Method, device and terminal equipment for displaying road digital twin information

Abstract

This application relates to the field of vehicle networking technology and provides a method, apparatus, and terminal device for displaying digital twin information of roads. The method includes: displaying a global map corresponding to a target road in a first display area of ​​a display interface; determining the target area range selected in the global map in response to an interactive operation on the global map; determining the target sub-road segment selected by the interactive operation based on the target area range; and displaying local twin information corresponding to the target sub-road segment in real time in a second display area of ​​the display interface. This allows the display effect and accuracy of the digital twin image to be unrestricted by the length of the displayed road and the size of the display screen, improving the flexibility and practicality of displaying digital twin information of roads.

Description

Technical Field

[0001] This application belongs to the field of vehicle networking technology, and in particular relates to a method, apparatus and terminal equipment for displaying road digital twin information. Background Technology

[0002] With the development of internet technology and the transportation industry, internet technology can be applied to the transportation sector to monitor and analyze traffic conditions on roads. For example, cameras, lidar, millimeter-wave radar, and other sensing devices can be deployed along roads to collect data on road infrastructure and vehicles. The data collected by these sensing devices can then be integrated and analyzed to obtain monitoring results of traffic conditions on the roads.

[0003] In related technologies, digital twins can be used to generate digital twin images of roads on terminal devices, allowing users to understand the overall traffic conditions of the displayed roads. However, in long-distance road display scenarios, such as when displaying a highway, the digital twin image of the road is usually not able to be displayed completely and clearly due to the excessive length of the road and the limited size of the display screen. Summary of the Invention

[0004] This application provides a method, apparatus, terminal device, and computer-readable storage medium for displaying digital twin information of roads. It can solve the problem in related technologies that, in long-distance road display scenarios, due to the excessive length of the road and the limited size of the display screen, it is usually impossible to display the digital twin image of the road completely and clearly.

[0005] In a first aspect, embodiments of this application provide a method for displaying digital twin information of roads, comprising: displaying a global map corresponding to a target road in a display interface, wherein the global map is displayed in a first display area of ​​the display interface; in response to an interactive operation on the global map, determining the range of a target area selected by the interactive operation in the global map; determining a target sub-road segment selected by the interactive operation based on the range of the target area, wherein the target sub-road segment is a portion of the target road; and displaying local twin information corresponding to the target sub-road segment in real time in a second display area of ​​the display interface, wherein the local twin information includes a local dynamic map corresponding to the target sub-road segment or local dynamic information based on a local high-precision map, and the second display area is different from the first display area.

[0006] In one possible implementation of the first aspect, the aforementioned global map further includes a sliding window corresponding to local twin information, and the aforementioned interactive operation includes a click operation on the global map; correspondingly, the aforementioned determination of the target area range selected by the interactive operation on the global map in response to the interactive operation includes:

[0007] The click location of the click operation is determined as the target center point corresponding to the sliding window;

[0008] Update the center point of the sliding window to the target center point to update the display position of the sliding window;

[0009] Define the area encompassed by the updated sliding window as the target area.

[0010] Optionally, in another possible implementation of the first aspect, the aforementioned global map further includes a sliding window corresponding to local twin information, and the aforementioned interactive operation includes a sliding operation on the sliding window; correspondingly, the aforementioned determination of the target area range selected in the global map in response to the interactive operation on the global map includes:

[0011] During the sliding operation of the sliding window, the target center point of the sliding window is updated in real time according to the operation position of the sliding operation;

[0012] The display position of the sliding window is updated in real time based on the target center point corresponding to the sliding window;

[0013] The range of the area included in the sliding window during its sliding process is updated in real time to define the target area range.

[0014] Optionally, in another possible implementation of the first aspect, the aforementioned interactive operation includes a bounding box selection operation on the global map; correspondingly, the process of determining the target area range selected by the interactive operation on the global map in response to the global map includes:

[0015] The area selected in the global map by the selection operation is defined as the target area.

[0016] Optionally, in another possible implementation of the first aspect, the target road includes at least one road segment of a preset type; correspondingly, displaying the global map corresponding to the target road in the display interface includes:

[0017] Display the road segment range and road segment information corresponding to each preset type of road segment on the global map.

[0018] Optionally, in another possible implementation of the first aspect, the aforementioned road segment information includes at least one of road segment name and road segment length.

[0019] Optionally, in another possible implementation of the first aspect, the target road includes at least one lane; correspondingly, displaying the global map corresponding to the target road in the display interface includes:

[0020] Display each lane of the target road on the global map.

[0021] Optionally, in another possible implementation of the first aspect, displaying the global map corresponding to the target road in the display interface includes:

[0022] The location of each primary target vehicle is displayed in real time on the global map. The primary target vehicles are those that meet the preset filtering criteria on the target road.

[0023] Optionally, in another possible implementation of the first aspect, the aforementioned preset filtering conditions include at least one of preset vehicle type, preset vehicle behavior, and preset road events encountered by the vehicle.

[0024] Optionally, in another possible implementation of the first aspect, before displaying the local twin information corresponding to the target sub-road segment in real time in the second display area of ​​the display interface, it further includes:

[0025] When the target sub-segment contains road sensing devices, acquire the current sensing data of each road sensing device in the target sub-segment;

[0026] Based on the current sensing data from each road sensing device, local twin information is determined.

[0027] Optionally, in another possible implementation of the first aspect, before displaying the local twin information corresponding to the target sub-road segment in real time in the second display area of ​​the display interface, it further includes:

[0028] When the target sub-segment does not contain road sensing devices, at least one associated sub-segment corresponding to the target sub-segment is determined, wherein the associated sub-segment contains road sensing devices.

[0029] Simulation is performed based on the current perception data of the associated sub-road segment to generate local dynamic information based on a local high-precision map corresponding to the target sub-road segment.

[0030] Optionally, in another possible implementation of the first aspect, the aforementioned local twin information includes real-time vehicle information of the second target vehicle in the target sub-segment, wherein the real-time vehicle information includes at least one of the following: license plate number, vehicle type, real-time speed, real-time location, real-time lane, real-time heading angle, and real-time acceleration.

