Digital twinborn accident detection and dredging method and device

Abstract

The invention discloses a digital twinning accident detection and dispersion method and device, and solves the technical problems that the visualization efficiency of digital twinning in the prior art is low, and the effect of service equipment required by an accident is inconvenient to manage and control in time. The method comprises the following steps: acquiring current perception information of an accident; displaying a twinborn picture of the traffic scene, wherein the twinborn picture comprises twinborn objects of the accident; the current sensing information of the accident comprises an accident type and accident position information; in response to the accident, determining a working state or a reminding message of a preset service equipment set; and in the twinborn picture, updating the twinborn objects of the service equipment set, and displaying the current working state or the current reminding message of the service equipment set. According to the invention, the display of the accident position and the evacuation strategy of the service equipment in the twin picture after the accident occurs is enhanced, and the accuracy of accident coping is enhanced.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a digital twin accident detection and guidance method and device. Background Art

[0002] With the acceleration of urbanization and the development of the automobile industry, more and more highways play an important role in urban traffic. Therefore, accident detection and diversion in traffic scenes are particularly important. When an accident occurs in a traffic scene, various service facilities need to coordinate and control the accident, for example, evacuate traffic participants (vehicles, pedestrians, etc.). However, during the operation of service equipment, it is impossible to systematically observe the operating status of the equipment in real time, nor is it possible to understand the working content of the equipment in real time. When a road accident occurs, it is difficult to evaluate the implementation of the response strategy. Summary of the invention

[0003] The present application proposes a digital twin accident detection and diversion method and device method and device to solve the technical problems that the visualization efficiency of digital twins in the prior art is low and it is not convenient to timely control the working effect of the service equipment required for accident diversion.

[0004] In a first aspect, an embodiment of the present application provides a digital twin accident detection and guidance method, comprising the steps of:

[0005] Obtain current perception information of the accident; display a twin picture of the traffic scene, which includes the twin object of the accident;

[0006] The current perception information of the accident includes the accident type and / or the accident location information;

[0007] In response to the accident, determining a working status and / or a reminder message of a preset set of service devices;

[0008] In the twin picture, the twin object of the service device set is updated to display the current working status and / or current reminder message of the service device set.

[0009] In one of the embodiments, a preset service equipment set is determined based on the accident type information and / or the accident location information.

[0010] In one of the embodiments, in response to an accident, the accident location is highlighted in a twin view of the traffic scene.

[0011] In one of the embodiments, the twin image includes a twin object of a road;

[0012] Acquire geographic information data, where the geographic information data includes geographic coordinates of roads;

[0013] 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 two-dimensional graphics of the road. The x coordinate of any point in the two-dimensional graphics 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.

[0014] In one of the embodiments, 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 the twin object of the accident;

[0015] The x-coordinate of the accident is determined, corresponding to the cumulative length of the location of the accident in the geographic information data of the road along a direction parallel to the centerline of the road.

[0016] In one embodiment, geographic information data is obtained, where the geographic information data includes geographic coordinates of any service device in the service device set;

[0017] 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 position of any service device in the service device set.

[0018] The x-coordinate of any service device in the service device set is determined, corresponding to the cumulative length of the position of any service device in the geographic information data of the road along a direction parallel to the center line of the road.

[0019] In one of the embodiments, current perception information of traffic participants is obtained;

[0020] 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 position of traffic participants.

[0021] Determine the x-coordinate of any traffic participant, which corresponds to the cumulative length of the position of the traffic participant in the geographic information data of the road along a direction parallel to the center line of the road.

[0022] In one embodiment, at least one of the following is determined based on stake numbers arranged along the road:

[0023] The cumulative length of any point on the road scene, service equipment, incident or traffic participant location along the direction parallel to the road centerline;

[0024] The x-coordinate of any point in the road scene, the twin object of a service device, the twin object of an accident, or the twin object of a traffic participant in a two-dimensional graphic.

[0025] In one embodiment, the service device set includes a broadcast device. According to the type of the accident, the broadcast information is determined. The broadcast device is controlled to play the broadcast information. The current broadcast information and / or the current working state of the broadcast device is collected. The information is displayed on the twin object of the broadcast device.

