is marked blue, the vehicle in the parking state is marked green, the vehicle in the abnormal state is marked yellow, the vehicle in the alarm state is marked red, and the vehicle in the offline state is marked gray.

[0036] The 3D real-time map module is used to synchronize the vehicle's movement trajectory data, vehicle markings, and vehicle basic information generated by the data processing module to the 3D map and display them in real time.

[0037] The 3D trajectory playback module is used to playback the vehicle's driving trajectory on the 3D map according to the generated vehicle movement trajectory data and vehicle markings. The 3D trajectory playback module includes a trajectory rendering module, a trajectory switching module, a progress bar rendering module, a trajectory filtering module, a trajectory positioning module, and a trajectory analysis module. The trajectory rendering module is used to render the 3D trajectory playback into a high-precision 3D trajectory playback and a trajectory point 3D trajectory playback according to trajectory deviation correction. The high-precision 3D trajectory playback corrects the trajectory through the coordinates, angles, speeds, and timestamps uploaded by the vehicle, and shows the trajectory line of the vehicle's driving in the 3D trajectory playback; the trajectory point 3D trajectory playback shows the trajectory points and the trajectory line in the 3D trajectory playback through coordinate point deviation correction. In this embodiment, the trajectory deviation correction is mainly divided into two methods: "high-precision trajectory deviation correction (line)" and "coordinate point deviation correction (point)". "High-precision trajectory deviation correction" uses the AMap.GraspRoad plugin provided by AutoNavi. By obtaining the longitude, latitude, speed, angle, and the time difference (in seconds) between the previous trajectory point and the current trajectory point in the vehicle information from the selected vehicle's trajectory set, it calls the AutoNavi API to return the trajectory data, then performs deduplication processing, and returns the final trajectory data for processing; the method of "coordinate point deviation correction" is to calculate the corrected coordinate points according to the obtained longitude and latitude through the "projection factor for projecting satellite ellipsoidal coordinates to the plane map coordinate system" and the "eccentricity of the ellipsoid". Therefore, the high-precision 3D trajectory playback corrects the trajectory through the coordinates, angles, speeds, and timestamps uploaded by the vehicle using the trajectory deviation correction method of AutoNavi Maps, and then accurately draws the trajectory of the vehicle's driving using polyline. After the coordinate point deviation correction of the trajectory point 3D trajectory playback, it uses marker and polyline to draw the trajectory points and the trajectory line in the map at the same time. In addition, in this embodiment, when calling "high-precision trajectory deviation correction", a "coordinate point deviation correction" will be performed once before the call.

[0038] The trajectory switching module is used to switch between the high-precision 3D trajectory playback and the trajectory point 3D trajectory playback to facilitate user switching.

[0039] The progress bar rendering module is used to render a trajectory progress bar at the top of the 3D map; it adjusts the progress, speed, pause, and reset of the trajectory playback through the progress bar. At the same time, in this embodiment, the function of the trajectory switching module is integrated on the progress bar, so that the progress bar can also switch the 3D trajectory playback.

[0040] The trajectory screening module is used to screen the time range, speed limit area, crossing line area, drift points, positioning points, parking points and parking duration in the 3D trajectory playback. The trajectory positioning module is used to position to the corresponding progress of the 3D trajectory playback according to the screening results of the trajectory screening module and the progress bar rendered by the progress bar rendering module.

[0041] The trajectory analysis module conducts trajectory details analysis, alarm record analysis, speed analysis and parking analysis based on the trajectory line and trajectory points.

[0042] The storage module is used to store the 3D trajectory playback generated by the 3D trajectory playback module, facilitating subsequent viewing by users.

[0043] The clearing module is used to clear the data generated by the 3D trajectory playback module and the 3D real-time map module. Since the driving paths and road conditions may be different for each user's drive, and the goals of the users for querying the trajectory playback are also different, the clearing module can initialize after the user finishes using the 3D map interface or the trajectory playback function, facilitating the next use.

[0044] The above are only embodiments of the present invention. Specific structures and common knowledge such as characteristics well known in the art are not described in detail herein. Those of ordinary skill in the art know all the common general technical knowledge in the technical field to which the invention belongs before the filing date or the priority date, can learn all the existing technologies in this field, and have the ability to apply the conventional experimental means before this date. Those of ordinary skill in the art can, under the inspiration given in this application, combine their own abilities to improve and implement this solution. Some typical well-known structures or well-known methods should not become obstacles for those of ordinary skill in the art to implement this application. It should be noted that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can still be made, and these should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope required by this application should be based on the content of its claims, and the specific implementation manners described in the specification can be used to interpret the content of the claims.

