A real-time twin vehicle smooth driving method and system based on digital twinning

Abstract

The application discloses a real-time twin vehicle smooth driving method and system based on digital twinning, which comprises the following steps: obtaining basic information of a hazardous chemical vehicle and creating a real-time twin vehicle of the hazardous chemical vehicle based on the basic information; calculating current information of the hazardous chemical vehicle based on at least three continuous GPS real-time data of the hazardous chemical vehicle; the current information comprises a current vehicle speed and a current position; setting a preset period and calculating a predetermined arrival position of the hazardous chemical vehicle at the end of the preset period; determining a running speed of the real-time twin vehicle based on the current information of the hazardous chemical vehicle and the predetermined arrival position; applying the running speed to the real-time twin vehicle to realize smooth driving of the real-time twin vehicle in a three-dimensional GIS system. Through the method, the real-time twin vehicle can smoothly drive in the three-dimensional GIS system, and the running state of the hazardous chemical vehicle can be monitored in real time.

Description

Technical Field

[0001] This invention relates to the field of computers, and specifically to a method and system for smooth real-time twin vehicle driving based on digital twins. Background Technology

[0002] In recent years, with the vigorous development of my country's chemical industry, the types of chemicals have become increasingly diverse and their scale varies greatly. The safety management levels of different enterprises are uneven. Furthermore, the production, processing, use, storage, sales, transportation, and waste disposal of chemicals involve numerous stages. Any oversight or improper handling in any stage can potentially pose risks to public safety and the ecological environment. Therefore, the management of chemicals, especially hazardous chemicals, is particularly important. The transportation of hazardous materials, as a crucial link in safety management, is of paramount importance due to its inherent hazardous characteristics. By collecting GPS positioning and electronic waybill information from hazardous materials transport vehicles, combined with GIS maps, emergency rescue resources and hazardous chemical emergency response plans within the jurisdiction are digitally archived and managed. Electronic fences are used for real-time monitoring of hazardous materials transport vehicles.

[0003] Currently, most hazardous chemical vehicle management platforms on the market use 2D GIS maps for monitoring. On a 2D map, hazardous chemical vehicles move as icons, which can be displayed on the map simply by using GPS information. However, in a 3D GIS system, hazardous chemical vehicles need to be visualized and displayed in real time. The 3D environment in which the real-time virtual vehicle is located is more concrete and vivid. If the real-time virtual vehicle is only modified in real time via GPS, the time intervals and errors in GPS information will cause the real-time virtual vehicle to jump around and stop abruptly in the 3D GIS system, resulting in a visually uneven movement of the real-time virtual vehicle in the 3D GIS system. Summary of the Invention

[0004] This invention provides a method and system for smooth driving of real-time twin vehicles based on digital twins, which is used to solve the problem of unsmooth driving of real-time twin vehicles of hazardous chemicals in a three-dimensional GIS system.

[0005] This invention discloses a real-time twin vehicle smooth driving method based on digital twins, the method comprising:

[0006] Obtain basic information about hazardous chemical vehicles and create a real-time twin vehicle of the hazardous chemical vehicle based on the basic information;

[0007] The current information of the hazardous chemical vehicle is calculated based on at least three consecutive real-time GPS data points; the current information includes: current speed and current location.

[0008] Set a preset period and calculate the predetermined arrival location of the hazardous chemical vehicle at the end of the preset period;

[0009] The operating speed of the real-time twin vehicle is determined based on the current information of the hazardous materials vehicle and the predetermined arrival location.

[0010] The operating speed is applied to the real-time twin vehicle to enable the real-time twin vehicle to drive smoothly in the 3D GIS system.

[0011] Optionally, the basic information of the hazardous chemical vehicle includes at least: vehicle identification information, GPS information, real-time GPS information, driver information, and cargo information.

[0012] Optionally, setting a preset period and calculating the predetermined arrival location of the hazardous materials vehicle at the end of the preset period includes:

[0013] The preset period is determined by the time difference between the most recent reporting time and the previous reporting time of the hazardous chemical vehicle.

[0014] The predetermined arrival position of the hazardous materials vehicle at the end of the preset cycle is calculated based on the vehicle's current speed.

