Intelligent traffic parking management system based on digital twinning

Abstract

The invention discloses an intelligent traffic parking management system based on digital twinning, and the system comprises a management center which is in communication connection with a data collection module, a data processing module, a data analysis module, and a prompt module. Vehicle information and parking space information are collected, state data of a vehicle are obtained, a parking simulation diagram and a to-be-parked simulation diagram are generated according to the vehicle information and the parking space information, a parking track is obtained according to the parking simulation diagram and the to-be-parked simulation diagram, and then the position of the vehicle and the inclination direction of front tires of the vehicle are detected. When the vehicle is located on the parking track and the inclination direction of the front tire of the vehicle is consistent with the tangent line of the parking track, the vehicle starts to enter the garage along the parking track, the state of the vehicle is monitored in real time according to the state data of the vehicle, corresponding prompts are made, the parking accuracy is improved, and the parking time is saved.

Description

Technical Field

[0001] The present invention relates to intelligent parking management technology, and specifically to an intelligent transportation parking management system based on digital twin. Background Art

[0002] With the rapid economic development and the advancement of urbanization, driving has become a basic skill, playing a significant role in both career selection and employment. Nowadays, with high traffic pressure, parking lots are becoming more and more popular, and the traffic flow in parking lots is also increasing day by day.

[0003] An intelligent parking system is a system that uses advanced sensors, cameras, computer vision, and other technologies to automatically complete vehicle parking. This system usually consists of multiple steps, including the selection of vehicle entry and exit from parking spaces, the identification and manipulation of vehicle positions, and the final confirmation of parking positions. These steps can often better assist drivers in finding suitable parking spaces in compact or busy parking lots and make the parking process more convenient and efficient.

[0004] In the existing technology, when a car owner performs the warehousing operation, they need to rely on their own driving skills to complete the reverse warehousing operation. For car owners with immature driving skills, the time consumed for the warehousing operation is relatively long, which is likely to cause vehicle congestion in the parking lot and unnecessarily consume the time of the car owner and other car owners. Therefore, how to assist car owners with immature driving skills to quickly complete the warehousing operation through digital twin is the problem we need to solve. For this reason, an intelligent transportation parking management system based on digital twin is provided herein. Summary of the Invention

[0005] In order to solve the above technical problems, the purpose of the present invention is to provide an intelligent transportation parking management system based on digital twin.

[0006] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0007] An intelligent transportation parking management system based on digital twin, including a management center, characterized in that the management center is communicatively connected to a data acquisition module, a data processing module, a data analysis module, and a prompt module;

[0008] The data acquisition module is used to acquire status data and image data;

[0009] The data processing module is used to generate a parking simulation diagram and a to-be-parked simulation diagram based on the image data, and obtain a parking trajectory based on the status data, the parking simulation diagram, and the to-be-parked simulation diagram;

[0010] The data analysis module is used to set a fault-tolerant trajectory on the parking trajectory and analyze the vehicle status data in real time during the process of the vehicle entering the warehouse along the parking trajectory to obtain an analysis result;

[0011] The prompt module is used to send an adjustment prompt to the vehicle owner according to the analysis result and monitor the situation of the vehicle tail in real time.

[0012] Further, the data acquisition module is provided with a first acquisition terminal and a second acquisition terminal;

[0013] The first acquisition terminal is used to acquire the images of the vehicle and the parking space, record them as image data, and obtain the vehicle information and parking space information of the vehicle according to the image data;

[0014] The second acquisition terminal is arranged at both ends of the vehicle head, and the status data of the vehicle is acquired through the second acquisition terminal. The status data includes the vehicle position, vehicle speed, and tire deviation.

