Digital twin service equipment management and control method and device

Abstract

The invention discloses a digital twin service equipment management and control method and device, and solves the problems that the service equipment in a traffic scene runs for a long time, so that the service life is shortened, the energy consumption is large, and the cost control is not facilitated. The invention discloses a digital twin service equipment management and control method. The method comprises the following steps: acquiring current sensing information of a target vehicle; displaying a twin picture of the traffic scene; the twinborn picture comprises a twinborn object of the target vehicle and a twinborn object of service equipment; the current sensing information of the target vehicle comprises vehicle position information; obtaining the range of the service area, and controlling the working state of the service equipment in the range; and in the twinborn picture, updating the twinborn object of the service equipment, and displaying the current working state or the current operation effect of the service equipment. On the basis of all views in one picture, service equipment evaluation and adjustment can be carried out visually and conveniently, and the service capability is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a digital twin service equipment management and control method and device. Background Art

[0002] With the acceleration of urbanization and the development of the automobile industry, more and more highways are playing an important role in urban transportation. Various service equipment in traffic scenes (such as lighting and fans) are in the on state for a long time, which affects the life of the equipment itself and wastes energy. In order to extend the life of various service equipment in traffic scenes and improve energy efficiency, it is necessary to manage various service equipment in traffic scenes. Although automated traffic facility management and control can reduce costs (such as "lights follow the car" in tunnels), it is difficult for traffic scene managers to timely understand the working status and working effects of a large number of service equipment installed along the road, determine the control effect in real time, and whether there are any abnormalities in the equipment. Summary of the invention

[0003] The present application proposes a digital twin service equipment management and control method and device to solve the problem that the management and control effects and abnormal equipment cannot be determined in a timely manner during the service equipment management and control process in traffic scenarios.

[0004] In a first aspect, an embodiment of the present application provides a service device management and control method for a digital twin, comprising the steps of:

[0005] Acquire the current perception information of the target vehicle; display the twin picture of the traffic scene; the twin picture includes the twin object of the target vehicle and the twin object of the service equipment; the current perception information of the target vehicle includes the vehicle position information;

[0006] Get the scope of the service area and control the working status of the service equipment within the scope;

[0007] In the twin picture, the twin object of the service equipment is updated to display the current working status or current operating effect of the service equipment.

[0008] In one of the embodiments, the scope of the service area is determined based on the vehicle location information and the set service rules.

[0009] In one of the embodiments, in response to a change in the relationship between the position and the range of the service device, the operating state of the service device is changed or maintained.

[0010] In one of the embodiments, the twin image includes a twin object of a road;

[0011] Acquire geographic information data, where the geographic information data includes geographic coordinates of roads;

[0012] In the twin image of the traffic scene, the centerline direction of the road is mapped to the x direction, and the width direction of the road is mapped to the y direction. A rectangular coordinate system is established to display the two-dimensional graphics of the road.

[0013] The x-coordinate of any point in the two-dimensional figure is determined, which corresponds to the cumulative length of the position of the any point in the geographic information data of the road along the direction parallel to the center line of the road.

[0014] In one of the embodiments, geographic information data is obtained, wherein the geographic information data includes geographic coordinates of the service device;

[0015] In the twin picture of the traffic scene, the centerline direction of the road is mapped to the x direction, and the width direction of the road is mapped to the y direction. A rectangular coordinate system is established to display the twin objects of the service equipment.

[0016] The x-coordinate of the service device is determined, corresponding to the cumulative length of the position of the service device in the geographic information data of the road along the direction parallel to the center line of the road.

[0017] In one embodiment, geographic information data is obtained, wherein the geographic information data includes geographic coordinates of the road;

[0018] In the twin picture of the traffic scene, the centerline direction of the road is mapped to the x direction, and the width direction of the road is mapped to the y direction. A rectangular coordinate system is established to determine the service range.

[0019] Determine the x-coordinate of any point in the service range, corresponding to the cumulative length of the position of any point in the geographic information data of the road along the direction parallel to the centerline of the road.

[0020] In one embodiment, at least one of the following is determined based on the stake number where the perception system is deployed along the road:

[0021] The cumulative length of any point in the road scene, the location of the target vehicle, the location of the service equipment, and any point in the range along the direction parallel to the center line of the road;

[0022] The x-coordinate of any point in the road scene, the twin object of the target vehicle, the twin object of the service equipment, and any point in the range in the two-dimensional graph.

[0023] In one of the embodiments, meteorological environment information data is obtained, and a twin object of the current meteorological environment is included in the twin scene; and service equipment is determined based on the current meteorological environment.

