Implementation method, device, system, equipment and medium for twin management and control system of expressway

Abstract

The invention relates to the technical field of expressway twinning, and discloses an implementation method, device, system and equipment of an expressway twinning management and control system, and a medium, and the implementation method comprises the steps: obtaining related data of various collection equipment on an expressway; constructing a digital twin high-speed scene according to the related data in combination with a high-precision map, a 3D modeling technology and an analog simulation technology; obtaining a perception data fusion result, wherein the perception data fusion result is obtained by data acquired by the plurality of acquisition devices arranged on the expressway through a perception fusion technology; and establishing a one-to-one correspondence relationship between the digital twinborn body in the digital twinborn high-speed scene and the perception data fusion result, so as to construct the real-time twinborn body of the traffic scene on the expressway by utilizing the perception fusion technology and the digital twinborn scene. According to the invention, the driving safety of the expressway is improved.

Description

Technical Field

[0001] The present invention relates to the field of highway twin technology, and specifically to an implementation method, device, system, equipment and medium of a highway twin control system. Background Art

[0002] Existing highway control systems typically rely on surveillance cameras transmitting video streams to backend servers for manual monitoring (Solution 1), or use radar for speed detection and monitoring, lacking a three-dimensional, intuitive view of traffic conditions on the highway (Solution 2). Both solutions result in limited highway control system capabilities and inconvenient operation for control personnel.

[0003] The drawback of relying solely on camera monitoring, Option 1, is that it can lead to inaccurate perception of vehicle speed, azimuth, and other information. This can make vehicle identification and monitoring impossible, especially in inclement weather or dimly lit conditions. Some road sections prohibit the installation of cameras due to privacy concerns, further complicating solutions that rely solely on cameras. The drawback of relying solely on millimeter-wave radar, Option 2, is that it cannot accurately identify features such as vehicle type, color, and license plate number. Manually reviewing this information is highly unintuitive, and information about the vehicle's surroundings (such as other vehicles, lane information, road markings, and roadside signs) is unknown. This solution also cannot address scenarios requiring precise identification of specific violating vehicles or tracking and monitoring of specific vehicles.

[0004] In summary, the existing technology lacks unified coordinated design and integrated processing of vehicle information, abnormal vehicles, equipment information, abnormal equipment, global search for vehicles or equipment, traffic incident detection, key vehicle tracking, and road 3D rendering. Summary of the Invention

[0005] The present invention provides a method, device, system, equipment and medium for implementing a highway twin control system. By deploying cameras, millimeter-wave radars, roadside modules and other equipment on highways, and based on multiple advanced technologies such as digital twins, high-precision maps, and fusion perception algorithms, a real-time digital twin highway monitoring and management system with functional features such as vehicle information viewing (including following mode), equipment information viewing, vehicle anomalies, equipment anomalies, global search, layer control, video monitoring, and traffic events is realized, which solves the shortcomings of existing technical solutions, makes road traffic control more intuitive and realistic, and improves the intelligence and convenience of control.

[0006] The present invention is achieved through the following technical solutions:

[0007] A method for implementing a twin highway management and control system, the method comprising:

[0008] Acquire relevant data of various collection devices on the highway, the relevant data including type information, deployment location information, status information, and parameter information of the collection devices;

[0009] Construct a digital twin highway scene based on the relevant data combined with high-precision maps, 3D modeling technology, and simulation technology;

[0010] Acquiring a perception data fusion result, where the perception data fusion result is obtained by using a perception fusion technology based on data collected by a plurality of collection devices arranged on the highway;

[0011] A one-to-one correspondence is established between the digital twin in the digital twin highway scene and the perception data fusion result, thereby realizing the construction of a real-time twin of the traffic scene on the highway by using perception fusion technology and digital twin scenes.

[0012] As an optimization, the acquisition equipment includes multiple combinations of cameras, millimeter-wave radars, terminal boxes, and roadside modules.

[0013] As an optimization, the type information includes the name, device ID number, and device IP number of the acquisition device;

[0014] The deployment location information includes the jurisdiction of the acquisition device, the stake location information of the acquisition device, and the device manufacturer;

[0015] The status information includes the working status of the acquisition device, and the working status includes online and offline;

[0016] The parameter information includes sensor calibration parameters of the acquisition device and joint calibration parameters of multiple acquisition devices.

[0017] As an optimization, the joint calibration parameters are used to calibrate the position and posture relationship between the millimeter-wave radar and the high-precision map, so that vehicles without lane ownership information observed by the millimeter-wave radar can accurately drive in the corresponding actual lane in the high-precision map.

