Traffic scene twinning method and device

Abstract

The invention discloses a traffic scene twinning method and device, and the method comprises the steps: obtaining the geographic information data of a road, enabling the geographic information data to comprise the geographic coordinates of the road, mapping the center line direction of the road to be the x direction and the width direction of the road to be the y direction in a twinning image of the traffic scene, building a rectangular coordinate system, and generating a two-dimensional graph of the road, and determining the x coordinate of any point in the two-dimensional graph and the cumulative length of the position of any point in the three-dimensional geographic information data corresponding to the road along the direction parallel to the center line of the road. The invention further comprises a device for implementing the method. By adopting the method, the actual road condition and the road equipment can be accurately and synchronously reflected to a picture, and accurate road monitoring is facilitated.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a method, apparatus, computer equipment and medium for traffic scene twinning. Background Art

[0002] Intelligent transportation management technology mainly uses twinning to map the real scene of road conditions into a visualized road scene using the road and vehicle information captured by video and radar. Road managers observe the road conditions through simulated scenes in order to take responsive management measures. As the scope of roads becomes larger, the complexity of geographic information increases, and the number of road equipment increases, the amount of data that needs to be processed is huge.

[0003] In addition, the existing video surveillance system and twin platform are different systems. It is difficult to synchronously reflect the status of the twin vehicle and vehicle video in the twin system, and accurately display the access status of the information-releasing road equipment to the vehicle, so that road management personnel can comprehensively consider various situations and make responsive management.

[0004] As roads become more intelligent, the types of road equipment involved in intelligent transportation increase, and the requirements for vehicle management accuracy also increase. Therefore, there is an urgent need for a method that can accurately locate roads, vehicles, and road equipment and respond synchronously to achieve accurate management of road conditions within the road scene. Summary of the invention

[0005] The present application proposes a traffic scene twin method and device to solve the problem that in the prior art traffic scene twin processing process, the large amount of data and multiple data sources make it difficult to achieve centralized control of traffic scenes.

[0006] In a first aspect, the present application provides a traffic scene twinning method, the method comprising:

[0007] Acquire geographic information data, where the geographic information data includes geographic coordinates of roads;

[0008] 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 generate a two-dimensional graph of the road.

[0009] Determine the x-coordinate of any point in the two-dimensional figure, which corresponds to the cumulative length of the position of any point in the three-dimensional geographic information data of the road along the direction parallel to the center line of the road.

[0010] In one embodiment, current perception information of a target vehicle at a road scene is obtained, and the current perception information is obtained through a perception system set on the road;

[0011] The twin image of the traffic scene includes the twin object of the target vehicle;

[0012] Determine the x-coordinate of the twin object of the target vehicle in the two-dimensional graph, corresponding to the cumulative length of the position of the target vehicle at the road scene along a direction parallel to the centerline of the road;

[0013] Determine the y coordinate of the twin object of the target vehicle in the two-dimensional graph, corresponding to the relative position of the target vehicle at the road scene along the road width direction.

[0014] In one embodiment, obtaining geographic coordinates of road equipment;

[0015] In the twin picture of the traffic scene, twin objects of road equipment are included;

[0016] Determine the x-coordinate of the twin object of the road equipment in the two-dimensional graph, corresponding to the cumulative length of the position of the road equipment at the road site along a direction parallel to the center line of the road;

[0017] Determine the y coordinate of the twin object of the road equipment in the two-dimensional graph, which corresponds to the relative position of the road equipment at the road site along the road width direction.

[0018] In one embodiment, at least one of the following is determined based on the stake numbers arranged along the road:

[0019] The cumulative length of any point on the road site along the direction parallel to the centerline of the road;

[0020] The cumulative length of the target vehicle position in the road scene along the direction parallel to the center line of the road;

[0021] The cumulative length of the road equipment location along the direction parallel to the road centerline;

[0022] The x-coordinate of any point in the road scene in the two-dimensional graph;

[0023] The x-coordinate of the twin object of the target vehicle in the road scene in the two-dimensional graph;

[0024] The x-coordinate of the twin object of the road equipment in the 2D graph.

[0025] In one of the embodiments, in a set area of ​​a road scene, captured information of a target vehicle and perceived information of the target vehicle are obtained;

[0026] Generate the identity information of the target vehicle according to the captured information of the target vehicle;

[0027] In the twin picture of the traffic scene, the twin object of the target vehicle and the identity information of the target vehicle are bound.

[0028] In one of the embodiments, current working status information and / or current working content information of the road equipment is obtained, and in the twin scene, a dynamic twin object of the road equipment is generated according to the current working status information and / or current working content information.

[0029] In one of the embodiments, the preset working content and / or preset working state of the road equipment within the range that meets the set contact condition in the road is determined;

[0030] An instruction to execute a preset work content and / or a preset work status is sent to the road equipment.

[0031] In one of the embodiments, in the twin scene, a dynamic twin object of the road equipment is generated according to the current working state information and / or the current working content information of the road equipment;

[0032] Compare the positions of the dynamic twin object of the road equipment and the twin object of the target vehicle to determine whether the road equipment meets the set contact conditions.

[0033] In one embodiment, a video image of a road scene is obtained, and the video image is collected by a perception system set on the road;

[0034] The twin scene includes a twin object of the road and a frame accompanying the road, and the frame includes a video image of the target vehicle;

[0035] The position of the frame used to display the video image is determined according to the acquisition position of the video image.

[0036] In one of the embodiments, the twin scene includes a plurality of frames arranged along a moving direction of a twin object of the target vehicle;

[0037] A frame for displaying the video image of the target vehicle is determined according to a video image acquisition position corresponding to the position of the target vehicle.

[0038] In one of the embodiments, 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.

