A cloud control-based geographic partitioning digital twin object state synchronization system

Abstract

The application discloses a kind of digital twinborn object state synchronization systems based on cloud control geographic partition, including vehicle-road cloud gateway, multiple geographic partition computing units, road state statistics service and digital twinborn object state management service, and each geographic partition computing unit includes multiple computing services.In the present application, by setting the road state statistics service, the digital twinborn object state is calculated by a separate service, and the digital twinborn object state is sent to the digital twinborn object state management service, so that the geographic partition computing unit that needs to use the digital twinborn object state can subscribe and obtain the digital twinborn object state, and synchronize to the computing service contained in itself that subscribes the digital twinborn object state, so that each computing service can be directly used when calculating, without repeating the calculation of the digital twinborn object state each time, to achieve the purpose of sharing the digital twinborn object state, reduce the waste of computing power, reduce the calculation delay, and improve the computing efficiency of cloud control platform.

Description

Technical Field

[0001] This invention relates to the field of cloud-controlled platform autonomous driving technology, and more specifically, to a digital twin object state synchronization system based on cloud-controlled geographical partitioning. Background Technology

[0002] In the field of cloud-controlled autonomous driving, the cloud control platform, as the brain of cloud-based autonomous driving, needs to fuse and calculate information from traffic participants such as vehicles and roads. Typically, the cloud control platform needs to calculate the state of a digital twin object and then implement the corresponding business based on the state of the digital twin object. The digital twin fully utilizes data such as physical models, sensor updates, and operational history, integrating a simulation process involving multiple disciplines, multiple physical quantities, multiple scales, and multiple probabilities to complete the mapping in virtual space, thereby reflecting the entire life cycle of the corresponding physical equipment.

[0003] In different business processes of the cloud control platform, the same digital twin object state may be calculated. For example, the cloud control platform includes business A and business B. Business A calculates the state 'a' of the digital twin object through thread A, and then performs calculation C based on the obtained state 'a'. Business B calculates the state 'a' of the digital twin object through thread B, and then performs calculation D based on the obtained state 'a'. It can be seen that the two businesses perform duplicate calculations on the state 'a' of the digital twin object, which wastes computing power and increases computational latency, resulting in low computing efficiency of the cloud control platform. Summary of the Invention

[0004] This invention provides a digital twin object state synchronization system based on cloud-controlled geographic partitioning, which can reduce computing power waste, lower computation latency, and improve the computing efficiency of the cloud control platform. The specific technical solution is as follows.

[0005] In a first aspect, the present invention provides a digital twin object state synchronization system based on cloud-controlled geographic partitioning. The system includes a vehicle-road-cloud gateway, multiple geographic partitioning computing units, a road status statistics service, and a digital twin object state management service. Each geographic partitioning computing unit includes multiple computing services. The vehicle-road-cloud gateway and the digital twin object state management service are both communicatively connected to the road status statistics service. The digital twin object state management service is communicatively connected to the multiple geographic partitioning computing units.

[0006] When each geographic partition computing unit starts up, it subscribes to the digital twin object state corresponding to its geographic partition by the digital twin object state management service. The digital twin object state corresponding to its geographic partition includes the digital twin object state subscribed to by the computing service in its geographic partition computing unit.

[0007] The digital twin object state management service receives subscriptions from each geographic partition computing unit for the state of the digital twin object corresponding to its geographic partition;

[0008] The road status statistics service obtains vehicle information data sent by the vehicle-road cloud gateway, calculates the road status based on the vehicle information data, and sends the road status to the digital twin object status management service.

[0009] The digital twin object state management service receives the road state, determines the target digital twin object state to which the road state belongs, and sends the road state to the target geographic partitioning computing unit that subscribes to the target digital twin object state.

[0010] The target geographic partitioning calculation unit receives the road status and synchronizes it to its own calculation service that subscribes to the status of the target digital twin object.

[0011] Optionally, the vehicle information data includes the number of vehicles, the geographical location information of each vehicle, and the speed information of each vehicle;

[0012] The road status statistics service determines the road where each vehicle in the vehicle information is located based on the correspondence between the vehicle's geographical location information and the road number. For each road, it determines whether the road is congested based on the number of vehicles on that road and the vehicle speed information. If it is, the road status is determined to be congested; otherwise, the road status is determined to be uncongested.

