Method, device and electronic device for generating virtual reality display screen

Abstract

The present invention discloses a method, device and electronic device for generating a virtual reality display screen. The method comprises: obtaining the current positioning information, current driving data information and historical driving track information of a target vehicle at a preset frequency; calculating the position coordinates of the next position of the target vehicle to be confirmed according to the current positioning information, current driving data information and historical driving track information; judging whether the clock corresponding to the next position is the same as the current clock; if yes, confirming the longitude value and latitude value in the current positioning information as the position coordinates of the next position of the target vehicle; if not, confirming the position coordinates of the next position of the target vehicle to be confirmed as the position coordinates of the next position of the target vehicle; determining the next position of the target virtual vehicle in the virtual scene screen according to the position coordinates of the next position; and adjusting the parameters in the virtual scene screen to generate and display the screen of the target virtual vehicle at the next position.

Description

Technical Field

[0001] The present invention relates to the field of virtual reality technology, and in particular to a method, device and electronic equipment for generating a virtual reality display screen. Background Art

[0002] Virtual Reality (VR) technology is a computer simulation system that can penetrate and experience the virtual world. It uses computers to generate a simulated environment and realizes the simulated environment through information fusion, three-dimensional interactive dynamic real scenes and system simulation of entity behavior. The driver's test digital supervision platform is a platform based on virtual reality, test data and 3D site map, integrating vehicle signals, vehicle high-precision GPS positioning, site project videos, in-car videos and other multi-sensor data, using digital twin technology to realize the three-dimensional real scene visualization of the test site, and can monitor the entire test process in real time. The real-time movement trajectory of a vehicle in a three-dimensional scene, for example, on a three-dimensional map, is to use the vehicle's on-board equipment to upload the vehicle's real-time positioning coordinate information to the background system, and then the background system will generate a display screen in the three-dimensional scene after solving the coordinate information, so as to synchronize the real-time driving trajectory of the vehicle in the three-dimensional scene with the vehicle's driving trajectory. However, due to the limitation that the vehicle-mounted equipment can only send positioning coordinate information at a frequency of 5Hz (that is, only 5 positioning information data are uploaded to the background system per second), the vehicle movement displayed in the three-dimensional scene is always intermittent and discontinuous. From the perspective of the human eye, the vehicle in the three-dimensional scene cannot be completely synchronized with the vehicle's movement trajectory, and the sensory effect is poor, which cannot meet the customer's regulatory requirements.

[0003] To solve the above problems, there are two common approaches: one is to increase the transmission frequency of the vehicle-mounted equipment and increase the configuration requirements of the vehicle-mounted industrial computer to improve the transmission and processing speed of the positioning information; the other is to delay the display, that is, after the data is uploaded to the background system, the background system does not perform display processing first, but waits for a period of time to cache, and then fills the data interval with data before generating a display screen in the three-dimensional scene. However, the inventors found that the above solutions have the following problems:

[0004] The first method not only increases the cost of the vehicle-mounted equipment, but also still cannot solve the problem of discontinuous perception of the human eye. This is because the transmission frequency of the vehicle-mounted equipment can only be increased to a maximum of 20Hz, that is, 20 frames per second, and the human eye requires at least 24 frames per second to recognize the picture as a continuous picture. Therefore, this method can only be an optimization and cannot fundamentally solve the problem. The second method, although it can solve the problem of continuity of the human eye, has a high delay, so that the vehicle displayed in the three-dimensional scene is not synchronized with the driving status of the vehicle. For example, the vehicle may have stopped or started to reverse, while the vehicle displayed in the three-dimensional scene is still moving forward. Summary of the invention

[0005] The embodiments of the present invention provide a method, device and electronic device for generating a virtual reality display screen, which are used to solve the problems existing in the prior art that the movement of vehicles displayed in a three-dimensional scene is always intermittent and discontinuous, and the vehicles in the three-dimensional scene cannot be completely synchronized with the movement trajectory of the vehicles in the human eye perception, resulting in poor sensory effects.

[0006] The specific technical solutions are as follows:

[0007] In a first aspect, an embodiment of the present invention provides a method for generating a virtual reality display screen, the method comprising:

[0008] At a preset frequency, the current positioning information of the positioning device for the target vehicle, as well as the current driving data information and historical driving trajectory information of the target vehicle are obtained; wherein the positioning information includes: the longitude value, latitude value, heading angle, ground speed angle, eastward speed and northward speed information of the location of the target vehicle; the driving data information includes: the wheel speed, steering wheel rotation angle, engine speed and gear position information of the target vehicle; the historical driving trajectory information includes: multiple historical positioning information of the positioning device for the target vehicle within a preset time period;

[0009] According to the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle, the preset fusion derivation algorithm is used to calculate the position coordinates of the next position of the target vehicle to be confirmed; wherein the position coordinates include: the longitude value and the latitude value of the position;

[0010] confirming clock information corresponding to the next position;

[0011] Determine whether the clock information corresponding to the next position is the same as the current clock information; if yes, confirm the longitude and latitude values ​​in the positioning information corresponding to the current clock as the position coordinates of the next position of the target vehicle; if no, confirm the position coordinates of the next position of the target vehicle to be confirmed as the position coordinates of the next position of the target vehicle;

[0012] According to the position coordinates of the next position of the target vehicle, the next position of the target virtual vehicle in the virtual scene picture is determined; wherein the virtual scene picture is a real scene twin picture constructed by identifying and simulating real objects in the video information of the environment where the target vehicle is located using digital twin technology; the target virtual vehicle is a virtual vehicle mapped to the virtual scene picture by the target vehicle;

[0013] According to the next position of the target virtual vehicle, the parameters in the virtual scene picture are adjusted, and in the virtual scene picture, a picture of the target virtual vehicle at the next position is generated and displayed.

[0014] Optionally, the step of calculating the coordinates of the next position of the target vehicle to be confirmed by using a preset fusion derivation algorithm according to the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle includes:

[0015] Calculate the current ground speed angle of the target vehicle according to the historical driving trajectory information of the target vehicle; wherein the ground speed angle is the angle between the vehicle driving direction and the true north direction;

[0016] Obtaining a heading angle from the current positioning information;

[0017] Calculating an angle difference between the heading angle and the current ground speed angle;

[0018] Calculating the travel distance of the target vehicle on the center line of the road according to the relationship between the angle difference and the preset deviation correction interval;

[0019] The coordinates of the next position of the target vehicle to be confirmed are determined according to the driving distance and the current driving data information of the target vehicle.