[0039] In one of the embodiments, at least one position of a target vehicle at a road scene is mapped as a third position in a twin object of the road and is mapped as a fourth position in a video image in a frame; at at least one moment in the twin scene, the third position and the fourth position are aligned in a direction perpendicular to the centerline of the road.

[0040] In one of the embodiments, in the twin scene, the identity information of the vehicle simultaneously displayed in the video image at at least one moment is determined based on the identity information of the twin object bound to the target vehicle.

[0041] In one of the embodiments, at least one position in the road scene is determined based on stake numbers arranged along the road, and is mapped as a first position in the road twin object and as a second position in the frame;

[0042] In one of the embodiments, the position of the target vehicle is determined based on stake numbers arranged along the road, and is mapped as a third position in the twin object of the road and as a fourth position in the frame;

[0043] In one of the embodiments, 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 based on the stake numbers arranged along the road.

[0044] In a second aspect, the present application also provides a traffic scene twin device, which includes:

[0045] An acquisition module is used to acquire geographic information data, wherein the geographic information data includes the geographic coordinates of the road;

[0046] A generation module is used to map the centerline direction of the road to the x direction and the width direction of the road to the y direction in the twin image of the traffic scene, establish a rectangular coordinate system, and generate a two-dimensional graph of the road;

[0047] Identify modules for one or more of the following:

[0048] Determine the x-coordinate of any point in the two-dimensional figure, corresponding to the cumulative length of the position of the arbitrary point in the geographic information data along the direction parallel to the centerline of the road;

[0049] Determine the x-coordinate of the twin object of the target vehicle in the two-dimensional graph, corresponding to the cumulative length of the position of the target vehicle at the road scene along a direction parallel to the centerline of the road;

[0050] Determine the x-coordinate of the twin object of the road equipment in the two-dimensional graph, corresponding to the cumulative length of the position of the road equipment at the road site along the direction parallel to the center line of the road.

[0051] In one of the embodiments, the determination module is further used to determine the cumulative length according to the stake numbers arranged along the road.

[0052] In one of the embodiments, a comparison module is used to compare the positions of the dynamic twin object of the road equipment and the twin object of the target vehicle to determine whether the road equipment meets the set contact conditions.

[0053] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method provided in any embodiment of the first aspect above.

[0054] In a fourth aspect, an embodiment of the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method provided in any one of the embodiments of the first aspect when executing the computer program.

[0055] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0056] First, the traffic scene with geographic information data is twinned to a two-dimensional graphic, and the x and y coordinates are set in the two-dimensional graphic. The vehicle, road equipment, and pile number are twinned to the two-dimensional graphic through the sensing device, and the position of the twin vehicle and the twin road equipment in the two-dimensional graphic is measured according to the pile number position. In addition, the captured information of the vehicle is obtained, the identity information of the vehicle is obtained, and the identity information is bound to the twin vehicle, as well as the status of the twin road equipment and the response of the road equipment and displayed in the two-dimensional graphic. In the display screen, the video image of the road scene is aligned with the road twin scene and displayed synchronously with the twin vehicle. Thereby accurately locating the vehicle and synchronously displaying the video image of the twin vehicle and the road scene, as well as the status and response of various road equipment in the two-dimensional graphic. It ensures that traffic management personnel accurately understand the road conditions and implement accurate management of road conditions in the road scene. In the best embodiment of the present application, on the basis of the high-precision map twin, mapping is performed by pile number, pile number twinning is completed, and one picture management and operation in the scene is realized.

[0057] The solution of the present application represents irregular roads with regular two-dimensional graphics. In terms of data processing, it greatly reduces the data overhead of road drawing and screen rendering. In addition, it is more convenient to overlay road facilities and dynamic objects in regular two-dimensional graphics, so that changes in the status of moving vehicles and road equipment are clearly reflected in the picture, making it easier for road administrators to monitor and manage target vehicles and road equipment in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The drawings described herein are used to provide 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 improper limitations on the present application.

[0059] In the attached picture:

[0060] Figure 1 A diagram of the traffic scene application environment provided in the embodiment of the present application;

[0061] Figure 2A flow chart of a traffic scene twinning method provided in one embodiment of the present application;

[0062] Figure 3 A flow chart of a traffic scene twin method for determining a target vehicle twin object position provided in another embodiment of the present application;

[0063] Figure 4 A flow chart of a traffic scene twin method for determining the position of a road equipment twin object provided in another embodiment of the present application;

[0064] Figure 5.1 The middle one is the road scene generated by processing the original geographic information data;

[0065] Figure 5.2 A schematic diagram of the twin scene improvement effect of an embodiment of the present application;

[0066] Figure 6 It is a flow chart of the traffic scene twin method with contact confirmation proposed in an embodiment of the present application;

[0067] Figure 7 This is a structural diagram of the traffic panoramic twin device proposed in the embodiment of the present application;

[0068] Figure 8 This is a structural diagram of a computer device in an embodiment of the present application. DETAILED DESCRIPTION

[0069] 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 combination 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.

[0070] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0071] Figure 1 A diagram of the traffic scenario application environment provided in an embodiment of the present application.

[0072] like Figure 1 As shown, a road device 105 including a prompt device and a multi-source perception device 103 including a radar and / or a camera are combined on a pile 104 and perform wired or wireless communication with a computer device 101 with a visualization function through a communication network 102 .

[0073] The multi-source sensing device 104 may be a radar or / and a camera, such as at least one of a millimeter wave radar, a laser radar, and a camera, etc. The road device 105 may be an information board, a directional sound device, etc., and the types of the multi-source sensing device and the road device are not specifically limited. The computer device 101 may be a roadside computing unit / terminal / edge server, and optionally, the computer device may also be a cloud server, a vehicle-mounted computing unit / terminal, etc., and the embodiment of the present application does not specifically limit the type of the computer device.