[0015] Optionally, determining the operating speed of the real-time twin vehicle based on the current information of the hazardous materials vehicle and the predetermined arrival location includes:

[0016] Obtain the first current location information from the current information of the hazardous chemical vehicle and the second current location information of the real-time twin vehicle;

[0017] Calculate the position information difference, which is the difference between the second current position information and the first current position information; wherein, the position information difference has direction and magnitude;

[0018] If the location information difference is zero, then the operating speed of the real-time twin vehicle is the current speed of the hazardous materials vehicle.

[0019] If the difference in location information is not zero, the operating speed of the real-time twin vehicle is different from the speed of the hazardous materials vehicle, and the operating speed of the real-time twin vehicle is recalculated.

[0020] Optionally, if the difference in location information is not zero, the method further includes:

[0021] When the direction of the location information difference is opposite to the direction of travel of the hazardous chemical vehicle, the running speed of the real-time twin vehicle is first accelerated and then decelerated.

[0022] When the direction of the location information difference is the same as the direction of travel of the hazardous chemical vehicle, the running speed of the real-time twin vehicle is first decelerated and then accelerated.

[0023] Optionally, the method includes:

[0024] The preset period is divided into a first sub-period, a second sub-period, a third sub-period, and a fourth sub-period.

[0025] Optionally, the method includes:

[0026] Determine the first travel distance of the hazardous chemical vehicle and the second travel distance of the real-time twin vehicle within the preset period;

[0027] When the direction of the location information difference is opposite to the direction of travel of the hazardous chemical vehicle, the first sub-cycle is determined to be an acceleration cycle, the second sub-cycle is determined to be an operating cycle to reach the maximum speed, the third sub-cycle is determined to be a deceleration cycle, and the fourth sub-cycle is determined to be an operating cycle to reach the speed of the hazardous chemical vehicle, based on the first and second travel distances.

[0028] When the direction of the location information difference is in the same direction as the direction of travel of the hazardous chemical vehicle, the first sub-cycle is determined to be a deceleration cycle, the second sub-cycle is determined to be an operating cycle to reach the minimum speed, the third sub-cycle is determined to be an acceleration cycle, and the fourth sub-cycle is determined to be an operating cycle to reach the speed of the hazardous chemical vehicle based on the first and second travel distances.

[0029] Optionally, the method further includes:

[0030] Constructing 3D roads on a 3D digital map based on latitude and longitude coordinates;

[0031] The real-time twin vehicle is positioned on the road in a three-dimensional road system by projecting point-line data from at least three consecutive real-time GPS data.

[0032] A real-time twin vehicle smooth driving system based on digital twins in this invention includes:

[0033] The first acquisition unit is used to acquire basic information of hazardous chemical vehicles and create a real-time twin vehicle of the hazardous chemical vehicles based on the basic information.

[0034] The second acquisition unit calculates the current information of the hazardous chemical vehicle based on acquiring at least three consecutive real-time GPS data points; the current information includes: current vehicle speed and current location;

[0035] A cycle setting unit is used to set a preset cycle and calculate the predetermined arrival position of the hazardous chemical vehicle at the end of the preset cycle.

[0036] A location determination unit is used to determine the operating speed of the real-time twin vehicle based on the current information of the hazardous chemical vehicle and the predetermined arrival location.

[0037] The location application unit is used to apply the running speed to the real-time twin vehicle, so as to enable the real-time twin vehicle to drive smoothly in the three-dimensional GIS system.

[0038] A computer-readable storage medium of the present invention has one or more programs, which can be executed by one or more processors to implement the steps of the real-time twin vehicle smooth driving method based on digital twin as described in any of the above claims.

[0039] The present invention provides a method and system for smooth driving of real-time twin vehicles based on digital twins, which enables smooth driving of real-time twin vehicles in a three-dimensional GIS system, facilitating real-time monitoring of the operating status of hazardous chemical vehicles. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of a real-time twin vehicle smooth driving method based on digital twins in this invention;

[0041] Figure 2 This is a structural diagram of a real-time twin vehicle smooth driving system based on digital twins in this invention. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0043] This invention provides a method for smooth real-time twin vehicle driving based on digital twins, such as... Figure 1 As shown, the method includes:

[0044] Step 100: Obtain basic information about the hazardous chemical vehicle and create a real-time twin vehicle based on the basic information. Specifically, obtain basic information about the hazardous chemical vehicle from the transport vehicle in-transit information service platform. After parsing the basic information, a real-time twin vehicle can be directly created based on the basic information. This real-time twin vehicle is the vehicle displayed in the 3D GIS system.