[0026] In one of the embodiments, the service device set includes an escape indication device;

[0027] Determine the working state according to the type and / or location of the accident. Control the escape indication device to change the working state. Collect the current working state of the escape indication device. Display it on the twin object of the escape indication device.

[0028] In one embodiment, the service equipment set includes a wind turbine;

[0029] Determine the working state based on the type and / or location of the accident. Control the fan to change the working state. Collect the current working state of the fan. Display it on the twin object of the fan.

[0030] In one embodiment, current perception information of traffic participants is obtained.

[0031] The current perception information of the traffic participants includes the location information of the traffic participants. The twin scene includes the twin objects of the traffic participants.

[0032] In one embodiment, the method further comprises the steps of:

[0033] Determine whether the set guidance effect is met;

[0034] Based on at least one of the following:

[0035] Determination of the working status and / or reminder message of the service device set in the twin picture;

[0036] The positional relationship between traffic participants and accidents in the twin picture;

[0037] The location relationship between the service equipment collection and the incident.

[0038] In one embodiment, the method further comprises the steps of:

[0039] In response to the set grooming effect not being met, at least one of the following is triggered:

[0040] Adjust the set drainage effect;

[0041] Change the service equipment set;

[0042] Adjust the working status of the service equipment set;

[0043] Adjust the working status information and / or reminder message of at least one service device.

[0044] In a second aspect, an embodiment of the present application further provides a digital twin accident detection and guidance device, which is used in the method described in any one of the embodiments of the first aspect, comprising:

[0045] An acquisition module is used to acquire current perception information of the accident; the current perception information of the accident includes the accident type and / or accident location information;

[0046] A display module, used to display a twin picture of a traffic scene; and also used to update the twin object of the service device set in the twin picture, and display the current working status information and / or current reminder message of the service device set;

[0047] The management and control module determines the working status and / or reminder message of a set set of service devices in response to an accident.

[0048] 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.

[0049] 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.

[0050] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0051] This application strengthens the display of the accident location and evacuation strategy of service equipment in the twin picture after the accident, which is convenient for observation and timely adjustment of problems with service equipment. When an accident occurs, the evacuation effect can be directly cited to save time, and the service equipment can be adjusted in time after the accident to enhance the accuracy of accident response. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] 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:

[0053] Figure 1 A diagram of the application environment of the digital twin accident detection and guidance method provided in an embodiment of the present application;

[0054] Figure 2 A flow chart of a digital twin accident detection and guidance method provided in an embodiment of the present application;

[0055] Figure 3 A flow chart of a method including the step of selecting a set of service devices in an embodiment of the present application;

[0056] Figure 4 A flow chart of a coordinate transformation process for determining a position range in an embodiment of the present application;

[0057] Figure 5 A flow chart of a method including evaluation and adjustment steps according to an embodiment of the present application;

[0058] Figure 6 It is a twin-picture schematic diagram of the working state and operation effect of the evacuation guidance service equipment in the embodiment of the present application;

[0059] Figure 7 It is a twin-picture schematic diagram of the working state and operation effect of the escape service equipment in the embodiment of the present application;

[0060] Figure 8 A diagram showing the structure of a device according to an embodiment of the present application;

[0061] Fig. 9 This is a structural diagram of a computer device in an embodiment of the present application. DETAILED DESCRIPTION

[0062] 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.

[0063] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0064] Figure 1 This is an application environment diagram of the digital twin accident detection and relief method provided in an embodiment of the present application.

[0065] like Figure 1As 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.

[0066] 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.

[0067] 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.

[0068] Figure 2 A flow chart of a digital twin accident detection and relief method provided in an embodiment of the present application.

[0069] The embodiment of the present application provides a digital twin accident detection and guidance method, comprising the steps of:

[0070] Step 210: Obtain current perception information of the accident;

[0071] The current perception information of the accident includes the accident type and accident location information;

[0072] The perception information is obtained through multi-source perception devices in the traffic scene.

[0073] Optionally, the multi-source perception device is a roadside perception device or a road test multi-source fusion perception system arranged at the entrance of the traffic scene and at a set position inside the traffic scene.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] Furthermore, current perception information of traffic participants is obtained.