[0031] Optionally, in another possible implementation of the first aspect, the aforementioned real-time vehicle information includes real-time location; correspondingly, the real-time display of local twin information corresponding to the target sub-road segment in the second display area of ​​the display interface includes:

[0032] Based on the high-precision map corresponding to the target sub-road segment, generate a local twin map corresponding to the target sub-road segment;

[0033] Display a local twin map in the second display area;

[0034] Generate a vehicle model for the second target vehicle;

[0035] Based on the real-time location of the second target vehicle, display the vehicle model and real-time vehicle information of the second target vehicle in the local twin map.

[0036] Optionally, in another possible implementation of the first aspect, the aforementioned real-time vehicle information includes vehicle type; correspondingly, the vehicle model for generating the second target vehicle includes:

[0037] Generate a vehicle model for the second target vehicle based on its vehicle type.

[0038] Secondly, embodiments of this application provide an apparatus for displaying digital twin information of roads, comprising: a first display module for displaying a global map corresponding to a target road in a display interface, wherein the global map is displayed in a first display area of ​​the display interface; a first determination module for determining the range of a target area selected in the global map in response to an interactive operation on the global map; a second determination module for determining a target sub-road segment selected by the interactive operation based on the range of the target area, wherein the target sub-road segment is a portion of the target road; and a second display module for displaying local twin information corresponding to the target sub-road segment in real time in a second display area of ​​the display interface, wherein the local twin information includes a local dynamic map corresponding to the target sub-road segment or local dynamic information based on a local high-precision map, and the second display area is different from the first display area.

[0039] In one possible implementation of the second aspect, the aforementioned global map further includes a sliding window corresponding to local twin information, and the aforementioned interactive operation includes a click operation on the global map; correspondingly, the aforementioned first determining module includes:

[0040] The first determining unit is used to determine the click position of the click operation as the target center point corresponding to the sliding window;

[0041] The first update unit is used to update the center point of the sliding window to the target center point in order to update the display position of the sliding window;

[0042] The second determining unit is used to determine the area range contained in the updated sliding window as the target area range.

[0043] Optionally, in another possible implementation of the second aspect, the aforementioned global map further includes a sliding window corresponding to local twin information, and the aforementioned interactive operation includes a sliding operation on the sliding window; correspondingly, the aforementioned first determining module includes:

[0044] The second update unit is used to update the target center point of the sliding window in real time according to the operation position of the sliding operation during the sliding operation of the sliding window.

[0045] The third update unit is used to update the display position of the sliding window in real time according to the target center point corresponding to the sliding window;

[0046] The fourth update unit is used to update the target area range in real time by taking the area range contained in the sliding window during the sliding process.

[0047] Optionally, in another possible implementation of the second aspect, the above-mentioned interactive operation includes a bounding box selection operation on the entire map; correspondingly, the above-mentioned first determining module includes:

[0048] The third determining unit is used to determine the area range selected by the box selection operation in the global map as the target area range.

[0049] Optionally, in another possible implementation of the second aspect, the target road includes at least one road segment of a preset type; correspondingly, the first display module includes:

[0050] The first display unit is used to display the road segment range and road segment information corresponding to each preset type of road segment in the global map.

[0051] Optionally, in another possible implementation of the second aspect, the aforementioned road segment information includes at least one of road segment name and road segment length.

[0052] Optionally, in another possible implementation of the second aspect, the target road includes at least one lane; correspondingly, the first display module includes:

[0053] The second display unit is used to display each lane of the target road in the global map.

[0054] Optionally, in another possible implementation of the second aspect, the first display module includes:

[0055] The third display unit is used to display the location of each first target vehicle in real time on the global map, wherein the first target vehicle is a vehicle on the target road that meets the preset filtering conditions.

[0056] Optionally, in another possible implementation of the second aspect, the aforementioned preset filtering conditions include at least one of preset vehicle type, preset vehicle behavior, and preset road events encountered by the vehicle.

[0057] Optionally, in another possible implementation of the second aspect, the above-mentioned apparatus further includes:

[0058] The first acquisition module is used to acquire the current sensing data of each road sensing device in the target sub-segment when the target sub-segment contains road sensing devices;

[0059] The third determination module is used to determine local twin information based on the current sensing data of each road sensing device.

[0060] Optionally, in another possible implementation of the second aspect, the above-mentioned apparatus further includes:

[0061] The fourth determining module is used to determine at least one associated sub-segment corresponding to the target sub-segment when the target sub-segment does not contain road sensing devices, wherein the associated sub-segment contains road sensing devices.

[0062] The first simulation module is used to perform simulations based on the current perception data of the associated sub-road segments, and generate local dynamic information of the target sub-road segment based on a local high-precision map.

[0063] Optionally, in another possible implementation of the second aspect, the aforementioned local twin information includes real-time vehicle information of the second target vehicle in the target sub-segment, wherein the real-time vehicle information includes at least one of the following: license plate number, vehicle type, real-time speed, real-time location, real-time lane, real-time heading angle, and real-time acceleration.

[0064] Optionally, in another possible implementation of the second aspect, the aforementioned real-time vehicle information includes real-time location; correspondingly, the aforementioned second display module includes:

[0065] The first generation unit is used to generate a local twin map corresponding to the target sub-road segment based on the high-precision map corresponding to the target sub-road segment;

[0066] The fourth display unit is used to display a local twin map in the second display area;

[0067] The second generation unit is used to generate the vehicle model of the second target vehicle;

[0068] The fifth display unit is used to display the vehicle model and real-time vehicle information of the second target vehicle in a local twin map based on the real-time location of the second target vehicle.

[0069] Optionally, in another possible implementation of the second aspect, the aforementioned real-time vehicle information includes vehicle type; correspondingly, the aforementioned second generation unit is specifically used for:

[0070] Generate a vehicle model for the second target vehicle based on its vehicle type.

[0071] Thirdly, embodiments of this application provide a terminal device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for displaying road digital twin information as described above.

[0072] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for displaying road digital twin information as described above.

[0073] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the method for displaying road digital twin information as described above.

[0074] The beneficial effects of this application embodiment compared with the prior art are as follows: by displaying the full-area map of the target road in the digital twin platform, and based on the user's interactive operation on the full-area map, the local twin information of the target sub-road segment selected by the interactive operation is displayed in the digital twin platform. Thus, not only can the full-area map of the road be displayed completely, but also the local twin information of the road segments of interest can be displayed in real time and clearly according to the user's actual usage needs. This makes the display effect and display accuracy of the digital twin screen not limited by the length of the displayed road and the size of the monitor, thereby improving the flexibility and practicality of the display of road digital twin information. Attached Figure Description

[0075] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art 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.