[0074] Figure 2 A flow chart of a traffic scene twin method provided in an embodiment of the present application includes steps 210 to 230. Figure 1 In the traffic scene application environment shown, the coordinates of the road system twin object are determined and a two-dimensional graphic of the road is generated.

[0075] Step 210: Acquire geographic information data, which includes the geographic coordinates of the road.

[0076] The geographic information data may be three-dimensional geographic information data, including geographic information data of any point on the road and road equipment. In this embodiment, the longitude and latitude information of the road and road equipment is obtained from the high-precision map data, including but not limited to ETC toll stations, tunnels, intersections, road guardrails, information boards, etc.

[0077] The terrain and landforms are modeled by sensing data and importing three-dimensional GSI data, and the definition of urban terrain is digitally supported.

[0078] 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.

[0079] In the present application, the process of generating 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 220 .

[0080] That is to say, although the geographic data obtained from high-precision maps is accurate, the amount of data is huge. Since roads and road equipment are static objects, in order to reduce the cost of data transmission between devices, the coordinate information of roads and road equipment can be obtained at one time and saved in the database, thereby reducing the cost of data interaction between devices.

[0081] Step 220: Determine the x-coordinate of any point in the two-dimensional graph, which corresponds to the cumulative length of the position of the arbitrary point in the three-dimensional geographic information data of the road along a direction parallel to the centerline of the road.

[0082] Determine the x coordinate of any point in the two-dimensional graphic, corresponding to the position of the arbitrary point in the three-dimensional geographic information data of the road, it can be that the coordinate of the x point in the two-dimensional graphic is a mapping of the corresponding position in the three-dimensional geographic information data, and the mapping relationship is a one-to-one mapping.

[0083] The cumulative length parallel to the center line of the road can be in the three-dimensional geographic information data along the direction parallel to the center line of the road, with one end of the road in the set range as the starting point, and the preset unit length as the scale, accumulating the preset unit length to the other end, where the starting point position can be marked as 0.

[0084] In this embodiment, from the starting point of the road in the set range to the end point of the road, the preset unit length is used as the scale and the unit length is accumulated, so that a length value with scale is formed in the x direction in the two-dimensional graph. In other words, the accumulated length is used as the scale of the scale, so that the two-dimensional graph has a length and width scale, so that the information such as vehicles and road equipment can be displayed at the accurate position of the twin road.

[0085] Furthermore, the y coordinate of the arbitrary point is determined, corresponding 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.

[0086] Step 230: In the twin image of the traffic scene, the centerline direction of the road is mapped to the x direction, the width direction of the road is mapped to the y direction, a rectangular coordinate system is established, and a two-dimensional graphic of the road is generated.

[0087] The twin scene can be a visual expression of the traffic scene presented on the screen, which includes but is not limited to static or dynamic scene twin display, visual charts, rendering services and interoperability tools.

[0088] The position of any point in the two-dimensional graph of the road can be mapped to the coordinate in the x direction along the center line of the road, and mapped to the coordinate in the y direction along the direction perpendicular to the center line of the road. In this way, the image of the road is "straightened" into a two-dimensional graph in which the coordinate of the center line of the road along the y direction remains unchanged (for example, y=0).

[0089] The present application proposes a twin map data set, which includes two-dimensional graphic data. In this embodiment, through the processing of step 220, not only the three-dimensional geographic information data is transformed into two-dimensional graphic data, but also the coordinate transformation is performed based on the center line of the road. The x coordinate of any point contained in the transformed two-dimensional graphic data is represented by the cumulative length; the y coordinate of any point in the two-dimensional graphic data is represented by the distance between the point and the center line of the road. In step 230, the map drawn based on the transformed two-dimensional graphic data is used as the twin map of the present application solution, and the twin picture of the traffic scene is further generated on this basis.

[0090] That is to say, the position in the high-precision map can be mapped to a two-dimensional graphic, and the objects in the high-precision map can be identified in the twin two-dimensional graphic while maintaining the accuracy of the relative position.

[0091] Figure 3 A flow chart of a traffic scene twin method for determining the position of a target vehicle twin object provided in another embodiment of the present application includes steps 310 to 330. Figure 1 In the traffic scene application environment shown, the positions of the dynamic twin objects of traffic participants (such as target vehicles, etc.) on the twin scene are also processed according to the above algorithm.

[0092] Step 310: Acquire current perception information of the target vehicle on the road scene. The current perception information is obtained through a perception system set up on the road. The road scene can be a road scene acquired by camera photography and radar detection. The road scene includes static scenes and dynamic scenes. The static scene includes but is not limited to roads, road equipment, and ETC entrances and exits. The dynamic scene includes but is not limited to vehicles and road equipment status.

[0093] The perception system can be a combination of one or more of a smart base station, a smart camera, a millimeter-wave radar sensor, or a lidar sensor. In actual application, the perception system set up in areas such as roads or tunnels to be controlled can perceive vehicles in real time to obtain perception information of the vehicles.

[0094] The perception information may be acquired by camera shooting and laser radar detection, including but not limited to vehicle information and road equipment status information. The current perception information in the embodiment of the present application refers to the perception information at the current moment. In the present application, the current moment generally refers to any moment when the perception system perceives dynamic or static objects 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 objects or all the objects in the road scene perceived at the current moment (any moment).

[0095] Step 320: Determine the location and identification of the target vehicle.

[0096] When determining the location of the target vehicle, the options are:

[0097] Determine the x-coordinate of the twin object of the target vehicle in the two-dimensional graph, corresponding to the cumulative length of the position of the target vehicle at the road scene along the direction parallel to the centerline of the road.

[0098] Determine the y coordinate of the twin object of the target vehicle in the two-dimensional graph, corresponding to the relative position of the target vehicle at the road scene along the road width direction.

[0099] Furthermore, when determining the identification of the target vehicle, the optional options are: obtaining the captured information and the perceived information of the target vehicle in a set area on the road scene; generating the identity information of the target vehicle based on the captured information of the target vehicle; and binding the twin object of the target vehicle and the identity information of the target vehicle in the twin picture of the traffic scene to generate vehicle fusion information.