[0078] The current perception information in the embodiments of the present application refers to the perception information at the current moment, which generally refers to any moment when the perception system perceives traffic participants (vehicles, personnel, etc.) 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 traffic participants or all the traffic participants in the road scene perceived at the current moment (any moment).

[0079] Optionally, the perceived information of the accident includes but is not limited to the category, location, time, scope, etc. of the accident. The category of the accident is, for example, vehicle fire, vehicle collision, road damage, etc.; the location refers to the location of the perceived accident; the perceived time refers to the time when the accident is perceived; and the scope refers to the scope of the perceived accident.

[0080] Step 220: display a twin image of the traffic scene, wherein the twin image includes a twin object of the accident;

[0081] 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.

[0082] 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.

[0083] The twin object of an accident is a visual representation of a real accident. For example, if a vehicle is on fire, the twin object of the accident includes visual representations of the fire range, the temperature of the fire area, the smoke range, the wind direction, etc. For another example, if a vehicle collides, the twin object of the accident includes the collision range and the number of traffic participants affected by the accident: specifically, it includes visual representations of the number of vehicles affected by the accident and the number of people affected by the accident.

[0084] Furthermore, the location information of the traffic participants is obtained based on the perception information of the traffic participants; the twin objects of the traffic participants are included in the twin scene.

[0085] The twin object of a traffic participant is a visual expression of the traffic participant. For example, if the traffic participant is a vehicle, the twin object of the traffic participant includes a visual expression of information such as the vehicle type and vehicle location. For another example, if the traffic participant is a pedestrian, the twin object of the traffic participant includes a visual expression of the pedestrian's location and the direction of movement of the pedestrian.

[0086] Step 230: In response to the accident, determine the working status or reminder message of a preset service device set;

[0087] The working status information of the preset service equipment set refers to the information on the preset working status of the relevant service equipment according to the preset accident diversion plan.

[0088] Working status is an expression of whether the prompt device is performing its specified function, or the degree to which it is performing its specified function. Specifically, it includes the switch status of the device or switching function performances such as working level and working progress.

[0089] Work content, such as informational function performance including device prompt information, transmission information, etc.

[0090] 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, meteorological information, and accidents 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.

[0091] It should be noted here that in order to determine the working status of the service device set within the said range, it is further necessary to control the working status of several devices in the service device set and send instructions about the working status to the service device. For example, in the database of the traffic control system, the diversion effect of the set event is included, corresponding to the preset service device set, and for a specific accident, the set working status change strategy is triggered.

[0092] Step 240: In the twin scene, update the twin object of the service device set to display the current working status or current reminder message of the service device set.

[0093] The current working state or the current reminder message is the working state or reminder message that actually occurs.

[0094] It indicates that 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, or obtains the twin data of the working status of the service device through the sensor, 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.

[0095] Regarding the current reminder message of the service device, for example, obtaining perception signals through sensors, identifying the reminder message played on site, or obtaining the twin data of the current reminder message of the service device through device monitoring information, that is, the twin object displaying the current reminder message of the service device is displayed together with the twin object of the service device in the twin picture.

[0096] Further, in response to an accident, the accident location is highlighted in the twin view of the traffic scene.

[0097] For example, if a vehicle catches fire, the image of the burning car will be surrounded by a bright aperture in the digital twin image.

[0098] Figure 3 This is a flow chart of a method including the step of selecting a service device set according to an embodiment of the present application. Based on other embodiments of the present application, selecting a service device set further includes steps 310 to 330.

[0099] Step 310: Acquire current perception information of the accident, and determine accident type information and / or accident location information;

[0100] The accidents in this application include natural disasters, man-made disasters in traffic scenes, or other events that may or are causing harm to traffic participants, including but not limited to vehicle breakdowns, traffic accidents, tunnel fires, vehicle fires, road collapse, landslides, etc.

[0101] The accident type is obtained through the perception information of the traffic scene perceived by the perception device, and the perception information includes but is not limited to image information, temperature information, sound information, etc.