[0015] Further, the process of the second acquisition terminal acquiring the status data includes:

[0016] The vehicle position is the position coordinates of both ends of the vehicle head where the second acquisition terminal is located, and the vehicle speed is the speed during the vehicle's reverse;

[0017] Record the start time of parking as the initial time and the end time of parking as the cut-off time;

[0018] Acquire the vehicle speed of the vehicle in real time, set the acquisition time node period according to the vehicle speed, and obtain each acquisition time node;

[0019] Acquire the vehicle positions at both ends of the vehicle head at the initial time, and acquire the vehicle positions at each acquisition time node according to the acquisition time node period, and associate the vehicle positions with the corresponding acquisition time nodes;

[0020] Acquire the inclination direction of the front tire corresponding to one end of the vehicle head where the second acquisition terminal is located. Taking the inclination direction as a vector, draw a perpendicular line through the front tire to obtain the included angle between the vector and the perpendicular line, which is recorded as the tire deviation.

[0021] Further, the process of the data processing module generating the parking simulation diagram and the to-be-parked simulation diagram includes:

[0022] Regard the vehicle as a rectangle according to the vehicle information, mark the four vertices of the rectangle as point a, point b, point c, and point d respectively, and obtain the corresponding line segments ab, bd, cd, and ac according to the four vertices of the rectangle;

[0023] Among them, line segment ab is associated with the vehicle head, line segment cd is associated with the vehicle tail, line segment ac is associated with one side of the vehicle, and line segment bd is associated with the other side of the vehicle, obtaining a vehicle diagram;

[0024] According to the parking space information, the parking space is regarded as a rectangle, and the four vertices of the rectangle are respectively marked as point A, point B, point C, and point D, obtaining a parking space diagram;

[0025] According to the image data, vehicle position, vehicle diagram, and parking space diagram, a parking simulation diagram and a to-be-parked simulation diagram are obtained.

[0026] Furthermore, the process by which the data processing module obtains the parking trajectory includes:

[0027] Respectively obtain the vehicle positions of the vehicles in the parking simulation diagram and the to-be-parked simulation diagram, obtaining two vehicle positions;

[0028] Integrate and overlap the parking simulation diagram and the to-be-parked simulation diagram, obtaining an integrated diagram;

[0029] Respectively extend line segment AB and line segment ac in the integrated diagram, and obtain the included angle between the two extended lines, denoted as the first included angle;

[0030] Obtain the vehicle position of one end of the vehicle heads of the two vehicles in the integrated diagram, denoted as P and P0 respectively;

[0031] When the first included angle ∈ (45°, 90°], draw a parallel line to the upper side of the parking space diagram through P, and draw a parallel line to line segment AC in the parking space diagram through P0;

[0032] When the first included angle ∈ [0, 45°], draw a parallel line to the upper side of the parking space diagram through P0, and draw a parallel line to line segment AC in the parking space diagram through P;

[0033] Obtain the intersection point of the two parallel lines, denoted as I, obtain a right triangle according to point I, P, and P0, denoted as RtΔIP0P, and obtain the included angle ∠IP0P according to RtΔIP0P;

[0034] Set a circle, regard P and P0 as two points on the circle, then RtΔIP0P is a right triangle with a chord as one side inside the circle;

[0035] According to ∠IP0P and P and P0, obtain the radius of the circle, and obtain the center of the circle according to the radius;

[0036] And obtain an arc on the circle according to the center of the circle and P and P0;

[0037] And obtain a new arc according to the vehicle position of the other end of the vehicle head according to the above process, and the two arcs together form the parking trajectory.

[0038] Further, the process of the data analysis module analyzing the vehicle position includes:

[0039] Analyze the vehicle position point P0 at the initial moment. Point P0 is a point on the parking trajectory. Draw a tangent to the parking trajectory through P0.

[0040] And obtain the inclination direction of the front tire corresponding to P0 at this time, obtain the included angle between the inclination direction and the tangent line, record it as the initial trajectory included angle, and set the included angle tolerance threshold.

[0041] Further, the process of the data analysis module analyzing the status data of the vehicle during the warehousing operation includes:

[0042] Starting from the acquisition time node corresponding to the end point of the fault-tolerant trajectory, obtain the vehicle positions at each acquisition time node.

[0043] For any acquisition time node, obtain the current vehicle position and the vehicle position at the previous acquisition time node.