[0024] In one embodiment, the method further comprises the steps of:

[0025] Determine whether the set service rules are met based on the current working status or current operating effect of the service equipment displayed in the twin picture;

[0026] or,

[0027] Compare the expected operating effect of the current working status displayed with the current operating effect displayed to determine whether the service equipment is abnormal.

[0028] In one embodiment, the method further comprises the steps of:

[0029] In response to the positional relationship between the twin object of the service device within the range and the twin object of the target vehicle not satisfying the set service rule, at least one of the following is triggered:

[0030] Adjust the set service rules;

[0031] Adjust the scope of service area;

[0032] Adjust the working status and operating effect of at least one service device.

[0033] In a second aspect, an embodiment of the present application further provides a service equipment management and control device of a digital twin, which is used to implement the method described in any one of the embodiments of the first aspect, comprising:

[0034] The acquisition module is used to acquire the current perception information of the target vehicle; the current perception information of the target vehicle includes the vehicle location information; and the scope of the service area is acquired. The control module is used to control the working status of the service equipment within the said scope. The display module is used to display the twin picture of the traffic scene; the twin picture includes the twin object of the target vehicle and the twin object of the service equipment; the twin object of the service equipment within the said scope is updated to display the current working status or current operation effect of the service equipment within the said scope.

[0035] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any embodiment of the first aspect.

[0036] In a fourth aspect, an embodiment of the present application further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any embodiment of the first aspect is implemented.

[0037] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial operating effects:

[0038] Based on the twin picture, this application realizes a one-picture overview of the service equipment around the vehicle, improving the efficiency of twin data processing and visualization processing. Based on the one-picture overview, the service equipment can be evaluated and adjusted intuitively and conveniently to improve service capabilities. Through equipment status monitoring and pile number-based management, this application twins the status and operating results of various types of equipment, and can timely and effectively manage service equipment or find abnormal equipment. Improve the convenience of road service equipment and facility management, help extend equipment life, improve utilization, reduce energy consumption, and reduce management costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0040] Figure 1 An application environment diagram of the service equipment management and control method of the digital twin provided in the embodiment of the present application;

[0041] Figure 2 A flow chart of a service equipment management and control method for a digital twin provided in an embodiment of the present application;

[0042] Figure 3 A method flow chart including the step of selecting a service device according to an embodiment of the present application;

[0043] Figure 4 A flow chart of a coordinate transformation process for determining a position range in an embodiment of the present application;

[0044] Figure 5 A flow chart of a method including evaluation and adjustment steps according to an embodiment of the present application;

[0045] Figure 6 It is a twin-picture schematic diagram of the working state and operation effect of the light-following vehicle service equipment in the embodiment of the present application;

[0046] Figure 7 It is a twin picture diagram of the working state and operation effect of the weather change service equipment in the embodiment of the present application;

[0047] Figure 8 A diagram showing the structure of a device according to an embodiment of the present application;

[0048] Fig. 9 This is a structural diagram of a computer device in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0050] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0051] Figure 1 Application environment diagram of the service equipment management and control method of the digital twin provided in the embodiment of the present application.

[0052] like Figure 1 As shown, the application environment in which the method provided by the embodiment of the present application can be implemented. Among them, the application environment includes a computer 101, a communication network 102, a multi-source perception device 103, a device pile 104 and a service device 105; the computer device and the multi-source perception device can communicate through a wired network or a wireless network; wherein the computer device can be a roadside computing unit / terminal / edge server, and optionally, the computer device can also be a cloud server, a vehicle-mounted computing unit / terminal on the vehicle side, etc., and the embodiment of the present application does not specifically limit the type of computer device. Among them, the multi-source perception device is a roadside perception device / roadside multi-source fusion perception system set at the entrance of the traffic scene and a set position inside the traffic scene. For example, it can be on a device pile evenly distributed in the traffic scene, or it can also be a millimeter wave radar sensor, a lidar sensor, and at least one of a camera and a camera, etc., and the embodiment of the present application does not specifically limit the type of multi-source perception device.

[0053] The current perception information of the digital twin of the computer device can also be visualized, and the visualization processing module can be integrated on the computer device or set separately at other locations.

[0054] It may also include a data storage system for storing data that the computer device needs to process. The data storage system may be integrated with the computer device or placed separately on the cloud or other network.

[0055] Figure 2 A flow chart of a service device management and control method for a digital twin provided in an embodiment of the present application, which is applied to Figure 1 The application environment shown.

[0056] The present application embodiment provides a service device management and control method of a digital twin, comprising steps 210 to 240:

[0057] Step 210: obtaining current perception information of the target vehicle;

[0058] The vehicle's current perception information includes the vehicle's driving status information; the perception information is obtained through multi-source perception devices in the traffic scene.