[0102] The accident location can be obtained through sensing equipment.

[0103] For example, since the road graphics in the twin scene are straightened, the accident location also needs to be transformed accordingly in the traffic scene.

[0104] Step 320: Determine a preset service device set according to the accident type information and / or the accident location information;

[0105] For example, by pre-setting accident diversion plans, the operation plans of the service equipment for dealing with different accidents are determined, such as the preset accident diversion plan for vehicle fire, the preset accident diversion plan for vehicle collision, and the preset accident diversion plan for road damage.

[0106] The service equipment is controlled by the preset plug-in. After an accident occurs, the preset accident diversion plan is selected according to the accident type. Once the preset accident diversion plan is determined, the preset plug-in is called, and the preset plug-in controls the corresponding service equipment.

[0107] For example, the preset plug-in for a vehicle on fire in a tunnel includes a control instruction set for fans, exhaust fans, escape passages, escape signs, broadcasts, etc.

[0108] For another example, the preset plug-in for power outage in a tunnel includes a control instruction set for temporary lighting equipment, escape routes, escape signs, broadcasts, etc.

[0109] Preset the working status and operating effect, and control the working status and operating effect of the service equipment accordingly.

[0110] The diversion effect, for example, the number of traffic participants in the area of ​​the accident location, or the change in the number of traffic participants in the area of ​​the accident location over time.

[0111] Determine the accident location and the scope of the accident. The accident scope refers to the area affected by the accident. Service equipment corresponding to the accident type.

[0112] The preset service equipment set is determined according to the accident type and accident location. The service equipment set refers to a set of all service equipment used to solve an accident.

[0113] For example, if a vehicle catches fire in a tunnel, there will be thick smoke because the accident type is fire. Since the accident location is a tunnel, the thick smoke is difficult to disperse, so the service equipment set includes fans and fire sprinklers. Fans are used to blow away the thick smoke, while fire sprinklers cannot be installed in the open air.

[0114] The service equipment set of this application includes but is not limited to indication facilities, broadcasting equipment (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.

[0115] The service equipment set includes broadcast equipment. According to the type of accident, the broadcast information is determined; the broadcast equipment is controlled to play the broadcast information; the current broadcast information and / or current working status of the broadcast equipment is collected; and displayed on the twin object of the broadcast equipment.

[0116] In addition, the service equipment set includes escape indication equipment;

[0117] For example, a tunnel fire also requires the evacuation of traffic participants (people or vehicles), so broadcasting equipment such as signboards, information boards, and radios are needed to broadcast information to indicate escape routes to traffic participants.

[0118] Step 330: Determine the working status of the service equipment according to the type and / or location of the accident;

[0119] First, the working status of each service device in a preset set of service devices included in the solution corresponding to the accident must be determined, and control must be performed according to the preset working status.

[0120] Determine a service range by the location or type of the accident, and operate the service equipment within the range based on the location and scope of the accident.

[0121] For example, controlling the escape indication device to change its working state;

[0122] The current working status of the escape indication device is collected and displayed on the twin object of the escape indication device.

[0123] The escape indication equipment includes LED screens, directional sound playback equipment and other equipment;

[0124] The above-mentioned equipment is used to provide traffic participants with information such as evacuation routes and instruct them to evacuate.

[0125] The service equipment set includes fans;

[0126] Determine the working status based on the type and / or location of the incident;

[0127] Control the fan to change its working state;

[0128] The current working status of the fan is collected and displayed on the twin object of the fan.

[0129] Figure 4 A flow chart of the coordinate transformation process for determining the position range according to an embodiment of the present application.

[0130] The twin scene of the traffic scene includes a twin object of the road, including steps 410 to 420.

[0131] Step 410: Acquire geographic information data, where the geographic information data includes the geographic coordinates of the road;

[0132] 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.

[0133] 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.

[0134] 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 420.

[0135] Step 420: In the twin scene, 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 arbitrary point in the geographic information data of the road along the centerline direction of the road.

[0136] 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.