[0076] Figure 1 This is a flowchart illustrating a method for displaying digital twin information of roads according to an embodiment of this application;

[0077] Figure 2 This is a schematic diagram of a display interface provided in an embodiment of this application;

[0078] Figure 3 This is a schematic diagram of another display interface provided in one embodiment of this application;

[0079] Figure 4 This is a schematic diagram of the structure of the device for displaying digital twin information of roads provided in the embodiments of this application;

[0080] Figure 5This is a schematic diagram of the structure of the terminal device provided in the embodiments of this application. Detailed Implementation

[0081] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0082] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0083] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0084] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0085] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0086] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0087] The method, apparatus, terminal equipment, computer-readable storage medium, and computer program for displaying road digital twin information provided in this application will be described in detail below with reference to the accompanying drawings.

[0088] Figure 1 The illustration shows a flowchart of a method for displaying digital twin information of roads according to an embodiment of this application.

[0089] like Figure 1 As shown, the method for displaying digital twin information of roads includes the following steps:

[0090] Step 101: Display the global map corresponding to the target road in the display interface, wherein the global map is displayed in the first display area of ​​the display interface.

[0091] It should be noted that the method for displaying road digital twin information in this application embodiment can be executed by the device for displaying road digital twin information in this application embodiment. The device for displaying road digital twin information in this application embodiment can be configured in any terminal device to execute the method for displaying road digital twin information in this application embodiment. For example, the device for displaying road digital twin information in this application embodiment can be configured on the server side of a road monitoring system to display a regional twin map of the target road and local twin information of the road segments of interest in the target road on the server side.

[0092] In this embodiment, when displaying a long road, such as a highway hundreds or even thousands of kilometers long, generating a digital twin map based on clearly identifiable road facilities and vehicles would result in an excessively large map that cannot be fully displayed on a monitor of current size. Conversely, generating a digital twin map based on a map large enough for the monitor to fully display the road would result in a map that is too small, lacking detail and failing to clearly display road facilities and vehicle movement information. Therefore, this embodiment generates and displays a digital twin map of the road using a combination of full-area and partial display methods to improve the flexibility and practicality of displaying digital twin road information.

[0093] The target road can refer to the road currently displayed. For example, when the method of this embodiment is applied to a highway monitoring scenario, if the user needs to monitor highway C from city A to city B, the target road can be highway C.

[0094] The display interface can be the display interface of the digital twin platform corresponding to the target road; the digital twin platform corresponding to the target road can be deployed on the server side of the road monitoring system so that users can understand the real-time monitoring data of the target road on the server side.

[0095] The first display area can refer to a portion of the display interface. For example, the first display area could be located at the bottom of the display interface and have an area that is half the total area of ​​the display interface. In real-time use, the specific location and area of ​​the first display area in the display interface can be determined according to actual needs and specific application scenarios; this embodiment does not limit this.

[0096] Among them, the global map can be a digital twin image generated by digitally twinning a high-precision map corresponding to the target road. For example, Figure 2 The diagram shown is a schematic of a display interface provided in an embodiment of this application. In the display interface 300, 310 is a global map corresponding to the target road.

[0097] In one possible implementation of this application, a high-precision map corresponding to the target road can be pre-built. Then, the high-precision map corresponding to the target road can be scaled down proportionally according to the size of the display corresponding to the digital twin platform. The scaled-down map is then digitally twinned to generate a full-area map that can be fully displayed on the display of the digital twin platform and displayed in the first display area of ​​the display interface of the digital twin platform.

[0098] Furthermore, roads typically contain multiple lanes, so the target road can be displayed in lane-by-lane format on the global map to further improve the display accuracy and effect of the global map. That is, in one possible implementation of this application embodiment, step 101 above may include:

[0099] Display each lane of the target road on the global map.

[0100] As one possible implementation, when the target road contains multiple lanes, the boundary lines of each lane in the target road can be determined based on the high-precision map corresponding to the target road. Then, when generating the global map corresponding to the target road, digital twin processing is performed on the boundary lines of each lane to generate a global map containing the boundary lines of each lane in the target road, i.e., displaying each lane in the target road within the global map. For example... Figure 2 As shown, the dashed and solid lines contained in the global map 310 are the lane lines in the target road; among them, the dashed lines can be the dividing lines between lanes traveling in the same direction, and the solid lines can be the dividing lines between lanes traveling in opposite directions.

[0101] Furthermore, roads often include special sections such as tunnels and bridges, which may be sections of particular interest to users. Therefore, these special sections within the target road can be marked on the global map to further improve the display effect and accuracy of the global map. That is, in one possible implementation of this application embodiment, step 101 above may include:

[0102] Display the road segment range and road segment information corresponding to each preset type of road segment on the global map.

[0103] The preset road segment types can be set or modified according to actual needs and specific application scenarios, and this application embodiment does not limit this. For example, the preset road segment types can be tunnels, bridges, etc.

[0104] The road segment information may include at least one of the following: road segment name and road segment length.

[0105] As one possible implementation, it is possible to determine whether the target road contains a preset type of road segment based on the high-precision map corresponding to the target road. If the target road contains a preset type of road segment, the road segment range and road segment information of each preset type of road segment are determined based on the high-precision map. Then, the road segment range of each preset type of road segment is displayed in twin form on the global map, and the road segment information of each preset type of road segment is displayed at the corresponding road segment range.

[0106] For example, such as Figure 2 As shown, assuming the preset type of road segment is a tunnel, the road segment information includes the road segment name, and the target road includes Tunnel A, the road segment range 311 corresponding to Tunnel A can be displayed in the global map 310, and the road segment name, i.e., Tunnel A, can be displayed in the corresponding road segment range.

[0107] Furthermore, it is also possible to track each vehicle traveling on the target road and display the movement trajectory of each vehicle on the global map. That is, in one possible implementation of this application embodiment, step 101 above may include:

[0108] The location of each primary target vehicle is displayed in real time on the global map. The primary target vehicles are those that meet the preset filtering criteria on the target road.