[0100] The captured information may include but is not limited to the license plate image captured by the capture device. The vehicle identity information may include but is not limited to the license plate information.

[0101] Step 330: Generate a twin image of the traffic scene, which includes a twin object of the target vehicle.

[0102] Twin objects refer to the visual representation of objects in the real physical world, including but not limited to static objects such as buildings, landforms, and traffic facilities, as well as dynamic objects such as traffic participants (vehicles, pedestrians, etc.), weather conditions, and traffic time. In this embodiment, the road scene is acquired by camera photography and radar detection, and the vehicles, roads, and road equipment contained in the traffic scene are twinned into the twin scene.

[0103] In the present application, the road scene corresponds to the twin picture. The twin picture filters out unnecessary factors of the road scene. The complex road conditions and the status of road equipment can be simply displayed through the twin picture, which is convenient for road management personnel to manage.

[0104] In this embodiment, the position of the target vehicle's twin object in the two-dimensional graph is determined by the x-coordinate and y-coordinate of the vehicle's twin object.

[0105] In other words, the driving status of the vehicle in the road scene can be displayed in real time at the corresponding position of the two-dimensional graphics, which is convenient for the positioning, tracking and management of the vehicle.

[0106] In this embodiment, the twin object of the target vehicle in the twin scene can display the license plate information.

[0107] In other words, the twin object of the target vehicle can always display the license plate information during the movement of the twin image, which is convenient for dynamic management of the designated vehicle.

[0108] Figure 4 A flow chart of a traffic scene twin method for determining the position of a road equipment twin object provided in another embodiment of the present application, comprising steps 410 to 480. Figure 1 In the traffic scene application environment shown, the twin objects of static objects such as road equipment are also processed according to the above algorithm to determine the positions of static twin objects such as road equipment on the twin scene.

[0109] Step 410: Obtain the geographic coordinates of the road equipment.

[0110] The road equipment of the present application includes traffic facilities and equipment installed in the road or on the side of the road, including but not limited to indication facilities, playback facilities (such as LED screens, directional sound playback equipment), lighting equipment (street lights, tunnel lights), gate facilities, tunnel facilities (fans, escape doors), sensing equipment (radars, cameras), communication equipment, etc.

[0111] Furthermore, video images of the road scene are obtained, and the video images are collected by a perception system set up on the road.

[0112] Step 420: Determine the position of the road equipment twin object.

[0113] Determine the x-coordinate of the twin object of the road equipment in the two-dimensional graph, corresponding to the cumulative length of the position of the road equipment at the road site along a direction parallel to the center line of the road;

[0114] Determine the y coordinate of the twin object of the road equipment in the two-dimensional graph, which corresponds to the relative position of the road equipment at the road site along the road width direction.

[0115] In the road equipment, the position of the equipment pile with the sensing system is generated by the above algorithm. That is, the longitude and latitude information of the equipment pile in the high-precision map is converted into the cumulative length information along the road. Usually, the pile number of the equipment pile contains the cumulative length information, as described in the following embodiment.

[0116] Step 430: Determine the position of the frame for displaying the video image according to the acquisition position of the video image.

[0117] Furthermore, a frame for displaying the video image of the target vehicle is determined according to the video image acquisition position corresponding to the position of the target vehicle.

[0118] When the video image acquisition position is at a device pole where a sensing system is installed, the video image acquisition position is determined according to the position of the device pole, and further, the position of any target in the video image can be determined.

[0119] Step 440: Determine the position of a certain location in the road scene in the road twin image and the frame.

[0120] 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;

[0121] Further, at least one position of the target vehicle at the road scene is mapped as a third position in the twin object of the road and mapped as a fourth position in the video image in the frame;

[0122] Optionally, in step 450, in the twin scene, the identity information of the vehicle simultaneously displayed in the video image at at least one moment is determined according to the identity information of the twin object bound to the target vehicle. That is, the video image and the identity information of the annotated vehicle can be displayed at the same time for the designated target, which is conducive to tracking the designated target.

[0123] Optionally, in step 460, the twin image of the traffic scene includes twin objects of road equipment.

[0124] In this embodiment, the road equipment in the traffic scene displays a twin object of the road equipment at a corresponding position of the two-dimensional graphic.

[0125] Step 470: Generate a twin scene, which includes a twin object of the road and a frame accompanying the road, and the frame includes a video image of the target vehicle.

[0126] That is to say, the twin scene includes the twin object of the road and the frame accompanying the road. The frame contains the actual video image of the target vehicle. The twin information of the target vehicle on the road is displayed synchronously with the actual video image, which facilitates the evidence collection of the target vehicle.

[0127] Further, the twin scene includes a plurality of frames arranged along a moving direction of the twin object of the target vehicle;

[0128] That is to say, the change of the position of the target vehicle will correspondingly change the video image acquisition position, ensuring that the video information of the target vehicle is included in the frame.

[0129] Step 480: In the twin scene, align the position of the frame with the designated position of the road and the target vehicle.

[0130] In the twin picture, the first position and the second position are aligned in a direction perpendicular to the centerline of the road;

[0131] Further, at at least one moment in the twin scene, the third position and the fourth position are aligned in a direction perpendicular to the center line of the road.

[0132] In other words, the video image in the frame and the twin scene are in a synchronous mapping relationship, which can accurately display the actual status of the twin scene, which is conducive to the evidence collection of specific targets. The twin object of the road equipment can be displayed in the two-dimensional graphics, which is convenient for viewing the road equipment.

[0133] By reducing the amount of drawing and processing, the problem of data jamming and inability to achieve real-time monitoring caused by huge data interaction generated by real-time video synchronous playback of vehicles traveling in both directions on multiple different road sections in one screen is solved.