[0018] As an optimization, the specific process of constructing a digital twin highway scene based on the relevant data combined with high-precision maps, 3D modeling, and simulation technology is as follows:

[0019] After collecting actual highway information through a professional collection vehicle equipped with a collection device, the actual highway information is calculated and manually corrected, and the calculated and corrected actual highway information is stored in a high-precision map file;

[0020] Mapping the relevant information with the collection device contained in the calculated and corrected actual highway information;

[0021] The 3D modeling technology is to construct a digital twin corresponding to the modeling object based on the actual physical model parameters of the modeling object, wherein the modeling object includes static or dynamic traffic scene objects contained in the actual highway information;

[0022] Based on the high-precision map and the digital twin, simulation technology is used to perform simulation, thereby establishing a digital twin highway scene that corresponds one-to-one to the actual highway scene.

[0023] The present invention also discloses a device for implementing a twin highway management and control system, the device comprising:

[0024] A data receiving module is used to obtain relevant data of various collection devices on the highway, wherein the relevant data includes type information, deployment location information, status information and parameter information of the collection devices;

[0025] A digital twin highway scene construction module is used to construct a digital twin highway scene based on the relevant data in combination with high-precision maps, 3D modeling technology, and simulation technology;

[0026] a fusion module, configured to obtain a perception data fusion result, wherein the perception data fusion result is obtained by using a perception fusion technology based on data collected by the plurality of collection devices arranged on the highway;

[0027] The twin construction module is used to establish a one-to-one correspondence between the digital twin in the digital twin highway scene and the perception data fusion result, thereby realizing the construction of a real-time twin of the traffic scene on the highway using perception fusion technology and digital twin scenes.

[0028] The present invention also discloses a highway twin control system, which includes:

[0029] A vehicle information management module is used to progressively view vehicle information of a target vehicle based on a click operation on the target vehicle, enter a follow-up state for the target vehicle, and cancel the follow-up state for the target vehicle after entering the follow-up state, wherein the vehicle information includes the vehicle state and the vehicle information tray, and when a vehicle abnormality is detected, the abnormal condition of the abnormal vehicle is actively transmitted and the abnormal vehicle is entered into the follow-up state;

[0030] The device information management module is used to view the relevant data of the collection device and actively send the abnormal situation of the collection device when the collection device is abnormal. The relevant data includes the type information, deployment location information, status information and parameter information of the collection device;

[0031] A global search module is used to search for and locate the target real-time twin in the digital twin scene. The real-time twin includes vehicles and facilities and equipment. The facilities and equipment include acquisition equipment and road equipment. When the searched real-time twin is a vehicle, the located vehicle enters the vehicle following state;

[0032] A layer control module is used to select whether to display multiple types of layers in the digital twin scene, wherein the multiple types of layers include road condition thermal, abnormal alarm and key vehicles;

[0033] The video surveillance positioning module is used to directly locate the target vehicle in the digital twin scene corresponding to the target vehicle when it is found in the video surveillance, and enter the vehicle following state for the target vehicle, thereby achieving focused tracking of the target vehicle;

[0034] A traffic event display module is used to display traffic events in the digital twin scene.

[0035] As an optimization, the specific process for progressively viewing vehicle information of a target vehicle according to a click operation on the target vehicle, entering a follow-up state for the target vehicle, and canceling the follow-up state for the target vehicle after entering the follow-up state is as follows:

[0036] When the plug-in for clicking moves to the first area where the target vehicle is located, the first area is displayed in different colors, and different colors are used to represent different vehicle states of the target vehicle;

[0037] When the click plug-in moves to the first area where the target vehicle is located and a click operation is performed in the first area, the first area is displayed in different colors, and the different vehicle states of the target vehicle are represented by different colors. At the same time, a vehicle information tray of the target vehicle is displayed in a second area at a set distance from the first area;

[0038] When the plug-in for clicking moves to the first area where the target vehicle is located and is clicked twice in the first area within a preset time, the target vehicle enters the following state, and exits the following state after the clicked plug-in clicks the third area or a trigger signal is sent through a hardware-set button.

[0039] The present invention also discloses an electronic device, comprising at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a method for implementing a highway twin control system as described above.

[0040] The present invention also discloses a storage medium storing a computer program, which, when executed by a processor, implements the aforementioned method for implementing a highway twin control system.