[0020] Optionally, the correction interval is [-3, 2] degrees;

[0021] The step of calculating the travel distance of the target vehicle on the center line of the road according to the relationship between the angle difference and the preset deviation correction interval includes:

[0022] When the angle difference is less than -3 degrees, the preset formula is used. Calculating the travel distance of the target vehicle on the center line of the road;

[0023] When the angle difference is greater than 2 degrees, the preset formula is used Calculate the driving distance of the target vehicle on the center line of the road; wherein dDisTemp is the driving distance of the target vehicle on the center line of the road, dDis is the distance between the previous position of the target vehicle in the historical driving trajectory information and the current position of the target vehicle in the current positioning information, dAngTemp is the angle difference, and PI is pi.

[0024] Optionally, the step of determining the coordinates of the next position of the target vehicle to be confirmed according to the driving distance and the current driving data information of the target vehicle includes:

[0025] Determining the next position of the target vehicle to be confirmed according to the driving distance and the current driving data information of the target vehicle;

[0026] Calculating the position coordinates of the next position to be confirmed of the target vehicle according to the heading angle in the current positioning information;

[0027] Optionally, the step of calculating the position coordinates of the next position to be confirmed of the target vehicle according to the heading angle in the current positioning information includes:

[0028] Using the formula Convert the heading angle into a spherical arc length in the earth coordinate system; wherein dRad is the spherical arc length in the earth coordinate system converted from the heading angle, and dAng is the current ground speed angle of the target vehicle;

[0029] The arc length of the heading angle in the X direction in the plane coordinate system is calculated using the formula dx=dDis×1000×sin(dRad); wherein dx is the arc length of the heading angle in the X direction in the plane coordinate system;

[0030] The arc length of the heading angle in the Y direction in the plane coordinate system is calculated using the formula dy=dDis×1000×cos(dRad); wherein dy is the arc length of the heading angle in the Y direction in the plane coordinate system;

[0031] Using the formula Calculate the longitude value of the coordinates of the next position of the target vehicle to be confirmed; wherein dLonT is the longitude value in the current positioning information, m_ObjGnssFixA.Ed is the radius of the latitude circle of the latitude of the positioning device calculated according to the latitude value in the current positioning information, and m_ObjGnssFixA.m_RadLo is the radian value converted from the longitude value in the current positioning information;

[0032] Using the formula Calculate the latitude value of the next position coordinate of the target vehicle to be confirmed; wherein, dLatT is the latitude value in the current positioning information, m_ObjGnssFixA.Ec is the radius of the earth, and m_ObjGnssFixA.m_RadLa is the radian value converted from the latitude value in the current positioning information.

[0033] Optionally, the step of calculating the current ground speed angle of the target vehicle according to the historical driving trajectory information of the target vehicle includes:

[0034] Calculating the speed change distance of the target vehicle within the preset time period according to the historical driving trajectory information of the target vehicle;

[0035] The current ground speed angle of the target vehicle is calculated according to the speed change distance.

[0036] Optionally, before the step of calculating the coordinates of the next position of the target vehicle to be confirmed by using a preset fusion derivation algorithm according to the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle, the step further includes:

[0037] The current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle are cleaned to remove dirty data.

[0038] In a second aspect, an embodiment of the present invention provides a device for generating a virtual reality display screen, the device comprising:

[0039] The acquisition module is used to acquire the current positioning information of the positioning device for the target vehicle, the current driving data information and the historical driving trajectory information of the target vehicle at a preset frequency; wherein the positioning information includes: the longitude value, latitude value, heading angle, ground speed angle, eastward speed and northward speed information of the location of the target vehicle; the driving data information includes: the wheel speed, steering wheel rotation angle, engine speed and gear information of the target vehicle; the historical driving trajectory information includes: multiple historical positioning information of the positioning device for the target vehicle within a preset time period;

[0040] A calculation module, used to calculate the position coordinates of the next position of the target vehicle to be confirmed according to the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle, using a preset fusion derivation algorithm; wherein the position coordinates include: the longitude and latitude values ​​of the position;

[0041] A confirmation module, used to confirm the clock information corresponding to the next position;

[0042] A judgment module, used to judge whether the clock information corresponding to the next position is the same as the current clock information; if yes, the longitude value and latitude value in the positioning information corresponding to the current clock are confirmed as the position coordinates of the next position of the target vehicle; if no, the position coordinates to be confirmed of the next position of the target vehicle are confirmed as the position coordinates of the next position of the target vehicle;

[0043] A determination module is used to determine the next position of the target virtual vehicle in the virtual scene picture according to the position coordinates of the next position of the target vehicle; wherein the virtual scene picture is a real scene twin picture constructed by identifying and simulating real objects in the video information of the environment where the target vehicle is located using digital twin technology; the target virtual vehicle is a virtual vehicle mapped to the virtual scene picture by the target vehicle;

[0044] The generating module is used to adjust the parameters in the virtual scene picture according to the next position of the target virtual vehicle, and to generate and display the picture of the target virtual vehicle at the next position in the virtual scene picture.

[0045] Optionally, the computing module includes:

[0046] An angle calculation submodule, used to calculate the current ground speed angle of the target vehicle according to the historical driving trajectory information of the target vehicle; wherein the ground speed angle is the angle between the vehicle's driving direction and the true north direction;

[0047] An acquisition submodule, used to acquire a heading angle from the current positioning information;

[0048] A calculation submodule, used to calculate the angle difference between the heading angle and the current ground speed angle;

[0049] A distance calculation submodule, used to calculate the travel distance of the target vehicle on the center line of the road according to the relationship between the angle difference and a preset deviation correction interval;

[0050] The determination submodule is used to determine the coordinates of the next position of the target vehicle to be confirmed according to the driving distance and the current driving data information of the target vehicle.

[0051] Optionally, the correction interval is [-3, 2] degrees;

[0052] The distance calculation submodule is specifically used for:

[0053] When the angle difference is less than -3 degrees, the preset formula is used. Calculating the travel distance of the target vehicle on the center line of the road;

[0054] When the angle difference is greater than 2 degrees, the preset formula is used Calculate the driving distance of the target vehicle on the center line of the road; wherein dDisTemp is the driving distance of the target vehicle on the center line of the road, dDis is the distance between the previous position of the target vehicle in the historical driving trajectory information and the current position of the target vehicle in the current positioning information, dAngTemp is the angle difference, and PI is pi.

