Intelligent traffic parking management system based on digital twinning

Abstract

The application discloses an intelligent traffic parking management system based on digital twinning, which comprises a management center, wherein the management center is communicatively connected with a data acquisition module, a data processing module, a data analysis module and a prompt module; vehicle information and parking space information are acquired, state data of the vehicle is obtained, a parking simulation diagram and a to-be-stopped 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-stopped simulation diagram, then the position of the vehicle and the inclination direction of the front tire of the vehicle are detected, when the position of the vehicle is on the parking track and the inclination direction of the front tire of the vehicle is consistent with the tangent of the parking track, the vehicle starts the warehousing operation 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 given, the accuracy of parking is improved, and the parking time is saved.

Description

Technical Field

[0001] This invention relates to intelligent parking management technology, specifically an intelligent traffic parking management system based on digital twins. Background Technology

[0002] With rapid economic development and urbanization, driving has become a basic skill that plays a significant role in career choices and employment. In today's world of heavy traffic, parking lots are becoming increasingly common, and the volume of vehicles in parking lots is also increasing day by day.

[0003] Intelligent parking systems utilize advanced sensors, cameras, computer vision, and other technologies to automate vehicle parking. These systems typically consist of multiple steps, including selecting parking spaces, identifying and maneuvering the vehicle's position, and finally confirming the parking location. These steps often help drivers find suitable parking spaces in compact or busy parking lots, making the parking process more convenient and efficient.

[0004] With existing technology, car owners need to rely on their own driving skills to reverse into parking spaces. For drivers with less experience, this process can be time-consuming, leading to congestion in parking lots and wasting the time of both the driver and other drivers. Therefore, we aim to solve the problem of how to use digital twins to help drivers with less experience quickly complete parking maneuvers. To this end, we present a smart traffic parking management system based on digital twins. Summary of the Invention

[0005] To address the aforementioned technical problems, the present invention aims to provide a smart traffic parking management system based on digital twins.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A smart traffic parking management system based on digital twins includes 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 prompting 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 map and a parking simulation map based on the image data, and to obtain the parking trajectory based on the status data, the parking simulation map and the parking simulation map.

[0010] The data analysis module is used to set a fault-tolerant trajectory on the parking trajectory and analyze vehicle status data in real time during the vehicle's entry into the parking space along the parking trajectory to obtain analysis results.

[0011] The notification module is used to issue adjustment prompts to the vehicle owner based on the analysis results and to monitor the situation at the rear of the vehicle in real time.

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

[0013] The first acquisition terminal is used to acquire images of vehicles and parking spaces, which are recorded as image data, and to obtain vehicle information and parking space information based on the image data;

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

[0015] Furthermore, the process by which the second acquisition terminal acquires status data includes:

[0016] The vehicle position is the coordinate of the two ends of the front of the vehicle where the second data acquisition terminal is located; the vehicle speed is the speed of the vehicle during the reversing process.

[0017] The moment when parking begins is recorded as the initial moment, and the moment when parking ends is recorded as the end moment.

[0018] The vehicle speed is acquired in real time, and the collection time node period is set according to the vehicle speed to obtain each collection time node;

[0019] The vehicle positions at both ends of the vehicle's front end are obtained at the initial moment, and the vehicle positions at each collection time node are obtained according to the collection time node period, and the vehicle positions are associated with the corresponding collection time nodes.

[0020] Obtain the tilt direction of the front tire corresponding to one end of the vehicle's front where the second acquisition terminal is located. Using the tilt direction as a vector, draw a perpendicular line through the front tire to obtain the angle between the vector and the perpendicular line, which is denoted as the tire offset.

[0021] Furthermore, the process by which the data processing module generates the parking simulation map and the waiting-to-park simulation map includes:

[0022] Based on the vehicle information, the vehicle is regarded as a rectangle, and the four vertices of the rectangle are marked as points a, b, c and d respectively. Based on the four vertices of the rectangle, the corresponding line segments ab, bd, cd and ac are obtained.