[0134] Figure 5.1The road scene is generated by processing the original geographic information data. Figure 5.1 In the figure, the coordinates of the road are determined by longitude and latitude, which truly reflect the length, width and curvature of the road. The figure also identifies the location of the wind turbine and the pile number (such as K19+780) where it is installed. Figure 5.2 Schematic diagram of the twin scene improvement effect of the embodiment of the present application. Figures 2 to 4 Embodiments of the present invention implement Figure 5.2 effect.

[0135] Further, in Figure 5.2 In the method, the information in the pile number is used to represent the cumulative length. The following technical scheme is used to determine at least one of the following items according to the pile numbers arranged along the road:

[0136] The cumulative length of any point on the road site along the direction parallel to the centerline of the road;

[0137] The cumulative length of the target vehicle position in the road scene along the direction parallel to the center line of the road;

[0138] The cumulative length of the road equipment location along the direction parallel to the road centerline;

[0139] The x-coordinate of any point in the road scene in the two-dimensional graph;

[0140] The x-coordinate of the twin object of the target vehicle in the road scene in the two-dimensional graph;

[0141] The x-coordinate of the twin object of the road equipment in the 2D graph.

[0142] It is understandable that the geographic location of the road equipment (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 road equipment along the direction parallel to the center line of the road, the cumulative length of the location of the target vehicle in the road scene along the direction parallel to the center line of the road can be determined; or, based on the x-coordinate of the twin object of the road equipment in the two-dimensional graph and the relative position information between the target vehicle and the location of the road equipment, the x-coordinate of the target vehicle in the two-dimensional graph can be determined.

[0143] When the above-mentioned cumulative lengths are represented by information of pile numbers, or when the x-coordinate corresponds to the pile number, the cumulative lengths or x-coordinates can be determined according to the pile numbers arranged along the road.

[0144] In other words, the stake number converts the actual value of the geographic coordinate into the relative value of the rectangular coordinate, which greatly simplifies the amount of data to be processed and facilitates computer processing.

[0145] Further, at least one position in the road scene is determined according to the stake numbers arranged along the road, and is mapped as a first position in the road twin object and as a second position in the frame;

[0146] 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;

[0147] According to the stake numbers arranged along the road, the cumulative length of any point in the three-dimensional geographic information data of the road along the center line of the road is determined.

[0148] In other words, the pile number can be used as a reference for static roads, road equipment, and dynamic vehicles and road equipment status, thereby converting complex geographic coordinates into simple rectangular coordinates, greatly simplifying the amount and difficulty of processing data and ensuring the system's stress resistance.

[0149] The cumulative length may be a relative position, indicating the distance between the current position and the starting point, and the starting point may be customized.

[0150] For example, the first position of the present application is 2200 meters away from the starting point, and the coordinates of the first position in the two-dimensional graph are values ​​corresponding to 2200. When mapped to the screen, the position of the first position in the twin image is also a value corresponding to 2200.

[0151] For example, in the third position of the present application, the target vehicle is located at a distance of 2200 meters from the starting point, and the coordinates of the third position in the two-dimensional graph are values ​​corresponding to 2200. When mapped to the screen, the position of the twin object of the target vehicle in the twin scene is also a value corresponding to 2200.

[0152] Furthermore, the optimal embodiment of the present application locates the positions of twin objects of a large number of physical entities in the twin scene by stake numbers.

[0153] For example, according to stake numbers arranged 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;

[0154] 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 a third position in the twin object of the road and as a fourth position in the frame;

[0155] For another example, 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 according to the stake numbers arranged along the road.

[0156] Furthermore, the present application uses information indicating the pile number to indicate the cumulative length, and any position-related information of the present application can be indicated by the pile number, for example, the video acquisition position, the road position, the position of the traffic participant (including the target vehicle), the position of the road equipment, etc.

[0157] It should be noted that in the present application, the first position, the third position, and the position of the road equipment can all be expressed by pile numbers. For example, the pile number is an integer in meters. An example of a common expression for positioning a highway section is: YK5+720 is the pile number of the equipment pile, the letters YK represent the up or down direction, 5 is kilometers, and 720 is meters. The position of the twin object can be uniformly expressed by the pile number, or the position resolution expression can be further improved based on the pile number.

[0158] 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 YK5+200. If the target vehicle is at the entrance, its pile number position is YK5+200. After driving forward 1 meter, its real-time position expressed by the pile number position is YK5+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 YK5+198.

[0159] It should also be noted that the stake number twin expresses the position in the stake 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 stake number twin maps the high-precision map twin to the "pile number twin map". In other words, the stake number twin map is the x-coordinate of any point in the twin map of two-dimensional geographic information, expressed by the stake number information. To represent the straightened road + vehicle + road equipment + video, for example, in Figure 5.2 The image contains twin objects of the road and the target vehicle, as well as a frame displayed in parallel with the road, in which video images of the road scene can be loaded.

[0160] Taking the pile number as a reference, the twin object of the road summarized on the screen is represented in the form of a straight line. The vehicle traveling on the road generates a twin vehicle. The current position of the twin vehicle is dynamically displayed on the twin road. The video of the current road section is displayed above the twin road. The twin road equipment of the road equipment displays the equipment status in real time above the video.

[0161] Figure 6 It is a flow chart of the traffic scenario twin method with touch confirmation proposed in an embodiment of the present application.

[0162] Step 610: Determine the preset working content and / or preset working status of the road equipment within the range that meets the set contact condition in the road, and send an instruction to execute the preset working content and / or preset working status to the road equipment.

[0163] In step 610, the contact condition may be a comparison between the road device and a preset condition, and the road device performs a corresponding operation when the preset condition is met.

[0164] Step 620: Acquire current working status information and / or current working content information of the road equipment.