[0044] Obtain the trajectory included angle according to the vehicle positions at two acquisition time nodes.

[0045] Compare the current trajectory included angle with the included angle tolerance threshold range, and send an adjustment prompt to the vehicle owner through the prompt module according to the comparison result.

[0046] Further, the prompt module is provided with a prompt terminal and an induction terminal;

[0047] The prompt terminal is used to send an adjustment prompt to the vehicle owner;

[0048] Record the distance between the rear of the vehicle and the lower edge of the parking space as the rear vehicle distance;

[0049] The induction terminal is arranged at the rear of the vehicle and is used to obtain the rear vehicle distance of the vehicle;

[0050] Set the rear vehicle distance threshold range according to the vehicle speed, compare the rear vehicle distance with the rear vehicle distance threshold range in real time, and send an adjustment prompt to the vehicle owner through the prompt terminal according to the comparison result

[0051] Compared with the prior art, the beneficial effects of the present invention are:

[0052] This system collects vehicle information and parking space information, as well as obtains the status data of the vehicle. It generates a parking simulation diagram and a to-be-parked simulation diagram based on the vehicle information and parking space information, and obtains the parking trajectory according to the parking simulation diagram and the to-be-parked simulation diagram. Furthermore, it detects the vehicle position and the inclination direction of the front tires of the vehicle. When the vehicle position is on the parking trajectory and the inclination direction of the vehicle's front tires is consistent with the tangent of the parking trajectory, the vehicle starts the warehousing operation along the parking trajectory, and monitors the vehicle status in real time according to the vehicle's status data, making corresponding prompts, improving the accuracy of parking, and saving parking time. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings.

[0054] Figure 1 It is the schematic diagram of the present invention.

[0055] Figure 2 It is the schematic diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the scope protected by the present invention.

[0057] As Figure 1 shown, a smart transportation parking management system based on digital twin includes a management center, and the management center is communicatively connected to a data collection module, a data processing module, a data analysis module, and a prompt module;

[0058] The data collection module is used to collect status data and image data;

[0059] The data collection module is provided with a first collection terminal and a second collection terminal;

[0060] The first collection terminal is used to obtain images of the vehicle and the parking space, denoted as image data;

[0061] The first collection terminal obtains the vehicle information and parking space information of the vehicle according to the image data;

[0062] Denote the distance between the front and rear of the vehicle as the vehicle length, and mark it as L1;

[0063] The distance between the two ends of the vehicle's front is denoted as the vehicle width and marked as L2;

[0064] The vehicle information includes the vehicle length and the vehicle width;

[0065] For a rectangular parking space, the longer side of the parking space is denoted as the bay length and marked as D1;

[0066] The shorter side of the parking space is denoted as the bay width and marked as D2;

[0067] The parking space information includes the bay length and the bay width;

[0068] It should be further noted that the vehicle information and the parking space information satisfy D1 > L1 > 0 and D2 > L2 > 0;

[0069] The vehicle position, vehicle information, and parking space information obtained at the initial moment are recorded as image data;

[0070] The second acquisition terminal is set at both ends of the vehicle's front, and the vehicle position, vehicle speed, and tire offset are obtained through the second acquisition terminal;

[0071] The vehicle position is the position coordinates of both ends of the front where the second acquisition terminal is located, and the vehicle speed is the speed when the vehicle is reversing;

[0072] The moment when parking starts is denoted as the initial moment, and the moment when parking ends is denoted as the cut-off moment;

[0073] The second acquisition terminal obtains the vehicle positions at both ends of the current vehicle as the two vehicle positions at the initial moment, denoted as P0 and P 01 and obtains the vehicle speed in real time, denoted as v, where v > 0;

[0074] Set the acquisition time node period according to the vehicle speed v, denoted as where t > 0;

[0075] After the second acquisition terminal starts from the initial moment, taking every t moment as an acquisition time node, it obtains P0 and P at the acquisition time node 01 , and 01 associates P0 and P