[0055] Optionally, the determining submodule is specifically used to:

[0056] Determining the next position of the target vehicle to be confirmed according to the driving distance and the current driving data information of the target vehicle;

[0057] Calculating the position coordinates of the next position to be confirmed of the target vehicle according to the heading angle in the current positioning information;

[0058] Optionally, the determining submodule is specifically used to:

[0059] Using the formula Convert the heading angle into a spherical arc length in the earth coordinate system; wherein dRad is the spherical arc length in the earth coordinate system converted from the heading angle, and dAng is the current ground speed angle of the target vehicle;

[0060] The arc length of the heading angle in the X direction in the plane coordinate system is calculated using the formula dx=dDis×1000×sin(dRad); wherein dx is the arc length of the heading angle in the X direction in the plane coordinate system;

[0061] The arc length of the heading angle in the Y direction in the plane coordinate system is calculated using the formula dy=dDis×1000×cos(dRad); wherein dy is the arc length of the heading angle in the Y direction in the plane coordinate system;

[0062] Using the formula Calculate the longitude value of the coordinates of the next position of the target vehicle to be confirmed; wherein dLonT is the longitude value in the current positioning information, m_ObjGnssFixA.Ed is the radius of the latitude circle of the latitude of the positioning device calculated according to the latitude value in the current positioning information, and m_ObjGnssFixA.m_RadLo is the radian value converted from the longitude value in the current positioning information;

[0063] Using the formula Calculate the latitude value of the next position coordinate of the target vehicle to be confirmed; wherein, dLatT is the latitude value in the current positioning information, m_ObjGnssFixA.Ec is the radius of the earth, and m_ObjGnssFixA.m_RadLa is the radian value converted from the latitude value in the current positioning information.

[0064] Optionally, the angle calculation submodule is specifically used for:

[0065] Calculating the speed change distance of the target vehicle within the preset time period according to the historical driving trajectory information of the target vehicle;

[0066] The current ground speed angle of the target vehicle is calculated according to the speed change distance.

[0067] Optionally, the device further includes:

[0068] The data cleaning module is used to clean the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle to remove dirty data.

[0069] In a third aspect, an embodiment of the present invention further provides an industrial camera, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus;

[0070] The memory is used to store computer programs;

[0071] The processor is used to implement the method steps for generating a virtual reality display screen as described in the first aspect when executing the program stored in the memory.

[0072] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps for generating a virtual reality display screen described in the first aspect above are implemented.

[0073] The method provided by the embodiment of the present invention can realize obtaining the current positioning information of the positioning device for the target vehicle, the current driving data information and the historical driving trajectory information of the target vehicle at a preset frequency; according to the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle, using a preset fusion deduction algorithm, calculate the to-be-confirmed position coordinates of the next position of the target vehicle; confirm the clock information corresponding to the next position; determine whether the clock information corresponding to the next position is the same as the current clock information; if yes, confirm the longitude value and latitude value in the positioning information corresponding to the current clock as the position coordinates of the next position of the target vehicle; if not, confirm the to-be-confirmed position coordinates of the next position of the target vehicle as the position coordinates of the next position of the target vehicle; determine the next position of the target virtual vehicle in the virtual scene picture according to the position coordinates of the next position of the target vehicle; according to the next position of the target virtual vehicle, adjust the parameters in the virtual scene picture, and generate and display the picture of the target virtual vehicle at the next position in the virtual scene picture. It can be seen that the method provided by the embodiment of the present invention can deduce the next position coordinates of the vehicle between the gaps of the two positioning information reported by the positioning device, and generate and display the picture according to the derived position coordinates, so that the number of frames generated and displayed per second in the virtual scene can reach more than 24 frames, and the motion trajectory of the vehicle in the three-dimensional scene is completely synchronized with the actual vehicle; therefore, the requirement of the continuity of the human eye's sensory picture is met, and the problem that the vehicle movement displayed in the three-dimensional scene is always intermittent and discontinuous in the prior art is solved, and the vehicle in the three-dimensional scene cannot be completely synchronized with the vehicle's motion trajectory in the human eye's sense, resulting in poor sensory effect, thereby improving user satisfaction.

[0074] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0075] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0077] Figure 1 A schematic diagram of a flow chart of a method for generating a virtual reality display screen provided by an embodiment of the present invention;

[0078] Figure 2Another schematic diagram of a flow chart of a method for generating a virtual reality display screen provided by an embodiment of the present invention;

[0079] Figure 3 A schematic diagram of the structure of a device for generating a virtual reality display screen provided by an embodiment of the present invention;

[0080] Figure 4 A schematic diagram of the internal structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0081] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0082] Figure 1 A flowchart of a method for generating a virtual reality display screen provided by an embodiment of the present invention is shown as follows: Figure 1 As shown, the method includes:

[0083] S101: obtaining the current positioning information of the target vehicle by the positioning device at a preset frequency, as well as the current driving data information and historical driving trajectory information of the target vehicle; wherein the positioning information includes: the longitude value, latitude value, heading angle, ground speed angle, eastward speed and northward speed information of the location of the target vehicle; the driving data information includes: the wheel speed, steering wheel rotation angle, engine speed and gear information of the target vehicle; the historical driving trajectory information includes: multiple historical positioning information of the positioning device for the target vehicle within a preset time period;

[0084] When the human eye is relaxed and comfortable, the visible frame rate is 24 frames per second, and when the eye is focused, it does not exceed 30 frames. When the eye is blinking, the number of frames that can be captured is more than 30 frames. In other words, the human eye needs at least 24 frames per second to recognize a continuous picture. The method provided in the embodiment of the present invention can set the frequency of generating pictures based on this, thereby avoiding the problem of discontinuity caused by the frequency of generating pictures less than 24 frames per second.

[0085] The current process of acquiring positioning information can be: the positioning antenna installed on the vehicle receives satellite data from the satellite navigation system and differential data from the differential base station, and then transmits the received data to the satellite positioning device installed on the target vehicle. The satellite positioning device obtains the real-time positioning information of the target vehicle by performing operations such as carrier phase differential on the received data. In practical applications, the satellite navigation system can be: GNSS (Global Navigation Satellite System), Beidou Satellite Navigation System, GPS (Global Positioning System), GLONASS Satellite Navigation System or Galileo Satellite Navigation System, etc.