[0165] Step 630: In the twin scene, a dynamic twin object of the road equipment is generated according to the current working status information and / or current working content information of the road equipment.

[0166] The current status information and / or current working content information of the road equipment can generate a dynamic twin object of the equipment and display it in the twin picture. That is, the response of the road equipment can be displayed in the twin picture, which facilitates the monitoring and management of the equipment response.

[0167] Step 640: Compare the positions of the dynamic twin object of the road equipment and the twin object of the target vehicle to determine whether the road equipment meets the set contact condition.

[0168] Specifically, if the positional relationship between the dynamic twin object of the road equipment and the twin object of the target vehicle is within a set range, the current working state information and the preset working state information can be compared, and / or the current working content information and the preset working content information can be compared. It is determined that the road equipment meets the set contact conditions. Further, the dynamic twin object of the equipment can also be generated according to the contact state of the road equipment and displayed in the twin picture, which facilitates the monitoring and management of the contact state of the equipment information.

[0169] For example, the contact conditions in step 610 and step 640 are that the road perception system of the present application captures vehicle speeding information, and the license plate number and speeding information are displayed on the information board at the road scene. Accordingly, in the twin image of the traffic scene, the twin vehicle of the target vehicle displays the license plate number, and the twin information board in front of the twin vehicle displays the text of speeding.

[0170] Furthermore, the contact conditions of the present application include the relative positions of the vehicle and the road equipment. For example, when the road perception system captures the speeding information of the vehicle, the license plate number and speeding information are displayed on the information board at a preset distance in front of the current target vehicle.

[0171] Furthermore, the contact conditions of the present application include a one-to-one mapping of the road scene and the twin picture of the traffic scene. For example, when speeding occurs, the license plate number and speeding information are displayed on the information board in front of the current target vehicle in the traffic scene, and the twin vehicle of the target vehicle and the content of the twin information board are displayed in real time in the twin picture of the traffic scene in response.

[0172] The contact condition includes the determination of the positional relationship between the target vehicle and the road equipment. When determining the position of the target vehicle and the road equipment, it can be understood that the position can be obtained in the twin map space of the two-dimensional geographic information after coordinate transformation according to the embodiments of steps 220 to 230, steps 320, 420, and 440 of this application. Furthermore, when the cumulative length is represented by information in the pile number, the position information used to determine the contact condition is obtained in the twin map space of the pile number.

[0173] For example, in Figure 5.2 In the system, the road is generated into a twin road and represented in a straight line with the pile number as a reference. The vehicle traveling on the road is generated into a twin vehicle. The current position of the twin vehicle is dynamically displayed on the twin road. If the vehicle needs the information board prompt, the twin information board will display the prompt information on the screen in real time. And if the vehicle needs the directional sound prompt, the twin directional sound will display the prompt information on the screen in real time.

[0174] Figure 7 This is a structural diagram of the traffic scene twin device proposed in the embodiment of the present application. The device of the present application includes:

[0175] An acquisition module 910 is used to acquire three-dimensional geographic information data of a road, wherein the three-dimensional geographic information data includes geographic coordinates of the road;

[0176] The determination module 920 is used to determine the x-coordinate of any point in the two-dimensional graph, which corresponds to the cumulative length of the position of the any point in the three-dimensional geographic information data of the road along the direction parallel to the centerline of the road; determine the x-coordinate of the twin object of the target vehicle in the two-dimensional graph, which corresponds to the cumulative length of the position of the target vehicle at the road site along the direction parallel to the centerline of the road; determine the x-coordinate of the twin object of the road equipment in the two-dimensional graph, which corresponds to the cumulative length of the position of the road equipment at the road site along the direction parallel to the centerline of the road;

[0177] The generation module 930 is used to map the centerline direction of the road into the x direction and the width direction of the road into the y direction in the twin view of the traffic scene, establish a rectangular coordinate system, and generate a two-dimensional graph of the road.

[0178] In one embodiment, a comparison module 940 is also included, which is used to compare the positions of the dynamic twin object of the road equipment and the twin object of the target vehicle to determine whether the road equipment meets the set contact conditions; further, when the position relationship between the dynamic twin object of the road equipment and the twin object of the target vehicle is within a set range, the current working status information and the preset working status information are compared, and / or the current working content information and the preset working content information are compared to determine whether the road equipment meets the set contact conditions.

[0179] In one embodiment, the acquisition module further includes a first acquisition unit, which is used to acquire three-dimensional geographic information data of the road, wherein the three-dimensional geographic information data includes the geographic coordinates of the road.

[0180] In one embodiment, the acquisition module further includes a second acquisition unit, which is used to acquire current perception information of the target vehicle at the road scene, wherein the current perception information is obtained through a perception system set on the road;

[0181] In one embodiment, the acquisition module further includes a third acquisition unit, which is used to acquire the captured information of the target vehicle and the perception information of the target vehicle in a set area of ​​the road scene;

[0182] In one embodiment, the acquisition module further includes a fourth acquisition unit, which is used to acquire a video image of the road scene, wherein the video image is collected by a perception system arranged on the road;

[0183] In one embodiment, the acquisition module includes a fifth acquisition unit for acquiring geographic coordinates of the road equipment;

[0184] In one embodiment, the acquisition module further includes a sixth acquisition unit, which is used to acquire current working state information and / or current working content information of the road equipment.

[0185] In one embodiment, the determination module further comprises a first determination unit, which is used for at least one of the following:

[0186] Determine the x-coordinate of any point in the two-dimensional graph, corresponding to the cumulative length of any point in the three-dimensional geographic information data of the road along the direction parallel to the centerline of the road;

[0187] Determine the x-coordinate of the twin object of the target vehicle in the two-dimensional graph, corresponding to the cumulative length of the position of the target vehicle at the road scene along a direction parallel to the centerline of the road;

[0188] Determine the x-coordinate of the twin object of the road equipment in the two-dimensional graph, corresponding to the cumulative length of the position of the road equipment at the road site along the direction parallel to the center line of the road.