[0076] As Figure 2 shown, obtain the inclination direction of the front tire corresponding to any end of the front, use the inclination direction as a vector, and draw a perpendicular line through the front tire to obtain the included angle between the vector and the perpendicular line, denoted as the tire offset;

[0077] The obtained vehicle position, vehicle speed, and tire offset are recorded as state data;

[0078] The data acquisition module communicates and transmits the image data to the data processing module, and communicates and transmits the status data to the data processing module and the data analysis module;

[0079] The data processing module is used to generate a parking simulation diagram and a to-be-parked simulation diagram, and obtain a parking trajectory based on the parking simulation diagram and the to-be-parked simulation diagram;

[0080] As Figure 2 shown, according to the vehicle information, the vehicle is regarded as a rectangle, and the four vertices of the rectangle are respectively marked as point a, point b, point c and point d, and the corresponding line segments ab, bd, cd and ac are obtained according to the four vertices of the rectangle;

[0081] Among them, the line segment ab is associated with the front of the vehicle, the line segment cd is associated with the rear of the vehicle, the line segment ac is associated with one side of the vehicle, and the line segment bd is associated with the other side of the vehicle;

[0082] Then the line segment ab or the line segment cd is the vehicle width, and ac = bd = L2, and the line segment ac or the line segment bd represents both sides of the vehicle, that is, the vehicle length, and ac = bd = L1, and a vehicle diagram is obtained;

[0083] According to the parking space information, the parking space is regarded as a rectangle, and the four vertices of the rectangle are respectively marked as point A, point B, point C and point D;

[0084] The line segment CD is the lower side of the parking space, and the line segment AB or the line segment CD is the garage width of the parking space, and AB = CD = D2, and the line segments AC and BD are the two sides of the parking space, that is, the garage length of the parking space, and AC = BD = D1, and a parking space diagram is obtained;

[0085] According to the vehicle diagram and the parking space diagram, generate a parking simulation diagram with the vehicle in the center of the parking space, and the process includes:

[0086] Record the line segments AC and BD in the parking space diagram as the side lines;

[0087] Record the distance between the line segments AC and ac in the vehicle diagram and the parking space diagram as the side margin, and then the two side margins on both sides of the vehicle are obtained;

[0088] Obtain the magnitudes of the two side margins according to the vehicle width and the garage width, and record the values of the two side margins as S, where

[0089]

[0090] Then overlap the line segments AB and ab, and make the side margins on both sides of the vehicle diagram be S, and a parking simulation diagram is obtained;

[0091] Obtain two vehicle positions of point a and point b of the vehicle in the parking simulation diagram, which are the two vehicle positions at the cut-off moment, and are recorded as P and P1;

[0092] Further, according to the vehicle position P0 at the initial moment, the vehicle position P 01 , and the vehicle map and the parking space map, a to-be-parked simulation map is obtained;

[0093] The obtained to-be-parked simulation map and the parking simulation map are integrated and overlapped, so that the positions of the vehicle in the to-be-parked simulation map and the parking simulation map are presented together in a plane graph, and this plane graph is denoted as the integrated graph;

[0094] The data processing module processes the obtained integrated graph, and the process includes:

[0095] The extension lines of the line segment AB and the line segment ab in the integrated graph are respectively made to obtain two extension lines, and the included angle between the two extension lines is denoted as the first included angle, denoted as τ;

[0096] When τ ∈ (45°, 90°], P and P0 in the integrated graph are obtained;

[0097] Regarding P and P0 as two points, connect P and P0, and draw a parallel line to the line segment AB in the parking space map through P, and draw a parallel line to the line segment AC in the parking space map through P0 to obtain the intersection point of the two parallel lines, denoted as I;

[0098] Furthermore, a right triangle is obtained from the three points I, P, and P0, denoted as RtΔIP0P, and the included angle between the line segment P0I and the line segment PP0 in RtΔIP0P is obtained, denoted as ∠IP0P;

