A method, system, electronic device and storage medium for constructing a virtual traffic map

Abstract

Embodiments of the present application provide a method, system, electronic device and storage medium for constructing a virtual traffic map, the method comprising: determining a three-dimensional coordinate of a high-altitude measurement unit reference point on a high-altitude measurement unit at a current time, taking a three-dimensional coordinate corresponding to a geographic position of an anchor point on a road surface as a reference point coordinate; obtaining road surface point cloud data of a road surface area measured by a laser scanning ranging unit; converting the road surface point cloud data into high-altitude measurement unit reference point cloud data according to a relative position relationship between the high-altitude measurement unit reference point and the laser scanning ranging unit at the current time; and sending a real scene picture of the road surface area and the high-altitude measurement unit reference point cloud data to a remote data center to generate a virtual traffic map by the remote data center, thereby supporting the accuracy of logical judgment of intelligent driving, greatly supporting intelligent driving and active safety technology of the vehicle itself, and improving the driving experience.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and in particular to a method, system, electronic device, and storage medium for constructing virtual traffic maps. Background Technology

[0002] With the continuous development of intelligent driving technology, more and more vehicles equipped with intelligent driving technology are appearing on the road. At the same time, along with the continuous development of intelligent driving technology, the requirements for high-precision positioning of intelligent driving vehicles are also getting higher and higher.

[0003] However, the accuracy of current GPS-based standalone navigation is about 1-10m, while the width of a single lane on existing roads in China is generally in the range of 2.3-3.75m. This cannot support the high-precision positioning requirements of intelligent driving vehicles, affecting the judgment of intelligent driving vehicles in lane changing, overtaking, acceleration, deceleration, and braking logic, and thus affecting the user's driving experience.

[0004] To address the aforementioned issues, this application proposes a method for constructing virtual traffic maps. Summary of the Invention

[0005] In view of the above problems, embodiments of this application provide a method and system for constructing a virtual traffic map, so as to overcome the above problems or at least partially solve the above problems.

[0006] A first aspect of this application provides a method for constructing a virtual traffic map, applied to an aerial measurement unit, the method comprising:

[0007] Using the three-dimensional coordinates corresponding to the geographical location of the anchor point on the road surface as the reference point coordinates, determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit on the high-altitude measurement unit at the current moment;

[0008] Acquire point cloud data of the road surface area measured by the laser scanning ranging unit;

[0009] Based on the relative positional relationship between the reference point of the high-altitude measurement unit and the laser scanning ranging unit at the current moment, the road surface point cloud data is converted into reference point cloud data of the high-altitude measurement unit;

[0010] The real-world images of the road surface area and the reference point cloud data of the high-altitude measurement unit are sent to a remote data center to generate a virtual traffic map.

[0011] Optionally, it also includes:

[0012] Obtain the relative distance and angle data of the radar signal reflectors of target vehicles in the road area measured by the radar array unit at the current moment;

[0013] Based on the relative positional relationship between the radar signal reflector of the target vehicle and the radar array unit, the relative distance and angle data are converted into the relative coordinates of the target vehicle.

[0014] Based on the relative positional relationship between the high-altitude measurement unit reference point and the radar array unit, the relative coordinates of the target vehicle are converted into three-dimensional coordinates of the target vehicle with the high-altitude measurement unit reference point as the reference.

[0015] The three-dimensional coordinates of the target vehicle are sent to the remote data center so that the remote data center can determine the location of the target vehicle based on the virtual traffic map.

[0016] Optionally, determining the three-dimensional coordinates of the reference point of the aerial measurement unit on the aerial measurement unit at the current moment, using the three-dimensional coordinates corresponding to the geographical location of the anchor point on the road surface as the reference point coordinates, includes:

[0017] The relative distance and angle data between the reference point of the anchor point and the air positioning radar on the anchor point are obtained to determine the three-dimensional coordinates of the reference point of the anchor point relative to the air positioning radar.

[0018] The relative distance and angle data of the reference point of the high-altitude measurement unit measured by the air positioning radar relative to the air positioning radar are obtained to determine the three-dimensional coordinates of the high-altitude measurement unit relative to the air positioning radar.

[0019] Based on the relative positional relationship between the reference point of the high-altitude measurement unit and the reference point of the anchoring point, the three-dimensional coordinates of the reference point of the high-altitude measurement unit at the current moment are determined.

[0020] Optionally, acquiring the road point cloud data of the road surface area measured by the laser scanning ranging unit includes:

[0021] Obtain the relative distance and angle data of the road point cloud of the road surface area measured by the laser scanning ranging unit at the current moment relative to the laser scanning ranging unit;

[0022] Based on the relative positional relationship between the laser scanning ranging unit and the road surface point cloud of the road surface area, the relative distance and angle data of the road surface point cloud are converted into three-dimensional coordinates relative to the road surface point cloud data of the laser scanning ranging unit.

[0023] Optionally, converting the road surface point cloud data into high-altitude measurement unit reference point cloud data based on the relative positional relationship between the high-altitude measurement unit reference point and the laser scanning ranging unit at the current moment includes:

[0024] The relative distance and angle data of the reference point of the high-altitude measurement unit relative to the laser scanning distance measuring unit, measured by the gyroscope on the high-altitude measurement unit at the current moment, are obtained to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the laser scanning distance measuring unit.

[0025] The sum of the three-dimensional coordinates of the reference point of the high-altitude measurement unit, the three-dimensional coordinates of the road surface point cloud data, and the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the laser scanning ranging unit is determined as the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit.

[0026] Optionally, after determining the sum of the three-dimensional coordinates of the reference point of the high-altitude measurement unit, the three-dimensional coordinates of the road surface point cloud data, and the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the laser scanning ranging unit as the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit, the method further includes:

[0027] Obtain real-view images of the road surface area;

[0028] The real-scene image of the road surface area and the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit are sent to the remote data center, so that the virtual traffic map corresponding to the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit can be generated by the remote data center using the real-scene image as a reference.

[0029] Optionally, converting the relative coordinates of the target vehicle into three-dimensional coordinates of the target vehicle with reference to the high-altitude measurement unit reference point based on the relative positional relationship between the high-altitude measurement unit reference point and the radar array unit includes:

[0030] The relative distance and angle data of the reference point of the high-altitude measurement unit relative to the radar array unit, measured by the gyroscope on the high-altitude measurement unit at the current moment, are obtained to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the radar array unit.

[0031] The three-dimensional coordinates of the target vehicle are determined by summing the reference point cloud data of the high-altitude measurement unit, the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the radar array unit, and the relative coordinates of the target vehicle.

[0032] A second aspect of this application provides a method for constructing a virtual traffic map, applied to a remote data center, the method comprising:

[0033] Receive real-scene images of the road surface area sent by the high-altitude measurement unit, as well as the three-dimensional coordinates of the high-altitude measurement unit reference point cloud data corresponding to the real-scene images;

[0034] Using the anchor point of the road surface area as the reference point and the real-scene image as a reference, a road surface and traffic line model corresponding to the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit is generated.