[0086] OBD (On-Board Diagnostics) is mainly used to monitor the operating status of the engine, and monitor whether the exhaust gas of the car exceeds the standard at any time according to the operating status of the engine. Once it exceeds the standard, an alarm will be issued immediately. In the embodiment provided by the present invention, OBD can be integrated with multiple sensors installed on the vehicle to collect the vehicle's driving data information in real time, that is, the vehicle's current wheel speed information, current steering wheel rotation angle information, current engine speed information and current gear information are collected in real time. In a specific embodiment, the real-time requirement for collecting the vehicle's driving data information is that the update frequency is greater than 10HZ.

[0087] S102: Calculate the next position coordinates of the target vehicle to be confirmed based on the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle using a preset fusion derivation algorithm; wherein the position coordinates include: the longitude and latitude values ​​of the position;

[0088] Specifically, the step of calculating the coordinates of the next position of the target vehicle to be confirmed by using a preset fusion derivation algorithm according to the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle may include:

[0089] According to the historical driving trajectory information of the target vehicle, the current ground speed angle of the target vehicle is calculated; wherein the ground speed angle is the angle between the vehicle's driving direction and the true north direction; the true north direction is the direction of the North Star;

[0090] Get the heading angle from the current positioning information;

[0091] Calculate the angle difference between the heading angle and the current ground speed angle;

[0092] Calculate the travel distance of the target vehicle on the center line of the road based on the relationship between the angle difference and the preset deviation correction interval;

[0093] According to the driving distance and the current driving data information of the target vehicle, the coordinates of the next position of the target vehicle to be confirmed are determined.

[0094] In a specific embodiment, the correction interval may be [-3, 2] degrees;

[0095] The step of calculating the travel distance of the target vehicle on the center line of the road according to the relationship between the angle difference and the preset deviation correction interval may include:

[0096] When the angle difference is less than -3 degrees, use the preset formula Calculate the distance traveled by the target vehicle on the center line of the road;

[0097] When the angle difference is greater than 2 degrees, use the preset formula Calculate the driving distance of the target vehicle on the center line of the road; where dDisTemp is the driving distance of the target vehicle on the center line of the road, dDis is the distance between the previous position of the target vehicle in the historical driving trajectory information and the current position of the target vehicle in the current positioning information, dAngTemp is the angle difference, and PI is pi;

[0098] When the angle difference falls within the correction interval, there is no need to calculate the travel distance of the target vehicle on the center line of the road.

[0099] In a specific embodiment, the step of determining the coordinates of the next position of the target vehicle to be confirmed according to the driving distance and the current driving data information of the target vehicle includes:

[0100] Determine the next position of the target vehicle to be confirmed based on the driving distance and the current driving data information of the target vehicle;

[0101] Calculate the position coordinates of the next position to be confirmed of the target vehicle according to the heading angle in the current positioning information;

[0102] In a specific embodiment, the step of calculating the position coordinates of the next position to be confirmed of the target vehicle according to the heading angle in the current positioning information includes:

[0103] Using the formula Convert the heading angle to the spherical arc length in the earth coordinate system; where dRad is the spherical arc length in the earth coordinate system converted from the heading angle, and dAng is the current ground speed angle of the target vehicle;

[0104] The arc length of the heading angle in the X direction in the plane coordinate system is calculated using the formula dx=dDis×1000×sin(dRad); where dx is the arc length of the heading angle in the X direction in the plane coordinate system;

[0105] The arc length of the heading angle in the Y direction in the plane coordinate system is calculated using the formula dy=dDis×1000×cos(dRad); where dy is the arc length of the heading angle in the Y direction in the plane coordinate system;

[0106] Using the formula Calculate the longitude value of the next position coordinate of the target vehicle to be confirmed; where dLonT is the longitude value in the current positioning information, m_ObjGnssFixA.Ed is the radius of the latitude circle of the latitude of the positioning device calculated according to the latitude value in the current positioning information, and m_ObjGnssFixA.m_RadLo is the radian value converted from the longitude value in the current positioning information;

[0107] Using the formula Calculate the latitude value of the next position coordinate of the target vehicle to be confirmed; where dLatT is the latitude value in the current positioning information, m_ObjGnssFixA.Ec is the radius of the earth, and m_ObjGnssFixA.m_RadLa is the radian value converted from the latitude value in the current positioning information.

[0108] S103: confirming the clock information corresponding to the next position;

[0109] S104: Determine whether the clock information corresponding to the next position is the same as the current clock information; if yes, confirm the longitude and latitude values ​​in the positioning information corresponding to the current clock as the position coordinates of the next position of the target vehicle; if no, confirm the position coordinates of the next position of the target vehicle to be confirmed as the position coordinates of the next position of the target vehicle;

[0110] The method provided by the embodiment of the present invention, after calculating and deriving the position coordinates of the next position of the target vehicle, will determine whether the current moment has arrived at the moment when the positioning device reports the positioning information. If so, the position coordinates in the positioning information reported by the positioning device are determined as the position coordinates of the next position of the target vehicle; if not, the position coordinates of the next position derived by calculation are determined as the position coordinates of the next position of the target vehicle; in a virtual scene screen of virtual reality, such as a three-dimensional electronic map, a screen of the target virtual vehicle at the next position is generated and displayed; thereby ensuring the continuity of the screen in the virtual scene screen, avoiding the vehicle from jerking, and improving the user's sensory experience.

[0111] S105: Determine the next position of the target virtual vehicle in the virtual scene picture according to the position coordinates of the next position of the target vehicle; wherein the virtual scene picture is a real scene twin picture constructed by identifying and simulating real objects in the video information of the environment where the target vehicle is located using the digital twin technology; the target virtual vehicle is a virtual vehicle mapped to the virtual scene picture by the target vehicle;

[0112] In a specific embodiment, for example, a digital supervision platform for driver examinations can be based on examination data and 3D site maps, integrating multi-sensor data such as vehicle signals, vehicle high-precision GPS positioning, site project videos, in-vehicle videos, etc., and using digital twin technology to achieve three-dimensional real scene visualization of the examination room, thereby realizing real-time monitoring of the entire examination process.

[0113] S106: According to the next position of the target virtual vehicle, the parameters in the virtual scene picture are adjusted, and a picture of the target virtual vehicle at the next position is generated and displayed in the virtual scene picture.

[0114] In practical applications, the current ground speed angle of the target vehicle can be calculated based on the historical driving trajectory information of the target vehicle through the following steps:

[0115] Calculate the speed change distance of the target vehicle within a preset time period based on the historical driving trajectory information of the target vehicle;

[0116] The current ground speed angle of the target vehicle is calculated according to the speed change distance.