[0059] The target vehicle can be any vehicle that enters the perception coverage area of ​​the traffic scene perception device. The multi-source perception device performs data perception on the target vehicle to obtain the perception information of the target vehicle.

[0060] Optionally, the multi-source perception device is a roadside perception device / road test multi-source fusion perception system arranged at the entrance of the traffic scene and at a set position inside the traffic scene.

[0061] The embodiments of the present application do not limit the location of the multi-source sensing device in the traffic scene, as long as the sensing range of the multi-source sensing device can cover the set detection area.

[0062] In actual application, the multi-source perception device set in the traffic scene can perceive the vehicles in the traffic scene in real time to obtain the perception information of the target vehicle in the traffic scene. It is understandable that the area that the multi-source perception device of the traffic scene can perceive can be determined according to the location of the multi-source perception device set according to actual needs.

[0063] The perception system can be a combination of one or more of a smart base station, a smart camera device, a millimeter-wave radar sensor, or a lidar sensor. In actual application, the perception system set up in the traffic scene can perceive the vehicle in real time to obtain the perception information of the vehicle.

[0064] The current perception information in the embodiment of the present application refers to the perception information at the current moment, which generally refers to any moment when the perception system perceives vehicles in the road scene, that is, the computer device can receive the perception information sent by the perception system of at least a part of the vehicles or all the vehicles on the road scene perceived at the current moment (any moment).

[0065] Optionally, the vehicle's perception information includes but is not limited to the vehicle's ID, category, location, time, size, speed information, heading angle information, etc. Among them, the vehicle's ID is a serial number generated for each vehicle after the multi-source perception device perceives each vehicle; the category refers to the vehicle type, such as a large truck, a car, a motorcycle, a tricycle, etc.; the location refers to the location of each vehicle when the vehicle is perceived, and the perception time refers to the time when each vehicle is perceived; the size refers to the size information of each perceived vehicle, and the speed information refers to the vehicle's driving speed; the heading angle information refers to the angle between the vehicle's center of mass speed and the horizontal axis in the ground coordinate system.

[0066] Step 220: display a twin image of the traffic scene; the twin image includes a twin object of the target vehicle and a twin object of the service device; the current perception information of the target vehicle includes vehicle position information;

[0067] The twin scene refers to the visual expression of the traffic scene presented on the screen, which includes but is not limited to static or dynamic scene twin displays, visual charts, rendering services and interoperability tools.

[0068] Twin objects refer to the visual expressions of objects in the real physical world, including but not limited to static objects such as buildings, landforms, and transportation facilities, as well as dynamic objects such as traffic participants (vehicles, pedestrians, etc.), meteorological environment, and traffic time.

[0069] For example, the twin image of a traffic scene includes a twin object of a target vehicle; and the frame includes a video image of the target vehicle.

[0070] Furthermore, in order to achieve the positional alignment of the twin object of the road and the frame, it is necessary to read the information of at least one position of the road. At least one position in the road scene is mapped as a first position in the road twin object and mapped as a second position in the frame. In the twin scene, the first position and the second position are aligned in a direction perpendicular to the centerline of the road.

[0071] Step 230: Obtain the range of the service area, and control the working status of the service equipment within the range;

[0072] The scope of the service area is determined by the vehicle location information and the preset service plan of the service equipment.

[0073] Since this application uses digital twin global identification technology, it gives unique identities to static environmental objects such as buildings, equipment and facilities, topography and landforms in the real physical world and dynamic objects such as traffic participants and meteorological information in the information model, realizing twin mapping between the real world and the virtual world. Therefore, each service device has a unique identity, and the location of the service device is restored according to the real location, so it is known information.

[0074] For example, through preset service plans, the operation plans of service equipment under different vehicle conditions and road conditions are determined, such as tunnel lighting service plans, fog weather preset service plans, and road damage preset service plans.

[0075] The service equipment is controlled by the preset plug-in. According to the preset service plan, the preset plug-in is called. The preset plug-in contains the corresponding control instruction set to control the corresponding service equipment.

[0076] Preset the working status and operating effect, and control the working status and operating effect of the service equipment accordingly.

[0077] It should be noted here that controlling the working status of the service equipment within the said range is to send instructions about the working status to the service equipment. For example, the database of the traffic control system contains a set working status change strategy for the service equipment, which triggers the set working status change strategy for a specific vehicle running speed or position.

[0078] Step 240: In the twin scene, update the twin object of the service device to display the current working status or current operating effect of the service device.

[0079] The working status information of the selected prompting device refers to information showing the working status of the prompting device.

[0080] The working status is an expression to judge whether the prompting device is performing its specified function or the degree to which it is performing its specified function.

[0081] Specifically, it includes the switching status of the equipment or the switching function performance such as working level, working process, etc.