[0045] Step 200: Calculate the current information of the hazardous materials vehicle based on at least three consecutive real-time GPS data points. The current information includes the current speed and current position. Specifically, due to the inherent errors in GPS, step 200 requires at least three consecutive real-time GPS data points to calculate the vehicle's current speed and position, preventing the real-time twin vehicle from failing to drive smoothly. In a preferred embodiment, the current position also needs to be accurately located to the current driving lane.

[0046] Step 300: Set a preset period and calculate the predetermined arrival position of the hazardous materials vehicle at the end of the preset period. Specifically, the preset period refers to the time required for the hazardous materials vehicle to travel from the current moment to the predetermined arrival position; therefore, the preset period is related to the predetermined arrival position. In this embodiment of the invention, the setting of the preset period is related to the current speed of the hazardous materials vehicle, and the preset period is estimated based on the current speed of the hazardous materials vehicle.

[0047] Step 400: Determine the operating speed of the real-time twin vehicle based on the current information and predetermined arrival location of the hazardous materials vehicle. Specifically, after determining the current information and predetermined arrival location of the hazardous materials vehicle, the operating speed of the real-time twin vehicle is calculated to enable it to drive smoothly within the 3D GIS system. Smooth driving refers to the real-time twin vehicle changing its speed in the 3D scene through uniform acceleration or deceleration.

[0048] Step 500: Apply the running speed to the real-time twin vehicle to enable the real-time twin vehicle to drive smoothly in the 3D GIS system.

[0049] The method described in this specific embodiment of the invention monitors the operating status of hazardous chemical vehicles in real time. Based on the operating status of the hazardous chemical vehicles and the prediction of their predetermined arrival location, the operating speed of the real-time twin vehicle is determined so that the operating speed of the real-time twin vehicle can achieve uniform acceleration or deceleration, avoiding the problem of sudden increases or decreases in speed or sudden stops and starts during the operation of the real-time twin vehicle, and realizing smooth driving of the real-time twin vehicle in the three-dimensional GIS system.

[0050] The real-time twin vehicle smooth driving method based on digital twins described in the specific embodiments of the present invention preferably includes at least the following basic information about the hazardous chemical vehicle: vehicle identification information, GPS information, real-time GPS information, driver information, and cargo information. In a specific embodiment, the vehicle identification information, GPS information, and real-time GPS information are used for subsequent calculations of the hazardous chemical vehicle's location information and estimated destination; while the purpose of collecting driver and cargo information is to set the basic information of the real-time twin vehicle during the twinning process, facilitating the viewing of the real-time twin vehicle information in a 3D GIS system.

[0051] In a preferred embodiment of the present invention, parsing the basic information specifically involves: obtaining basic information about the hazardous chemical vehicle from a JSON-formatted string obtained from a transport vehicle on-the-go information service platform; parsing the JSON string to extract vehicle identification information, GPS information, real-time GPS information, driver information, and cargo information, etc., so as to create a real-time twin vehicle of the hazardous chemical vehicle based on the basic information of the hazardous chemical vehicle and initialize the position of the real-time twin vehicle in the 3D GIS system based on the GPS information; subsequently, the real-time twin vehicle is updated in real time in the 3D GIS system. The update frequency can be pre-set to a fixed value or determined in real time based on the operating information of the hazardous chemical vehicle.

[0052] The preferred embodiment of the real-time twin vehicle smooth driving method based on digital twins described in this invention includes setting a preset period and calculating the predetermined arrival position of the hazardous chemical vehicle at the end of the preset period, which includes:

[0053] The preset period is determined by the time difference between the most recent reporting time and the previous reporting time of the hazardous chemical vehicle; wherein, the most recent reporting time of the hazardous chemical vehicle refers to the time when the hazardous chemical vehicle last reported information to the transport vehicle in transit information service platform. The reported information includes at least the basic information of the hazardous chemical vehicle.

[0054] The predetermined arrival position of the hazardous materials vehicle at the end of the preset cycle is calculated based on the vehicle's current speed.