[0137] Furthermore, the position of the dynamic twin object of the accident on the twin scene is also processed according to the above algorithm, that is, the x-coordinate of the twin object of the accident in the two-dimensional graph is determined, which corresponds to the cumulative length of the position of the accident location at the road scene along the direction parallel to the center line of the road; the y-coordinate of the twin object of the accident in the two-dimensional graph is determined, which corresponds to the relative position of the accident location at the road scene along the road width direction.

[0138] Furthermore, the position of the twin object of the static object such as the service equipment on the twin scene is 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, corresponding to the cumulative length of the position of the static object at the road site 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, corresponding to the relative position of the static object at the road site along the width direction of the road. Therefore, the x coordinate of any service device in any service device set is determined, corresponding to the cumulative length of the position of any service device in the geographic information data of the road along the direction parallel to the center line of the road. The y coordinate of any service device in any service device set is determined, corresponding to the relative position of the position of any service device at the road site in the geographic information data of the road along the width direction of the road.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] Based on the stakes laid out along the road, determine at least one of the following:

[0143] The cumulative length of any point on the road scene, the location of traffic participants, the location of service equipment, and any point at the accident location along the direction parallel to the center line of the road;

[0144] The x-coordinate of any point in the road scene, the twin object of the traffic participant, the twin object of the service equipment, and the accident location in the two-dimensional graph.

[0145] For example, based on the stake numbers arranged along the road, at least one position in the road scene is determined and mapped as a first position in the road twin object.

[0146] For example, based on the stake number where the perception system is arranged along the road, the location of the accident and / or traffic participants is determined and mapped as a second location in the twin object of the road;

[0147] For example, 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.

[0148] 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 accident, the location of the service equipment, the location of the traffic participants (including the target vehicle, personnel, etc.), etc.

[0149] It should be noted that in the present application, the first position and the position of the service equipment can be expressed by the pile number. For example, the pile number is an integer 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 the number of kilometers, and 527 is the number of 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.

[0150] 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.

[0151] 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 any position 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 "stake number twin map".

[0152] Step 430: In response to the accident, determine the working status and / or reminder message of the preset service equipment set; the service equipment set includes the service equipment position information which is the position information of the service equipment in the two-dimensional graph after the coordinate transformation.

[0153] The location information of the service equipment can be included in the geographic information, can be sensed on-site by the sensing equipment, or can be fed back to the equipment.

[0154] The perception device performs on-site perception, and uses cameras, radars and other perception devices to perceive the location of the service equipment on-site, and generates the corresponding service equipment location information in the twin scene through digital twins.

[0155] The service device location information may also be stored in the server in advance, and when needed, the corresponding location information can be directly retrieved from the server.

[0156] Since the graphics of the roads in the twin scene are straightened, the position of the service equipment in the traffic scene also needs to be transformed accordingly. In the twin scene of the traffic scene, the position of the service equipment in the two-dimensional graphics after the coordinate transformation is obtained according to the perception device in the traffic scene. According to the position of the service equipment after the coordinate transformation and the range of the service range after the coordinate transformation, the service equipment set is determined, and the working status and / or reminder message of the service equipment set is further determined.

[0157] 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.

[0158] Figure 5 The present invention is a flowchart of a method including evaluation and adjustment steps according to an embodiment of the present application.

[0159] On the basis of the first aspect embodiment, the method further comprises the steps of:

[0160] Step 500: Based on step 430, preferably, a preset service device set is determined according to the accident type information and / or the location information after the accident coordinates are transformed. The service device set is determined according to the accident type and the location information after the accident coordinates are transformed. The service device set refers to the set of all service devices used to solve an accident.

[0161] Step 510: Determine whether the set traffic diversion effect is met according to at least one of the following: the working status and / or reminder message of the service device set in the twin scene; the position relationship between the traffic participant and the accident in the twin scene; the position relationship between the service device set and the accident;

[0162] Step 520: In response to not meeting the set grooming effect, trigger at least one of the following:

[0163] Adjust the set drainage effect;

[0164] Change the service equipment set;

[0165] Adjust the working status of the service equipment set;

[0166] Adjust the working status information and / or reminder message of at least one service device.