[0082] Work content, such as informational function performance including device prompt information, transmission information, etc.

[0083] The current operating effect in the embodiment of the present application refers to the operating effect at the current moment, which generally refers to any moment when the perception system perceives vehicles in the road scene, that is, the computer device can receive the perception information sent by the perception system of at least a part of the vehicles or all the vehicles on the road scene perceived at the current moment (any moment).

[0084] The service device triggered in step 230, according to its identity, retrieves the current working status of the service device in real time through the communication and control network of the intelligent transportation, and obtains the twin data of the working status of the service device, that is, the twin object showing the current working status is displayed together with the twin object of the service device in the twin picture.

[0085] Regarding the current operating effect of the service equipment, for example, perception signals are obtained through sensors, brightness, sound, and environmental changes are identified, and twin data of the operating effect of the service equipment is obtained. That is to say, the twin object that displays the current operating effect of the service equipment is displayed together with the twin object of the service equipment in the twin picture.

[0086] Figure 3 The method flow chart of the embodiment of the present application includes the step of selecting a service device. Based on the embodiment of the first aspect of the present application (steps 210 to 230), it further includes steps 310 to 330.

[0087] Step 310: Determine the scope of the service area according to the vehicle location information and the set service rules.

[0088] The set service rules refer to the usage rules specifically formulated for the service equipment based on the working status of the service equipment, which at least include the minimum scope of the impact of the service equipment on surrounding vehicles.

[0089] When the service range is a variable of the traffic participant's location, the position of any point in the service range is determined based on the traffic participant's location information. Furthermore, in step 420, the x-coordinate of any point in the service range is determined, corresponding to the cumulative length of the position of the any point in the geographic information data of the road along a direction parallel to the centerline of the road.

[0090] Step 320: In response to the change in the relationship between the position of the service device and the range, change or maintain the working state of the service device.

[0091] For example, when the target vehicle moves, the range follows the target vehicle, and the position of the service device remains unchanged. When the vehicle moves near the service device and the range covers the service device, the working state of the service device changes. During the process of the range covering the service device, the working state of the service device is maintained.

[0092] For example, at night, the target vehicle is driving on the road, and the lighting on the road is outside the service range of the target vehicle and is off. When the target vehicle drives near a certain lighting and the service range covers the lighting, the working state of the lighting is changed to bright, and the vehicle continues to drive, and the bright state is maintained until the service range no longer covers the lighting.

[0093] Furthermore, it also includes:

[0094] Step 330: Obtain meteorological environment information data, and include the twin object of the current meteorological environment in the twin scene; determine the service equipment according to the current meteorological environment.

[0095] The working status of the service equipment is determined by the combination of the meteorological environment and the change in the position of the target vehicle.

[0096] For example, lighting is used when the weather environment is dark, and for another example, fans are used when the weather environment is foggy.

[0097] Figure 4 The coordinate transformation process flow chart for determining the position range in the embodiment of the present application further includes steps 410 to 430 based on the embodiment of the first aspect of the present application (steps 210 to 230, or steps 310 to 330).

[0098] Step 410: Acquire geographic information data, where the geographic information data includes the geographic coordinates of the road;

[0099] Based on high-precision map data, static objects including but not limited to roads, building gantries, roadside poles, guardrails, LED screens, trees, etc. in real scenes are modeled. Terrain and landforms are modeled by sensing data and importing 3D GSI data, and digital support is provided for the definition of urban terrain.

[0100] In the prior art, a twin instance object of a specific terrain is created through an API, and other systems can interact with the object during runtime, including data interaction and API calls.

[0101] In the present application, the display process of the road twin object is performed based on the two-dimensional data after preprocessing the three-dimensional geographic information data of the road in step 320.

[0102] Step 420: In the twin view of the traffic scene, the centerline direction of the road is mapped as the x direction, and the width direction of the road is mapped as the y direction, and a rectangular coordinate system is established to display a two-dimensional graph of the road; the x coordinate of any point in the two-dimensional graph corresponds to the cumulative length of the position of the arbitrary point in the geographic information data of the road along the direction parallel to the centerline of the road;

[0103] In this way, the image of the road is "straightened" into a two-dimensional figure with the coordinate of the center line of the road in the y direction unchanged (for example, y = 0). Correspondingly, the y coordinate of any point in the twin object of the road corresponds to the distance between the position of the arbitrary point in the three-dimensional geographic information data of the road and the center line of the road.

[0104] Furthermore, the positions of the twin objects of static objects such as service equipment on the twin scene are also processed according to the above algorithm, that is, the x-coordinate of the twin object of the static object in the two-dimensional graph is determined, which corresponds to the cumulative length of the static object at the road scene along the direction parallel to the center line of the road; the y-coordinate of the twin object of the static object in the two-dimensional graph is determined, which corresponds to the relative position of the static object at the road scene along the road width direction.