[0013] Optionally, each geographic partition computing unit also includes a digital twin object state subscription and publishing service. Each digital twin object state subscription and publishing service is communicatively connected to the digital twin object state management service. For each geographic partition computing unit, each computing service in the geographic partition computing unit is communicatively connected to the digital twin object state subscription and publishing service in the geographic partition computing unit.

[0014] When each geographic partition computing unit starts up, it subscribes to the digital twin object status corresponding to this geographic partition from the digital twin object status management service through the digital twin object status subscription and publishing service in this geographic partition computing unit.

[0015] The digital twin object state subscription and publishing service in the target geographic partitioning computing unit receives the road state and synchronizes it to the computing service it contains that subscribes to the target digital twin object state.

[0016] Optionally, multiple computing services within each geographic partition computing unit may be either abnormally slow computing services or collaborative lane-changing computing services.

[0017] The abnormal low-speed calculation service in the target geographic partitioning calculation unit determines the vehicle status based on the synchronous road status, sends the vehicle status to the collaborative lane-changing calculation service in the geographic partitioning calculation unit, and sends the vehicle status to the digital twin object status management service through the digital twin object status subscription and publication service in the geographic partitioning calculation unit. The collaborative lane-changing calculation service in the geographic partitioning calculation unit determines the collaborative lane-changing decision based on the vehicle status and the synchronous road status.

[0018] The digital twin object state management service receives the vehicle state.

[0019] Optionally, the abnormal low-speed calculation service in the target geographic partition calculation unit determines uncongested roads based on the synchronized road status. For each uncongested road, it determines whether there are vehicles on that road whose speed is lower than a preset speed for a continuous preset time period. If so, it determines that the vehicle status of the existing vehicles is abnormally low.

[0020] Optionally, the collaborative lane-changing calculation service in this geographic partitioning calculation unit determines uncongested roads based on the synchronized road conditions, and determines the collaborative lane-changing strategy based on the vehicle conditions of each vehicle on the uncongested roads.

[0021] Optionally, the system may also include a data queue;

[0022] The data queue receives and stores vehicle information data sent by the vehicle-road-cloud gateway;

[0023] The road condition statistics service obtains the vehicle information data from the data queue.

[0024] Optionally, the system further includes a data partitioning service, which is communicatively connected to the plurality of geographic partitioning computing units. The vehicle information data includes the number of vehicles and information about each vehicle, wherein the information about each vehicle includes the geographic location information of each vehicle.

[0025] The data partitioning service obtains the vehicle information data from the data queue, determines the geographic partitioning calculation unit corresponding to the geographic location information of each vehicle in the vehicle information data, and sends the vehicle information to the determined geographic partitioning calculation unit.

[0026] The determined geographic partitioning calculation unit receives the vehicle's information.

[0027] Optionally, the digital twin object state management service includes a road state management sub-service;

[0028] The road status statistics service sends the road status to the road status management sub-service;

[0029] The road status management subservice receives the road status, determines the target digital twin object status to which the road status belongs, and sends the road status to the target geographic partitioning calculation unit that subscribes to the target digital twin object status.

[0030] Optionally, the digital twin object state management service includes a vehicle state management sub-service;

[0031] The abnormally low-speed computing service in the target geographic partition computing unit sends the vehicle status to the vehicle status management sub-service through the digital twin object status subscription and publishing service in this geographic partition computing unit;

[0032] The vehicle status management subservice receives the vehicle status.