[0117] Specifically, the speed change distance of the target vehicle within the preset time period can be calculated by the following method:

[0118] According to the multiple historical positioning information of the positioning device for the target vehicle, the formula is used Calculate the speed change distance of the target vehicle within the preset time period; where T1 and T2 are the time information in the historical positioning information, and time T2 is later than time T1; s(T1) is the position of the positioning device at time T1, and s(T2) is the position of the positioning device at time T2.

[0119] In practical applications, before calculating the coordinates of the next position of the target vehicle to be confirmed based on the current positioning information of the positioning device, the current driving data information of the target vehicle, and the historical driving trajectory information using a preset fusion derivation algorithm, the current positioning information of the positioning device, the current driving data information of the target vehicle, and the historical driving trajectory information will be pre-processed such as data cleaning to remove dirty data. Specifically, data that affects the accuracy of the algorithm, such as data that is obviously abnormal, identical data, initialized zero data, or data with too small a distance value, is removed. Initialized zero data refers to positioning data with a value of zero that appears when the positioning device is initialized. Data with too small a distance value refers to the distance value between two points calculated based on the positioning information output twice by the satellite positioning system before and after 400 milliseconds. When the distance value is less than the set error value, the distance value is data with too small a distance value.

[0120] Depend on Figure 1 As can be seen from the illustrated embodiment, the method provided by the embodiment of the present invention can realize obtaining the current positioning information of the positioning device for the target vehicle, the current driving data information and the historical driving trajectory information of the target vehicle at a preset frequency; calculating the to-be-confirmed position coordinates of the next position of the target vehicle using a preset fusion deduction algorithm according to the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle; confirming the clock information corresponding to the next position; judging whether the clock information corresponding to the next position is the same as the current clock information; if so, confirming the longitude value and latitude value in the positioning information corresponding to the current clock as the position coordinates of the next position of the target vehicle; if not, confirming the to-be-confirmed position coordinates of the next position of the target vehicle as the position coordinates of the next position of the target vehicle; determining the next position of the target virtual vehicle in the virtual scene picture according to the position coordinates of the next position of the target vehicle; adjusting the parameters in the virtual scene picture according to the next position of the target virtual vehicle, and generating and displaying the picture of the target virtual vehicle at the next position in the virtual scene picture. It can be seen that the method provided by the embodiment of the present invention can deduce the next position coordinates of the vehicle between the gaps of the two positioning information reported by the positioning device, and generate and display the picture according to the derived position coordinates, so that the number of frames generated and displayed per second in the virtual scene can reach more than 24 frames, and the motion trajectory of the vehicle in the three-dimensional scene is completely synchronized with the actual vehicle; therefore, the requirement of the continuity of the human eye's sensory picture is met, and the problem that the vehicle movement displayed in the three-dimensional scene is always intermittent and discontinuous in the prior art is solved, and the vehicle in the three-dimensional scene cannot be completely synchronized with the vehicle's motion trajectory in the human eye's sense, resulting in poor sensory effect, thereby improving user satisfaction.

[0121] The following is a practical example to further illustrate the method provided by the embodiment of the present invention in more detail.

[0122] In this embodiment, the satellite navigation system is GNSS, see Figure 2 The process of generating a virtual reality display screen provided by the embodiment of the present invention is as follows:

[0123] S201: obtaining the current positioning information of the positioning device for the target vehicle, and the current driving data information and historical driving trajectory information of the target vehicle at a preset frequency;

[0124] Among them, the positioning information includes: the longitude value, latitude value, heading angle, ground speed angle, east speed and north speed information of the target vehicle's location; the driving data information includes: the wheel speed, steering wheel rotation angle, engine speed and gear information of the target vehicle; the historical driving trajectory information includes: multiple historical positioning information of the positioning device for the target vehicle within a preset time period.

[0125] S202: performing data cleaning on the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle to remove dirty data;

[0126] S203: Calculating the speed change distance of the target vehicle within a preset time period according to the historical driving trajectory information of the target vehicle;

[0127] Specifically, we can use the formula Calculate the speed change distance of the target vehicle within the preset time period; where T1 and T2 are the time information in the historical positioning information, and time T2 is later than time T1; s(T1) is the position of the positioning device at time T1, and s(T2) is the position of the positioning device at time T2.

[0128] S204: Calculating the current ground speed angle of the target vehicle according to the speed change distance;

[0129] Among them, the ground speed angle is the angle between the vehicle's driving direction and the true north direction; the true north direction is the direction of the North Star.

[0130] S205: Obtaining a heading angle from the current positioning information;

[0131] S206: Calculate the angle difference between the heading angle and the current ground speed angle;

[0132] Specifically, the angle difference between the heading angle and the current ground speed angle=heading angle-current ground speed angle.

[0133] S207: Determine the relationship between the angle difference between the heading angle and the current ground speed angle and the correction interval [-3, 2] degrees; when the angle difference is less than -3 degrees, execute step S208; when the angle difference is greater than 2 degrees, execute step S209;

[0134] When the angle difference falls within the correction range, no correction is required, that is, no calculation of the target vehicle's driving distance on the center line of the road is required. The angle difference falls within the correction range, which means that the angle difference is greater than or equal to -3 degrees and less than or equal to 2 degrees, that is, -3≤angle difference≤2.

[0135] S208: Using the preset formula Calculate the travel distance of the target vehicle on the center line of the road; and continue to execute step S210;

[0136] Among them, dDisTemp is the driving distance of the target vehicle on the center line of the road, dDis is the distance between the previous position of the target vehicle in the historical driving trajectory information and the current position of the target vehicle in the current positioning information, dAngTemp is the angle difference between the heading angle and the current ground speed angle, and PI is pi.