[0109] As one possible implementation, in application scenarios where the target road is too long, it may contain a large number of vehicles, and the size of the corresponding global map is relatively small. If all vehicles traveling on the target road are displayed in the global map, the position of each vehicle will not be clearly displayed. Therefore, only vehicles of the type that the user is interested in can be displayed to further improve the display effect and usability of the global map. In this embodiment, filtering conditions can be preset, and the first target vehicles that meet the preset filtering conditions can be selected from the vehicles on the target road and displayed in the global map.

[0110] Understandably, real-time vehicle information for all vehicles traveling on the target road can be determined based on the sensing data collected by road sensing devices deployed along the target road. If there are road sections without road sensing devices in the target road, and a vehicle enters a section without road sensing devices, the vehicle's driving state after entering the section without road sensing devices can be simulated based on the real-time vehicle information before entering the section without road sensing devices, thus generating real-time vehicle information for the vehicle after entering the section without road sensing devices. After determining the real-time vehicle information for each vehicle on the target road, the first target vehicles whose real-time vehicle information meets preset filtering conditions can be selected. Furthermore, based on the real-time location contained in the real-time vehicle information of the first target vehicles, each first target vehicle can be displayed on the global map to show the movement trajectory of each vehicle.

[0111] For example, such as Figure 2 As shown, each triangle 312 in the global map 310 can be used to represent each first target vehicle traveling on the target road.

[0112] As one possible implementation, preset filtering conditions may include at least one of preset vehicle type, preset vehicle behavior, and preset road events encountered by the vehicle.

[0113] For example, preset vehicle types can include cars, trucks, vans, etc.; preset vehicle behaviors can include speeding, using emergency lanes, etc.; preset road events encountered by vehicles can include collision events, etc.

[0114] It should be noted that the preset vehicle types, preset vehicle behaviors, and preset road events encountered by vehicles listed above are merely illustrative and should not be considered as limitations on this application. In actual use, preset filtering conditions can be set according to actual needs and specific application scenarios, and this application embodiment does not limit this.

[0115] As an example, if the preset filter criteria include a preset vehicle type, then vehicles on the target road whose vehicle type matches the preset vehicle type can be identified as the first target vehicle.

[0116] As an example, if the preset filtering conditions include preset vehicle behaviors, such as speeding, then vehicles that have exhibited the preset vehicle behaviors on the target road can be identified as the first target vehicles.

[0117] As an example, if the preset filtering conditions include preset road events encountered by vehicles, such as collision events, then vehicles that have such preset road events encountered by vehicles with other vehicles on the target road are identified as the first target vehicles.

[0118] It should be noted that when multiple conditions are included in the preset filtering criteria (such as preset vehicle type and preset vehicle behavior), vehicles that meet all of these conditions can be identified as the first target vehicle.

[0119] Step 102: In response to the interactive operation on the global map, determine the range of the target area selected in the global map by the interactive operation.

[0120] The target area range can refer to the area range selected by the user in the global map through interactive operations.

[0121] In this embodiment of the application, when an interactive operation on the global map is obtained, the area range in the global map corresponding to the operation location can be determined as the target area range based on the operation location. For example, the area range with a preset length before the operation location and the area range with a preset length after the operation location can be determined as the target area range.

[0122] Furthermore, users can select road segments requiring detailed display by clicking on the global map. That is, in one possible implementation of this application embodiment, the global map may further include a sliding window corresponding to local twin information, and the interactive operation includes clicking on the global map; correspondingly, step 102 may include:

[0123] The click location of the click operation is determined as the target center point corresponding to the sliding window;

[0124] Update the center point of the sliding window to the target center point to update the display position of the sliding window;

[0125] Define the area encompassed by the updated sliding window as the target area.

[0126] One possible implementation is to use a sliding window to select the area on the global map where local twin information needs to be displayed, allowing users to change the position of the sliding window by clicking, thus switching the local twin information corresponding to different road segments. Therefore, when a user clicks on the global map, the click location can be determined as the target center point of the sliding window, and the center point of the sliding window can be updated to the target center point to update the display position of the sliding window to the click location; subsequently, the area contained in the updated sliding window is determined as the target area.

[0127] For example, such as Figure 2 As shown, before receiving the click operation on the global map, assuming the center point of the sliding window 313 is point C, and after receiving the click operation on the global map, the click location is determined to be point D. Therefore, the center point of the sliding window 313 can be updated from point C to point D, and the display position of the sliding window 313 can be updated as shown. Figure 3 The location shown, and Figure 3 The area of ​​the global map contained in the sliding window 313 is determined as the target area.

[0128] Furthermore, when selecting the road segment range for which local twin information needs to be displayed using a sliding window, the user can also slide the sliding window to achieve continuous switching of local twin information. That is, in one possible implementation of this application embodiment, the aforementioned global map may further include a sliding window corresponding to the local twin information, and the aforementioned interactive operation may include a sliding operation on the sliding window; correspondingly, step 102 may include:

[0129] During the sliding operation of the sliding window, the target center point of the sliding window is updated in real time according to the operation position of the sliding operation;

[0130] The display position of the sliding window is updated in real time based on the target center point corresponding to the sliding window;

[0131] The range of the area included in the sliding window during its sliding process is updated in real time to define the target area range.

[0132] One possible implementation is that users can tap and hold any position on the sliding window using an input device (such as a mouse or touchscreen), and simultaneously move the input device to slide the window. During this sliding operation, the window can slide along the global map according to the direction of the slide, thus continuously updating the target area contained within the sliding window. Furthermore, since the local twin information only displays local twin information of the target area, the continuous updating of local twin information is achieved through the sliding operation.

[0133] It should be noted that when selecting the area for displaying local twin information using a sliding window, users can update the sliding window position either by clicking or by sliding. In practical use, the length of the road segment corresponding to the sliding window, i.e., the length of the road segment corresponding to the local twin information, can be determined according to actual needs and specific application scenarios. This application embodiment does not limit this. For example, 1 kilometer, 2 kilometers, etc.

[0134] Furthermore, users can be allowed to select any road segment within the global map for local twin information display via a bounding box operation, thereby enhancing the flexibility of road digital twin information display. That is, in one possible implementation of this application embodiment, the above interactive operation may include a bounding box operation on the global map; correspondingly, step 102 may include:

[0135] The area selected in the global map by the selection operation is defined as the target area.