[0033] As described above, the present invention provides a cloud-controlled geographic partitioning-based digital twin object state synchronization system, comprising a vehicle-road-cloud gateway, multiple geographic partitioning computing units, a road status statistics service, and a digital twin object state management service. Each geographic partitioning computing unit includes multiple computing services. The vehicle-road-cloud gateway and the digital twin object state management service are both communicatively connected to the road status statistics service, and the digital twin object state management service is communicatively connected to the multiple geographic partitioning computing units. When each geographic partitioning computing unit starts up, it subscribes to the digital twin object state corresponding to its geographic partitioning from the digital twin object state management service. The digital twin object state corresponding to its geographic partitioning includes the state of the geographic partitioning computing unit. The computing service subscribes to the state of the digital twin object; the digital twin object state management service receives subscriptions from each geographic partition computing unit for the state of the digital twin object corresponding to its geographic partition; the road state statistics service obtains vehicle information data sent by the vehicle-road-cloud gateway, calculates the road state based on the vehicle information data, and sends the road state to the digital twin object state management service; the digital twin object state management service receives the road state, determines the target digital twin object state to which the road state belongs, and sends the road state to the target geographic partition computing unit that subscribes to the target digital twin object state; the target geographic partition computing unit receives the road state and synchronizes it to the computing services it contains that subscribe to the target digital twin object state. In this embodiment of the invention, by setting up a road status statistics service, a separate service calculates the state of the digital twin object and sends the calculated state to the digital twin object state management service. This allows geographic partitioning computing units that need to use the digital twin object state to subscribe to and obtain the state, and synchronize it with their own computing services that have subscribed to the state. This enables each computing service to directly use the state during calculation, eliminating the need to repeatedly calculate the state, thus achieving the goal of sharing the digital twin object state. This reduces wasted computing power, lowers computational latency, and improves the computing efficiency of the cloud control platform. Of course, implementing any product or method of this invention does not necessarily require achieving all of the above advantages simultaneously.

[0034] The innovative aspects of this invention include:

[0035] 1. By setting up a road status statistics service, a separate service calculates the status of digital twin objects and sends the calculated status to the digital twin object status management service. This allows geographic partition computing units that need to use the digital twin object status to subscribe to and obtain the status, and synchronize it with their own computing services that have subscribed to the status. This enables each computing service to use the status directly during calculation without having to recalculate it each time, thus achieving the goal of sharing the digital twin object status. This reduces computing power waste, lowers computing latency, and improves the computing efficiency of the cloud control platform.

[0036] 2. Since each geographic partition computing unit subscribes to the state of digital twin objects related to itself, the number of digital twin object states stored by each geographic partition computing unit is limited, which reduces the number of digital twin object states that each geographic partition computing unit needs to maintain and will not cause excessive memory usage. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0038] Figure 1 This is a schematic diagram of a digital twin object state synchronization system based on cloud-controlled geographic partitioning, provided as an embodiment of the present invention.

[0039] Figure 1 The system consists of: 1. Vehicle-Road-Cloud Gateway; 2. Geographic Partition Computing Unit; 21. Computing Service; 22. Digital Twin Object Status Subscription and Publishing Service; 3. Road Status Statistics Service; 4. Digital Twin Object Status Management Service; 41. Road Status Management Sub-service; 42. Vehicle Status Management Sub-service; 5. Data Queue; and 6. Data Partition Service. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] It should be noted that the terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0042] This invention discloses a digital twin object state synchronization system based on cloud-controlled geographic partitioning, which can reduce computing power waste, lower computation latency, and improve the computing efficiency of the cloud control platform. The embodiments of this invention are described in detail below.

[0043] Figure 1 This is a schematic diagram of a digital twin object state synchronization system based on cloud-controlled geographic partitioning, provided as an embodiment of the present invention. See also... Figure 1 The system includes a vehicle-road-cloud gateway 1, multiple geographic partition computing units 2, a road status statistics service 3, and a digital twin object status management service 4. Each geographic partition computing unit 2 includes multiple computing services 21. The vehicle-road-cloud gateway 1 and the digital twin object status management service 4 are both connected to the road status statistics service 3, and the digital twin object status management service 4 is connected to the multiple geographic partition computing units 2.

[0044] For example, for ease of viewing, such as Figure 1 As shown, multiple geographic partition calculation units 2 are represented by geographic partition calculation unit A and geographic partition calculation unit B, respectively.

[0045] In this embodiment of the invention, a real geographical area is divided into multiple geographical partitions, each containing multiple roads. Each geographical partition corresponds one-to-one with a geographical partition computing unit 2 in the cloud-controlled geographical partition-based digital twin object state synchronization system. When each geographical partition computing unit 2 starts up, it subscribes to the state of the digital twin object corresponding to its geographical partition from the digital twin object state management service 4.