[0035] Optionally, it also includes:

[0036] Receive real-scene images of the road surface area sent by each of the high-altitude measurement units, as well as the three-dimensional coordinates of the reference point cloud data of each high-altitude measurement unit corresponding to each real-scene image;

[0037] Using the reference points of the anchor points of each road surface area as their respective reference reference points, and using the real-scene images of each road surface area as references, multiple road surface and traffic line models corresponding to the three-dimensional coordinates of the reference point cloud data of each high-altitude measurement unit are generated.

[0038] The multiple road surface and traffic line models are loaded into a virtual traffic database to generate a continuous virtual traffic map.

[0039] A third aspect of this application provides a system for constructing virtual traffic maps, applied to an aerial measurement unit, the system comprising:

[0040] The determination module is used to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit on the high-altitude measurement unit at the current moment, using the three-dimensional coordinates corresponding to the geographical location of the anchor point on the road surface as the reference point coordinates.

[0041] The acquisition module is used to acquire road point cloud data of the road surface area measured by the laser scanning ranging unit;

[0042] The conversion module is used to convert the road surface point cloud data into high-altitude measurement unit reference point cloud data based on the relative positional relationship between the high-altitude measurement unit reference point and the laser scanning ranging unit at the current moment.

[0043] The generation module is used to send real-scene images of the road surface area and reference point cloud data of the high-altitude measurement unit to a remote data center to generate a virtual traffic map through the remote data center.

[0044] Optionally, it also includes:

[0045] The first acquisition submodule is used to acquire the relative distance and angle data of the radar signal reflectors of target vehicles in the road area measured by the radar array unit at the current moment;

[0046] The first conversion submodule is used to convert the relative distance and angle data into the relative coordinates of the target vehicle based on the relative positional relationship between the radar signal reflector of the target vehicle and the radar array unit.

[0047] The second conversion submodule is used to convert the relative coordinates of the target vehicle into three-dimensional coordinates of the target vehicle with the reference point of the high-altitude measurement unit as the reference, based on the relative positional relationship between the reference point of the high-altitude measurement unit and the radar array unit.

[0048] The first determining submodule is used to send the three-dimensional coordinates of the target vehicle to the remote data center so that the remote data center can determine the location of the target vehicle based on the virtual traffic map.

[0049] Optionally, the step of determining the three-dimensional coordinates of the reference point of the aerial measurement unit on the aerial measurement unit at the current moment, using the three-dimensional coordinates corresponding to the geographical location of the anchor point on the road surface as the reference point coordinates, includes:

[0050] The second acquisition submodule is used to acquire the relative distance and angle data between the reference point of the anchor point and the air positioning radar on the anchor point, so as to determine the three-dimensional coordinates of the reference point of the anchor point relative to the air positioning radar.

[0051] The third acquisition submodule is used to acquire the relative distance and angle data of the reference point of the high-altitude measurement unit relative to the air positioning radar, so as to determine the three-dimensional coordinates of the high-altitude measurement unit relative to the air positioning radar.

[0052] The second determining submodule is used to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit at the current moment based on the relative positional relationship between the reference point of the high-altitude measurement unit and the reference point of the anchoring point.

[0053] Optionally, the module for acquiring road point cloud data of the road surface area measured by the laser scanning ranging unit includes:

[0054] The fourth acquisition submodule is used to acquire the relative distance and angle data of the road point cloud of the road surface area measured by the laser scanning ranging unit at the current moment relative to the laser scanning ranging unit;

[0055] The third conversion submodule is used to convert the relative distance and angle data of the road surface point cloud into three-dimensional coordinates relative to the road surface point cloud data of the laser scanning ranging unit, based on the relative positional relationship between the laser scanning ranging unit and the road surface point cloud of the road surface area.

[0056] Optionally, the conversion module, which converts the road surface point cloud data into high-altitude measurement unit reference point cloud data based on the relative positional relationship between the high-altitude measurement unit reference point and the laser scanning ranging unit at the current moment, includes:

[0057] The fifth acquisition submodule is used to acquire the relative distance and angle data of the reference point of the high-altitude measurement unit relative to the laser scanning distance measuring unit, as measured by the gyroscope on the high-altitude measurement unit at the current moment, so as to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the laser scanning distance measuring unit;

[0058] The third determining submodule is used to determine the three-dimensional coordinates of the high-altitude measurement unit reference point cloud data as the sum of the three-dimensional coordinates of the reference point of the high-altitude measurement unit, the three-dimensional coordinates of the road surface point cloud data, and the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the laser scanning ranging unit.

[0059] Optionally, after determining the sum of the three-dimensional coordinates of the high-altitude measurement unit reference point, the three-dimensional coordinates of the road surface point cloud data, and the three-dimensional coordinates of the high-altitude measurement unit reference point relative to the laser scanning ranging unit as the three-dimensional coordinates of the high-altitude measurement unit reference point cloud data, the third determining submodule further includes:

[0060] The sixth acquisition submodule is used to acquire real-scene images of the road surface area;

[0061] A submodule is used to send the real-scene image of the road area and the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit to the remote data center, so that the remote data center can use the real-scene image as a reference to generate the virtual traffic map corresponding to the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit.

[0062] Optionally, the step of converting the relative coordinates of the target vehicle into three-dimensional coordinates of the target vehicle based on the relative positional relationship between the high-altitude measurement unit reference point and the radar array unit, wherein the second conversion submodule includes:

[0063] The acquisition subunit is used to acquire the relative distance and angle data of the reference point of the high-altitude measurement unit relative to the radar array unit as measured by the gyroscope on the high-altitude measurement unit at the current moment, so as to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the radar array unit.

[0064] A sub-unit is defined to determine the three-dimensional coordinates of the target vehicle by summing the reference point cloud data of the high-altitude measurement unit, the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the radar array unit, and the relative coordinates of the target vehicle.

[0065] A fourth aspect of this application provides a system for constructing virtual traffic maps, applied to a remote data center, the system comprising:

[0066] The receiving module is used to receive real-scene images of the road surface area sent by the high-altitude measurement unit and the three-dimensional coordinates of the high-altitude measurement unit's reference point cloud data corresponding to the real-scene images.

[0067] The second generation module is used to generate a road surface and traffic line model corresponding to the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit, using the reference point of the anchor point of the road surface area as the reference reference point and the real scene image as the reference.

[0068] Optionally, it also includes:

[0069] The first receiving submodule is used to receive real-scene images of the road surface area sent by each of the high-altitude measurement units, as well as the three-dimensional coordinates of the reference point cloud data of each high-altitude measurement unit corresponding to each real-scene image.