[0136] One possible implementation is to allow users to select any area as the target region on the global map using an input device.

[0137] Step 103: Based on the target area range, determine the target sub-segment selected by the interactive operation, wherein the target sub-segment is a part of the target road.

[0138] In this embodiment of the application, after determining the target area range, the target sub-segment in the target road can be determined based on the target area range, the high-precision map corresponding to the target road, and the scaling relationship between the global map and the high-precision map.

[0139] Step 104: In the second display area of ​​the display interface, display the local twin information corresponding to the target sub-segment in real time.

[0140] The local twin information may include a local dynamic map corresponding to the target sub-road segment or local dynamic information based on a local high-precision map.

[0141] Local dynamic map (LDM) can include the following four types of information: the first type is continuous static data, which can mainly include map information; the second type is instantaneous static data, which can mainly include information on roadside infrastructure, such as traffic signs and road markers; the third type is instantaneous dynamic data, which can mainly include information related to traffic light phases, traffic congestion, etc.; and the fourth type is highly dynamic data, which can mainly include real-time status data of traffic participants such as vehicles and pedestrians.

[0142] Among them, the local dynamic information based on the local high-precision map can include local perception information or local simulation information within the local high-precision map range corresponding to the target sub-road segment.

[0143] The second display area may be different from the first display area.

[0144] As one possible approach, generating a local dynamic map of a road requires acquiring rich sensing data such as high-precision road maps, the status of facilities along the road, and real-time status data of the road. Therefore, if a relatively complete set of road sensing devices is deployed in the target sub-segment, it is possible to acquire all the information required to generate a local dynamic map. Based on the sensing data acquired by each road sensing device in the target sub-segment, a local dynamic map corresponding to the target sub-segment can be generated as the local twin information corresponding to the target sub-segment and displayed in the second display area of ​​the display interface.

[0145] As one possible approach, since generating a local dynamic map requires relatively complete sensing data, if there are few or no road sensing devices deployed in the target sub-segment, making it impossible to generate a local dynamic map for that sub-segment, then local dynamic information based on a local high-precision map can be generated for the target sub-segment using the available sensing data. For example, if there are few road sensing devices deployed in the target sub-segment, local sensing information (such as real-time status data of vehicles or pedestrians in the target sub-segment) can be generated based on the available sensing data and displayed in the local high-precision map corresponding to the target sub-segment as local twin information. If there are no road sensing devices deployed in the target sub-segment, simulation processing can be performed on sensing data collected by road sensing devices deployed in other segments of the target road to generate local simulation information for the target sub-segment, which can then be displayed in the local high-precision map corresponding to the target sub-segment as local twin information.

[0146] It should be noted that the first and second display areas can be completely non-overlapping or have some overlap. When the first and second display areas overlap, the global map can be displayed in a semi-transparent manner above the local twin information.

[0147] Furthermore, the aforementioned local twin information may include real-time vehicle information of the second target vehicle in the target sub-segment. The real-time vehicle information may include at least one of the following: license plate number, vehicle type, real-time speed, real-time location, real-time lane, real-time heading angle, and real-time acceleration.

[0148] The second target vehicle can refer to a vehicle currently traveling in the target sub-segment.

[0149] The real-time vehicle information may include at least one of the following: license plate number, vehicle type, real-time speed, real-time location, real-time lane, real-time heading angle, and real-time acceleration.

[0150] It should be noted that the information types included in the real-time vehicle information listed above are merely exemplary and should not be considered as limitations on this application. In actual use, the information types included in the real-time vehicle information can be set according to actual needs and specific application scenarios, and this application embodiment does not limit this.

[0151] Furthermore, the movement trajectories of each vehicle in the target sub-segment can be displayed in the local twin information in the form of vehicle models, making the local twin information more intuitive. That is, in one possible implementation of this application embodiment, the aforementioned real-time vehicle information may include real-time location; correspondingly, step 104 may include:

[0152] Based on the high-precision map corresponding to the target sub-road segment, generate a local twin map corresponding to the target sub-road segment;

[0153] Display a local twin map in the second display area;

[0154] Generate a vehicle model for the second target vehicle;

[0155] Based on the real-time location of the second target vehicle, display the vehicle model and real-time vehicle information of the second target vehicle in the local twin map.

[0156] As one possible implementation, a local twin map corresponding to the target sub-road segment can be generated based on the local high-precision map corresponding to the target sub-road segment and the size of the display, and then displayed in the second display area. This allows the generated local twin map to be fully displayed on the display interface and to clearly display the road and vehicle information in the target sub-road segment.

[0157] As one possible implementation, to make the display of local twin information more intuitive, vehicle models of each second target vehicle in the target sub-road segment can be generated. Based on the real-time location of each second target vehicle, the real-time display position of each second target vehicle's vehicle model in the local twin map can be determined, and the vehicle models of each first target vehicle can be displayed in real-time on the local twin map, thus showing the actual driving situation of each second target vehicle in the target sub-road segment. Furthermore, real-time vehicle information of the second target vehicles can be displayed on their vehicle models. For example, identification information such as the license plate number of the second target vehicle can be displayed on their vehicle models.

[0158] For example, such as Figure 2 As shown, when the sliding window 313 is in Figure 2 When the location is specified, local twin information 320 of the target sub-road segment corresponding to the sliding window 313 can be generated and displayed above the global map 310. The vehicle models 321 in the local twin information 320 are vehicle models of the various second target vehicles included in the target sub-road segment, and the license plate numbers of the various second target vehicles can be displayed in a pop-up window at the corresponding vehicle model (i.e.,...). Figure 2 (A1234, A1235, B1234, and B1235 in the text).

[0159] Furthermore, to differentiate between vehicle types and make the local twin information more intuitive and detailed, different vehicle types can be identified using different vehicle models. That is, in one possible implementation of this application embodiment, the aforementioned real-time vehicle information may include vehicle type; correspondingly, the vehicle model for generating the second target vehicle includes:

[0160] Generate a vehicle model for the second target vehicle based on its vehicle type.

[0161] One possible implementation is to generate and display a vehicle model of the corresponding type based on the type of the second target vehicle. For example, if the second target vehicle is a sedan, a sedan-style vehicle model can be generated; if the second target vehicle is a truck, a truck-style vehicle model can be generated, and so on.