[0105] Furthermore, the position of the dynamic twin object of the service area on the twin scene is also processed according to the above algorithm, that is, the x-coordinate of the twin object of the service area in the two-dimensional graph is determined, corresponding to the cumulative length of the position of the service area at the road site along the direction parallel to the center line of the road; the y-coordinate of the twin object of the service area in the two-dimensional graph is determined, corresponding to the relative position of the position of the service area at the road site along the road width direction.

[0106] Furthermore, the position of the dynamic twin object of the traffic participant (such as the target vehicle, etc.) on the twin scene is also processed according to the above algorithm, that is, the x-coordinate of the twin object of the traffic participant in the two-dimensional graph is determined, which corresponds to the cumulative length of the position of the traffic participant at the road scene along the direction parallel to the center line of the road; the y-coordinate of the twin object of the traffic participant in the two-dimensional graph is determined, which corresponds to the relative position of the position of the traffic participant at the road scene along the road width direction.

[0107] The cumulative length can be a relative position, indicating the distance between the current position and the starting point. The starting point can be customized.

[0108] Furthermore, the present application uses stake numbers as a reference to locate the positions of twin objects of a large number of physical entities in the twin scene through stake numbers.

[0109] Based on the stake number where the perception system is deployed along the road, determine at least one of the following:

[0110] The cumulative length of any point in the road scene, the location of the target vehicle, the location of the service equipment, and any point in the range along the direction parallel to the center line of the road;

[0111] Any point in the road scene, the twin object of the target vehicle, the twin object of the service equipment, and the x-coordinate of any point in the range in the two-dimensional graph.

[0112] It should be noted that the geographic location of the service device (such as a multi-source perception device including a laser radar) included in the geographic information system can be used to calculate the cumulative length based on the geographic location information. Furthermore, after the perception information of the target vehicle is acquired through the multi-source perception device, at least the relative position information between the target vehicle and the location of the multi-source perception device can be determined. Based on the cumulative length of the location of the service device in a direction parallel to the center line of the road, the cumulative length of the location of the target vehicle in the road scene in a direction parallel to the center line of the road can be determined; or, based on the x-coordinate of the twin object of the service device in a two-dimensional graph, and the relative position information between the target vehicle and the location of the service device, the x-coordinate of the target vehicle in the two-dimensional graph can be determined.

[0113] When the above-mentioned cumulative lengths are represented by the information of the pile number, or when the x-coordinate corresponds to the pile number, the cumulative length or the x-coordinate can be determined according to the pile number where the perception system is arranged along the road.

[0114] For example, the twin scene includes a frame set in parallel with the road for displaying video images. The video image is collected by a perception system set on the road; the position of the frame for displaying the video image is determined according to the acquisition position of the video image. According to the stake number where the perception system is laid out along the road, at least one position in the road scene is determined, mapped as a first position in the road twin object and mapped as a second position in the frame;

[0115] For another example, the position of the target vehicle is determined according to the stake number where the perception system is arranged along the road, and is mapped as the third position in the twin object of the road and as the fourth position in the frame;

[0116] For example, according to the stake number where the perception system is laid out along the road, the cumulative length of the position of any point in the three-dimensional geographic information data of the road along the center line of the road is determined.

[0117] Furthermore, the present application uses information indicating the pile number to indicate the cumulative length, and any location-related information of the present application can be indicated by the pile number, for example, the location of the service equipment, the location of the traffic participant (including the target vehicle), etc.

[0118] It should be noted that in the present application, the first position, the third position, and the position of the service equipment can all be expressed by pile numbers. For example, the pile number is an integer, measured in meters. An example of a common expression for positioning on a highway section is: T20+527 is the pile number of the equipment pile, the letter T represents the up or down direction, 20 is kilometers, and 527 is meters. The position of the twin object can be uniformly expressed by the pile number, or the position resolution can be further improved based on the pile number.

[0119] It should also be noted that one equipment pile can be set every 100 meters. For example, the entrance to the tunnel is taken as the reference, where the pile number is T20+200. If the target vehicle is at the entrance, its pile number position is T20+200. After driving forward 1 meter, its real-time position expressed by the pile number position is T20+201; if it has not entered the tunnel and is 2 meters away from the entrance, its real-time position expressed by the pile number position is T20+198.

[0120] It should also be noted that the pile number twin expresses the position in the pile number coordinate system, and there is a mapping relationship with the geodetic coordinate system, that is, the longitude and latitude of the vehicle road in the geodetic coordinate system are mapped to the preprocessed two-dimensional data space through this mapping relationship. In this way, the pile number twin maps the high-precision map twin to the "pile number twin map".