[0137] S209: Using the preset formula Calculate the travel distance of the target vehicle on the center line of the road; and continue to execute step S210;

[0138] S210: Determine the next position of the target vehicle to be confirmed according to the driving distance and the current driving data information of the target vehicle;

[0139] S211: Calculating the position coordinates of the next position to be confirmed of the target vehicle according to the heading angle in the current positioning information;

[0140] Specifically, we can use the formula Convert the heading angle to the spherical arc length in the earth coordinate system; where dRad is the spherical arc length in the earth coordinate system converted from the heading angle, and dAng is the current ground speed angle of the target vehicle;

[0141] The arc length of the heading angle in the X direction in the plane coordinate system is calculated using the formula dx=dDis×1000×sin(dRad); where dx is the arc length of the heading angle in the X direction in the plane coordinate system;

[0142] The arc length of the heading angle in the Y direction in the plane coordinate system is calculated using the formula dy=dDis×1000×cos(dRad); where dy is the arc length of the heading angle in the Y direction in the plane coordinate system;

[0143] Using the formula Calculate the longitude value of the next position coordinate of the target vehicle to be confirmed; where dLonT is the longitude value in the current positioning information, m_ObjGnssFixA.Ed is the radius of the latitude circle of the latitude of the positioning device calculated according to the latitude value in the current positioning information, and m_ObjGnssFixA.m_RadLo is the radian value converted from the longitude value in the current positioning information;

[0144] Using the formula Calculate the latitude value of the next position coordinate of the target vehicle to be confirmed; where dLatT is the latitude value in the current positioning information, m_ObjGnssFixA.Ec is the radius of the earth, and m_ObjGnssFixA.m_RadLa is the radian value converted from the latitude value in the current positioning information.

[0145] By calculating the longitude and latitude of the next position to be confirmed, the position coordinates of the position are obtained.

[0146] S212: confirming the clock information corresponding to the next position;

[0147] S213: Determine whether the clock information corresponding to the next position is the same as the current clock information; if yes, confirm the longitude and latitude values ​​in the positioning information corresponding to the current clock as the position coordinates of the next position of the target vehicle; if no, confirm the position coordinates of the next position of the target vehicle to be confirmed as the position coordinates of the next position of the target vehicle;

[0148] S214: Determine the next position of the target virtual vehicle in the virtual scene according to the position coordinates of the next position of the target vehicle;

[0149] Among them, the virtual scene screen is a real-life twin screen constructed by using digital twin technology to identify and simulate real objects in the video information of the environment in which the target vehicle is located; the target virtual vehicle is a virtual vehicle mapped to the virtual scene screen by the target vehicle.

[0150] S215: According to the next position of the target virtual vehicle, the parameters in the virtual scene picture are adjusted, and a picture of the target virtual vehicle at the next position is generated and displayed in the virtual scene picture.

[0151] Depend on Figure 2It can be seen from the illustrated embodiment that the method provided by the embodiment of the present invention can deduce the next position coordinates of the vehicle between the gaps of two positioning information reported by the positioning device, and generate and display a picture based on the derived position coordinates, thereby achieving more than 24 frames per second generated and displayed in the virtual scene, and the motion trajectory of the vehicle in the three-dimensional scene is completely synchronized with the actual vehicle; therefore, the requirement of the continuity of the human eye's sensory picture is met, and the problem existing in the prior art that the vehicle motion displayed in the three-dimensional scene is always intermittent and discontinuous, and the vehicle in the three-dimensional scene cannot be completely synchronized with the vehicle's motion trajectory in the human eye's sense, resulting in poor sensory effect, is solved, thereby improving user satisfaction.

[0152] and Figure 1 Corresponding to the embodiment shown in FIG. 1 , the embodiment of the present invention further provides a device for generating a virtual reality display screen. Figure 3 As shown, the device includes: an acquisition module 301, a calculation module 302, a confirmation module 303, a judgment module 304, a determination module 305, and a generation module 306.

[0153] The acquisition module is used to acquire the current positioning information of the positioning device for the target vehicle, the current driving data information and the historical driving trajectory information of the target vehicle at a preset frequency; wherein the positioning information includes: the longitude value, latitude value, heading angle, ground speed angle, eastward speed and northward speed information of the location of the target vehicle; the driving data information includes: the wheel speed, steering wheel rotation angle, engine speed and gear information of the target vehicle; the historical driving trajectory information includes: multiple historical positioning information of the positioning device for the target vehicle within a preset time period;

[0154] The calculation module is used to calculate the coordinates of the next position of the target vehicle to be confirmed based on the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle, using a preset fusion derivation algorithm; wherein the position coordinates include: the longitude value and the latitude value of the position;

[0155] A confirmation module, used to confirm the clock information corresponding to the next position;

[0156] A judgment module is used to judge whether the clock information corresponding to the next position is the same as the current clock information; if yes, the longitude and latitude values ​​in the positioning information corresponding to the current clock are confirmed as the position coordinates of the next position of the target vehicle; if no, the position coordinates to be confirmed of the next position of the target vehicle are confirmed as the position coordinates of the next position of the target vehicle;

[0157] A determination module is used to determine the next position of the target virtual vehicle in the virtual scene picture according to the position coordinates of the next position of the target vehicle; wherein the virtual scene picture is a real scene twin picture constructed by identifying and simulating real objects in the video information of the environment where the target vehicle is located using digital twin technology; the target virtual vehicle is a virtual vehicle mapped to the virtual scene picture by the target vehicle;

[0158] The generation module is used to adjust the parameters in the virtual scene picture according to the next position of the target virtual vehicle, and generate and display the picture of the target virtual vehicle at the next position in the virtual scene picture.

[0159] Optional, computing module, including:

[0160] The angle calculation submodule is used to calculate the current ground speed angle of the target vehicle based on the historical driving trajectory information of the target vehicle; wherein the ground speed angle is the angle between the vehicle's driving direction and the true north direction;

[0161] The acquisition submodule is used to obtain the heading angle from the current positioning information;

[0162] A calculation submodule, used to calculate the angle difference between the heading angle and the current ground speed angle;

[0163] The distance calculation submodule is used to calculate the travel distance of the target vehicle on the center line of the road according to the relationship between the angle difference and the preset deviation correction interval;

[0164] The determination submodule is used to determine the coordinates of the next position of the target vehicle to be confirmed based on the driving distance and the current driving data information of the target vehicle.

[0165] Optionally, the correction interval is [-3,2] degrees;

[0166] The distance calculation submodule is specifically used for:

[0167] When the angle difference is less than -3 degrees, use the preset formula Calculate the distance traveled by the target vehicle on the center line of the road;

[0168] When the angle difference is greater than 2 degrees, use the preset formula Calculate the driving distance of the target vehicle on the center line of the road; where dDisTemp is the driving distance of the target vehicle on the center line of the road, dDis is the distance between the previous position of the target vehicle in the historical driving trajectory information and the current position of the target vehicle in the current positioning information, dAngTemp is the angle difference, and PI is pi.