[0023] In this diagram, line segment ab is associated with the front of the vehicle, line segment cd is associated with the rear of the vehicle, line segment ac is associated with one side of the vehicle, and line segment bd is associated with the other side of the vehicle, thus obtaining the vehicle diagram.

[0024] Based on the parking space information, the parking spaces are considered as rectangles, and the four vertices of the rectangles are marked as points A, B, C, and D, respectively, to obtain the parking space map;

[0025] Based on image data, vehicle location, vehicle diagram, and parking space diagram, parking simulation diagram and waiting-to-park simulation diagram are obtained.

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

[0027] Obtain the vehicle positions from the parking simulation map and the waiting-to-park simulation map respectively, thus obtaining two vehicle positions;

[0028] The parking simulation map and the waiting-to-park simulation map are integrated and overlaid to obtain an integrated map;

[0029] Draw extensions through line segments AB and ac in the integrated diagram, and obtain the included angle between the two extensions, which is denoted as the first included angle.

[0030] Obtain the vehicle position at one end of the front of the two vehicles in the integrated diagram, and denote them as P and P0 respectively;

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

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

[0033] Find the intersection of the two parallel lines, denoted as I. Based on points I, P and P0, we obtain a right triangle, denoted as RtΔIP0P. Based on RtΔIP0P, we obtain the included angle ∠IP0P.

[0034] Define a circle, and consider P and P0 as two points on the circle. Then RtΔIP0P is a right triangle inside the circle with a chord as one of its sides.

[0035] Based on ∠IP0P and P and P0, obtain the radius of the circle, and then obtain the center of the circle based on the radius.

[0036] And based on the center of the circle and P and P0, an arc on the circle is obtained;

[0037] Following the above process, a new arc is obtained based on the vehicle position at the other end of the front of the car, and the two arcs together form the parking trajectory.

[0038] Furthermore, the data analysis module's process for analyzing vehicle location includes:

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

[0040] It also obtains the tilt direction of the front tire corresponding to P0 at this time, obtains the angle between the tilt direction and the tangent, records it as the initial trajectory angle, and sets the angle tolerance threshold.

[0041] Furthermore, the process by which the data analysis module analyzes the vehicle status data during the warehousing operation includes:

[0042] Starting from the data collection time node corresponding to the end of the fault-tolerant trajectory, obtain the vehicle position at each data collection time node;

[0043] For any given data collection time point, obtain the current vehicle location and the vehicle location at the previous data collection time point;

[0044] The trajectory angle is obtained based on the vehicle positions at the two data collection time points;

[0045] The current trajectory angle is compared with the angle tolerance threshold range, and an adjustment prompt is sent to the car owner through the prompt module based on the comparison result.

[0046] Furthermore, the prompting module is equipped with a prompting terminal and a sensing terminal;

[0047] The notification terminal is used to send adjustment notifications to the vehicle owner;

[0048] The distance between the rear of the car and the bottom edge of the parking space is the rear distance.

[0049] The sensing terminal is located at the rear of the vehicle and is used to obtain the distance to the rear of the vehicle.

[0050] Based on vehicle speed, a rear distance threshold range is set, and the rear distance is compared with the threshold range in real time. Based on the comparison result, an adjustment prompt is sent to the vehicle owner through the prompting terminal.

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

[0052] This system collects vehicle and parking space information, as well as vehicle status data. Based on this information, it generates parking simulation and waiting-to-park simulation diagrams, and obtains the parking trajectory. It then detects the vehicle's position and the tilt direction of its front tires. When the vehicle is on the parking trajectory and the tilt direction of its front tires aligns with the tangent of the trajectory, the vehicle begins its parking maneuver along the trajectory. The system monitors the vehicle's status in real time based on the vehicle's status data, providing corresponding prompts to improve parking accuracy and save parking time. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

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

[0055] Figure 2 This is a schematic diagram of the present invention. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0057] like Figure 1 As shown, a smart traffic parking management system based on digital twins includes a management center, which is communicatively connected to a data acquisition module, a data processing module, a data analysis module, and a prompting module.