Claims

1. A vehicle networking 3D real-time map and 3D trajectory playback system, characterized in that: Including: Map generation module: used to generate a 3D map based on map data; Data processing module: Poll and obtain the coordinate point data of the target vehicle from the vehicle networking data, extract the first two unextracted coordinate points in the coordinate point data each time. After extraction, repeat polling the extracted coordinate point data through a preset time threshold to generate trajectory information, and combine trajectory deviation correction to process the trajectory information to generate the moving trajectory data of the target vehicle; The data processing module is also used to obtain the basic data of the vehicle from the vehicle networking data and generate vehicle markings and vehicle basic information; 3D real-time map module: Synchronize the moving trajectory data, vehicle markings, and vehicle basic information of the vehicle generated by the data processing module to the 3D map and display them in real time; 3D trajectory playback module: used to playback the driving trajectory of the vehicle on the 3D map according to the generated moving trajectory data and vehicle markings of the vehicle; The data processing module includes a coordinate acquisition unit and a trajectory calculation unit. The preset time threshold includes at least a first time threshold, a second time threshold, and a third time threshold. The first time threshold is half of the second time threshold, and the third time threshold is less than the second time threshold; the coordinate acquisition unit is used to obtain the coordinate point data of the target vehicle in the current time period in the historical record according to the first time threshold and determine whether it is valid data until the first two valid coordinate point data in the coordinate point data are obtained; the trajectory calculation unit is used to calculate the effective moving trajectory data of the vehicle according to the first two valid coordinate point data obtained by polling the coordinate acquisition unit according to the second time threshold, and then repeat polling the effective moving trajectory data generated by the second time threshold according to the third time threshold and perform calculations to generate the real-time moving trajectory data of the target vehicle.

2. The 3D real-time map and 3D trajectory playback system for vehicle networking according to claim 1, wherein: The 3D trajectory playback module includes a trajectory rendering module and a trajectory switching module. The trajectory rendering module is used to render the 3D trajectory playback into a high-precision 3D trajectory playback and a trajectory point 3D trajectory playback according to trajectory deviation correction. The high-precision 3D trajectory playback corrects the trajectory through the coordinates, angles, speeds, and timestamps uploaded by the vehicle and displays the trajectory line of the vehicle's driving in the 3D trajectory playback; the trajectory point 3D trajectory playback displays the trajectory points and trajectory lines in the 3D trajectory playback through coordinate point deviation correction; the trajectory switching module is used to switch between the high-precision 3D trajectory playback and the trajectory point 3D trajectory playback.

3. The vehicle networking 3D real-time map and 3D trajectory playback system according to claim 2, wherein: The 3D trajectory playback module also includes a progress bar rendering module, a trajectory screening module, a trajectory positioning module, and a trajectory analysis module. The progress bar rendering module is used to render a trajectory progress bar at the top of the 3D map; the trajectory screening module is used to screen the time range, speed limit area, crossing area, drift point, positioning point, parking point, and parking duration in the 3D trajectory playback. The trajectory positioning module is used to position to the corresponding progress of the 3D trajectory playback according to the screening result of the trajectory screening module and the progress bar rendered by the progress bar rendering module. The trajectory analysis module performs trajectory detail analysis, alarm record analysis, speed analysis, and parking analysis according to the trajectory line and trajectory points.

4. The 3D real-time map and 3D trajectory playback system for vehicle networking according to claim 1, characterized in that: The vehicle basic information includes vehicle details information, fuel quantity information, driver information, speed limit areas, and video surveillance information. The vehicle markings include license plate number markings and vehicle status markings. Specifically, the vehicle status markings are as follows: vehicles in the driving state are marked blue, vehicles in the parking state are marked green, vehicles in the abnormal state are marked yellow, vehicles in the alarm state are marked red, and vehicles in the offline state are marked grey.

5. The 3D real-time map and 3D trajectory playback system for vehicle networking according to claim 1, wherein: The map generation module includes a map switching unit, a day-night rendering unit, a layer switching unit, and a fuzzy query unit. The map switching unit is used for switching between 2D maps and 3D maps. The day-night rendering unit is used for rendering the 3D map style according to the day-night mode. The layer switching unit is used for switching between the standard layer and the satellite layer. The satellite layer includes a road network and road conditions that can be custom-loaded. The fuzzy query unit is used for locating the query address according to the fuzzy address input by the user.

6. The vehicle networking 3D real-time map and 3D trajectory playback system according to claim 1, characterized in that: It further includes a storage module, which is used for storing the 3D trajectory playback generated by the 3D trajectory playback module.

7. A vehicle networking 3D real-time map and 3D trajectory playback system according to claim 1, characterized in that: It further includes a clearing module, which is used for clearing the data generated by the 3D trajectory playback module and the 3D real-time map module.

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