[0162] It should be noted that in actual use, the global map and local twin information can be either two-dimensional or three-dimensional maps, and this application embodiment does not limit this.

[0163] Furthermore, local twin information of the target sub-road segment can be determined using data collected by road sensing devices deployed along the road. That is, in one possible implementation of this application embodiment, before step 104 above, the following may also be included:

[0164] When the target sub-segment contains road sensing devices, acquire the current sensing data of each road sensing device in the target sub-segment;

[0165] Based on the current sensing data from each road sensing device, local twin information is determined.

[0166] The road sensing device can be a camera, lidar, millimeter-wave radar, or various other sensors, and this application does not limit the specific type of sensor.

[0167] As one possible approach, after identifying the target sub-road segment, if road sensing devices are deployed in the target sub-road segment, the current sensing data of each road sensing device in the target sub-road segment can be acquired, and the current sensing data of each road sensing device can be integrated and processed to generate local twin information corresponding to the target sub-road segment. For example, based on the richness of the acquired sensing data, a local dynamic map of the target sub-road segment or local dynamic information based on a local high-precision map can be generated.

[0168] Furthermore, if no road sensing devices are deployed in the target sub-segment, the local twin information corresponding to the target sub-segment can be simulated based on data collected by road sensing devices in other road segments. That is, in one possible implementation of this application embodiment, before step 104 above, the following may also be included:

[0169] When the target sub-segment does not contain road sensing devices, at least one associated sub-segment corresponding to the target sub-segment is determined, wherein the associated sub-segment contains road sensing devices.

[0170] Simulations are performed based on the current perception data of the associated sub-road segments to generate local dynamic information of the target sub-road segment based on a local high-precision map.

[0171] Among them, the associated sub-road segment can be a sub-road segment that is connected to the target sub-road segment, is located before the target sub-road segment, and is equipped with road sensing devices.

[0172] As one possible approach, if no road sensing devices are deployed in the target sub-segment, it is impossible to directly obtain real-time vehicle information of each second target vehicle traveling in the target sub-segment, as well as information on the status changes of various road facilities in the target sub-segment. Therefore, simulation processing can be performed based on the sensing data collected by the road sensing devices in the associated sub-segments corresponding to the target sub-segment to generate local dynamic information of the local high-precision map corresponding to the target sub-segment, such as simulating the real-time vehicle information of each second target vehicle in the target sub-segment.

[0173] Furthermore, based on historical sensing data obtained by road sensing devices in the associated sub-road segment before generating the local dynamic information of the target sub-road segment, the current local dynamic information of the target sub-road segment can be simulated to further improve the reliability of the local dynamic information generation. That is, in one possible implementation of this application embodiment, step 104 above may include:

[0174] When the target sub-segment does not contain road sensing devices, at least one associated sub-segment corresponding to the target sub-segment is determined, wherein the associated sub-segment contains road sensing devices.

[0175] Obtain historical sensing data from each road sensing device in each associated sub-road segment;

[0176] Simulation processing is performed based on historical sensing data from various road sensing devices in each associated sub-road segment to generate local dynamic information based on a local high-precision map corresponding to the target sub-road segment.

[0177] Among them, the associated sub-road segment can be a sub-road segment that is connected to the target sub-road segment, is located before the target sub-road segment, and is equipped with road sensing devices.

[0178] Historical sensing data can refer to the sensing data collected by various road sensing devices in the associated sub-road segment before the instruction to generate local twin information corresponding to the target sub-road segment is received.

[0179] As one possible approach, if no road sensing devices are deployed in the target sub-segment, it is impossible to directly obtain real-time vehicle information of each second target vehicle traveling in the target sub-segment, as well as information on the status changes of various road facilities in the target sub-segment. Since the associated sub-segment precedes the target sub-segment and is equipped with road sensing devices, the historical sensing data collected by each road sensing device in the associated sub-segment can serve as prior data for the current local dynamic information of the target sub-segment. Therefore, a pre-defined simulation algorithm can be used to simulate and process the historical sensing data collected by each road sensing device in the associated sub-segment to generate the current local dynamic information of the target sub-segment. For example, it is possible to determine each second target vehicle currently traveling in the target sub-segment, and the real-time vehicle information of each second target vehicle.

[0180] It should be noted that in actual use, appropriate simulation algorithms can be selected according to actual needs and specific application scenarios, and this application embodiment does not limit this.

[0181] The method for displaying digital twin information of roads provided in this application displays a full-area map of the target road in a digital twin platform, and displays local twin information of the target sub-road segment selected by the user's interactive operation on the full-area map in the digital twin platform. This not only allows for the complete display of the full-area map of the road, but also allows for the real-time and clear display of local twin information of the road segments of interest according to the user's actual needs. This ensures that the display effect and accuracy of the digital twin screen are not limited by the length of the displayed road or the size of the monitor, thereby improving the flexibility and practicality of displaying digital twin information of roads.

[0182] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0183] Corresponding to the method for displaying road digital twin information described in the above embodiments, Figure 4 A structural block diagram of a device for displaying digital twin information of roads provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0184] Reference Figure 4 The device 40 includes:

[0185] The first display module 41 is used to display a global map corresponding to the target road in the display interface, wherein the global map is displayed in the first display area of ​​the display interface;

[0186] The first determining module 42 is used to determine the range of the target area selected in the global map in response to the interactive operation on the global map.

[0187] The second determining module 43 is used to determine the target sub-segment selected by the interactive operation based on the target area range, wherein the target sub-segment is a part of the target road;

[0188] The second display module 44 is used to display the local twin information corresponding to the target sub-road segment in real time in the second display area of ​​the display interface. The local twin information includes the local dynamic map corresponding to the target sub-road segment or the local dynamic information based on the local high-precision map. The second display area is different from the first display area.

[0189] In practical use, the device for displaying road digital twin information provided in this application embodiment can be configured in any terminal device to execute the aforementioned method for displaying road digital twin information.