[0046] The state of the digital twin object corresponding to each geographic partition is the state of the digital twin object that needs to be used for calculation in this geographic partition. It is predetermined after the geographic partition is divided. Specifically, the state of the digital twin object corresponding to this geographic partition includes the state of the digital twin object subscribed to by the computing services in the computing unit of this geographic partition. The state of the digital twin object subscribed to by each computing service may be the same or different. For example, if a geographic partition computing unit 2 includes multiple computing services 21, such as abnormal low speed computing service and cooperative lane changing computing service, then the state of the digital twin object subscribed to by abnormal low speed computing service can be the road state, and the state of the digital twin object subscribed to by cooperative lane changing computing service can be the road state and the vehicle state.

[0047] In this embodiment of the invention, "digital twin" fully utilizes data such as physical models, sensor updates, and operational history to integrate a simulation process involving multiple disciplines, physical quantities, scales, and probabilities, completing the mapping in virtual space to reflect the entire lifecycle of the corresponding physical equipment. "Digital twin object state" refers to the state of the digital twin object; for example, the state of the digital twin object may include vehicle state and / or road state.

[0048] The digital twin object state management service 4 receives subscriptions from each geographic partition computing unit 2 for the state of the digital twin object corresponding to its geographic partition, so that when it obtains the digital twin object state that conforms to the subscription of each geographic partition computing unit 2, it will send the subscribed digital twin object state to the corresponding geographic partition computing unit 2.

[0049] In this embodiment of the invention, the "vehicle-road-cloud gateway 1" is used to receive vehicle information data reported in real time by roadside equipment and vehicles. The road status statistics service 3 obtains the vehicle information data sent by the vehicle-road-cloud gateway 1, calculates the road status based on the vehicle information data, and sends the road status to the digital twin object status management service 4.

[0050] Since roadside equipment and vehicles report vehicle information data in real time, the road status statistics service 3 also acquires vehicle information data sent by the vehicle-road cloud gateway 1 in real time. The road status is used to identify the road's congestion status; for example, the road status may include the road number and the road congestion status.

[0051] The vehicle information data may include the number of vehicles, the geographical location information of each vehicle, and the speed information of each vehicle. The road status statistics service 3 determines the road where each vehicle is located based on the correspondence between the geographical location information of the vehicles and the road number. For each road, it determines whether the road is congested based on the number of vehicles on the road and the speed information of the vehicles. If it is, the road status is determined to be congested; if not, the road status is determined to be uncongested.

[0052] In the cloud-controlled geographic partitioning-based digital twin object state synchronization system provided in this embodiment of the invention, the correspondence between vehicle geographic location information and road numbers is pre-stored. After the road status statistics service 3 obtains the vehicle information data sent by the vehicle-road cloud gateway 1, it can determine the road where each vehicle in the vehicle information is located based on the correspondence between the vehicle geographic location information and the road number. Then, for each road, based on the number of vehicles on that road and the vehicle speed information, it is determined whether the road is congested. If so, the road status is determined to be congested; otherwise, the road status is determined to be uncongested.

[0053] After the road status statistics service 3 sends the road status to the digital twin object status management service 4, the digital twin object status management service 4 receives the road status, determines the target digital twin object status to which the road status belongs, and sends the road status to the target geographic partition calculation unit that subscribes to the target digital twin object status.

[0054] Since the digital twin object state management service 4 receives many subscriptions to the state of the digital twin object, when the digital twin object state management service 4 receives the road state, it needs to find out from the received subscriptions to the state of the digital twin object which geographic partition computing unit 2 has subscribed to the road state, that is, to determine the target digital twin object state to which the road state belongs.

[0055] Specifically, the digital twin object state management service 4 determines the state of the target digital twin object to which the road state belongs, which can be:

[0056] The Digital Twin Object State Management Service 4 retrieves the digital twin object state containing the road number in the road state from the received subscriptions to the digital twin object state as the target digital twin object state to which the road state belongs.

[0057] Once the state of the target digital twin object is determined, the Digital Twin Object State Management Service 4 can send the road state to the target geographic partition calculation unit that subscribes to the target digital twin object state.