[0055] In a specific embodiment, after determining the preset period, the current speed of the hazardous chemical vehicle can be determined based on the previously collected real-time GPS information. It is usually assumed that the hazardous chemical vehicle will run at the current speed at a constant speed within the preset period. Therefore, based on the current speed and the preset period, the travel distance of the hazardous chemical vehicle within the preset period can be directly calculated, that is, the predetermined arrival position of the hazardous chemical vehicle at the end of the preset period can be determined.

[0056] The preferred embodiment of the real-time twin vehicle smooth driving method based on digital twins described in this invention includes determining the running speed of the real-time twin vehicle based on the current information of the hazardous materials vehicle and its predetermined arrival location, which includes:

[0057] Obtain the first current location information from the current information of the hazardous chemical vehicle and the second current location information of the real-time twin vehicle;

[0058] Calculate the position information difference, which is the difference between the second current position information and the first current position information; wherein, the position information difference has direction and magnitude;

[0059] If the location information difference is zero, then the operating speed of the real-time twin vehicle is the current speed of the hazardous materials vehicle.

[0060] If the difference in location information is not zero, the operating speed of the real-time twin vehicle is different from the speed of the hazardous materials vehicle, and the operating speed of the real-time twin vehicle is recalculated.

[0061] In a specific embodiment, the location information of the hazardous materials vehicle and its real-time twin vehicle are collected in real time at the current moment. Specifically, the first current position of the hazardous materials vehicle and the second current position of the real-time twin vehicle are determined, and the difference between their positions is calculated. This position information difference is a vector, thus possessing magnitude and direction in space. When the magnitude of the position information difference is zero, it means that the hazardous materials vehicle and its real-time twin vehicle are at the same location on the road at the current moment. In this case, the real-time twin vehicle can directly use the current speed of the hazardous materials vehicle.

[0062] In another specific embodiment, if the difference in location information is not zero, it means that the real-time hazardous chemical vehicle and the real-time twin vehicle are in different locations at the current moment. The real-time twin vehicle needs to reach the same location as the hazardous chemical vehicle within a preset period, so the running speed of the real-time twin vehicle needs to be recalculated.

[0063] The real-time twin vehicle smooth driving method based on digital twins described in the specific embodiments of the present invention, preferably, further includes the following if the position information difference is not zero:

[0064] When the direction of the location information difference is opposite to the direction of travel of the hazardous chemical vehicle, the running speed of the real-time twin vehicle is first accelerated and then decelerated.

[0065] When the direction of the location information difference is the same as the direction of travel of the hazardous chemical vehicle, the running speed of the real-time twin vehicle is first decelerated and then accelerated.

[0066] In specific embodiments, a non-zero position information difference can be categorized into two cases: either the direction of the position information difference is opposite to the direction of travel of the hazardous materials vehicle, or the direction of the position information difference is in the same direction as the direction of travel of the hazardous materials vehicle. If the direction of the position information difference is opposite to the direction of travel of the hazardous materials vehicle, it means that the second current position of the real-time twin vehicle is after the first current position of the hazardous materials vehicle, i.e., the real-time twin vehicle is lagging behind the hazardous materials vehicle. Therefore, the operating speed of the real-time twin vehicle needs to be accelerated first and then decelerated. If the direction of the position information difference is in the same direction as the direction of travel of the hazardous materials vehicle, it means that the second current position of the real-time twin vehicle is before the first current position of the hazardous materials vehicle, i.e., the hazardous materials vehicle is lagging behind the real-time twin vehicle. Therefore, the operating speed of the real-time twin vehicle needs to be decelerated first and then accelerated.

[0067] The preferred embodiment of the real-time twin vehicle smooth driving method based on digital twins described in this invention includes:

[0068] The preset cycle is divided into a first sub-cycle, a second sub-cycle, a third sub-cycle, and a fourth sub-cycle. Specifically, in order to achieve smooth driving of the real-time twin vehicle, the real-time twin vehicle needs to accelerate or decelerate uniformly within a certain period of time to avoid uneven operation caused by sudden acceleration or deceleration. Therefore, in this embodiment of the invention, the preset cycle of the real-time twin vehicle is divided into four stages, each stage operating at a different speed.