[0169] Optionally, determine the submodules, specifically for:

[0170] Determine the next position of the target vehicle to be confirmed based on the driving distance and the current driving data information of the target vehicle;

[0171] Calculate the position coordinates of the next position to be confirmed of the target vehicle according to the heading angle in the current positioning information;

[0172] Optionally, determine the submodules, specifically for:

[0173] Using the formula Convert the heading angle to the spherical arc length in the earth coordinate system; where dRad is the spherical arc length in the earth coordinate system converted from the heading angle, and dAng is the current ground speed angle of the target vehicle;

[0174] The arc length of the heading angle in the X direction in the plane coordinate system is calculated using the formula dx=dDis×1000×sin(dRad); where dx is the arc length of the heading angle in the X direction in the plane coordinate system;

[0175] The arc length of the heading angle in the Y direction in the plane coordinate system is calculated using the formula dy=dDis×1000×cos(dRad); where dy is the arc length of the heading angle in the Y direction in the plane coordinate system;

[0176] Using the formula Calculate the longitude value of the next position coordinate of the target vehicle to be confirmed; where dLonT is the longitude value in the current positioning information, m_ObjGnssFixA.Ed is the radius of the latitude circle of the latitude of the positioning device calculated according to the latitude value in the current positioning information, and m_ObjGnssFixA.m_RadLo is the radian value converted from the longitude value in the current positioning information;

[0177] Using the formula Calculate the latitude value of the next position coordinate of the target vehicle to be confirmed; where dLatT is the latitude value in the current positioning information, m_ObjGnssFixA.Ec is the radius of the earth, and m_ObjGnssFixA.m_RadLa is the radian value converted from the latitude value in the current positioning information.

[0178] Optional, angle calculation submodule, specifically used for:

[0179] Calculate the speed change distance of the target vehicle within a preset time period based on the historical driving trajectory information of the target vehicle;

[0180] The current ground speed angle of the target vehicle is calculated according to the speed change distance.

[0181] Optionally, the device further includes:

[0182] The data cleaning module is used to clean the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle to remove dirty data.

[0183] It can be seen that the device provided by the embodiment of the present invention can deduce the next position coordinates of the vehicle between the gaps of two positioning information reported by the positioning device, and generate and display a picture based on the derived position coordinates, so that the number of frames generated and displayed per second in the virtual scene can reach more than 24 frames, and the motion trajectory of the vehicle in the three-dimensional scene is completely synchronized with the actual vehicle; therefore, the requirement of the continuity of the human eye's sensory picture is met, and the problem that the vehicle movement displayed in the three-dimensional scene is always intermittent and discontinuous in the prior art is solved, and the vehicle in the three-dimensional scene cannot be completely synchronized with the vehicle's motion trajectory in the human eye's perception, resulting in poor sensory effect, thereby improving user satisfaction.

[0184] and Figure 1 Corresponding to the embodiment shown, the embodiment of the present invention further provides an electronic device, see Figure 4 , including a processor 401, a communication interface 402, a memory 403 and a communication bus 404, wherein the processor 401, the communication interface 402, and the memory 403 communicate with each other through the communication bus 404;

[0185] Memory 403, used for storing computer programs;

[0186] The processor 401 is used to implement the method steps for generating any virtual reality display screen described in the above embodiments when executing the program stored in the memory.

[0187] It can be seen that the electronic device provided by the embodiment of the present invention can deduce the next position coordinates of the vehicle between the gaps of the two positioning information reported by the positioning device, and generate and display the picture according to the derived position coordinates, so that the number of frames generated and displayed per second in the virtual scene can reach more than 24 frames, and the motion trajectory of the vehicle in the three-dimensional scene is completely synchronized with the actual vehicle; therefore, the requirement of the continuity of the human eye's sensory picture is met, and the problem that the vehicle movement displayed in the three-dimensional scene is always intermittent and discontinuous in the prior art is solved, and the vehicle in the three-dimensional scene cannot be completely synchronized with the vehicle's motion trajectory in the human eye's perception, resulting in poor sensory effect, thereby improving user satisfaction.

[0188] and Figure 1 Corresponding to the embodiment shown, an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method steps for generating any virtual reality display screen described in the above embodiments are implemented.

[0189] It can be seen that the storage medium provided by the embodiment of the present invention can deduce the next position coordinates of the vehicle between the gaps of the two positioning information reported by the positioning device, and generate and display the picture according to the derived position coordinates, so that the number of frames generated and displayed per second in the virtual scene can reach more than 24 frames, and the motion trajectory of the vehicle in the three-dimensional scene is completely synchronized with the actual vehicle; therefore, the requirement of the continuity of the human eye's sensory picture is met, and the problem that the vehicle movement displayed in the three-dimensional scene is always intermittent and discontinuous in the prior art is solved, and the vehicle in the three-dimensional scene cannot be completely synchronized with the vehicle's motion trajectory in the human eye's perception, resulting in poor sensory effect, thereby improving user satisfaction.

[0190] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0191] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0192] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0193] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0194] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for generating a virtual reality display screen, characterized in that: The method comprises: At a preset frequency, the current positioning information of the positioning device for the target vehicle, as well as the current driving data information and historical driving trajectory information of the target vehicle are obtained; wherein the positioning information includes: the longitude value, latitude value, heading angle, ground speed angle, eastward speed and northward speed information of the location of the target vehicle; the driving data information includes: the wheel speed, steering wheel rotation angle, engine speed and gear position information of the target vehicle; the historical driving trajectory information includes: multiple historical positioning information of the positioning device for the target vehicle within a preset time period; According to the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle, the preset fusion derivation algorithm is used to calculate the position coordinates of the next position of the target vehicle to be confirmed; wherein the position coordinates include: the longitude value and the latitude value of the position; confirming clock information corresponding to the next position; Determine whether the clock information corresponding to the next position is the same as the current clock information; if yes, confirm the longitude and latitude values ​​in the positioning information corresponding to the current clock as the position coordinates of the next position of the target vehicle; if no, confirm the position coordinates of the next position of the target vehicle to be confirmed as the position coordinates of the next position of the target vehicle; According to the position coordinates of the next position of the target vehicle, the next position of the target virtual vehicle in the virtual scene picture is determined; wherein the virtual scene picture is a real scene twin picture constructed by identifying and simulating real objects in the video information of the environment where the target vehicle is located using digital twin technology; the target virtual vehicle is a virtual vehicle mapped to the virtual scene picture by the target vehicle; According to the next position of the target virtual vehicle, adjusting the parameters in the virtual scene picture, generating and displaying a picture of the target virtual vehicle at the next position in the virtual scene picture; The step of calculating the coordinates of the next position of the target vehicle to be confirmed by using a preset fusion derivation algorithm according to the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle comprises: Calculate the current ground speed angle of the target vehicle according to the historical driving trajectory information of the target vehicle; wherein the ground speed angle is the angle between the vehicle driving direction and the true north direction; Obtaining a heading angle from the current positioning information; Calculating an angle difference between the heading angle and the current ground speed angle; Calculating the travel distance of the target vehicle on the center line of the road according to the relationship between the angle difference and the preset deviation correction interval; The coordinates of the next position of the target vehicle to be confirmed are determined according to the driving distance and the current driving data information of the target vehicle.