[0058] The data acquisition module is used to acquire status data and image data;

[0059] The data acquisition module is equipped with a first acquisition terminal and a second acquisition terminal;

[0060] The first acquisition terminal is used to acquire images of vehicles and parking spaces, which are denoted as image data;

[0061] The first acquisition terminal obtains vehicle information and parking space information based on the image data;

[0062] The distance between the front and rear of the vehicle is recorded as the vehicle length and marked as L1;

[0063] The distance between the two ends of the front of the vehicle is recorded as the vehicle width, and it is marked as L2;

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

[0065] For a rectangular parking space, denote the longer side of the parking space as the parking space length and mark it as D1;

[0066] The shorter side of the parking space is designated as the garage width, and marked as D2;

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

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

[0069] Record the vehicle position, vehicle information, and parking space information at the initial moment as image data;

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

[0071] The vehicle position is the coordinate of the two ends of the front of the vehicle where the second data acquisition terminal is located; the vehicle speed is the speed of the vehicle when it is reversing.

[0072] The moment when parking begins is recorded as the initial moment, and the moment when parking ends is recorded as the end moment.

[0073] The second acquisition terminal obtains the vehicle positions at both ends of the current vehicle as the initial vehicle positions, denoted as P0 and P1 respectively. 01 The vehicle speed is acquired in real time and denoted as v, where v > 0;

[0074] The data collection time period is set according to the vehicle speed v, and denoted as . Where t>0;

[0075] Starting from the initial time, the second acquisition terminal acquires P0 and P at each acquisition time point t as an acquisition time node. 01 and P0 and P 01 Associated with the corresponding data collection time point;

[0076] like Figure 2 As shown, obtain the tilt direction of the front tire corresponding to any end of the front of the vehicle. Using the tilt direction as a vector, draw a perpendicular line through the front tire to obtain the angle between the vector and the perpendicular line, which is denoted as the tire offset.

[0077] Record the obtained vehicle position, vehicle speed, and tire offset as state data;

[0078] The data acquisition module transmits image data to the data processing module and transmits status data to both the data processing module and the data analysis module.

[0079] The data processing module is used to generate a parking simulation map and a parking simulation map, and to obtain a parking trajectory based on the parking simulation map and the parking simulation map.

[0080] like Figure 2 As shown, the vehicle is considered as a rectangle based on the vehicle information. The four vertices of the rectangle are marked as points a, b, c, and d, respectively. Based on the four vertices of the rectangle, the corresponding line segments ab, bd, cd, and ac are obtained.

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

[0082] Then line segment ab or line segment cd represents the width of the vehicle, and ac = bd = L2. Line segment ac or line segment bd represents the two sides of the vehicle, which is the length of the vehicle, and ac = bd = L1. Thus, the vehicle diagram is obtained.

[0083] Based on the parking space information, the parking space is considered as a rectangle, and the four vertices of the rectangle are marked as points A, B, C and D respectively;

[0084] Line segment CD is the bottom of the parking space. Line segment AB or line segment CD is the width of the parking space, and AB = CD = D2. Line segments AC and BD are the two sides of the parking space, which is the length of the parking space, and AC = BD = D1. This gives us the parking space diagram.

[0085] Based on the vehicle diagram and parking space diagram, a parking simulation diagram is generated with the vehicle positioned in the center of the parking space. The process includes:

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

[0087] Let the distance between line segment AC and line segment ac in the vehicle diagram and parking space diagram be the side distance, then we can obtain the two side distances on both sides of the vehicle.

[0088] Based on the vehicle width and the parking space width, the two side distances are obtained, and their values ​​are denoted as S.