[0058] In one implementation, see [link to implementation details]. Figure 1The digital twin object state management service 4 may include a road state management sub-service 41;

[0059] Road Status Statistics Service 3 sends road status data to Road Status Management Sub-Service 41;

[0060] The Road Status Management Sub-service 41 receives the road status, determines the target digital twin object status to which the road status belongs, and sends the road status to the target geographic partitioning calculation unit that subscribes to the target digital twin object status.

[0061] In this embodiment of the invention, for ease of management, corresponding sub-services are set up in the digital twin object state management service 4 for different digital twin object states. For example, for road states, a road state management sub-service 41 is set up in the digital twin object state management service 4. The road state statistics service 3 and multiple geographic partition calculation units 2 are all communicatively connected to the road state management sub-service 41. The road state statistics service 3 can send the road state to the road state management sub-service 41. The road state management sub-service 41 stores the received road state, determines the target digital twin object state to which the road state belongs, and sends the road state to the target geographic partition calculation unit that subscribes to the target digital twin object state.

[0062] The target geographic partitioning computing unit receives the road status and synchronizes it to the computing service 21 that subscribes to the target digital twin object status, so that any computing service 21 that has subscribed to the target digital twin object status in the target geographic partitioning computing unit can obtain the road status without recalculation.

[0063] Each geographic region computation unit can store the subscribed digital twin object state in its own memory after receiving it. For example, the target geographic region computation unit receives road state and stores it in its own memory. Since each geographic region computation unit subscribes to digital twin object states related to itself, the number of digital twin object states stored by each geographic region computation unit is limited, reducing the number of digital twin object states that each geographic region computation unit needs to maintain and preventing excessive memory usage.

[0064] See also Figure 1 Each geographic partition computing unit 2 may also include a digital twin object state subscription and publishing service 22, and each digital twin object state subscription and publishing service 22 is communicatively connected to the digital twin object state management service 4. For each geographic partition computing unit 2, each computing service 21 in the geographic partition computing unit 2 is communicatively connected to the digital twin object state subscription and publishing service 22 in the geographic partition computing unit 2.

[0065] In this embodiment of the invention, the digital twin object state subscription and publishing service 22 is used to subscribe to the digital twin object state corresponding to the local geographic partition from the digital twin object state management service 4, publish the digital twin object state to the digital twin object state management service 4, or receive the digital twin object state published by the digital twin object state management service 4.

[0066] Specifically, when each geographic partition computing unit 2 starts up, it subscribes to the digital twin object state corresponding to its geographic partition from the digital twin object state management service 4 through the digital twin object state subscription and publishing service 22 in its geographic partition computing unit 2. The digital twin object state subscription and publishing service 22 in the target geographic partition computing unit receives the road state and synchronizes it to the computing service 21 that it contains that subscribes to the target digital twin object state.

[0067] Among them, the digital twin object state subscription and publication service 22 in the target geographic partitioning computing unit receives the road status and synchronizes it to the computing service 21 that subscribes to the target digital twin object status, which can be:

[0068] The digital twin object state subscription and publishing service 22 in the target geographic partition computing unit receives the road state and sends the road state to the computing service 21 that it contains that subscribes to the target digital twin object state.

[0069] In this embodiment of the invention, there are no requirements on the sending order of the road status to the calculation service 21 containing the subscribed target digital twin object status of the digital twin object subscription and publication service 22. They can all be sent at the same time or in sequence, as long as the synchronization purpose is ultimately achieved.

[0070] Where each geographic partition computing unit 2 also includes a digital twin object state subscription and publishing service 22, see further. Figure 1 The multiple computing services in each geographic partition computing unit 2 can be abnormally low-speed computing services and collaborative lane-changing computing services.

[0071] The abnormal low-speed calculation service in the target geographic partition computing unit determines the vehicle status based on the synchronized road conditions, and sends the vehicle status to the cooperative lane-changing calculation service in this geographic partition computing unit. Additionally, the vehicle status is sent to the digital twin object status management service 4 via the digital twin object status subscription and publication service in this geographic partition computing unit. The cooperative lane-changing calculation service in this geographic partition computing unit determines the cooperative lane-changing decision based on the vehicle status and the synchronized road conditions. The digital twin object status management service 4 receives the vehicle status.