2. The method according to claim 1, characterized in that The correction interval is [-3,2] degrees; The step of calculating the travel distance of the target vehicle on the center line of the road according to the relationship between the angle difference and the preset deviation correction interval includes: When the angle difference is less than -3 degrees, the preset formula is used. Calculating the travel distance of the target vehicle on the center line of the road; When the angle difference is greater than 2 degrees, the preset formula is used Calculate the driving distance of the target vehicle on the center line of the road; wherein dDisTemp is the driving distance of the target vehicle on the center line of the road, dDis is the distance between the previous position of the target vehicle in the historical driving trajectory information and the current position of the target vehicle in the current positioning information, dAngTemp is the angle difference, and PI is pi.

3. The method according to claim 2, characterized in that The step of determining the coordinates of the next position of the target vehicle to be confirmed according to the driving distance and the current driving data information of the target vehicle comprises: Determining the next position of the target vehicle to be confirmed according to the driving distance and the current driving data information of the target vehicle; The position coordinates of the next position to be confirmed of the target vehicle are calculated according to the heading angle in the current positioning information.

4. The method according to claim 3, characterized in that The step of calculating the position coordinates of the next position to be confirmed of the target vehicle according to the heading angle in the current positioning information comprises: Using the formula Convert the heading angle into a spherical arc length in the earth coordinate system; wherein dRad is the spherical arc length in the earth coordinate system converted from the heading angle, and dAng is the current ground speed angle of the target vehicle; The arc length of the heading angle in the X direction in the plane coordinate system is calculated using the formula dx=dDis×1000×sin(dRad); wherein dx is the arc length of the heading angle in the X direction in the plane coordinate system; The arc length of the heading angle in the Y direction in the plane coordinate system is calculated using the formula dy=dDis×1000×cos(dRad); wherein dy is the arc length of the heading angle in the Y direction in the plane coordinate system; Using the formula Calculate the longitude value of the coordinates of the next position of the target vehicle to be confirmed; wherein dLonT is the longitude value in the current positioning information, m_ObjGnssFixA.Ed is the radius of the latitude circle of the latitude of the positioning device calculated according to the latitude value in the current positioning information, and m_ObjGnssFixA.m_RadLo is the radian value converted from the longitude value in the current positioning information; Using the formula Calculate the latitude value of the next position coordinate of the target vehicle to be confirmed; wherein, dLatT is the latitude value in the current positioning information, m_ObjGnssFixA.Ec is the radius of the earth, and m_ObjGnssFixA.m_RadLa is the radian value converted from the latitude value in the current positioning information.

5. The method according to claim 1, characterized in that The step of calculating the current ground speed angle of the target vehicle according to the historical driving trajectory information of the target vehicle comprises: Calculating the speed change distance of the target vehicle within the preset time period according to the historical driving trajectory information of the target vehicle; The current ground speed angle of the target vehicle is calculated according to the speed change distance.

6. The method according to claim 1, characterized in that Before the step of calculating the coordinates of the next position of the target vehicle to be confirmed by using a preset fusion derivation algorithm according to the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle, the method further includes: The current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle are cleaned to remove dirty data.

7. A device for generating a virtual reality display screen, characterized in that: The device comprises: The acquisition module is used to acquire the current positioning information of the positioning device for the target vehicle, the current driving data information and the historical driving trajectory information of the target vehicle at a preset frequency; wherein the positioning information includes: the longitude value, latitude value, heading angle, ground speed angle, eastward speed and northward speed information of the location of the target vehicle; the driving data information includes: the wheel speed, steering wheel rotation angle, engine speed and gear information of the target vehicle; the historical driving trajectory information includes: multiple historical positioning information of the positioning device for the target vehicle within a preset time period; A calculation module, used to calculate the position coordinates of the next position of the target vehicle to be confirmed according to the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle, using a preset fusion derivation algorithm; wherein the position coordinates include: the longitude and latitude values ​​of the position; A confirmation module, used to confirm the clock information corresponding to the next position; A judgment module, used to judge whether the clock information corresponding to the next position is the same as the current clock information; if yes, the longitude value and latitude value in the positioning information corresponding to the current clock are confirmed as the position coordinates of the next position of the target vehicle; if no, the position coordinates to be confirmed of the next position of the target vehicle are confirmed as the position coordinates of the next position of the target vehicle; A determination module is used to determine the next position of the target virtual vehicle in the virtual scene picture according to the position coordinates of the next position of the target vehicle; wherein the virtual scene picture is a real scene twin picture constructed by identifying and simulating real objects in the video information of the environment where the target vehicle is located using digital twin technology; the target virtual vehicle is a virtual vehicle mapped to the virtual scene picture by the target vehicle; A generating module, used for adjusting the parameters in the virtual scene picture according to the next position of the target virtual vehicle, and generating and displaying a picture of the target virtual vehicle at the next position in the virtual scene picture; The step of calculating the coordinates of the next position of the target vehicle to be confirmed by using a preset fusion derivation algorithm according to the current positioning information of the positioning device, the current driving data information and the historical driving trajectory information of the target vehicle comprises: Calculate the current ground speed angle of the target vehicle according to the historical driving trajectory information of the target vehicle; wherein the ground speed angle is the angle between the vehicle driving direction and the true north direction; Obtaining a heading angle from the current positioning information; Calculating an angle difference between the heading angle and the current ground speed angle; Calculating the travel distance of the target vehicle on the center line of the road according to the relationship between the angle difference and the preset deviation correction interval; The coordinates of the next position of the target vehicle to be confirmed are determined according to the driving distance and the current driving data information of the target vehicle.

8. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The memory is used to store computer programs; The processor is used to implement the method steps described in any one of claims 1-6 when executing the program stored in the memory.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in any one of claims 1 to 6 are implemented.

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