[0069] The preferred embodiment of the real-time twin vehicle smooth driving method based on digital twins described in this invention includes:

[0070] The first travel distance of the hazardous materials vehicle and the second travel distance of the real-time twin vehicle within the preset period are determined. Specifically, the first travel distance of the hazardous materials vehicle is the absolute difference between the current position of the hazardous materials vehicle and the predetermined arrival position of the hazardous materials vehicle at the end of the preset period. The second travel distance of the real-time twin vehicle is the absolute difference between the current position of the real-time twin vehicle and the predetermined arrival position. In another specific embodiment, the second travel distance of the hazardous materials vehicle in the real-time twin vehicle is determined by the sum of the first travel distance of the hazardous materials vehicle and the distance between the real-time twin vehicles.

[0071] When the direction of the location information difference is opposite to the direction of travel of the hazardous chemical vehicle, the first sub-cycle is determined to be an acceleration cycle, the second sub-cycle is determined to be an operating cycle to reach the maximum speed, the third sub-cycle is determined to be a deceleration cycle, and the fourth sub-cycle is determined to be an operating cycle to reach the speed of the hazardous chemical vehicle, based on the first and second travel distances.

[0072] When the direction of the location information difference is in the same direction as the direction of travel of the hazardous chemical vehicle, the first sub-cycle is determined to be a deceleration cycle, the second sub-cycle is determined to be an operating cycle to reach the minimum speed, the third sub-cycle is determined to be an acceleration cycle, and the fourth sub-cycle is determined to be an operating cycle to reach the speed of the hazardous chemical vehicle based on the first and second travel distances.

[0073] The real-time twin vehicle smooth driving method based on digital twins described in a specific embodiment of the present invention, preferably, further includes:

[0074] Constructing 3D roads on a 3D digital map based on latitude and longitude coordinates;

[0075] The real-time twin vehicle is positioned on the road in a three-dimensional road system by projecting point-line data from at least three consecutive real-time GPS data.

[0076] The following are two specific embodiments of the present invention. If the real-time twin vehicle is behind the hazardous materials vehicle in the same direction of travel, and the distance between them is D, then within a preset period T, the real-time twin vehicle will accelerate first and then decelerate, as follows:

[0077] Determine the first travel distance S of the hazardous chemical vehicle and the second travel distance S+D of the real-time twin vehicle within a preset period T;

[0078] The preset period T is divided into four time periods: T = T1 + T2 + T3 + T4; where T1 is the acceleration phase, T2 is the driving phase at the maximum speed V, T3 is the deceleration phase, and T4 is the driving phase at the current speed of the hazardous materials vehicle.

[0079] Given that the current speed of the real-time twin vehicle is V1, the current speed of the hazardous materials vehicle is V2, and the maximum speed of the hazardous materials vehicle is V, a uniform acceleration a = 6 m / s² is used to ensure smooth speed changes. 2 ;

[0080] In the first case, when V1 is less than or equal to V2, the time difference between T1 and T3 is (V2-V1) / a. Assuming the real-time sponging vehicle can accelerate to its maximum speed V, then T3 is calculated as follows:

[0081] T3 = (V-V2) / a;

[0082] In stages T1 and T3, the distance difference d between the third travel distance of the real-time contracted vehicle and the fourth travel distance of the hazardous chemical vehicle traveling at V2 is calculated using the following formula;

[0083] d = (V2-V1)*(V2-V1) / a + aT3^2;

[0084] If d is greater than or equal to D, then T2 = 0, and the real-time twin vehicle speed cannot reach the maximum speed V;

[0085] Then recalculate T3 according to the formula D = (V2 - V1) * (V2 - V1) / a + aT3^2;

[0086] At the same time, T1 = T3 + (V2 - V1) / a and T4 = T - T1 - T3 can be calculated;

[0087] If d < D, it means T2 > 0, and T2 = (D - d) / (V - V2);

[0088] At the same time, T1 = T3 + (V2 - V1) / a and T4 = T - T1 - T2 - T3 can be obtained;

[0089] In the second case, when V1 is greater than V2, it can be deduced in the same way as above, and it will not be elaborated in the specific embodiments of the present invention.

[0090] After the real-time twin vehicle undergoes the changes in the above four stages at the end of the preset period, the real-time twin vehicle can reach the estimated position of the hazardous chemical vehicle at the end of the preset period.

[0091] In another specific embodiment, if the real-time twin vehicle is in front of the hazardous chemical vehicle, the speed of the twin vehicle is first decelerated and then accelerated within the current preset period. At the end of the preset period, the real-time twin vehicle should reach the arrival position, and the speed of the real-time twin vehicle reaches the speed of the twin vehicle.