[0099] A circle is set, and P and P0 are regarded as two points on the circle, then the line segment PP0 is a chord inside the circle, and RtΔIP0P is a triangle inside the circle with the chord as one side;

[0100] Denote the radius of the circle as R, where R > 0, and

[0101] R = |PP0|tan∠IP0P;

[0102] Among them, |PP0| represents the length of the line segment PP0;

[0103] Furthermore, extend the line segment P0I to a point, denoted as O, such that the length of the extended line segment P0O is R, then the point O is the center of the circle;

[0104] Connect the point O and the point P to obtain a line segment PO with a length of R, then P0O and PO are both two radii of the circle;

[0105] According to the center of the circle O, the radius P0O, and PO, an arc on the circle is obtained, denoted as

[0106] According to the above process, according to P1 and P 01, a new arc is obtained, denoted as

[0107] From the obtained arc and the arc together constitute the parking trajectory for the vehicle to reverse into the parking space;

[0108] When τ ∈ [0, 45°], P and P0 in the integrated graph are obtained;

[0109] Regarding P and P0 as two points, connect point P and point P0, and draw a parallel line to the line segment AB in the parking space graph through P0, and draw a parallel line to the line segment AC in the parking space graph through P, and obtain the intersection point of the two parallel lines, denoted as I;

[0110] Then, a right triangle RtΔIP0P is obtained from the three points I, P, and P0. Denote the included angle between the line segment P0I and the line segment PP0 in RtΔIP0P as ∠IP0P;

[0111] Set a circle according to the above process. Based on the included angle θ, the radius and the center of the circle are obtained, and then two arcs on the circle are obtained and

[0112] From the obtained arc and the arc together constitute the parking trajectory for the vehicle to reverse into the parking space;

[0113] The obtained parking trajectory is communicated and transmitted to the data analysis module by the data processing module;

[0114] The data analysis module is used to analyze the vehicle position in real time during the process of the vehicle entering the warehouse along the parking trajectory to obtain an analysis result;

[0115] The data analysis module analyzes the vehicle position point P0 at the initial moment. Point P0 is a point on the parking trajectory, and a tangent line to the parking trajectory is drawn through P0;

[0116] And the inclination direction of the front tire corresponding to P0 at this time is obtained, and the included angle between the inclination direction and the tangent line is obtained, denoted as the initial trajectory included angle and denoted as σ;

[0117] Set the included angle tolerance threshold range according to the vehicle speed, denoted as where

[0118] Compare the initial trajectory included angle with the included angle tolerance threshold range. According to the comparison result, when the vehicle directly performs the warehousing operation along the parking trajectory route;

[0119] When When this occurs, the data analysis module obtains the initial trajectory angle to generate an adjustment instruction, and communicates and transmits the adjustment instruction to the prompt module;

[0120] The prompt module adjusts the tilt direction of the front tires to be consistent with the parking trajectory according to the adjustment instruction;

[0121] When the adjusted vehicle position reaches a point on the parking trajectory, and this point is denoted as Q0, the vehicle starts to perform the warehousing operation along the parking trajectory;

[0122] During the warehousing operation, starting from the next acquisition time node corresponding to the vehicle position point Q0, the vehicle positions at each acquisition time node are obtained and analyzed;

[0123] For any acquisition time node, denote the vehicle position at this acquisition time node as point Q2, and obtain the vehicle position at the previous acquisition time node, denoted as point Q1;

[0124] It should be further noted that the previous acquisition time node of the first acquisition time node is the initial moment;

[0125] Point Q1 is a point on the parking trajectory. Draw a tangent to the parking trajectory through point Q1, and connect Q1 and Q2 to obtain the line segment Q1Q2;

[0126] Based on the tangent and the line segment Q1Q2, obtain the trajectory angle, denoted as

[0127] Take the angle when the tangent coincides with the line segment Q1Q2 as 0°;

[0128] Compare the trajectory angle at this time with the angle tolerance threshold range. According to the comparison result, the data analysis module sends an adjustment prompt to the vehicle owner through the prompt module;