[0121] Step 430: Obtain the scope of the service area through the location information after the vehicle coordinates are transformed and the set service rules, and control the working status of the service equipment within the scope.

[0122] Figure 5The present invention is a flowchart of a method including evaluation and adjustment steps according to an embodiment of the present application.

[0123] Step 500: Determine the range of the service area according to the position information after the vehicle coordinates are transformed and the set service rules. In response to the change in the relationship between the transformed position of the service device and the range, change or maintain the working state of the service device.

[0124] Step 510: Determine whether the set service rules are met according to the current working status or current operating effect of the service device displayed in the twin picture;

[0125] or,

[0126] Compare the expected operating effect of the current working status displayed with the current operating effect displayed to determine whether the service equipment is abnormal.

[0127] Step 520: In response to the positional relationship between the twin object of the service device and the twin object of the target vehicle within the range not satisfying the set service rule, trigger at least one of the following:

[0128] Adjust the set service rules;

[0129] Adjust the scope of service area;

[0130] Adjust the working status and operating effect of at least one service device.

[0131] Figure 6 It is a twin view schematic diagram of the working state and operation effect of the light-following vehicle service equipment in the embodiment of the present application,

[0132] It contains twin objects of roads and lighting.

[0133] For example, Figure 6 As shown, in the tunnel scene, the current perception information of the target vehicle is obtained;

[0134] In this way, the range of the service area around the target vehicle is obtained. As the target vehicle moves, the lights in the tunnel are covered by the range, changing the working state of the lights. For example, when there is no vehicle, the lights in the tunnel are at low power. After being covered by the range, the lights are changed to high power. In the twin scene, the twin object of the lights is updated to show the current working state or current operating effect of the lights, that is, the lights move with the vehicle.

[0135] Determining the scope of the service area requires the location information of the vehicle after coordinate transformation and the set service rules

[0136] The service rules for setting the lighting can be determined according to the illumination range required by the vehicle in the tunnel. Combined with the position information after the transformation of the left side of the vehicle, the scope of the service area is determined.

[0137] If you do not enter the service area, the lights will operate at low power. If you enter the service area, the lights will switch to high power. In the service area, the lights will always operate at high power until the service area moves and no longer covers the lights.

[0138] Figure 7 It is a twin-picture schematic diagram of the working status and operating effect of the weather change service equipment in the embodiment of the present application.

[0139] The working status of the service equipment, at least one of the following:

[0140] The default working state of the service device is off, change the working state to on;

[0141] For example, lighting, fans, signboards, etc., lighting is used in dark environments, fans are used in foggy environments, and such service equipment functions near traffic participants such as pedestrians or vehicles. In order to save energy, the default working state of such service equipment is off. When the service range covers the above service equipment, the working state of the service equipment is turned on.

[0142] The default working state of the service device is on, change the working state to off;

[0143] For example, roadside sprinklers, pesticide spraying equipment, etc., such service equipment should avoid traffic participants such as pedestrians or vehicles, so the default working state of such service equipment is on. When the service range covers the above service equipment, the working state of the service equipment is changed to off.

[0144] It should be noted that sprinklers or pesticide spraying equipment are not always turned on by default, but are turned on by default during their operation. When traffic participants pass by, the status changes to off.

[0145] The default working state of the service equipment is low gear operation, and the working state is changed to high gear operation;

[0146] Low gear and high gear are degree words for attributes such as working power of service equipment. It should be noted that low gear and high gear refer to each other.

[0147] For example, the lights or fans can also be kept at a low level by default and their power increased as traffic participants pass by.

[0148] The default working state of the service equipment is high gear operation, and the working state is changed to low gear operation.

[0149] For example, sprinklers and pesticide spraying equipment can also be kept in a high gear by default and reduce power as traffic participants pass by.

[0150] Figure 8 This is a device structure diagram of an embodiment of the present application. To implement the method of any embodiment of the first aspect of the present application, a digital twin service equipment management and control device is proposed, and the device includes:

[0151] The acquisition module 801 is used to acquire the current perception information of the target vehicle; the current perception information of the target vehicle includes the vehicle position information; and acquire the scope of the service area;

[0152] A control module 802, used to control the working status of the service equipment within the range;

[0153] Display module 803 is used to display the twin picture of the traffic scene; the twin picture includes the twin object of the target vehicle and the twin object of the service equipment; the twin object of the service equipment within the range is updated to display the current working status or current operating effect of the service equipment within the range.

[0154] In one embodiment, the acquisition module further includes a comparison unit, which is used to determine the range of the service area according to the vehicle location information and the set service rules.

[0155] In one embodiment, the management and control module further includes an operation unit, which is used to change or maintain the working state of the service device in response to the change in the relationship between the position of the service device and the range.