[0070] The first generation submodule is used to generate multiple road surface and traffic line models corresponding to the three-dimensional coordinates of the reference cloud data of the reference points of each road surface area, using the reference points of the anchor points of each road surface area as their respective reference reference points and the real scene images of each road surface area as references.

[0071] The second generation submodule is used to load the multiple road surface and traffic line models into the virtual traffic database to generate a continuous virtual traffic map.

[0072] A fifth aspect of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method for constructing a virtual traffic map as described in the embodiments of this application.

[0073] A sixth aspect of this application provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the method for constructing a virtual traffic map as described in the embodiments of this application.

[0074] This application has the following advantages:

[0075] This application provides a method for constructing a virtual traffic map. The method includes: using the three-dimensional coordinates corresponding to the geographical location of anchor points on the road surface as reference point coordinates, determining the three-dimensional coordinates of a reference point of an aerial measurement unit on an aerial measurement unit at the current moment; acquiring road surface point cloud data of the road surface area measured by a laser scanning ranging unit; converting the road surface point cloud data into aerial measurement unit reference point cloud data according to the relative positional relationship between the aerial measurement unit reference point and the laser scanning ranging unit at the current moment; and sending the real-scene image of the road surface area and the aerial measurement unit reference point cloud data to a remote data center to generate a virtual traffic map through the remote data center. This application generates a high-precision virtual traffic map in a remote data center based on the reference coordinates of the road surface point cloud relative to the anchor points and with reference to the real-scene image of the road surface area to be measured. This enables high-precision positioning of vehicles and roads, and between vehicles, observed from an aerial perspective, generating a real-time virtual traffic model. This supports the accuracy of logical judgments in intelligent driving, greatly supports intelligent driving and active safety technologies of the vehicle itself, and improves the driving experience. Attached Figure Description

[0076] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0077] Figure 1 This is a flowchart illustrating the steps of a method for constructing a virtual traffic map, as provided in an embodiment of this application.

[0078] Figure 2 This is a schematic diagram of an architecture for constructing a virtual traffic map provided in an embodiment of this application;

[0079] Figure 3 This is a schematic diagram illustrating the process structure for constructing a virtual traffic map, as provided in an embodiment of this application.

[0080] Figure 4 This is a schematic diagram of the main hardware architecture of an anchor point ECU provided in an embodiment of this application;

[0081] Figure 5 This is a schematic diagram of the main hardware architecture of an ECU for high-altitude measurement units provided in an embodiment of this application;

[0082] Figure 6 This is a schematic diagram of a remote data center module architecture provided in an embodiment of this application;

[0083] Figure 7This is another schematic diagram of an architecture for constructing a virtual traffic map provided in an embodiment of this application;

[0084] Figure 8 This is a schematic diagram of another part of the main hardware architecture of an ECU for a high-altitude measurement unit provided in an embodiment of this application;

[0085] Figure 9 This is a schematic diagram of a preferred architecture for constructing a virtual traffic map, provided in an embodiment of this application.

[0086] Figure 10 A schematic diagram of a system for constructing a virtual traffic map is provided in an embodiment of this application;

[0087] Figure 11 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0088] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0089] This application proposes a method for constructing a virtual traffic map, applied to an aerial measurement unit, with reference to... Figure 1 This document provides a flowchart of a method for constructing a virtual traffic map in a remote data center, as illustrated in an embodiment of this application. The method includes:

[0090] Step S101: Using the three-dimensional coordinates corresponding to the geographical location of the anchor point on the road surface as the reference point coordinates, determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit on the high-altitude measurement unit at the current moment;

[0091] Step S102: Obtain the road point cloud data of the road area measured by the laser scanning ranging unit;

[0092] Step S103: Based on the relative positional relationship between the high-altitude measurement unit reference point and the laser scanning ranging unit at the current moment, convert the road surface point cloud data into high-altitude measurement unit reference point cloud data;

[0093] Step S104: Send the real-scene image of the road surface area and the reference point cloud data of the high-altitude measurement unit to a remote data center to generate a virtual traffic map through the remote data center.

[0094] Reference Figure 2This diagram illustrates an architecture for constructing a virtual traffic map, as provided in this application embodiment. As shown, the main components involved in constructing the virtual traffic map include a remote data center, a high-altitude balloon, an aerial measurement unit, anchor points, two fixed points, road surfaces, traffic lines, and vehicles. The remote data center receives measurement data to construct the virtual traffic map. The aerial measurement unit uses the high-altitude balloon as its power source for ascent; in practical applications, the high-altitude balloon can be a hydrogen balloon or a drone, etc., and this application does not limit its use. The aerial measurement unit scans and outputs the coordinate data of the road surface point cloud and sends the coordinate data to the remote data center. The anchor points and the two fixed points are used together with ropes to fix the high-altitude balloon in the air. The anchor points can be measured with high precision down to the centimeter using existing technology, and these anchor points are determined as the reference points in this application embodiment.

[0095] In this embodiment of the application, the Earth's rectangular coordinate system is obtained and converted into the Earth's three-dimensional coordinate system using existing coordinate transformation technology.

[0096] Reference Figure 3 This is a schematic diagram illustrating the process structure for constructing a virtual traffic map, as provided in an embodiment of this application. Figure 3 As shown, the anchor point, the aerial measurement unit, and the remote data center communicate via a wireless network. The aerial measurement unit can acquire road surface information, specifically real-world images of the road surface point cloud and its coordinate information. The aerial measurement unit can also acquire the coordinate information of the anchor point.

[0097] Specifically, in this embodiment, the anchor point is fixed on the road surface, and its coordinates can be measured with high precision down to the centimeter level using existing mature technology. After measurement, the centimeter-level high-precision geographic coordinates are input to the anchor point ECU (Electronic Control Unit), which converts them into anchor point reference coordinates through a coordinate transformation module. These anchor point reference coordinates are three-dimensional coordinates. The anchor point reference coordinates are then sent to a remote data center for storage in an anchor point reference coordinate database, and are used as the reference point in this embodiment.

[0098] Reference Figure 4 This is a schematic diagram of the main hardware architecture of an anchoring point ECU provided in an embodiment of this application, as shown below. Figure 4 As shown, the Earth's standard coordinate system is converted into the Earth's rectangular coordinate system through the coordinate transformation module inside the ECU, and then further converted into the Earth's three-dimensional coordinate system. The centimeter-level geographic coordinates of the anchor point are converted into the anchor point's reference coordinates through the coordinate transformation module inside the ECU. It should be noted that the anchor point's reference coordinates are three-dimensional coordinates.

[0099] Furthermore, the anchorage reference coordinates are transmitted to a remote data center via a wireless network and stored in the anchorage reference coordinate database of the remote data center. In practical applications, multiple anchorage points are set up on the road segment traveled by the vehicle. Based on the same method, the reference coordinates of multiple anchorage points are determined and all are uploaded to the remote data center and stored in the anchorage reference coordinate database.