[0129] The prompt module is used to send an adjustment prompt to the vehicle owner according to the analysis result and the adjustment instruction, and to monitor the distance behind the vehicle in real time;

[0130] The prompt module is provided with a prompt terminal and an induction terminal;

[0131] The prompt terminal is used to send an adjustment prompt to the vehicle owner. The process includes:

[0132] When this occurs, the prompt terminal does not send a prompt;

[0133] When this occurs, the prompt terminal prompts the vehicle owner to adjust the steering wheel to make the reverse route return to the parking trajectory;

[0134] The induction terminal is arranged at the rear of the vehicle and is used to obtain the distance between the rear of the vehicle and the lower edge of the parking space map;

[0135] In the parking simulation diagram, the distance between the front of the vehicle and the upper border line is denoted as the front distance of the vehicle, and the distance between the rear of the vehicle and the lower border line is denoted as the rear distance of the vehicle;

[0136] Based on the vehicle length and the garage length, the magnitudes of the front distance and the rear distance of the vehicle are obtained. The front distance and the rear distance of the vehicle are respectively denoted as G1 and G2, where G1≥0 and G2>0. The calculation process is as follows:

[0137] G1 + G2 = D1 - L1;

[0138] According to the vehicle speed v, a threshold range of the rear distance of the vehicle is set, denoted as [φ1v, φ2v), where φ2>φ1>0;

[0139] The rear distance of the vehicle is compared with the threshold range of the rear distance of the vehicle to obtain a comparison result. According to the comparison result, an adjustment prompt is sent to the vehicle owner through the said prompt terminal;

[0140] When G2 ∈ [φ1v, φ2v), the said prompt module prompts the vehicle owner that the vehicle has entered the optimal parking area and suggests parking;

[0141] When the said prompt module prompts the vehicle owner to suggest continuing to reverse.

[0142] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical method of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A smart traffic parking management system based on digital twins, including a management center, characterized in that: The management center is communicatively connected with a data acquisition module, a data processing module, a data analysis module and a prompt module; The data acquisition module is used to collect status data and image data; The data processing module is used to generate a parking simulation map and a parking simulation map according to the image data, and obtain a parking trajectory according to the state data, the parking simulation map and the parking simulation map; The data analysis module is used to set a fault-tolerant track on the parking track, and to analyze the vehicle status data in real time during the process of the vehicle entering the parking area along the parking track to obtain the analysis result; The prompt module is used to send adjustment prompts to the car owner according to the analysis results and monitor the situation of the rear end of the car in real time.

2. According to claim 1, a smart traffic parking management system based on digital twins is characterized in that: The data acquisition module is provided with a first acquisition terminal and a second acquisition terminal; The first acquisition terminal is used to obtain images of the vehicle and the parking space, recorded as image data, and obtain vehicle information and parking space information of the vehicle according to the image data; The second acquisition terminals are arranged at both ends of the front of the vehicle, and the status data of the vehicle is acquired through the second acquisition terminals. The status data includes the vehicle position, vehicle speed and tire offset.

3. According to claim 2, a smart traffic parking management system based on digital twins is characterized in that: The process of the second acquisition terminal acquiring status data includes: The time when parking starts is recorded as the initial time, and the time when parking ends is recorded as the end time; Acquire the vehicle speed in real time, set the acquisition time node cycle according to the vehicle speed, and obtain each acquisition time node; Obtain the vehicle positions at both ends of the vehicle head at the initial moment, and obtain the vehicle positions at each collection time node according to the collection time node cycle, and associate the vehicle positions with the corresponding collection time nodes; The tilt direction of the front tire corresponding to one end of the front of the vehicle where the second acquisition terminal is located is obtained, and a vertical line is drawn through the front tire with the tilt direction as a vector to obtain the angle between the vector and the vertical line, which is recorded as the tire offset.