[0167] Figure 6 It is a twin scene schematic diagram (partial) of the working status and operating effect of the evacuation guidance service equipment in the embodiment of the present application, which includes twin objects of roads and service equipment, and the service equipment includes information boards, directional sounds, and escape signs.

[0168] For example, Figure 6 As shown, when a vehicle catches fire in the tunnel, based on the twin object of the information board at position K20+690, a twin object of prompt information is added, such as "fire in the tunnel, stop immediately, escape to the nearby horizontal tunnel", further forming a dynamic information board twin object.

[0169] In this embodiment, the prompt information, i.e., the work content information mentioned above, is displayed in the illustrated twin scene, and the work content information is twin information that identifies the actual work content of the current device.

[0170] In this embodiment, the working status marked with different colors (displayed in grayscale in the figure), that is, the working status information mentioned above, is displayed in the twin scene shown in the figure. The working status information is twin information representing the actual working status of the current device.

[0171] Figure 7 It is a twin-picture schematic diagram of the working status and operating effect of the escape service equipment in the embodiment of the present application.

[0172] For example, Figure 7As shown, a vehicle catches fire in the tunnel, and the twin object of the horizontal tunnel within the service range is represented by a certain chromaticity (and brightness or grayscale) as the open state of the horizontal tunnel, and the twin object of the horizontal tunnel within the service range is represented by another chromaticity (and brightness or grayscale) as the closed state of the horizontal tunnel.

[0173] The service equipment such as the signboard and the broadcasting device instructs the traffic participants to go to the direction of the horizontal tunnel according to the location information of the service equipment and the location information of the horizontal tunnel;

[0174] For example, if the service equipment is located 30 meters in front of the horizontal tunnel (the front here refers to the direction of the tunnel), the broadcast content is: "Escape from the horizontal tunnel 30 meters behind"

[0175] For example, Figure 7 As shown, the service device with the same location information as Hengdong broadcasts: "I am Hengdong, escaping again"

[0176] It should be noted that if it is a twin picture after the coordinate transformation and straightening of the road, the service equipment and the cross tunnel will use the position information after the coordinate transformation.

[0177] Figure 8 This is a device structure diagram of an embodiment of the present application. To implement the method of the embodiment described in the present application, a digital twin accident detection and guidance device is proposed, comprising:

[0178] The acquisition module 801 is used to acquire the current perception information of the accident; the current perception information of the accident includes the accident type and the accident location information;

[0179] The display module 802 is used to display the twin picture of the traffic scene; it is also used to update the twin object of the service device set in the twin picture and display the working status information or reminder message of the service device set;

[0180] The management and control module 803 determines the working status or reminder message of the set service equipment set in response to the accident.

[0181] In one embodiment, a determination module is further included, which is used to determine a preset service equipment set according to the accident type information and / or the accident location information.

[0182] In one embodiment, the display module further includes an emphasis unit, which is used to: in response to an accident, highlight the accident location in the twin view of the traffic scene.

[0183] In one embodiment, the device also includes a preprocessing module for acquiring geographic information data of the road, 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 to the x direction, and the width direction of the road is mapped to the y direction, and a rectangular coordinate system is established to generate 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 any point in the geographic information data of the road along a direction parallel to the centerline of the road.

[0184] 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 position of any service device in the service device set. In one embodiment, the preprocessing module includes a road unit for implementing the functions of the above-mentioned preprocessing module. Furthermore, the geographic information data includes the geographic coordinates of any service device in the service device set. The preprocessing module also includes a device unit for implementing the coordinate transformation of the service device position, determining the x coordinate of the twin object of the service device in the two-dimensional graph, and determining the y coordinate of the twin object of the service device in the two-dimensional graph.

[0185] In one of the embodiments, the acquisition module further includes an accident position coordinate transformation unit, which is used to determine the x coordinate of the twin object of the accident in the two-dimensional graph and determine the y coordinate of the twin object of the accident in the two-dimensional graph.

[0186] In one embodiment, the acquisition module includes a traffic participant coordinate transformation unit, which is used to realize the traffic participant position coordinate transformation, determine the x coordinate of the traffic participant's twin object in the two-dimensional graphics, and determine the y coordinate of the traffic participant's twin object in the two-dimensional graphics.