[0189] Furthermore, the determination module further comprises a second determination unit for determining the cumulative length according to the pile numbers arranged along the road. Specifically, the cumulative length of any point in the three-dimensional geographic information data of the road along the center line of the road is determined according to the pile numbers arranged along the road.

[0190] In one embodiment, the determination module includes a third determination unit, configured to determine at least one of the following according to the stake numbers arranged along the road:

[0191] The cumulative length of any point in the road scene along a direction parallel to the road centerline;

[0192] The cumulative length of the target vehicle position in the road scene along a direction parallel to the road centerline;

[0193] The cumulative length of the road equipment location along the direction parallel to the road centerline;

[0194] In one embodiment, the determination module further includes a fourth determination unit, which is used to determine at least one of the following items according to the stake numbers arranged along the road:

[0195] The x-coordinate of any point in the road scene in the two-dimensional graph;

[0196] The x-coordinate of the twin object of the target vehicle in the road scene in the two-dimensional graph;

[0197] The x-coordinate of the twin object of the road equipment in the two-dimensional graph.

[0198] In one embodiment, the determination module further includes a fifth determination unit, which binds the twin object of the target vehicle and the identity information of the target vehicle in the twin image of the traffic scene.

[0199] In one embodiment, the determination module further includes a sixth determination unit, configured to determine at least one of the following:

[0200] The y coordinate of any point in the two-dimensional graph in the two-dimensional graph corresponds to the relative position of the any point at the road site along the road width direction.

[0201] The y coordinate of the twin object of the target vehicle in the two-dimensional graph corresponds to the relative position of the target vehicle at the road scene along the road width direction.

[0202] Determine the y coordinate of the twin object of the road equipment in the two-dimensional graph, corresponding to the relative position of the road equipment at the road site along the road width direction.

[0203] In one embodiment, the determination module further includes a seventh determination unit, which is used to determine at least one position in the road scene according to the pile numbers arranged along the road, and map it as a first position in the road twin object and as a second position in the frame.

[0204] In one embodiment, the determination module further includes an eighth determination unit, which is used to determine the position of the target vehicle according to the pile number at which the perception system is deployed along the road, and map it as a third position in the twin object of the road and as a fourth position in the frame.

[0205] In one embodiment, the determination module further comprises a ninth determination unit, which is used to determine the position of the frame for displaying the video image according to the acquisition position of the video image;

[0206] In one embodiment, the determination module further includes a tenth determination unit, which is used to determine a frame for displaying the video image of the target vehicle according to a video image acquisition position corresponding to the position of the target vehicle.

[0207] In one embodiment, the determination module further includes an eleventh determination unit, which is used to determine, in the twin scene, the identity information of a vehicle simultaneously displayed in the video image at at least one moment according to the identity information of the twin object bound to the target vehicle.

[0208] In one embodiment, the determination module further includes a twelfth determination unit, which is used to determine the preset working content and / or preset working status of the road equipment within the range that meets the set contact condition in the road.

[0209] In one embodiment, the determination module further includes a thirteenth determination unit, which is used to determine, in response to the comparison module, whether the road equipment meets the set contact condition.

[0210] In one embodiment, the generation module further includes a first generation unit, which is used to map the centerline direction of the road to the x direction and the width direction of the road to the y direction in the twin image of the traffic scene, establish a rectangular coordinate system, and generate a two-dimensional graphic of the road.

[0211] In one embodiment, the generation module further includes a second generation unit, which is used to generate the identity information of the target vehicle according to the captured information of the target vehicle.

[0212] In one embodiment, the generation module further includes a third generation unit, which generates a dynamic twin object of the road equipment according to the current working state information and / or the current working content information.

[0213] In one embodiment, the generation module further includes a fourth generation unit, which is used to generate a twin image of the traffic scene, including a twin object of the target vehicle.

[0214] In one embodiment, the generation module further includes a fifth generation unit for generating the twin scene, including a twin object of the road and a frame accompanying the road, wherein the frame includes a video image of the target vehicle.

[0215] In one embodiment, the generation module further includes a sixth generation unit for generating a plurality of frames arranged along a moving direction of the twin object of the target vehicle in the twin scene;

[0216] In one embodiment, the generation module further includes a seventh generation unit, which is used to generate a twin image of the traffic scene, including a twin object of the road equipment.

[0217] In one embodiment, the generating module comprises an eighth generating unit, configured to align the first position and the second position in the twin scene in a direction perpendicular to a centerline of the road;

[0218] In one embodiment, the generation module comprises a ninth generation unit, configured to align the third position and the fourth position in a direction perpendicular to a center line of the road at at least one moment in the twin image.

[0219] In one embodiment, the generation module includes a tenth generation unit, which is used to generate a dynamic twin object of the road equipment in the twin scene according to the current working state information and / or the current working content information of the road equipment;

[0220] In one embodiment, the present application further includes a management and control module for sending an instruction to the road equipment to execute the preset work content and / or preset work status in response to meeting the set contact conditions.

[0221] 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.

[0222] 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.

[0223] 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.

[0224] 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.

[0225] 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 in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0226] Figure 8 This is a structural diagram of a computer device in an embodiment of the present application.

[0227] Furthermore, the present application also proposes a computer device (or computing 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.

[0228] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory. Memory may include non-permanent memory in a computer-readable medium, 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 implemented by any method or technology to store information. 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 devices or any other non-transmission media that can be used to store information that can be accessed by a computing 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.

[0229] 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 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 device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0230] 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 traffic scene twin method, characterized in that: Acquiring geographic information data, wherein the geographic information data includes geographic coordinates of the road; In the twin image of the traffic scene, the centerline direction of the road is mapped to the x direction, the width direction of the road is mapped to the y direction, a rectangular coordinate system is established, and a two-dimensional graph of the road is generated; Determine the x-coordinate of any point in the two-dimensional graph, corresponding to the cumulative length of the position of the any point in the three-dimensional geographic information data of the road along a direction parallel to the center line of the road.