[0072] Among them, the abnormal low-speed calculation service in the target geographic partition calculation unit determines the vehicle status based on the synchronized road status, which can be:

[0073] The abnormal low speed calculation service in the target geographic partition calculation unit determines uncongested roads based on the synchronized road status. For each uncongested road, it determines whether there are vehicles on that road whose speed is lower than a preset speed for a continuous preset time period. If so, the vehicle status of the existing vehicles is determined to be abnormally low speed.

[0074] Since even if a vehicle's speed is low on a congested road, it is not considered abnormally low, it is necessary to first identify uncongested roads when determining whether a vehicle is traveling at an abnormally low speed. Therefore, the abnormally low speed calculation service in the target geographic partitioning calculation unit determines uncongested roads based on the synchronized road status. Since road status is used to identify the congestion status of roads, it is possible to determine which roads are uncongested based on the road status.

[0075] After identifying the uncongested roads, for each uncongested road, determine whether there are vehicles on that road whose speed is lower than a preset speed for a continuous preset time period. If so, determine that the vehicle status of the vehicle is abnormally low.

[0076] While a vehicle's speed being low at a particular moment on a road might be due to a sudden event, a vehicle's speed being low for a continuous period of time indicates an abnormally low speed. For example, the preset duration could be 5 seconds, and the preset speed could be 15 km / h.

[0077] The cooperative lane-changing calculation service in this geographic partition calculation unit determines the lane-changing decision based on vehicle status and synchronized road status, which can be:

[0078] The collaborative lane-changing calculation service in this geographic partition calculation unit determines uncongested roads based on the synchronized road conditions, and determines the collaborative lane-changing strategy based on the vehicle status of each vehicle on the uncongested roads.

[0079] Since lane changes can only be performed on uncongested roads, it is necessary to first identify uncongested roads when determining the lane-changing strategy for collaborative lane changing. Therefore, the collaborative lane-changing calculation service in this geographic partition calculation unit determines uncongested roads based on the synchronized road status. Since road status is used to identify the congestion status of roads, it is possible to determine which roads are uncongested based on the road status.

[0080] After identifying uncongested roads, a coordinated lane-changing strategy is determined based on the vehicle status of each vehicle on the uncongested road. This determination of the coordinated lane-changing strategy can employ any existing method for determining coordinated lane-changing strategies.

[0081] In cases where multiple computing services in each geographic partition computing unit 2 are abnormally low-speed computing services and collaborative lane-changing computing services, please refer to [link to relevant documentation]. Figure 1 The digital twin object state management service 4 may include a vehicle state management sub-service 42.

[0082] The abnormally low-speed computing service in the target geographic partition computing unit sends the vehicle status to the vehicle status management sub-service 42 through the digital twin object status subscription and publication service 22 in this geographic partition computing unit;

[0083] Vehicle Status Management Sub-service 42 receives vehicle status.

[0084] In this embodiment of the invention, for ease of management, corresponding sub-services are set up in the digital twin object state management service 4 for different digital twin object states. For example, for vehicle state, a vehicle state management sub-service 41 is set up in the digital twin object state management service 4. The vehicle state management sub-service 41 is communicatively connected with each digital twin object state subscription and publishing service 22. The abnormal low-speed calculation service in the target geographic partitioning calculation unit sends the vehicle state to the vehicle state management sub-service 42 through the digital twin object state subscription and publishing service 22 in this geographic partitioning calculation unit. The vehicle state management sub-service 42 receives the vehicle state and stores it.

[0085] See also Figure 1 The digital twin object state synchronization system based on cloud-controlled geographic partitioning provided in this embodiment of the invention may further include a data queue 5.

[0086] Data queue 5 receives and stores vehicle information data sent by vehicle-road-cloud gateway 1;

[0087] Road condition statistics service 3 obtains vehicle information data from data queue 5.

[0088] Since the amount of vehicle information data sent by Vehicle-Road Cloud Gateway 1 may be large, a data queue 5 is set up for easier processing. Data queue 5 receives and stores the vehicle information data sent by Vehicle-Road Cloud Gateway 1. When other services in the system need to obtain vehicle information data, they obtain it from data queue 5. That is, Road Status Statistics Service 3 obtains vehicle information data from data queue 5.