[0092] If the real-time twin vehicle is in front of the hazardous chemical vehicle relative to the driving direction, and the distance between them is D, then within the preset period, the real-time twin vehicle is processed in the way of first decelerating and then accelerating, specifically as follows:

[0093] Determine the first driving distance S of the hazardous chemical vehicle and the second driving distance of the real-time twin vehicle within the preset period T

[0094] S - D;

[0095] Divide the preset period T into four time periods: T = T1 + T2 + T3 + T4; where T1 is the deceleration stage, T2 is the driving stage at the minimum speed V reached, T3 is the acceleration stage, and T4 is the driving stage at the speed of the hazardous chemical vehicle at that time;

[0096] Given the current speed V1 of the real-time twin vehicle, the current speed of the hazardous chemical vehicle is V2, and the minimum speed of the hazardous chemical vehicle is V. In order to make the vehicle speed change smoothly, a uniform acceleration a = 6m / s is adopted 2;

[0097] In the first case, when V1 is greater than or equal to V2, the time difference between T1 and T3 is (V1 - V2) / a. Assuming that the real-time twin vehicle can accelerate to the minimum speed V, then T3 is calculated as follows:

[0098] T3 = (V2 - V) / a;

[0099] In the T1 and T3 stages, the distance difference d between the third driving distance of the real-time twin vehicle and the fourth driving distance of the hazardous chemicals vehicle traveling at V2 is calculated by the following formula;

[0100] d = (V1 - V2)*(V1 - V2) / a + aT3^2;

[0101] If d is greater than or equal to D, then T2 = 0, and the speed of the real-time twin vehicle cannot be reduced to the minimum speed V;

[0102] Then, T3 is recalculated according to the formula D = (V1 - V2)*(V1 - V2) / a + aT3^2;

[0103] At the same time, T1 = T3 + (V1 - V2) / a and T4 = T - T1 - T3 can be calculated;

[0104] If d < D, it means that T2 > 0, and T2 = (D - d) / (V2 - V);

[0105] At the same time, T1 = T3 + (V1 - V2) / a can be obtained; T4 = T - T1 - T2 - T3;

[0106] In the second case, when V1 < V2, it can be deduced in the same way as above, and it will not be elaborated in the specific embodiments of the present invention.

[0107] After the real-time twin vehicle undergoes the changes in the above four stages at the end of the preset cycle, the real-time twin vehicle can reach the estimated position of the hazardous chemicals vehicle at the end of the preset cycle.

[0108] The specific embodiments of the present invention further provide a smooth driving system for a real-time twin vehicle based on digital twin, as Figure 2 shown, the system includes:<000022​​​​​

[0111] The cycle setting unit 203 is used to set a preset cycle and calculate the predetermined arrival position of the hazardous chemical vehicle at the end of the preset cycle.

[0112] The location determination unit 204 is used to determine the running speed of the real-time twin vehicle based on the current information of the hazardous chemical vehicle and the predetermined arrival location.

[0113] The location application unit 205 is used to apply the running speed to the real-time twin vehicle, so as to enable the real-time twin vehicle to drive smoothly in the three-dimensional GIS system.

[0114] It should be understood that in the various embodiments of this document, the sequence number of each process 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 document.

[0115] This invention also provides a computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the steps of the real-time twin vehicle smooth driving method based on digital twins as described in any of the above specific embodiments.

[0116] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0117] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0118] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0119] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0120] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A method for smooth real-time twin vehicle driving based on digital twins, characterized in that, The method includes: Obtain basic information about hazardous chemical vehicles and create a real-time twin vehicle of the hazardous chemical vehicle based on the basic information; The current information of the hazardous chemical vehicle is calculated based on at least three consecutive real-time GPS data points; the current information includes: current speed and current location. Set a preset period and calculate the predetermined arrival location of the hazardous chemical vehicle at the end of the preset period; The operating speed of the real-time twin vehicle is determined based on the current information of the hazardous materials vehicle and the predetermined arrival location. The operating speed is applied to the real-time twin vehicle to enable the real-time twin vehicle to drive smoothly in the 3D GIS system; The process of determining the operating speed of the real-time twin vehicle based on the current information of the hazardous materials vehicle and its predetermined arrival location includes: Obtain the first current location information from the current information of the hazardous chemical vehicle and the second current location information of the real-time twin vehicle; Calculate the position information difference, which is the difference between the second current position information and the first current position information; wherein, the position information difference has direction and magnitude; If the location information difference is zero, then the operating speed of the real-time twin vehicle is the current speed of the hazardous materials vehicle. If the difference in location information is not zero, the operating speed of the real-time twin vehicle is different from the speed of the hazardous materials vehicle, and the operating speed of the real-time twin vehicle is recalculated.