2. The traffic scene twin method according to claim 1, characterized in that: Acquire current perception information of a target vehicle at a road scene, wherein the current perception information is obtained through a perception system set on the road; The twin image of the traffic scene includes a twin object of the target vehicle; Determine an x-coordinate of the twin object of the target vehicle in the two-dimensional graph, corresponding to a cumulative length of the position of the target vehicle at the road scene along a direction parallel to a centerline of the road; Determine the y coordinate of the twin object of the target vehicle in the two-dimensional graph, corresponding to the relative position of the target vehicle at the road scene along the road width direction.

3. The traffic scene twin method according to claim 1, characterized in that: Get geographic coordinates of road equipment; In the twin picture of the traffic scene, a twin object of the road equipment is included; Determine the x-coordinate of the twin object of the road equipment in the two-dimensional graph, corresponding to the cumulative length of the position of the road equipment at the road site along a direction parallel to the centerline of the road; Determine the y coordinate of the twin object of the road equipment in the two-dimensional graph, corresponding to the relative position of the road equipment at the road site along the road width direction.

4. The traffic scene twin method according to claim 1, characterized in that: Based on the stakes arranged along the road, at least one of the following is determined: The cumulative length of any point in the road scene along a direction parallel to the road centerline; The cumulative length of the target vehicle position in the road scene along a direction parallel to the road centerline; The cumulative length of the road equipment location along the direction parallel to the road centerline; The x-coordinate of any point in the road scene in the two-dimensional graph; The x-coordinate of the twin object of the target vehicle in the road scene in the two-dimensional graph; The x-coordinate of the twin object of the road equipment in the two-dimensional graph.

5. The traffic scene twin method according to claim 1, characterized in that: In a set area on the road scene, acquiring captured information of a target vehicle and perceived information of the target vehicle; Generating identity information of the target vehicle according to the captured information of the target vehicle; In the twin picture of the traffic scene, the twin object of the target vehicle and the identity information of the target vehicle are bound.

6. The traffic scene twin method according to claim 1, characterized in that: Acquire current working status information and / or current working content information of the road equipment, and generate a dynamic twin object of the road equipment in the twin scene according to the current working status information and / or the current working content information.

7. The traffic scene twin method according to claim 1, characterized in that: Determine the preset working content and / or preset working state of the road equipment within the range that meets the set access condition on the road; An instruction to execute the preset working content and / or the preset working state is sent to the road equipment.

8. The traffic scene twin method according to claim 1, characterized in that: In the twin scene, a dynamic twin object of the road equipment is generated according to the current working state information and / or the current working content information of the road equipment; Compare the positions of the dynamic twin object of the road equipment and the twin object of the target vehicle to determine whether the road equipment meets the set contact condition.

9. A traffic scene twinning method as claimed in claim 1, characterized in that: include: Acquire a video image of a road scene, wherein the video image is collected by a perception system arranged on the road; The twin scene includes a twin object of a road and a frame accompanying the road, wherein the frame includes a video image of a target vehicle; The position of a frame for displaying the video image is determined according to the acquisition position of the video image.

10. The traffic scene twin method according to claim 9, characterized in that: The twin scene includes a plurality of frames arranged along a moving direction of a twin object of the target vehicle; A frame for displaying the video image of the target vehicle is determined according to a video image acquisition position corresponding to the position of the target vehicle.

11. The traffic scene twin method according to claim 9, characterized in that: 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; and / or, At least one position of a target vehicle at a road scene is mapped as a third position in the twin object of the road and is mapped as a fourth position in the video image in the frame; at least one moment in the twin scene, the third position and the fourth position are aligned in a direction perpendicular to the centerline of the road.

12. The traffic scene twin method according to claim 9, characterized in that: In the twin scene, the identity information of the vehicle simultaneously displayed in the video image at at least one moment is determined according to the identity information of the twin object bound to the target vehicle.

13. The traffic scene twin method according to claim 9, characterized in that: Determine at least one position in the road scene according to stake numbers arranged along the road, and map it as a first position in the road twin object and as a second position in the frame; Determine the position of the target vehicle according to the stake numbers arranged along the road, and map it as a third position in the twin object of the road and as a fourth position in the frame; According to the stake numbers arranged 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 direction of the road is determined.

14. A traffic scene twin device, characterized in that: The device comprises: An acquisition module, used to acquire geographic information data, wherein the geographic information data includes the geographic coordinates of the road; A generation module, used to map the centerline direction of the road as the x direction and the width direction of the road as the y direction in the twin view of the traffic scene, establish a rectangular coordinate system, and generate a two-dimensional graph of the road; Identify modules for one or more of the following: Determine the x-coordinate of any point in the two-dimensional graph, corresponding to the cumulative length of the position of the any point in the geographic information data along a direction parallel to the centerline of the road; Determine an x-coordinate of the twin object of the target vehicle in the two-dimensional graph, corresponding to a cumulative length of the position of the target vehicle at the road scene along a direction parallel to the centerline of the road; Determine the x-coordinate of the twin object of the road equipment in the two-dimensional graph, corresponding to the cumulative length of the position of the road equipment at the road site along a direction parallel to the center line of the road.

15. A traffic scene twin device as claimed in claim 14, characterized in that: The cumulative length is determined according to stake numbers arranged along the road.

16. A traffic scene twin device as claimed in claim 14, characterized in that: The device comprises: Comparison module, used to Compare the positions of the dynamic twin object of the road equipment and the twin object of the target vehicle to determine whether the road equipment meets the set contact condition.

17. 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 13 is implemented.

18. 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 13 is implemented.

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