[0100] Furthermore, referring to Figure 3 , Figure 4 The relative distance and angle data between the air-to-ground positioning radar inside the anchor point and the anchor point reference point are measured. Given the coordinates of the anchor point reference point, based on the relative positional relationship between the air-to-ground positioning radar inside the anchor point and the anchor point reference point, the coordinates of the anchor point reference point are converted into the anchor point reference point's coordinates relative to the air-to-ground positioning radar reference coordinates through the air-to-ground positioning radar calibration module. It should be noted that the air-to-ground positioning radar reference coordinates are three-dimensional coordinates. For example: assuming the anchor point reference point coordinates are (X1, Y1, Z1), the distance between the anchor point reference point and the air-to-ground positioning radar reference point is L, and the angle between the anchor point reference point and the air-to-ground positioning radar reference point relative to the coordinate system is (a1, a2, a3), then the coordinates of the air-to-ground positioning radar reference point are (X1 + L * COSa1, Y1 + L * COSa2, Z1 + L * COSa3).

[0101] Furthermore, the real-time relative distance and angle data between the air-to-ground positioning radar and the high-altitude measurement unit reference point (i.e., the radar signal reflector in the high-altitude measurement unit) are measured. The coordinate transformation module within the anchor point's ECU converts this data into coordinates of the high-altitude measurement unit reference point relative to the air-to-ground positioning radar reference point. For example, assuming the relative distance measured by the air-to-ground positioning radar to the radar signal reflector in the high-altitude measurement unit is M, the relative angle is (α, β, γ), and the current time is t, the coordinates of the high-altitude measurement unit relative to the air-to-ground positioning radar reference point can be determined by the coordinate transformation module as (M1*COSα1, M1*COSβ1, M1*COSγ1), t1, where t1 represents the current time recorded by the clock calibration module within the anchor point ECU.

[0102] Furthermore, the data calculation module within the anchor point ECU calculates the coordinates of the high-altitude measurement unit reference point relative to the anchor point reference point at the current moment, i.e., the three-dimensional coordinates of the high-altitude measurement unit reference point. This coordinate data is then transmitted to the high-altitude measurement unit ECU via a wireless network. Specifically, the high-altitude measurement unit reference point refers to the radar signal reflector on the high-altitude measurement unit as its reference point. For example: Based on the coordinates of the air positioning radar reference point determined above as (X1+L*COSa1,Y1+L*COSa2,Z1+L*COSa3) and the coordinates of the high-altitude measurement unit relative to the air positioning radar reference point as (M1*COSα1,M1*COSβ1,M1*COSγ1), t1, the data calculation module can determine the coordinates of the high-altitude measurement unit reference point relative to the anchor point reference point at time t1, i.e., the coordinates of the high-altitude measurement unit reference point as (X1+L*COSa1+M1*COSα1,Y1+L*COSa2+M1*COSβ1,Z1+L*COSa3+M1*COSγ1), t1.

[0103] Figure 5 This is a schematic diagram of the main hardware architecture of a high-altitude measurement unit (ECU) provided in an embodiment of this application. (Refer to...) Figure 3 and Figure 5 As shown, the high-definition camera on the high-altitude measurement unit captures real-time images of the road surface area and sends them to the high-altitude measurement unit ECU. The image recognition module of the high-altitude measurement unit ECU identifies the road surface area to be scanned and stores the identified image information in the image storage unit.

[0104] Furthermore, the high-altitude measurement unit (ECU) controls the laser scanning ranging unit on the high-altitude measurement unit to measure the relative distance and angle data between the road surface point cloud of the road surface area to be measured and the laser scanning ranging unit. The road surface point cloud represents the set of all points to be measured in the road surface area. The coordinate transformation module of the high-altitude measurement unit (ECU) converts the relative distance and angle data between the road surface point cloud and the laser scanning ranging unit into three-dimensional coordinates of the road surface point cloud data. For example, if the relative distance N between a point A on the road surface area and the laser scanning ranging unit is measured, and the relative angle data is (δ, ε, ζ), and the current time is t1, then the three-dimensional coordinates of the point A in the road surface point cloud relative to the laser scanning ranging unit at time t1 are (N1*COSδ1, N1*COSε1, N1*COSζ1), t1. In practical applications, the three-dimensional coordinates of a large number of points on the road surface area to be measured relative to the laser scanning ranging unit are collectively referred to as road surface point cloud data.

[0105] In the above description, the radar signal reflector of the high-altitude measurement unit is used as the reference point of the high-altitude measurement unit. Therefore, the relative distance and angle data of the high-altitude measurement unit reference point relative to the laser scanning ranging unit at the current moment are measured by the gyroscope on the high-altitude measurement unit ECU. That is, the relative distance and angle data of the radar signal reflector of the high-altitude measurement unit relative to the laser scanning ranging unit at the current moment are measured by the gyroscope, and then converted into reference coordinates (three-dimensional coordinates) of the high-altitude measurement unit reference point relative to the laser scanning ranging unit by the coordinate transformation module. For example: the distance between the high-altitude measurement unit reference point and the laser scanning ranging unit reference point is P, the real-time angle is denoted as (η, θ, ι), and the time is denoted as t. Then, the reference coordinates of the high-altitude measurement unit reference point relative to the laser scanning ranging unit at the current time t1 are (P1*COSη1, P1*COSθ1, P1*COSι1), t1.

[0106] Furthermore, through the data calculation module, the sum of the three-dimensional coordinates of the high-altitude measurement unit reference point, the three-dimensional coordinates of the road surface point cloud data, and the three-dimensional coordinates of the high-altitude measurement unit reference point relative to the laser scanning ranging unit is determined as the three-dimensional coordinates of the high-altitude measurement unit reference point cloud data. For example: the coordinates of the high-altitude measurement unit reference point relative to the anchor point reference point, i.e., the three-dimensional coordinates of the high-altitude measurement unit reference point, are (X1+L*COSa1+M1*COSα1, Y1+L*COSa2+M1*COSβ1, Z1+L*COSa3+M1*COSγ1), t1; the three-dimensional coordinates of a certain point to be measured in the road surface point cloud data are N1*COSδ1, N1*COSε1, N1*COSζ1), t1; and the coordinates of the high-altitude measurement unit reference point relative to the laser scanning ranging unit reference point are (P1*COSη1, P1*COSθ1, ... P1*COSι1),t1, then after calculation by the calculation module, the sum of the three is determined as the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit, that is, the three-dimensional coordinates of a certain point on the road surface point cloud of the road surface area to be measured relative to the anchor reference point are (X1+L*COSa1+M1*COSα1+N1*COSδ1+P1*COSη1, Y1+L*COSa2+M1*COSβ1+N1*COSε1+P1*COSθ1, Z1+L*COSa3+M1*COSγ1+N1*COSζ1+P1*COSι1).