4. According to claim 2, a smart traffic parking management system based on digital twins is characterized in that: The process of generating the parking simulation map and the waiting-to-park simulation map by the data processing module includes: According to the vehicle information, the vehicle is regarded as a rectangle, and the four vertices of the rectangle are marked as point a, point b, point c, and point d respectively. According to the four vertices of the rectangle, the corresponding line segments ab, bd, cd, and ac are obtained; The line segment ab is associated with the front of the vehicle, the line segment cd is associated with the rear of the vehicle, the line segment ac is associated with one side of the vehicle, and the line segment bd is associated with the other side of the vehicle, thus obtaining a vehicle graph; According to the parking space information, the parking space is regarded as a rectangle, and the four vertices of the rectangle are marked as point A, point B, point C and point D respectively, so as to obtain a parking space map; A parking simulation map and a waiting-to-park simulation map are obtained based on the image data, the vehicle position, the vehicle map and the parking space map.

5. According to claim 4, a smart traffic parking management system based on digital twins is characterized in that: The process of obtaining the parking trajectory by the data processing module includes: Respectively obtain the vehicle positions of the vehicles in the parking simulation map and the to-be-parked simulation map to obtain two vehicle positions; Integrate and overlap the parking simulation map and the waiting-to-park simulation map to obtain an integrated map; Draw extension lines through line segment AB and line segment ac in the integration diagram respectively, and obtain the angle between the two extension lines, which is recorded as the first angle; Obtain the vehicle positions at one end of the front of the two vehicles in the integrated graph, denoted as P and P0 respectively; When the first angle ∈(45°, 90°], draw a line parallel to the top of the parking space diagram through P, and draw a line parallel to the line segment AC in the parking space diagram through P0; When the first angle ∈[0, 45°], draw a line parallel to the top of the parking space diagram through P0, and draw a line parallel to the line segment AC in the parking space diagram through P; Get the intersection point of the two parallel lines, record it as I, get a right triangle based on points I, P and P0, record it as RtΔIP0P, and get the angle ∠IP0P based on RtΔIP0P; Assume a circle and regard P and P0 as two points on the circle, then RtΔIP0P is a right triangle inside the circle with the chord as one side; According to ∠IP0P and P and P0, the radius of the circle is obtained, and the center of the circle is obtained according to the radius; And get an arc on the circle based on the center of the circle and P and P0; According to the above process, a new arc is obtained according to the position of the vehicle at the other end of the vehicle head, and the two arcs together constitute the parking trajectory.

6. According to claim 5, the intelligent traffic parking management system based on digital twin is characterized in that: The data analysis module analyzes the vehicle position in the following process: Analyze the vehicle position point P0 at the initial moment. Point P0 is a point on the parking trajectory. Draw a tangent line through P0. The tilt direction of the front tire corresponding to P0 at this time is obtained, and the angle between the tilt direction and the tangent is obtained, which is recorded as the initial trajectory angle, and the angle tolerance threshold is set.

7. According to claim 6, a smart traffic parking management system based on digital twins is characterized in that: The process of analyzing the status data of the vehicle in the warehousing operation by the data analysis module includes: Starting from the collection time node corresponding to the end point of the fault-tolerant trajectory, obtain the vehicle position at each collection time node; For any collection time node, obtain the current vehicle position and the vehicle position at the previous collection time node; According to the vehicle positions at two acquisition time nodes, the trajectory angle is obtained; The current track angle is compared with the angle tolerance threshold range, and an adjustment prompt is issued to the vehicle owner through the prompt module according to the comparison result.

8. The intelligent traffic parking management system based on digital twin according to claim 1 is characterized in that: The prompt module is provided with a prompt terminal and a sensing terminal; The prompt terminal is used to send an adjustment prompt to the vehicle owner; The distance between the rear of the vehicle and the bottom of the parking space is the rear distance. The sensing terminal is arranged at the rear of the vehicle and is used to obtain the rear distance of the vehicle; The threshold range of the distance behind the vehicle is set according to the vehicle speed, the distance behind the vehicle is compared with the threshold range of the distance behind the vehicle in real time, and an adjustment prompt is issued to the vehicle owner through the prompt terminal according to the comparison result.

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