[0089]

[0090] Then overlap line segment AB with line segment ab, and make the side distances on both sides of the vehicle diagram S, to obtain the parking simulation diagram;

[0091] Obtain the positions of two vehicles at points a and b in the parking simulation diagram. These positions are the two vehicle positions at the cutoff time and are denoted as P and P1.

[0092] Furthermore, based on the initial vehicle position P0 and vehicle position P... 01 The vehicle diagram and parking space diagram are used to obtain the parking simulation diagram;

[0093] The obtained parking simulation map and parking simulation map are integrated and superimposed so that the positions of the vehicle in the parking simulation map and the parking simulation map are presented in the same plan view. This plan view is called the integrated map.

[0094] The data processing module processes the obtained integrated graph, including the following steps:

[0095] Draw the extensions of line segment AB and line segment ab in the integrated diagram respectively to obtain two extensions. Let the angle between the two extensions be the first angle, denoted as τ.

[0096] When τ∈(45°, 90°], obtain P and P0 in the integration graph;

[0097] Consider P and P0 as two points, connect P and P0, and draw a line through P parallel to line segment AB in the parking space diagram, and draw a line through P0 parallel to line segment AC in the parking space diagram. Obtain the intersection of the two parallel lines, denoted as I.

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

[0099] Define a circle, and consider P and P0 as two points on the circle. Then line segment PP0 is a chord inside the circle, and RtΔIP0P is a triangle inside the circle with the chord as one of its sides.

[0100] Let the radius of the circle be R, where R > 0, and

[0101] R = |PP0|tan∠IP0P;

[0102] Where |PP0| represents the length of line segment PP0;

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

[0104] Connect point O and point P to obtain line segment PO of length R. Then PO and PO are both radii of a circle.

[0105] Given the center O, radius P0O, and PO, we can obtain an arc on the circle, denoted as .

[0106] Following the above process, based on P1 and P 01A new arc is obtained, denoted as

[0107] The obtained arc With arc Together they form the parking trajectory of the vehicle as it reverses into the parking space;

[0108] When τ∈[0, 45°], obtain P and P0 in the integration graph;

[0109] Consider P and P0 as two points, connect point P and point P0, and draw a line through P0 parallel to line segment AB in the parking space diagram, and draw a line through P parallel to line segment AC in the parking space diagram. Obtain the intersection of the two parallel lines, denoted as I.

[0110] Then, from the three points I, P and P0, we obtain RtΔIP0P. Let the angle between line segment P0I and line segment PP0 in RtΔIP0P be ∠IP0P.

[0111] By defining a circle using the above process, the radius and center of the circle are obtained based on the included angle θ, and then the two arcs on the circle are derived. and

[0112] The obtained arc With arc Together they form the parking trajectory of the vehicle as it reverses into the parking space;

[0113] The data processing module transmits the obtained parking trajectory to the data analysis module.

[0114] The data analysis module is used to analyze the vehicle position in real time during the vehicle's entry into the parking space along the parking trajectory and obtain the analysis results.

[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 obtain the tilt direction of the front tire corresponding to P0 at this time, obtain the angle between the tilt direction and the tangent, and record it as the initial trajectory angle, and record it as σ;

[0117] The tolerance threshold range for the included angle is set according to the vehicle speed, denoted as . in

[0118] The initial trajectory angle is compared with the angle tolerance threshold range. Based on the comparison results, when... At that time, the vehicle directly enters the parking space along the parking trajectory route;

[0119] when At that time, the data analysis module obtains the initial trajectory angle, generates an adjustment command, and transmits the adjustment command to the prompting module.

[0120] The prompting module adjusts the tilt direction of the front tires to match the parking trajectory according to the adjustment command;

[0121] When the adjusted vehicle position reaches a point on the parking trajectory, and this point is denoted as Q0, the vehicle begins to enter the parking space along the parking trajectory.