[0107] Furthermore, the three-dimensional coordinate data of the high-altitude measurement unit's reference point cloud data is transmitted to a remote data center via a wireless network. (Refer to...) Figure 6 This is a schematic diagram of a remote data center module architecture provided in an embodiment of this application.

[0108] The remote data center can receive real-world road surface images sent by the aerial measurement unit via a wireless network and store these images in a road surface image database. The remote data center also receives road surface point cloud data via a wireless network and stores it in a road surface point cloud database. This point cloud data is the aerial measurement unit's reference point cloud data with defined coordinates. Referring to the real-world images of the road surface area to be measured and the corresponding aerial measurement unit reference point cloud data, image processing software is used to generate a virtual traffic map corresponding to the 3D coordinates of the aerial measurement unit's reference point cloud data. Specifically, point cloud processing software, surface processing software, 3D modeling software, and image rendering software can be used to model and create road surface and traffic line models containing anchor reference points. In practical applications, by aligning each virtual traffic map model containing anchor reference points with the same coordinate system and loading it into the virtual traffic database, a continuous virtual traffic map can be generated.

[0109] The virtual traffic map generated in this embodiment is a real-time virtual traffic map generated by an aerial measurement unit as an aerial perspective. It can realize the real-time correspondence between remote data center storage and real-scene coordinates. Through the virtual traffic map, the real-scene road conditions of the current area containing three-dimensional coordinates can be viewed, which can more realistically restore the information of the current road conditions.

[0110] In another embodiment of this application, the radar array unit on the high-altitude measurement unit is controlled by the high-altitude measurement unit ECU to measure the relative distance and angle data with the vehicle's radar signal reflector. (Refer to...) Figure 7 and Figure 8 The coordinate transformation module of the high-altitude measurement unit ECU converts the relative distance and angle data between the radar array unit on the high-altitude measurement unit and the vehicle's radar signal reflector into the relative coordinates of the vehicle's radar signal reflector, i.e., the three-dimensional coordinates of the high-altitude measurement unit reference point relative to the radar array unit. For example, if the relative distance Q and the relative angle (κ, λ, μ) between vehicle A on the road surface area to be measured and the radar array unit are measured by the radar array unit of the high-altitude measurement unit, then at the current time t, the relative coordinates of the vehicle, i.e., the three-dimensional coordinates of the vehicle relative to the radar array unit, are (Q1*COSκ1, Q1*COSλ1, Q1*COSμ1), t1.

[0111] Furthermore, the relative distance and angle data between the high-altitude measurement unit's reference point (i.e., the radar signal reflector of the high-altitude measurement unit) and the radar array unit are measured using a gyroscope on the high-altitude measurement unit. This data is then converted into reference coordinates of the high-altitude measurement unit's reference point relative to the radar array unit using a coordinate transformation module. These reference coordinates are the three-dimensional coordinates of the high-altitude measurement unit's reference point relative to the radar array unit. For example, if the reference distance between the high-altitude measurement unit's reference point and the radar array unit is S, and the real-time angle is denoted as (ν, ξ, ο), then at the current time t, the reference coordinates of the high-altitude measurement unit's reference point relative to the radar array unit are (S1*COSν1, P1*COSξ1, P1*COSο1), t1.

[0112] Furthermore, the three-dimensional coordinates of the target vehicle are determined by summing the reference point cloud data of the high-altitude measurement unit, the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the radar array unit, and the relative coordinates of the target vehicle. Specifically, the three-dimensional coordinates of the three are calculated by the data calculation module in the high-altitude measurement unit to obtain the three-dimensional coordinates of the target vehicle, that is, the three-dimensional coordinates of the target vehicle relative to the anchor point. For example: the coordinates of the high-altitude measurement unit reference point are (X1+L*COSa1+M1*COSα1, Y1+L*COSa2+M1*COSβ1, Z1+L*COSa3+M1*COSγ1), t1; the reference coordinates of the high-altitude measurement unit reference point relative to the radar array unit are (S1*COSν1, P1*COSξ1, P1*COSο1), t1; the relative coordinates of the vehicle, that is, the three-dimensional coordinates of the vehicle relative to the radar array unit, are (Q1*COSκ1, Q1*CO Sλ1, Q1*COSμ1), t1; the three-dimensional coordinates of the target vehicle at the current time t1 can be obtained, that is, the three-dimensional coordinates of the target vehicle relative to the anchor point (X1+L*COSa1+M1*COSα1+Q1*COSκ1+S1*COSν1, Y1+L*COSa2+M1*COSβ1+Q1*COSλ1+S1*COSξ1, Z1+L*COSa3+M1*COSγ1+Q1*COSμ1+S1*COSο1).

[0113] Furthermore, by sending the real-time three-dimensional coordinates of the target vehicle to a remote data center and loading them into a virtual traffic map, the specific location of the target vehicle in the corresponding road surface area of ​​the virtual traffic map can be determined.

[0114] In yet another preferred embodiment of this application, a method for constructing a virtual traffic map is proposed, applied to a remote data center, the method comprising:

[0115] Step S105: Receive the real-scene image of the road surface area sent by the high-altitude measurement unit and the three-dimensional coordinates of the high-altitude measurement unit reference point cloud data corresponding to the real-scene image;

[0116] Step S106: Using the reference point of the anchor point of the road surface area as the reference reference point and the real scene image as the reference, generate a road surface and traffic line model corresponding to the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit.

[0117] In practical applications, refer to Figure 6 As shown, the remote data center can receive real-scene images of the road surface area sent by each of the high-altitude measurement units, as well as the three-dimensional coordinates of the reference point cloud data of each high-altitude measurement unit corresponding to each real-scene image.

[0118] Using the reference points of the anchor points of each road surface area as their respective reference reference points, and using the real-scene images of each road surface area as references, multiple road surface and traffic line models corresponding to the three-dimensional coordinates of the reference point cloud data of each high-altitude measurement unit are generated.

[0119] The multiple road surface and traffic line models are loaded into a virtual traffic database to generate a continuous virtual traffic map.

[0120] In this embodiment, a virtual traffic map is constructed from the high-altitude perspective of an aerial measurement unit. The virtual traffic map realistically recreates the current road surface conditions and can accurately locate the specific position of a target vehicle within the virtual traffic map. Furthermore, the vehicle's speed, direction, and acceleration can be determined based on the changes in its specific coordinates.

[0121] In another specific embodiment of this application, high-precision real-time three-dimensional coordinates of other vehicles can be downloaded from remote data through a virtual vehicle terminal, and the relative distance, speed and other relevant information of other vehicles in the current road segment in the target area that are not limited by the field of vision can be determined. This can greatly support the realization of intelligent driving and active safety technologies of the vehicle itself, such as platooning and collision warning for vehicles ahead.