[0089] See also Figure 1In the case of a cloud-controlled geographic partitioning-based digital twin object state synchronization system including a data queue 5, the cloud-controlled geographic partitioning-based digital twin object state synchronization system may also include a data partitioning service 6. The data partitioning service 6 is communicatively connected to multiple geographic partitioning computing units 2. The vehicle information data includes the number of vehicles and the information of each vehicle, wherein the information of each vehicle includes the geographical location information of each vehicle.

[0090] Since each computing service in each geographic partition computing unit 2 needs to use not only the state of the digital twin object but also vehicle information data when performing calculations, it is necessary to distribute the vehicle information data to the corresponding geographic partition computing unit 2.

[0091] Specifically, the data partitioning service 6 obtains vehicle information data from the data queue 5, determines the geographic partitioning calculation unit corresponding to the geographic location information of each vehicle in the vehicle information data, and sends the vehicle information to the determined geographic partitioning calculation unit 2, which then receives the vehicle information.

[0092] As described above, the present invention provides a cloud-controlled geographic partitioning-based digital twin object state synchronization system, comprising a vehicle-road-cloud gateway, multiple geographic partitioning computing units, a road status statistics service, and a digital twin object state management service. Each geographic partitioning computing unit includes multiple computing services. The vehicle-road-cloud gateway and the digital twin object state management service are both communicatively connected to the road status statistics service, and the digital twin object state management service is communicatively connected to the multiple geographic partitioning computing units. When each geographic partitioning computing unit starts up, it subscribes to the digital twin object state corresponding to its geographic partitioning from the digital twin object state management service. The digital twin object state corresponding to its geographic partitioning includes the state of the geographic partitioning computing unit. The computing service subscribes to the state of the digital twin object; the digital twin object state management service receives subscriptions from each geographic partition computing unit for the state of the digital twin object corresponding to its geographic partition; the road state statistics service obtains vehicle information data sent by the vehicle-road-cloud gateway, calculates the road state based on the vehicle information data, and sends the road state to the digital twin object state management service; the digital twin object state management service receives the road state, determines the target digital twin object state to which the road state belongs, and sends the road state to the target geographic partition computing unit that subscribes to the target digital twin object state; the target geographic partition computing unit receives the road state and synchronizes it to the computing services it contains that subscribe to the target digital twin object state. In this embodiment of the invention, by setting up a road status statistics service, the state of the digital twin object is calculated by a separate service, and the calculated state of the digital twin object is sent to the digital twin object state management service. This allows geographic partitioning computing units that need to use the state of the digital twin object to subscribe to and obtain the state of the digital twin object, and synchronize it with the computing services that have subscribed to the state of the digital twin object. This allows each computing service to use the state of the digital twin object directly during calculation, without having to calculate the state of the digital twin object repeatedly each time. This achieves the goal of sharing the state of the digital twin object, reduces computing power waste, lowers computing latency, and improves the computing efficiency of the cloud control platform.

[0093] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention.

[0094] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A digital twin object state synchronization system based on cloud-controlled geographic partitioning, characterized in that, The system includes a vehicle-road-cloud gateway, multiple geographic partition computing units, a road status statistics service, and a digital twin object status management service. Each geographic partition computing unit includes multiple computing services. The vehicle-road-cloud gateway and the digital twin object status management service are both communicatively connected to the road status statistics service. The digital twin object status management service is communicatively connected to the multiple geographic partition computing units. When each geographic partition computing unit starts up, it subscribes to the digital twin object state corresponding to its geographic partition by the digital twin object state management service. The digital twin object state corresponding to its geographic partition includes the digital twin object state subscribed to by the computing service in its geographic partition computing unit. The digital twin object state management service receives subscriptions from each geographic partition computing unit for the state of the digital twin object corresponding to its geographic partition; The road status statistics service obtains vehicle information data sent by the vehicle-road cloud gateway, calculates the road status based on the vehicle information data, and sends the road status to the digital twin object status management service. The digital twin object state management service receives the road state, determines the target digital twin object state to which the road state belongs, and sends the road state to the target geographic partitioning computing unit that subscribes to the target digital twin object state. The target geographic partitioning calculation unit receives the road status and synchronizes it to its own calculation service that subscribes to the status of the target digital twin object.