[0187] In one embodiment, the preprocessing module includes a pile number preprocessing unit, which is used to determine at least one of the following according to the pile numbers arranged along the road:

[0188] The cumulative length of any point on the road site and the location of the service equipment along the direction parallel to the centerline of the road;

[0189] The x-coordinate of the twin object of any point in the road scene and the service equipment in the two-dimensional graph.

[0190] The acquisition module includes a pile number acquisition unit, which is used to determine at least one of the following items based on the pile numbers arranged along the road: obtain the cumulative length of the accident location along the direction parallel to the center line of the road; also used to obtain the x-coordinate of the twin object of the accident in the two-dimensional graph; obtain the cumulative length of the traffic participant's location along the direction parallel to the center line of the road; and also used to obtain the x-coordinate of the twin object of the traffic participant in the two-dimensional graph.

[0191] The control module includes the first control unit, the second control unit, and the third control unit.

[0192] In one embodiment, the set of service devices includes a playout device.

[0193] The first control unit is used to: determine the broadcast information according to the type of the accident, control the broadcast device to play the broadcast information, collect the current broadcast information and / or the current working status of the broadcast device, and display it on the twin object of the broadcast device.

[0194] In one embodiment, the service device set includes an escape indication device;

[0195] The second control unit is used to: determine the working state according to the type and / or location of the accident, control the escape indication device to change the working state, collect the current working state of the escape indication device, and display it on the twin object of the escape indication device.

[0196] In one embodiment, the service equipment set includes a wind turbine;

[0197] The third control unit is used to: determine the working state according to the type and / or location of the accident, control the fan to change the working state, collect the current working state of the fan, and display it on the twin object of the fan.

[0198] In one embodiment, the acquisition module includes a traffic participant position acquisition unit, which is used to: acquire the current perception information of the traffic participant, and determine the position information of the traffic participant based on the current perception information of the traffic participant. For example, the perception device that acquires the current perception information includes a laser radar device, and the relative position between the traffic participant and the laser radar device can be determined based on the data acquired by laser scanning. Considering the coordinates of the laser radar device on the two-dimensional graph in the twin scene, the coordinates of the traffic participant on the two-dimensional graph in the twin scene can be determined, such as the function implemented by the traffic participant coordinate conversion unit. The twin scene contains twin objects of traffic participants.

[0199] In one embodiment, the acquisition module includes an accident location acquisition unit, which is used to acquire the current perception information of the accident and determine the accident location information. For example, the perception device that acquires the current perception information includes a laser radar device. According to the data acquired by the laser scanning, the relative position between the accident location and the laser radar device can be determined. Considering the coordinates of the laser radar device on the two-dimensional graph in the twin scene, the coordinates of the accident location on the two-dimensional graph in the twin scene can be determined, such as the function implemented by the accident coordinate conversion unit. The twin scene contains the twin object of the accident.

[0200] In one embodiment, the acquisition module includes an accident type acquisition unit, which is used to acquire current perception information of the accident and determine the accident type information. The accident type information and the accident location information are used to trigger the control module.

[0201] In one embodiment, the device also includes an evaluation module 803, which is used to determine whether the set diversion effect is met based on at least one of the following: the working status and / or reminder message of the service equipment set in the twin scene, the position relationship between the traffic participants and the accident in the twin scene, and the position relationship between the service equipment set and the accident.

[0202] In one embodiment, the device further includes an adjustment module 804, which is used for at least one of the following in response to the drainage effect not meeting the set requirements: adjusting the drainage effect to meet the set requirements, changing the service device set, adjusting the working status of the service device set, and adjusting the working status information and / or reminder message of at least one service device.

[0203] 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.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0208] Fig. 9 This is a structural diagram of a computer device in an embodiment of the present application.

[0209] 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.

[0210] 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.

[0211] 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.

[0212] 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 accident detection and guidance method, characterized in that: Contains steps: Acquire current perception information of the accident; display a twin picture of the traffic scene, wherein the twin picture includes a twin object of the accident; The current perception information of the accident includes the accident type and / or accident location information; In response to the accident, determining a working status and / or a reminder message of a preset set of service devices; In the twin picture, the twin object of the service device set is updated to display the current working status and / or current reminder message of the service device set.