[0122] In another preferred embodiment of this application, the radar array unit of the high-altitude measurement unit can be changed to the radar array unit of a vehicle, referring to... Figure 9 The relative coordinates of the high-altitude measurement unit are determined by the air positioning radar of the target vehicle, and the three-dimensional coordinates of the target vehicle can be determined based on the three-dimensional coordinates of the high-altitude measurement unit reference point relative to the anchor reference point.

[0123] This application provides a method for constructing a virtual traffic map. The method includes: using the three-dimensional coordinates corresponding to the geographical location of anchor points on the road surface as reference point coordinates, determining the three-dimensional coordinates of the reference point of the high-altitude measurement unit on the high-altitude measurement unit at the current moment; acquiring road surface point cloud data of the road surface area measured by the laser scanning distance measuring unit; converting the road surface point cloud data into high-altitude measurement unit reference point cloud data according to the relative positional relationship between the high-altitude measurement unit reference point and the laser scanning distance measuring unit at the current moment; and sending the real-scene image of the road surface area and the high-altitude measurement unit reference point cloud data to a remote data center to generate a virtual traffic map through the remote data center. In this embodiment, a virtual traffic map is constructed using the aerial perspective of an aerial measurement unit. This virtual traffic map realistically recreates the current road conditions and allows for high-precision positioning of target vehicles within it. Furthermore, the vehicle's speed, direction, and acceleration can be determined based on its coordinate changes. High-precision real-time three-dimensional coordinates of other vehicles on the current road segment can also be obtained, providing information such as relative distances, speeds, and lane positions of other vehicles on the same road segment without visual limitations. This significantly supports intelligent driving and active safety technologies, such as platooning and cross-traffic collision warnings, enhancing the user's driving experience.

[0124] Based on the same inventive concept as the first aspect of the embodiments of this application, the second aspect of the embodiments of this application provides a system for constructing virtual traffic maps, such as... Figure 10 As shown, the system includes:

[0125] The determination module 201 is used to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit on the high-altitude measurement unit at the current moment, using the three-dimensional coordinates corresponding to the geographical location of the anchor point on the road surface as the reference point coordinates.

[0126] The acquisition module 202 is used to acquire road point cloud data of the road surface area measured by the laser scanning ranging unit;

[0127] The conversion module 203 is used to convert the road surface point cloud data into high-altitude measurement unit reference point cloud data according to the relative positional relationship between the high-altitude measurement unit reference point and the laser scanning ranging unit at the current moment.

[0128] The generation module 204 is used to send the real-scene image of the road surface area and the reference point cloud data of the high-altitude measurement unit to a remote data center so as to generate a virtual traffic map through the remote data center.

[0129] Optionally, it also includes:

[0130] The first acquisition submodule is used to acquire the relative distance and angle data of the radar signal reflectors of target vehicles in the road area measured by the radar array unit at the current moment;

[0131] The first conversion submodule is used to convert the relative distance and angle data into the relative coordinates of the target vehicle based on the relative positional relationship between the radar signal reflector of the target vehicle and the radar array unit.

[0132] The second conversion submodule is used to convert the relative coordinates of the target vehicle into three-dimensional coordinates of the target vehicle with the reference point of the high-altitude measurement unit as the reference, based on the relative positional relationship between the reference point of the high-altitude measurement unit and the radar array unit.

[0133] The first determining submodule is used to send the three-dimensional coordinates of the target vehicle to the remote data center so that the remote data center can determine the location of the target vehicle based on the virtual traffic map.

[0134] Optionally, the step of determining the three-dimensional coordinates of the reference point of the high-altitude measurement unit on the high-altitude measurement unit at the current moment by using the three-dimensional coordinates corresponding to the geographical location of the anchor point on the road surface as the reference point coordinates, the determining module 201 includes:

[0135] The second acquisition submodule is used to acquire the relative distance and angle data between the reference point of the anchor point and the air positioning radar on the anchor point, so as to determine the three-dimensional coordinates of the reference point of the anchor point relative to the air positioning radar.

[0136] The third acquisition submodule is used to acquire the relative distance and angle data of the reference point of the high-altitude measurement unit relative to the air positioning radar, so as to determine the three-dimensional coordinates of the high-altitude measurement unit relative to the air positioning radar.

[0137] The second determining submodule is used to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit at the current moment based on the relative positional relationship between the reference point of the high-altitude measurement unit and the reference point of the anchoring point.

[0138] Optionally, the acquisition module 202, which acquires the road point cloud data of the road area measured by the laser scanning ranging unit, includes:

[0139] The fourth acquisition submodule is used to acquire the relative distance and angle data of the road point cloud of the road surface area measured by the laser scanning ranging unit at the current moment relative to the laser scanning ranging unit;

[0140] The third conversion submodule is used to convert the relative distance and angle data of the road surface point cloud into three-dimensional coordinates relative to the road surface point cloud data of the laser scanning ranging unit, based on the relative positional relationship between the laser scanning ranging unit and the road surface point cloud of the road surface area.

[0141] Optionally, the conversion module 203, which converts the road surface point cloud data into high-altitude measurement unit reference point cloud data based on the relative positional relationship between the high-altitude measurement unit reference point and the laser scanning ranging unit at the current moment, includes:

[0142] The fifth acquisition submodule is used to acquire the relative distance and angle data of the reference point of the high-altitude measurement unit relative to the laser scanning distance measuring unit, as measured by the gyroscope on the high-altitude measurement unit at the current moment, so as to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the laser scanning distance measuring unit;

[0143] The third determining submodule is used to determine the three-dimensional coordinates of the high-altitude measurement unit reference point cloud data as the sum of the three-dimensional coordinates of the reference point of the high-altitude measurement unit, the three-dimensional coordinates of the road surface point cloud data, and the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the laser scanning ranging unit.

[0144] Optionally, after determining the sum of the three-dimensional coordinates of the high-altitude measurement unit reference point, the three-dimensional coordinates of the road surface point cloud data, and the three-dimensional coordinates of the high-altitude measurement unit reference point relative to the laser scanning ranging unit as the three-dimensional coordinates of the high-altitude measurement unit reference point cloud data, the third determining submodule further includes:

[0145] The sixth acquisition submodule is used to acquire real-scene images of the road surface area;

[0146] A submodule is used to send the real-scene image of the road area and the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit to the remote data center, so that the remote data center can use the real-scene image as a reference to generate the virtual traffic map corresponding to the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit.

[0147] Optionally, the step of converting the relative coordinates of the target vehicle into three-dimensional coordinates of the target vehicle based on the relative positional relationship between the high-altitude measurement unit reference point and the radar array unit, wherein the second conversion submodule includes:

[0148] The acquisition subunit is used to acquire the relative distance and angle data of the reference point of the high-altitude measurement unit relative to the radar array unit as measured by the gyroscope on the high-altitude measurement unit at the current moment, so as to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the radar array unit.