[0190] The device for displaying digital twin information of roads provided in this application displays a full-area map of the target road in a digital twin platform, and displays local twin information of the target sub-road segment selected by the user's interactive operation on the full-area map in the digital twin platform. This not only allows for the complete display of the full-area map of the road, but also allows for the real-time and clear display of local twin information of the road segments of interest according to the user's actual needs. This ensures that the display effect and accuracy of the digital twin screen are not limited by the length of the displayed road or the size of the display screen, thereby improving the flexibility and practicality of displaying digital twin information of roads.

[0191] In one possible implementation of this application, the global map further includes a sliding window corresponding to local twin information, and the interactive operation includes a click operation on the global map; correspondingly, the first determining module 42 includes:

[0192] The first determining unit is used to determine the click position of the click operation as the target center point corresponding to the sliding window;

[0193] The first update unit is used to update the center point of the sliding window to the target center point in order to update the display position of the sliding window;

[0194] The second determining unit is used to determine the area range contained in the updated sliding window as the target area range.

[0195] Furthermore, in another possible implementation of this application, the aforementioned global map also includes a sliding window corresponding to local twin information, and the aforementioned interactive operation includes a sliding operation on the sliding window; correspondingly, the aforementioned first determining module 42 includes:

[0196] The second update unit is used to update the target center point of the sliding window in real time according to the operation position of the sliding operation during the sliding operation of the sliding window.

[0197] The third update unit is used to update the display position of the sliding window in real time according to the target center point corresponding to the sliding window;

[0198] The fourth update unit is used to update the target area range in real time by taking the area range contained in the sliding window during the sliding process.

[0199] Furthermore, in another possible implementation of this application, the above-mentioned interactive operation includes a bounding box operation on the global map; correspondingly, the first determining module 42 includes:

[0200] The third determining unit is used to determine the area range selected by the box selection operation in the global map as the target area range.

[0201] Furthermore, in yet another possible implementation of this application, the target road includes at least one road segment of a preset type; correspondingly, the first display module 41 includes:

[0202] The first display unit is used to display the road segment range and road segment information corresponding to each preset type of road segment in the global map.

[0203] Furthermore, in yet another possible implementation of this application, the aforementioned road segment information includes at least one of road segment name and road segment length.

[0204] Furthermore, in another possible implementation of this application, the target road includes at least one lane; correspondingly, the first display module 41 includes:

[0205] The second display unit is used to display each lane of the target road in the global map.

[0206] Furthermore, in another possible implementation of this application, the first display module 41 includes:

[0207] The third display unit is used to display the location of each first target vehicle in real time on the global map, wherein the first target vehicle is a vehicle on the target road that meets the preset filtering conditions.

[0208] Furthermore, in another possible implementation of this application, the aforementioned preset screening conditions include at least one of preset vehicle type, preset vehicle behavior, and preset road events encountered by the vehicle.

[0209] Furthermore, in yet another possible implementation of this application, the aforementioned device 40 further includes:

[0210] The first acquisition module is used to acquire the current sensing data of each road sensing device in the target sub-segment when the target sub-segment contains road sensing devices;

[0211] The third determination module is used to determine local twin information based on the current sensing data of each road sensing device.

[0212] Furthermore, in another possible implementation of this application, the aforementioned device 40 further includes:

[0213] The fourth determining module is used to determine at least one associated sub-segment corresponding to the target sub-segment when the target sub-segment does not contain road sensing devices, wherein the associated sub-segment contains road sensing devices.

[0214] The first simulation module is used to perform simulations based on the current perception data of the associated sub-road segments, and generate local dynamic information of the target sub-road segment based on a local high-precision map.

[0215] Furthermore, in another possible implementation of this application, the aforementioned local twin information includes real-time vehicle information of the second target vehicle in the target sub-segment, and the aforementioned real-time vehicle information includes at least one of the following: license plate number, vehicle type, real-time speed, real-time location, real-time lane, real-time heading angle, and real-time acceleration.

[0216] Furthermore, in yet another possible implementation of this application, the aforementioned real-time vehicle information includes real-time location; correspondingly, the aforementioned second display module 44 includes:

[0217] The first generation unit is used to generate a local twin map corresponding to the target sub-road segment based on the high-precision map corresponding to the target sub-road segment;

[0218] The fourth display unit is used to display a local twin map in the second display area;

[0219] The second generation unit is used to generate the vehicle model of the second target vehicle;

[0220] The fifth display unit is used to display the vehicle model and real-time vehicle information of the second target vehicle in a local twin map based on the real-time location of the second target vehicle.

[0221] Furthermore, in yet another possible implementation of this application, the aforementioned real-time vehicle information includes vehicle type; correspondingly, the aforementioned second generation unit is specifically used for:

[0222] Generate a vehicle model for the second target vehicle based on its vehicle type.

[0223] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0224] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0225] To implement the above embodiments, this application also proposes a terminal device.

[0226] Figure 5 This is a schematic diagram of the structure of a terminal device according to an embodiment of this application.

[0227] like Figure 5 As shown, the terminal device 200 includes:

[0228] The system includes a memory 210 and at least one processor 220, and a bus 230 connecting the different components (including the memory 210 and the processor 220). The memory 210 stores a computer program that, when executed by the processor 220, implements the method for displaying digital twin information of roads as described in the embodiments of this application.

[0229] Bus 230 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0230] Terminal device 200 typically includes various electronically readable media. These media can be any available media that can be accessed by terminal device 200, including volatile and non-volatile media, removable and non-removable media.

[0231] Memory 210 may also include computer system readable media in the form of volatile memory, such as random access memory (RAM) 240 and / or cache memory 250. Terminal device 200 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 260 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 5 Not shown; usually referred to as a "hard drive"). Although Figure 5 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 230 via one or more data media interfaces. Memory 210 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0232] A program / utility 280 having a set (at least one) of program modules 270 may be stored in, for example, memory 210. Such program modules 270 include—but are not limited to—an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 270 typically perform the functions and / or methods described in the embodiments of this application.

[0233] Terminal device 200 can also communicate with one or more external devices 290 (e.g., keyboard, pointing device, display 291, etc.), and with one or more devices that enable a user to interact with terminal device 200, and / or with any device that enables terminal device 200 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 292. Furthermore, terminal device 200 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 293. As shown, network adapter 293 communicates with other modules of terminal device 200 via bus 230. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with terminal device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0234] The processor 220 performs various functional applications and data processing by running programs stored in the memory 210.