[0122] During the warehousing operation, starting from the next data collection time node corresponding to vehicle location point Q0, the vehicle location at each data collection time node is obtained and analyzed.

[0123] For any data collection time node, the vehicle position at that time node is denoted as point Q2, and the vehicle position at the previous data collection time node is obtained and denoted as point Q1.

[0124] It should be further noted that the previous collection time point of the first collection time point is the initial time.

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

[0126] The angle between the tangent and line segment Q1Q2 is obtained and denoted as .

[0127] The angle between the tangent and line segment Q1Q2 when they overlap is 0°.

[0128] The current trajectory angle is compared with the angle tolerance threshold range. Based on the comparison result, the data analysis module sends an adjustment prompt to the car owner through the prompt module.

[0129] The prompting module is used to issue adjustment prompts to the vehicle owner based on the analysis results and adjustment instructions, and to monitor the rear distance of the vehicle in real time;

[0130] The prompting module is equipped with a prompting terminal and a sensing terminal;

[0131] The notification terminal is used to issue adjustment notifications to the vehicle owner, and the process includes:

[0132] when At that time, the prompting terminal does not issue a prompt;

[0133] when When this happens, the prompting terminal will prompt the driver to adjust the steering wheel so that the reversing route returns to the parking trajectory;

[0134] The sensing terminal is installed at the rear of the vehicle and is used to obtain the distance between the rear of the vehicle and the bottom edge of the parking space map.

[0135] In the parking simulation diagram, the distance from the front of the car to the top line is the front distance, and the distance from the rear of the car to the bottom line is the rear distance.

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

[0137] G1+G2=D1-L1;

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

[0139] The rear distance to the vehicle is compared with the rear distance threshold range to obtain the comparison result. Based on the comparison result, the adjustment prompt is sent to the vehicle owner through the prompting terminal.

[0140] When G2∈[φ1v,φ2v), the prompting module indicates to the driver that they have entered the optimal parking area and suggests that they stop.

[0141] when At that time, the prompting module suggests that the driver continue reversing.

[0142] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.

Claims

1. A smart traffic parking management system based on digital twins, comprising a management center, characterized in that, The management center is connected to a data acquisition module, a data processing module, a data analysis module, and a notification module. The data acquisition module is used to acquire status data and image data; The data processing module is used to generate a parking simulation map and a parking simulation map based on the image data, and to obtain the parking trajectory based on the status data, the parking simulation map and the parking simulation map. The data analysis module is used to set a fault-tolerant trajectory on the parking trajectory and analyze vehicle status data in real time during the vehicle's entry into the parking space along the parking trajectory to obtain analysis results. The notification module is used to issue adjustment prompts to the car owner based on the analysis results and to monitor the situation at the rear of the vehicle in real time; The data acquisition module is equipped with a first acquisition terminal and a second acquisition terminal; The first acquisition terminal is used to acquire images of vehicles and parking spaces, which are recorded as image data, and to obtain vehicle information and parking space information based on the image data; The second acquisition terminal is set at both ends of the front of the vehicle. The vehicle status data is acquired through the second acquisition terminal. The status data includes vehicle position, vehicle speed and tire offset. The process by which the data processing module generates parking simulation diagrams and waiting-to-park simulation diagrams includes: Based on the vehicle information, the vehicle is regarded as a rectangle, and the four vertices of the rectangle are marked as points a, b, c and d respectively. Based on the four vertices of the rectangle, the corresponding line segments ab, bd, cd and ac are obtained. In this diagram, line segment ab is associated with the front of the vehicle, line segment cd is associated with the rear of the vehicle, line segment ac is associated with one side of the vehicle, and line segment bd is associated with the other side of the vehicle, thus obtaining the vehicle diagram. Based on the parking space information, the parking spaces are considered as rectangles, and the four vertices of the rectangles are marked as points A, B, C, and D, respectively, to obtain the parking space map; Based on image data, vehicle location, vehicle diagram, and parking space diagram, obtain parking simulation diagram and waiting-to-park simulation diagram; The process by which the data processing module obtains the parking trajectory includes: Obtain the vehicle positions from the parking simulation map and the waiting-to-park simulation map respectively, thus obtaining two vehicle positions; The parking simulation map and the waiting-to-park simulation map are integrated and overlaid to obtain an integrated map; Draw extensions of line segments AB and AB respectively through the integrated diagram, and obtain the included angle between the two extensions, which is denoted as the first included angle; Obtain the vehicle position at one end of the front of the two vehicles in the integrated diagram, and denote them as P and P0 respectively; When the first included angle At that time, draw a line parallel to the top of the parking space diagram through P, and draw a line parallel to line segment AC in the parking space diagram through P0. When the first included angle At that time, draw a line parallel to the top of the parking space diagram through P0, and draw a line parallel to line segment AC in the parking space diagram through P. Find the intersection point of the two parallel lines, denoted as I. Based on points I, P, and P0, we obtain a right triangle, denoted as... and according to The included angle ∠IP0P is obtained; Define a circle, and consider P and P0 as two points on the circle. It is a right triangle inside the circle with a chord as one of its sides; Based on ∠IP0P and P and P0, obtain the radius of the circle, and then obtain the center of the circle based on the radius. And based on the center of the circle and P and P0, an arc on the circle is obtained; Following the above process, a new arc is obtained based on the vehicle position at the other end of the front of the car, and the two arcs together form the parking trajectory.