[0149] A sub-unit is defined to determine the three-dimensional coordinates of the target vehicle by summing the reference point cloud data of the high-altitude measurement unit, the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the radar array unit, and the relative coordinates of the target vehicle.

[0150] Based on the same inventive concept as the first aspect of the embodiments of this application, the embodiments of this application also provide a system for constructing a virtual traffic map, the system comprising:

[0151] The receiving module is used to receive real-scene images of the road surface area sent by the high-altitude measurement unit and the three-dimensional coordinates of the high-altitude measurement unit's reference point cloud data corresponding to the real-scene images.

[0152] The second generation module is used to generate a road surface and traffic line model corresponding to the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit, using the reference point of the anchor point of the road surface area as the reference reference point and the real scene image as the reference.

[0153] Optionally, it also includes:

[0154] The first receiving submodule is used to receive real-scene images of the road surface area sent by each of the high-altitude measurement units, as well as the three-dimensional coordinates of the reference point cloud data of each high-altitude measurement unit corresponding to each real-scene image.

[0155] The first generation submodule is used to generate multiple road surface and traffic line models corresponding to the three-dimensional coordinates of the reference cloud data of the reference points of each road surface area, using the reference points of the anchor points of each road surface area as their respective reference reference points and the real scene images of each road surface area as references.

[0156] The second generation submodule is used to load the multiple road surface and traffic line models into the virtual traffic database to generate a continuous virtual traffic map.

[0157] In another aspect of this application, an electronic device 100 is provided, including a memory 110, a processor 120, and a computer program stored on the memory 110, wherein the processor 120 executes the computer program to implement the method of constructing a virtual traffic map as described in the first aspect of this application.

[0158] In another aspect of the embodiments of this application, a computer-readable storage medium is provided having a computer program / instructions stored thereon, which, when executed by a processor, implement the method for constructing a virtual traffic map as described in the first aspect of the embodiments of this application.

[0159] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0160] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products 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.

[0161] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0162] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0163] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1The steps of the function specified in one or more boxes.

[0164] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0165] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0166] The above provides a detailed description of the method, system, electronic device, and storage medium for constructing virtual traffic maps. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for constructing a virtual traffic map, characterized in that, The method, applied to an aerial measurement unit that uses a high-altitude balloon as a power source, includes: Using the three-dimensional coordinates corresponding to the geographical location of the anchor point on the road surface as the reference point coordinates, the three-dimensional coordinates of the reference point of the high-altitude measurement unit on the high-altitude measurement unit at the current moment are determined; the reference point coordinates are centimeter-level geographical coordinates. Acquire point cloud data of the road surface area measured by the laser scanning ranging unit; Based on the relative positional relationship between the reference point of the high-altitude measurement unit and the laser scanning ranging unit at the current moment, the road surface point cloud data is converted into reference point cloud data of the high-altitude measurement unit; The real-scene images of the road surface area and the reference point cloud data of the high-altitude measurement unit are sent to a remote data center to generate a virtual traffic map through the remote data center. The virtual traffic map is a real-time virtual traffic condition map generated with the high-altitude measurement unit as the high-altitude perspective. The virtual traffic map is used to view the real-scene road conditions of the road surface area containing three-dimensional coordinates. The step of determining the three-dimensional coordinates of the reference point of the high-altitude measurement unit on the high-altitude measurement unit at the current moment, using the three-dimensional coordinates corresponding to the geographical location of the anchor point on the road surface as the reference point coordinates, includes: The relative distance and angle data between the reference point of the anchor point and the air positioning radar on the anchor point are obtained to determine the three-dimensional coordinates of the reference point of the anchor point relative to the air positioning radar. The relative distance and angle data of the reference point of the high-altitude measurement unit measured by the air-to-air positioning radar are obtained relative to the air-to-air positioning radar to determine the three-dimensional coordinates of the high-altitude measurement unit relative to the air-to-air positioning radar. The three-dimensional coordinates of the reference point of the high-altitude measurement unit at the current moment are determined based on the relative positional relationship between the reference point of the high-altitude measurement unit and the reference point of the anchoring point.

2. The method for constructing a virtual traffic map according to claim 1, characterized in that, Also includes: Obtain the relative distance and angle data of the radar signal reflectors of target vehicles in the road area measured by the radar array unit at the current moment; Based on the relative positional relationship between the radar signal reflector of the target vehicle and the radar array unit, the relative distance and angle data are converted into the relative coordinates of the target vehicle. Based on the relative positional relationship between the high-altitude measurement unit reference point and the radar array unit, the relative coordinates of the target vehicle are converted into three-dimensional coordinates of the target vehicle with the high-altitude measurement unit reference point as the reference. The three-dimensional coordinates of the target vehicle are sent to the remote data center so that the remote data center can determine the location of the target vehicle based on the virtual traffic map.

3. The method for constructing a virtual traffic map according to claim 1, characterized in that, The acquisition of road point cloud data of the road surface area measured by the laser scanning ranging unit includes: Obtain the relative distance and angle data of the road point cloud of the road surface area measured by the laser scanning ranging unit at the current moment relative to the laser scanning ranging unit; Based on the relative positional relationship between the laser scanning ranging unit and the road surface point cloud of the road surface area, the relative distance and angle data of the road surface point cloud are converted into three-dimensional coordinates relative to the road surface point cloud data of the laser scanning ranging unit.

4. The method for constructing a virtual traffic map according to any one of claims 1-3, characterized in that, The step of converting the road surface point cloud data into high-altitude measurement unit reference point cloud data based on the relative positional relationship between the high-altitude measurement unit reference point and the laser scanning ranging unit at the current moment includes: The relative distance and angle data of the reference point of the high-altitude measurement unit relative to the laser scanning distance measuring unit, measured by the gyroscope on the high-altitude measurement unit at the current moment, are obtained to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the laser scanning distance measuring unit. The sum of the three-dimensional coordinates of the reference point of the high-altitude measurement unit, the three-dimensional coordinates of the road surface point cloud data, and the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the laser scanning ranging unit is determined as the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit.

5. The method for constructing a virtual traffic map according to claim 4, characterized in that, After determining the sum of the three-dimensional coordinates of the high-altitude measurement unit reference point, the three-dimensional coordinates of the road surface point cloud data, and the three-dimensional coordinates of the high-altitude measurement unit reference point relative to the laser scanning ranging unit as the three-dimensional coordinates of the high-altitude measurement unit reference point cloud data, the method further includes: Obtain real-view images of the road surface area; The real-scene image of the road surface area and the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit are sent to the remote data center, so that the virtual traffic map corresponding to the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit can be generated by the remote data center using the real-scene image as a reference.