[0235] It should be noted that the implementation process and technical principles of the terminal device in this embodiment are explained in the foregoing description of the method for displaying road digital twin information in the embodiments of this application, and will not be repeated here.

[0236] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0237] This application provides a computer program product that, when run on a terminal device, enables the terminal device to implement the steps described in the various method embodiments above.

[0238] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a device / terminal equipment, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0239] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0240] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0241] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0242] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0243] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for displaying digital twin information of roads, characterized in that, include: The display interface displays a full-area map corresponding to the target road, wherein the full-area map is displayed in the first display area of ​​the display interface, and the location of the first target vehicle is displayed in real time in the full-area map, wherein the first target vehicle is a vehicle on the target road that meets the preset filtering conditions; In response to an interactive operation on the global map, the target area range selected by the interactive operation in the global map is determined; Based on the target area range, the target sub-road segment selected by the interactive operation is determined, wherein the target sub-road segment is a portion of the target road; When the target sub-road segment includes road sensing devices, the current sensing data of each road sensing device in the target sub-road segment is obtained, and the local twin information corresponding to the target sub-road segment is determined based on the current sensing data of each road sensing device. The local twin information includes a local dynamic map corresponding to the target sub-road segment or local dynamic information based on a local high-precision map. When the target sub-segment does not contain the road sensing device, at least one associated sub-segment corresponding to the target sub-segment is determined, and simulation is performed based on the current sensing data of the associated sub-segment to generate the local twin information. The local twin information includes the local dynamic information based on the local high-precision map. The associated sub-segment is a sub-segment connected to the target sub-segment and located before the target sub-segment. The associated sub-segment contains the road sensing device. In the second display area of ​​the display interface, the local twin information corresponding to the target sub-road segment is displayed in real time. The second display area is different from the first display area.

2. The method as described in claim 1, characterized in that, The global map also includes a sliding window corresponding to the local twin information. The interactive operation includes a click operation on the global map. The step of determining the target area range selected by the interactive operation on the global map in response to the interactive operation includes: The click position of the click operation is determined as the target center point corresponding to the sliding window; Update the center point of the sliding window to the target center point to update the display position of the sliding window; The area encompassed by the updated sliding window is determined as the target area range.

3. The method as described in claim 1, characterized in that, The global map also includes a sliding window corresponding to the local twin information. The interactive operation includes a sliding operation on the sliding window. The step of determining the target area range selected by the interactive operation on the global map in response to the interactive operation includes: During the sliding operation of the sliding window, the target center point corresponding to the sliding window is updated in real time according to the operation position of the sliding operation; The display position of the sliding window is updated in real time based on the target center point corresponding to the sliding window; The target area range is updated in real time by measuring the area encompassed by the sliding window during its sliding process.

4. The method as described in claim 1, characterized in that, The interactive operation includes a selection operation on the global map. The step of determining the target area range selected in the global map in response to the interactive operation on the global map includes: The area selected by the box selection operation in the global map is defined as the target area.

5. The method as described in claim 1, characterized in that, The target road includes at least one road segment of a preset type, and displaying the full-area map corresponding to the target road in the display interface includes: The map displays the road segment range and road segment information corresponding to each preset type of road segment.

6. The method as described in claim 5, characterized in that, The road segment information includes at least one of the following: road segment name and road segment length.

7. The method as described in claim 1, characterized in that, The target road includes at least one lane, and displaying the full-area map corresponding to the target road on the display interface includes: The various lanes of the target road are displayed on the global map.

8. The method as described in claim 1, characterized in that, The preset filtering conditions include at least one of preset vehicle type, preset vehicle behavior, and preset road events encountered by the vehicle.

9. The method according to any one of claims 1-8, characterized in that, The local twin information includes real-time vehicle information of the second target vehicle in the target sub-road segment. The real-time vehicle information includes at least one of the following: license plate number, vehicle type, real-time speed, real-time location, real-time lane, real-time heading angle, and real-time acceleration.

10. The method as described in claim 9, characterized in that, The real-time vehicle information includes real-time location, and the real-time display of local twin information corresponding to the target sub-road segment in the second display area of ​​the display interface includes: Based on the high-precision map corresponding to the target sub-road segment, generate a local twin map corresponding to the target sub-road segment; The local twin map is displayed in the second display area; Generate a vehicle model of the second target vehicle; Based on the real-time location of the second target vehicle, the vehicle model of the second target vehicle and the real-time vehicle information are displayed in the local twin map.

11. The method as described in claim 10, characterized in that, The real-time vehicle information includes vehicle type, and the generation of the vehicle model for the second target vehicle includes: Generate a vehicle model for the second target vehicle based on its vehicle type.

12. A device for displaying digital twin information of roads, characterized in that, include: The first display module is used to display a full-area map corresponding to the target road in the display interface. The full-area map is displayed in the first display area of ​​the display interface. The full-area map displays the location of the first target vehicle in real time. The first target vehicle is a vehicle on the target road that meets the preset filtering conditions. The first determining module is used to determine the target area range selected by the interactive operation in the global map in response to the interactive operation. The second determining module is used to determine the target sub-road segment selected by the interactive operation based on the target area range, wherein the target sub-road segment is a part of the target road; The first acquisition module is used to acquire the current perception data of each road perception device in the target sub-segment when the target sub-segment contains road perception devices; The third determining module is used to determine the local twin information corresponding to the target sub-road segment based on the current sensing data of each of the road sensing devices, wherein the local twin information includes the local dynamic map corresponding to the target sub-road segment or the local dynamic information based on the local high-precision map. The fourth determining module is used to determine at least one associated sub-segment corresponding to the target sub-segment when the road sensing device is not included in the target sub-segment, wherein the associated sub-segment is a sub-segment connected to the target sub-segment and located before the target sub-segment, and the associated sub-segment includes the road sensing device; The first simulation module is used to perform simulation based on the current perception data of the associated sub-road segment and generate the local twin information, wherein the local twin information includes the local dynamic information based on the local high-precision map; The second display module is used to display local twin information corresponding to the target sub-road segment in real time in the second display area of ​​the display interface. The local twin information includes a local dynamic map corresponding to the target sub-road segment or local dynamic information based on a local high-precision map. The second display area is different from the first display area.

13. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1-11.

14. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-11.

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