2. The system as described in claim 1, characterized in that, The vehicle information data includes the number of vehicles, the geographical location information of each vehicle, and the speed information of each vehicle; The road status statistics service determines the road where each vehicle in the vehicle information is located based on the correspondence between the vehicle's geographical location information and the road number. For each road, it determines whether the road is congested based on the number of vehicles on that road and the vehicle speed information. If it is, the road status is determined to be congested; otherwise, the road status is determined to be uncongested.

3. The system as described in claim 1, characterized in that, Each geographic partition computing unit also includes a digital twin object state subscription and publishing service. Each digital twin object state subscription and publishing service is communicatively connected to the digital twin object state management service. For each geographic partition computing unit, each computing service in the geographic partition computing unit is communicatively connected to the digital twin object state subscription and publishing service in the geographic partition computing unit. When each geographic partition computing unit starts up, it subscribes to the digital twin object status corresponding to this geographic partition from the digital twin object status management service through the digital twin object status subscription and publishing service in this geographic partition computing unit. The digital twin object state subscription and publishing service in the target geographic partitioning computing unit receives the road state and synchronizes it to the computing service it contains that subscribes to the target digital twin object state.

4. The system as described in claim 3, characterized in that, Multiple computing services within each geographic partition computing unit are abnormally slow computing services and collaborative lane-changing computing services. The abnormal low-speed calculation service in the target geographic partitioning calculation unit determines the vehicle status based on the synchronous road status, sends the vehicle status to the collaborative lane-changing calculation service in the geographic partitioning calculation unit, and sends the vehicle status to the digital twin object status management service through the digital twin object status subscription and publication service in the geographic partitioning calculation unit. The collaborative lane-changing calculation service in the geographic partitioning calculation unit determines the collaborative lane-changing decision based on the vehicle status and the synchronous road status. The digital twin object state management service receives the vehicle state.

5. The system as described in claim 4, characterized in that, The abnormal low speed calculation service in the target geographic partition calculation unit determines uncongested roads based on the synchronized road status. For each uncongested road, it determines whether there are vehicles on that road whose speed is lower than a preset speed for a continuous preset time period. If so, the vehicle status of the existing vehicles is determined to be abnormal low speed.

6. The system as described in claim 4, characterized in that, The collaborative lane-changing calculation service in this geographic partitioning calculation unit determines uncongested roads based on the synchronized road conditions, and determines the collaborative lane-changing strategy based on the vehicle conditions of each vehicle on the uncongested roads.

7. The system as described in claim 1, characterized in that, The system also includes a data queue; The data queue receives and stores vehicle information data sent by the vehicle-road-cloud gateway; The road condition statistics service obtains the vehicle information data from the data queue.

8. The system as described in claim 7, characterized in that, The system also includes a data partitioning service, which is communicatively connected to the plurality of geographic partitioning calculation units. The vehicle information data includes the number of vehicles and information about each vehicle, wherein the information about each vehicle includes the geographic location information of each vehicle. The data partitioning service obtains the vehicle information data from the data queue, determines the geographic partitioning calculation unit corresponding to the geographic location information of each vehicle in the vehicle information data, and sends the vehicle information to the determined geographic partitioning calculation unit. The determined geographic partitioning calculation unit receives the vehicle's information.

9. The system as described in claim 1, characterized in that, The digital twin object state management service includes a road state management sub-service; The road status statistics service sends the road status to the road status management sub-service; The road status management subservice receives the road status, determines the target digital twin object status to which the road status belongs, and sends the road status to the target geographic partitioning calculation unit that subscribes to the target digital twin object status.

10. The system as described in claim 4, characterized in that, The digital twin object state management service includes a vehicle state management sub-service; The abnormally low-speed computing service in the target geographic partition computing unit sends the vehicle status to the vehicle status management sub-service through the digital twin object status subscription and publishing service in this geographic partition computing unit; The vehicle status management subservice receives the vehicle status.

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