2. The service equipment management and control method of the digital twin according to claim 1 is characterized in that: The preset service equipment set is determined according to the accident type information and / or the accident location information.

3. The digital twin accident detection and guidance method according to claim 1 is characterized in that: In response to an accident, the accident location is highlighted in the twin image of the traffic scene.

4. The digital twin accident detection and guidance method 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 digital twin accident detection and guidance method according to claim 1 is characterized in that: In the twin image 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 the twin object of the accident; The x-coordinate of the location of the accident is determined, corresponding to the cumulative length of the location of the accident in the geographic information data of the road along a direction parallel to the center line of the road.

6. The digital twin accident detection and guidance method according to claim 1 is characterized in that: Acquire geographic information data, wherein the geographic information data includes the geographic coordinates of any service device in the service device set; In the twin picture 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 determine the position of any service device in the service device set; The x-coordinate of any service device in the service device set is determined, corresponding to the cumulative length of the position of any service device in the geographic information data of the road along a direction parallel to the center line of the road.

7. The digital twin accident detection and guidance method according to claim 1 is characterized in that: Obtain current perception information of traffic participants; In the twin picture 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 determine the position of the traffic participant; Determine the x-coordinate of any one of the traffic participants, corresponding to the cumulative length of the position of the traffic participant in the geographic information data of the road along a direction parallel to the center line of the road.

8. The digital twin accident detection and guidance method according to claim 1, characterized in that: Based on the stakes laid out along the road, determine at least one of the following: The cumulative length of any point on the road scene, service equipment, incident or traffic participant location along the direction parallel to the road centerline; The x coordinate of the arbitrary point in the road scene, the twin object of the service equipment, the twin object of the accident or the twin object of the traffic participant in the two-dimensional graph.

9. The digital twin accident detection and guidance method according to claim 1, characterized in that: The service equipment set includes broadcast equipment; Determine the broadcast information according to the type of accident; Controlling the broadcasting device to play the broadcasting information; The current broadcast information and / or current working status of the broadcast device is collected and displayed on the twin object of the broadcast device.

10. The digital twin accident detection and guidance method according to claim 1, characterized in that: The service equipment set includes an escape indication device; Determine the working status based on the type and / or location of the incident; Controlling the escape indication device to change the working state; The current working status of the escape indication device is collected and displayed on the twin object of the escape indication device.

11. The digital twin accident detection and guidance method according to claim 1, characterized in that: The service equipment set includes a fan; Determine the working status based on the type and / or location of the incident; Controlling the fan to change the working state; The current working status of the wind turbine is collected and displayed on the twin object of the wind turbine.

12. The digital twin accident detection and guidance method according to claim 1, characterized in that: Acquiring current perception information of a traffic participant, wherein the current perception information of the traffic participant includes location information of the traffic participant; The twin scene includes twin objects of traffic participants.

13. The digital twin accident detection and guidance method according to claim 1, characterized in that: Also includes the steps: Determine whether the set guidance effect is met; Based on at least one of the following: The working status and / or reminder message of the set of service devices in the twin scene; The positional relationship between the traffic participants and the accident in the twin scene; The location relationship between the service equipment set and the incident.

14. The digital twin accident detection and guidance method according to claim 1, characterized in that: Also includes the steps: In response to the set grooming effect not being met, at least one of the following is triggered: Adjust the set drainage effect; changing the service device set; Adjusting the working state of the service device set; Adjust the working status information and / or reminder message of at least one of the service devices.

15. A digital twin accident detection and guidance device, used to implement the method according to any one of claims 1 to 14, characterized in that: Include: An acquisition module, used to acquire current perception information of the accident; the current perception information of the accident includes the accident type and / or accident location information; A display module, used to display a twin picture of a traffic scene; and also used to update the twin object of the service device set in the twin picture, and display the current working status information and / or current reminder message of the service device set; The management and control module determines the working status and / or reminder message of a set set of service devices in response to an accident.

16. 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 14 is implemented.

17. 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 14 is implemented.

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