[0156] In one embodiment, the device also includes a preprocessing module for acquiring three-dimensional geographic information data of the road; in the twin image, a rectangular coordinate system is established with the centerline direction of the road as the x direction and the width direction of the road as the y direction to display a two-dimensional graphic of the road; the x coordinate of any point in the two-dimensional graphic corresponds to the cumulative length of the position of the any point in the three-dimensional geographic information data of the road along the centerline direction of the road.

[0157] In one embodiment, the preprocessing module includes a road coordinate transformation unit for implementing the above-mentioned preprocessing module functions; further, it also includes a device coordinate transformation unit for implementing the service device position coordinate transformation. Determine the x coordinate of the twin object of the service device in the two-dimensional graph. Determine the y coordinate of the twin object of the service device in the two-dimensional graph.

[0158] The service equipment position coordinate transformation determines the x-coordinate of the equipment's twin object in the two-dimensional graph, which corresponds to the cumulative length of the service equipment's position at the road site along a direction parallel to the road centerline; determines the y-coordinate of the service equipment's twin object in the two-dimensional graph, which corresponds to the relative position of the equipment at the road site along the road width direction.

[0159] In one embodiment, the acquisition module includes a service range coordinate transformation unit, which is used to realize the service range position coordinate transformation, determine the x-coordinate of the twin object of the service range in the two-dimensional graph, corresponding to the cumulative length of the position of the service range at the road site along the direction parallel to the center line of the road; determine the y-coordinate of the twin object of the service range in the two-dimensional graph, corresponding to the relative position of the equipment at the road site along the road width direction.

[0160] In one embodiment, the acquisition module includes a traffic participant coordinate transformation unit, which is used to implement the traffic participant position coordinate transformation, determine the x coordinate of the traffic participant's twin object in the two-dimensional graph, and determine the y coordinate of the traffic participant's twin object in the two-dimensional graph.

[0161] For example, the vehicle's running position coordinate transformation determines the x-coordinate of the vehicle's twin object in the two-dimensional graph, which corresponds to the cumulative length of the vehicle's position at the road site along the direction parallel to the road centerline; determines the y-coordinate of the vehicle's twin object in the two-dimensional graph, which corresponds to the relative position of the vehicle at the road site along the road width direction.

[0162] When the service range is a variable of the traffic participant's location, the position of any point in the service range is determined based on the traffic participant's location information, and then the x-coordinate of any point in the service range is determined, corresponding to the cumulative length of the position of the arbitrary point in the road's geographic information data along a direction parallel to the centerline of the road.

[0163] In one embodiment, the preprocessing module further includes a pile number preprocessing unit, which is used to: determine at least one of the following items according to the pile number where the perception system is arranged along the road:

[0164] The cumulative length of any point in the road scene, the location of the target vehicle in the road scene, or the location of the service equipment along the direction parallel to the centerline of the road;

[0165] The x-coordinate of any point in the road scene, the twin object of the target vehicle in the road scene, or the twin object of the service equipment in the two-dimensional graph.

[0166] In one embodiment, the acquisition module also includes a pile number acquisition unit, which is used to: determine the cumulative length of the target vehicle location and the service range location in the road scene along the direction parallel to the center line of the road according to the pile numbers laid out by the perception system along the road; the x-coordinate of the twin object of the target vehicle or the twin object of the service range in the road scene in the two-dimensional graph.

[0167] In one embodiment, the acquisition module also includes a meteorological unit, which is used to: acquire meteorological environment information data, include a twin object of the current meteorological environment in the twin scene; and determine the service equipment according to the current meteorological environment.

[0168] In one embodiment, the apparatus further comprises an evaluation module 804, which is used to determine whether the set service rules are met according to the current working state or current operation effect of the service equipment displayed in the twin picture;

[0169] or,

[0170] Compare the expected operating effect of the current working status displayed with the current operating effect displayed to determine whether the service equipment is abnormal.

[0171] In one embodiment, the apparatus further includes an adjustment module 805, configured to trigger at least one of the following in response to the positional relationship between the twin object of the service device within the range and the twin object of the target vehicle not satisfying the set service rule:

[0172] Adjust the set service rules;

[0173] Adjust the scope of service area;

[0174] Adjust the working status and operating effect of at least one service device.

[0175] 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, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0176] Therefore, the present application also proposes a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in any embodiment of the present application is implemented.

[0177] The present invention is described with reference to flowcharts and / or block diagrams of methods, service 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 service device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing service 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.

[0178] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing service device in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including 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.

[0179] These computer program instructions may also be loaded onto a computer or other programmable data processing server so that a series of operating steps are executed on the computer or other programmable server to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable server to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0180] Fig. 9 This is a structural diagram of a computer device in an embodiment of the present application.