2. The intelligent traffic parking management system based on digital twins according to claim 1, characterized in that, The process by which the second acquisition terminal acquires status data includes: The moment when parking begins is recorded as the initial moment, and the moment when parking ends is recorded as the end moment. The vehicle speed is acquired in real time, and the collection time node period is set according to the vehicle speed to obtain each collection time node; The vehicle positions at both ends of the vehicle's front end are obtained at the initial moment, and the vehicle positions at each collection time node are obtained according to the collection time node period, and the vehicle positions are associated with the corresponding collection time nodes. Obtain the tilt direction of the front tire corresponding to one end of the vehicle's front where the second acquisition terminal is located. Using the tilt direction as a vector, draw a perpendicular line through the front tire to obtain the angle between the vector and the perpendicular line, which is denoted as the tire offset.

3. The intelligent traffic parking management system based on digital twins according to claim 1, characterized in that, The data analysis module analyzes the vehicle location process, including: Analyze the vehicle position point P0 at the initial moment. Point P0 is a point on the parking trajectory. Draw the tangent line of the parking trajectory through P0. It also obtains the tilt direction of the front tire corresponding to P0 at this time, obtains the angle between the tilt direction and the tangent, records it as the initial trajectory angle, and sets the angle tolerance threshold.

4. The intelligent traffic parking management system based on digital twins according to claim 3, characterized in that, The process by which the data analysis module analyzes the vehicle status data during the warehousing operation includes: Starting from the data collection time node corresponding to the end of the fault-tolerant trajectory, obtain the vehicle position at each data collection time node; For any given data collection time point, obtain the current vehicle location and the vehicle location at the previous data collection time point; The trajectory angle is obtained based on the vehicle positions at the two data collection time points; The current trajectory angle is compared with the angle tolerance threshold range, and an adjustment prompt is sent to the car owner through the prompt module based on the comparison result.

5. A smart traffic parking management system based on digital twins according to claim 1, characterized in that, The prompting module is equipped with a prompting terminal and a sensing terminal; The notification terminal is used to send adjustment notifications to the vehicle owner; The distance between the rear of the car and the bottom edge of the parking space is the rear distance. The sensing terminal is located at the rear of the vehicle and is used to obtain the distance to the rear of the vehicle. The system sets a rear distance threshold range based on vehicle speed, compares the rear distance with the threshold range in real time, and sends an adjustment prompt to the vehicle owner through the prompting terminal based on the comparison result.

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