2. The method for smooth real-time twin vehicle driving based on digital twins according to claim 1, characterized in that, The basic information of the hazardous chemical vehicles includes at least: vehicle identification information, GPS information, driver information, and cargo information.

3. The method for smooth real-time twin vehicle driving based on digital twins according to claim 1, characterized in that, Setting a preset period and calculating the predetermined arrival location of the hazardous materials vehicle at the end of the preset period includes: The preset period is determined by the time difference between the most recent reporting time and the previous reporting time of the hazardous chemical vehicle. The predetermined arrival position of the hazardous materials vehicle at the end of the preset cycle is calculated based on the vehicle's current speed.

4. The method for smooth real-time twin vehicle driving based on digital twins according to claim 1, characterized in that, If the difference in location information is not zero, the method further includes: When the direction of the location information difference is opposite to the direction of travel of the hazardous chemical vehicle, the running speed of the real-time twin vehicle is first accelerated and then decelerated. When the direction of the location information difference is the same as the direction of travel of the hazardous chemical vehicle, the running speed of the real-time twin vehicle is first decelerated and then accelerated.

5. The method for smooth real-time twin vehicle driving based on digital twins according to claim 4, characterized in that, The method includes: The preset period is divided into a first sub-period, a second sub-period, a third sub-period, and a fourth sub-period.

6. The method for smooth real-time twin vehicle driving based on digital twins according to claim 5, characterized in that, The method includes: Determine the first travel distance of the hazardous chemical vehicle and the second travel distance of the real-time twin vehicle within the preset period; When the direction of the location information difference is opposite to the direction of travel of the hazardous chemical vehicle, the first sub-cycle is determined to be an acceleration cycle, the second sub-cycle is a running cycle to reach the maximum speed, the third sub-cycle is a deceleration cycle, and the fourth sub-cycle is a running cycle to reach the speed of the hazardous chemical vehicle based on the first and second travel distances. When the direction of the location information difference is in the same direction as the direction of travel of the hazardous chemical vehicle, the first sub-cycle is determined to be a deceleration cycle, the second sub-cycle is determined to be an operating cycle to reach the minimum speed, the third sub-cycle is determined to be an acceleration cycle, and the fourth sub-cycle is determined to be an operating cycle to reach the speed of the hazardous chemical vehicle based on the first and second travel distances.

7. The method for smooth real-time twin vehicle driving based on digital twins according to claim 1, characterized in that, The method further includes: Constructing 3D roads on a 3D digital map based on latitude and longitude coordinates; The real-time twin vehicle is positioned on the road in a three-dimensional road system by projecting point-line data from at least three consecutive real-time GPS data.

8. A real-time twin vehicle smooth driving system based on a digital twin-based real-time twin vehicle smooth driving method according to any one of claims 1-7, characterized in that, The system includes: The first acquisition unit is used to acquire basic information of hazardous chemical vehicles and create a real-time twin vehicle of the hazardous chemical vehicles based on the basic information. The second acquisition unit calculates the current information of the hazardous chemical vehicle based on acquiring at least three consecutive real-time GPS data points; the current information includes: current vehicle speed and current location; A cycle setting unit is used to set a preset cycle and calculate the predetermined arrival position of the hazardous chemical vehicle at the end of the preset cycle. A location determination unit is used to determine the operating speed of the real-time twin vehicle based on the current information of the hazardous chemical vehicle and the predetermined arrival location. The location application unit is used to apply the running speed to the real-time twin vehicle, so as to enable the real-time twin vehicle to drive smoothly in the three-dimensional GIS system.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, which can be executed by one or more processors to implement the steps of the real-time twin vehicle smooth driving method based on digital twins as described in any one of claims 1 to 7.

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