[0181] Furthermore, the present application also proposes a computer device (or electronic device), including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any embodiment of the present application when executing the computer program.

[0182] In a typical configuration, the computing service device includes one or more processors (CPU), input / output interfaces, network interfaces and memory. Memory may include non-permanent memory in computer-readable media, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium. Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage service devices or any other non-transmission media that can be used to store information that can be accessed by the computing service device. According to the definition in this article, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0183] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or service device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or service device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or service device including the elements.

[0184] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A digital twin service equipment management and control method, characterized in that: Contains steps: Acquire current perception information of the target vehicle; display a twin picture of the traffic scene; the twin picture includes a twin object of the target vehicle and a twin object of a service device; the current perception information of the target vehicle includes vehicle position information; Obtain the scope of the service area and control the working status of the service equipment within the scope; In the twin scene, the twin object of the service device is updated to display the current working status or current operating effect of the service device.

2. The service equipment management and control method of the digital twin according to claim 1 is characterized in that: The scope of the service area is determined according to the vehicle location information and the set service rules.

3. The service equipment management and control method of the digital twin according to claim 1 is characterized in that: In response to a change in the relationship between the position of the service device and the range, an operating state of the service device is changed or maintained.

4. The service equipment management and control method of the digital twin according to claim 1 is characterized in that: The twin scene includes a twin object of a road; Acquiring geographic information data, wherein the geographic information data includes the geographic coordinates of the road; In the twin image of the traffic scene, the centerline direction of the road is mapped as the x direction, the width direction of the road is mapped as the y direction, a rectangular coordinate system is established, and a two-dimensional graph of the road is displayed; The x-coordinate of any point in the two-dimensional graph is determined, corresponding to the cumulative length of the position of the any point in the geographic information data of the road along a direction parallel to the center line of the road.

5. The service equipment management and control method of the digital twin according to claim 1 is characterized in that: Acquire geographic information data, wherein the geographic information data includes geographic coordinates of the service device; In the twin image of the traffic scene, the centerline direction of the road is mapped as the x direction, the width direction of the road is mapped as the y direction, a rectangular coordinate system is established, and the twin object of the service equipment is displayed; The x-coordinate of the service device is determined, corresponding to the cumulative length of the position of the service device in the geographic information data of the road along a direction parallel to the center line of the road.

6. The service equipment management and control method of the digital twin according to claim 1 is characterized in that: Acquiring geographic information data, wherein the geographic information data includes the geographic coordinates of the road; In the twin picture of the traffic scene, the centerline direction of the road is mapped as the x direction, the width direction of the road is mapped as the y direction, a rectangular coordinate system is established, and the service range is determined; The x-coordinate of any point in the service range is determined, corresponding to the cumulative length of the position of the any point in the geographic information data of the road along a direction parallel to the center line of the road.

7. The service equipment management and control method of the digital twin according to claim 1 is characterized in that: Determine at least one of the following based on the stake number at which the perception system is deployed along the road: The cumulative length of any point in the road scene, the location of the target vehicle, the location of the service equipment, and any point in the range along the direction parallel to the center line of the road; The x coordinate of any point in the road scene, the twin object of the target vehicle, the twin object of the service equipment, and any point in the range in the two-dimensional graph.

8. The service equipment management and control method of digital twin according to claim 1 is characterized in that: Acquire meteorological environment information data, and include a twin object of the current meteorological environment in the twin scene; determine the service equipment according to the current meteorological environment.

9. The service equipment management and control method of digital twin according to claim 1 is characterized in that: Also includes the steps: Determine whether the set service rules are met according to the current working status or current operating effect of the service device displayed in the twin picture; or, Compare the expected operating effect of the displayed current working state with the displayed current operating effect to determine whether the service equipment is abnormal.

10. The service equipment management and control method of digital twin according to claim 1, characterized in that: Also includes the steps: In response to the positional relationship between the twin object of the service device within the range and the twin object of the target vehicle not satisfying the set service rule, at least one of the following is triggered: Adjust the service rules of the settings; Adjusting the scope of the service area; Adjust the working status and operating effect of at least one of the service devices.

11. A digital twin service equipment control device, characterized in that: Used to implement the method according to any one of claims 1 to 10, comprising: An acquisition module is used to acquire current perception information of a target vehicle; the current perception information of the target vehicle includes vehicle location information; and acquire the scope of a service area; A control module, used to control the working status of the service equipment within the range; A display module is used to display a twin picture of a traffic scene; the twin picture includes a twin object of the target vehicle and a twin object of a service device; the twin object of the service device within the range is updated to display a current working status or a current operating effect of the service device within the range.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

13. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 10 is implemented.

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