6. The method for constructing a virtual traffic map according to claim 2, characterized in that, The step of converting the relative coordinates of the target vehicle into three-dimensional coordinates of the target vehicle with the reference point of the high-altitude measurement unit as the reference, based on the relative positional relationship between the reference point of the high-altitude measurement unit and the radar array unit, includes: The relative distance and angle data of the reference point of the high-altitude measurement unit relative to the radar array unit, measured by the gyroscope on the high-altitude measurement unit at the current moment, are obtained to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the radar array unit. The three-dimensional coordinates of the target vehicle are determined by summing the reference point cloud data of the high-altitude measurement unit, the three-dimensional coordinates of the reference point of the high-altitude measurement unit relative to the radar array unit, and the relative coordinates of the target vehicle.

7. A method for constructing a virtual traffic map, characterized in that, Applied to remote data centers, the method includes: The system receives real-world images of the road surface area sent by an aerial measurement unit, as well as the three-dimensional coordinates of the aerial measurement unit's reference point cloud data corresponding to the real-world images; the aerial measurement unit uses a high-altitude balloon as its power source. Using the anchor point of the road surface area as a reference point and the real-world image as a reference, a road surface and traffic line model corresponding to the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit is generated. The road surface and traffic line model is used to generate a virtual traffic map, which is a real-time virtual traffic condition map generated with the high-altitude measurement unit as the high-altitude perspective. The virtual traffic map is used to view the real-world traffic conditions of the road surface area containing three-dimensional coordinates. The high-altitude measurement unit is also used for: The relative distance and angle data between the reference point of the anchor point on the road surface and the air positioning radar on the anchor point are obtained to determine the three-dimensional coordinates of the reference point of the anchor point relative to the air positioning radar; the coordinates of the reference point are centimeter-level geographic coordinates. The relative distance and angle data of the reference point of the high-altitude measurement unit measured by the air-to-ground positioning radar with respect to the air-to-ground positioning radar are obtained to determine the three-dimensional coordinates of the high-altitude measurement unit relative to the air-to-ground positioning radar. The three-dimensional coordinates of the reference point of the high-altitude measurement unit at the current moment are determined based on the relative positional relationship between the reference point of the high-altitude measurement unit and the reference point of the anchoring point. Acquire point cloud data of the road surface area measured by the laser scanning ranging unit; Based on the relative positional relationship between the reference point of the high-altitude measurement unit and the laser scanning ranging unit at the current moment, the road surface point cloud data is converted into the reference point cloud data of the high-altitude measurement unit.

8. The method for constructing a virtual traffic map according to claim 7, characterized in that, Also includes: Receive real-scene images of the road surface area sent by each of the high-altitude measurement units, as well as the three-dimensional coordinates of the reference point cloud data of each high-altitude measurement unit corresponding to each real-scene image; Using the reference points of the anchor points of each road surface area as their respective reference reference points, and taking the real-scene images of each road surface area as references, multiple road surface and traffic line models corresponding to the three-dimensional coordinates of the reference point cloud data of each high-altitude measurement unit are generated. The multiple road surface and traffic line models are loaded into a virtual traffic database to generate a continuous virtual traffic map.

9. A system for constructing a virtual traffic map, characterized in that, Applied to a high-altitude measurement unit, the high-altitude measurement unit uses a high-altitude balloon as a power source, the system includes: The determination module is used to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit on the high-altitude measurement unit at the current moment, using the three-dimensional coordinates corresponding to the geographical location of the anchor point on the road surface as the reference point coordinates; the reference point coordinates are centimeter-level geographical coordinates. The acquisition module is used to acquire road point cloud data of the road surface area measured by the laser scanning ranging unit; The conversion module is used to convert the road surface point cloud data into high-altitude measurement unit reference point cloud data based on the relative positional relationship between the high-altitude measurement unit reference point and the laser scanning ranging unit at the current moment. The generation module is used to send the real-scene image of the road surface area and the reference point cloud data of the high-altitude measurement unit to a remote data center, so as to generate a virtual traffic map through the remote data center; the virtual traffic map is a real-time virtual traffic condition map generated with the high-altitude measurement unit as the high-altitude perspective, and the virtual traffic map is used to view the real-scene road condition of the road surface area containing three-dimensional coordinates. The determining module includes: The second acquisition submodule is used to acquire the relative distance and angle data between the reference point of the anchor point and the air positioning radar on the anchor point, so as to determine the three-dimensional coordinates of the reference point of the anchor point relative to the air positioning radar. The third acquisition submodule is used to acquire the relative distance and angle data of the reference point of the high-altitude measurement unit relative to the air positioning radar, so as to determine the three-dimensional coordinates of the high-altitude measurement unit relative to the air positioning radar. The second determining submodule is used to determine the three-dimensional coordinates of the reference point of the high-altitude measurement unit at the current moment based on the relative positional relationship between the reference point of the high-altitude measurement unit and the reference point of the anchoring point.

10. A system for constructing a virtual traffic map, characterized in that, The system, applied to remote data centers, includes: The receiving module is used to receive real-scene images of the road surface area sent by the high-altitude measurement unit and the three-dimensional coordinates of the high-altitude measurement unit's reference point cloud data corresponding to the real-scene images; the high-altitude measurement unit uses a high-altitude balloon as its power source. The second generation module is used to generate a road surface and traffic line model corresponding to the three-dimensional coordinates of the reference point cloud data of the high-altitude measurement unit, using the reference point of the anchor point of the road surface area as the reference reference point and the real scene image as the reference. The road surface and traffic line model is used to generate a virtual traffic map, which is a real-time virtual traffic condition map generated with the high-altitude measurement unit as the high-altitude perspective. The virtual traffic map is used to view the real scene traffic conditions of the road surface area containing three-dimensional coordinates. The high-altitude measurement unit is also used for: The relative distance and angle data between the reference point of the anchor point on the road surface and the air positioning radar on the anchor point are obtained to determine the three-dimensional coordinates of the reference point of the anchor point relative to the air positioning radar. The relative distance and angle data of the reference point of the high-altitude measurement unit measured by the air-to-ground positioning radar with respect to the air-to-ground positioning radar are obtained to determine the three-dimensional coordinates of the high-altitude measurement unit relative to the air-to-ground positioning radar. The three-dimensional coordinates of the reference point of the high-altitude measurement unit at the current moment are determined based on the relative positional relationship between the reference point of the high-altitude measurement unit and the reference point of the anchoring point. Acquire point cloud data of the road surface area measured by the laser scanning ranging unit; Based on the relative positional relationship between the reference point of the high-altitude measurement unit and the laser scanning ranging unit at the current moment, the road surface point cloud data is converted into the reference point cloud data of the high-altitude measurement unit.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the method for constructing a virtual traffic map as described in any one of claims 1 to 8.

12. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When executed by a processor, the computer program / instructions implement the method for constructing a virtual traffic map as described in any one of claims 1 to 8.

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