[0041] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0042] The present invention solves the problem of being unable to identify vehicles in bad weather or dim lighting conditions when using a single camera monitoring solution based on a multi-sensor fusion technical solution, and can avoid the problem of not being allowed to install cameras on specific road sections due to privacy protection needs. The multi-sensor fusion technical solution solves the problem of being unable to identify vehicle types and colors when using a single millimeter-wave radar monitoring solution. Based on three-dimensional reconstruction and multi-sensor fusion technology, it can reconstruct the three-dimensional traffic driving scene of the highway with high realism, making the management and control more intuitive and realistic, and automatically detecting and prompting abnormal traffic events, thereby improving the intelligence and convenience of management and control. The management and control system covers vehicle information viewing (including following mode), equipment information viewing, vehicle anomalies, equipment anomalies, global search, layer control, video monitoring, traffic events and other functional features, breaking through the limitations of the current 2D interface and single function of the highway management and control system, making it more systematic and intelligent, and improving the safety of highway driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0044] Figure 1 This is a flow chart of a method for implementing a highway twin control system according to the present invention;

[0045] Figure 2 This is the deployment flow chart of the highway twin control system;

[0046] Figure 3 This is a schematic diagram of the overall interface of the highway twin control system;

[0047] Figure 4 This is an overview of the immersive focus tracking of key vehicles such as passenger vehicles, hazardous vehicles, and abnormal vehicles in a highway scenario in the embodiment;

[0048] Figure 5 This is a schematic diagram of the interface for a scenario in which the highway twin control system enters vehicle tracking mode in an embodiment;

[0049] Figure 6 This is a schematic diagram of the mouse hovering behind the target vehicle when executing the vehicle information management module;

[0050] Figure 7This is a schematic diagram of a target vehicle clicked once by the mouse when executing the vehicle information management module;

[0051] Figure 8 This is a schematic diagram after clicking the target vehicle twice with the mouse when executing the vehicle information management module;

[0052] Figure 9 This is a schematic diagram of the interface when a vehicle is abnormal when executing the vehicle information management module;

[0053] Figure 10 This is a schematic diagram of the interface when the vehicle appears out of sight when executing the vehicle information management module;

[0054] Figure 11 This is a schematic diagram of the interface for viewing the detailed information of the acquisition device when executing the device information management module;

[0055] Figure 12 This is a schematic diagram of the interface when an abnormality of the acquisition device is detected during the execution of the device information management module;

[0056] Figure 13 This is a schematic diagram of the interface when executing the global search module;

[0057] Figure 14 This is a schematic diagram of the interface when executing the layer control module;

[0058] Figure 15 This is a 2D interface diagram when executing the traffic event display module;

[0059] Figure 16 This is a schematic diagram of the 3D interface when executing the traffic event display module. DETAILED DESCRIPTION

[0060] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0061] Before explaining specific cases, the following terms or abbreviations are defined:

[0062] Digital Twin: Also known as digital mapping or digital mirroring, it fully utilizes data such as physical models, sensor updates, and operating history, integrates multi-disciplinary, multi-physical quantity, multi-scale, and multi-probability simulation processes, and completes mapping in virtual space, thereby reflecting the entire life cycle of the corresponding physical equipment.

[0063] Roadside Unit: Generally installed on the roadside, it uses DSRC (Dedicated Short Range Communication) technology to communicate with the on-board module (OBU, OnBoard Unit) to realize vehicle identification, electronic point deduction, road condition broadcasting, etc.

[0064] Next, a specific implementation example of the present invention is described.

[0065] This embodiment 1 provides a method for implementing a highway twin control system, such as Figure 1 As shown, the implementation method includes:

[0066] S1. Obtain relevant data of various collection devices on the highway, wherein the relevant data includes type information, deployment location information, status information, and parameter information of the collection devices.

[0067] In some embodiments, the acquisition equipment includes a combination of cameras, millimeter-wave radars, terminal boxes, and roadside modules. More specifically, cameras are divided into fisheye cameras and machine gun cameras.

[0068] In some embodiments, the type information includes the name of the acquisition device, the device ID number, and the device IP number;

[0069] The deployment location information includes the jurisdiction of the acquisition device, the stake location information of the acquisition device, and the device manufacturer;

[0070] The status information includes the working status of the acquisition device, and the working status includes online and offline;

[0071] The parameter information includes sensor calibration parameters of the acquisition device and joint calibration parameters of multiple acquisition devices.

[0072] In some embodiments, the joint calibration parameters are used to calibrate the position and posture relationship between the millimeter-wave radar and the high-precision map, so that a vehicle without lane ownership information observed by the millimeter-wave radar can accurately drive in the corresponding actual lane in the high-precision map.

[0073] Here, to obtain relevant data from various collection devices on the highway, you need to perform the following operations on the collection devices. The overall implementation and deployment process is as follows: Figure 2 As shown:

[0074] 1. Deployment of collection equipment:

[0075] On the expressways that need to be controlled, data collection equipment is deployed at this spacing based on the maximum detection range of the collection equipment and the actual control needs. The collection equipment is generally deployed on the roadsides on both sides of the expressway, in the middle isolation belt, on road poles, gantries, and other locations that do not hinder the normal driving of vehicles.

[0076] 2. Configure the network of the acquisition device:

[0077] The aforementioned collection devices are classified and assigned a globally unique number (i.e., device ID), and the network connection information of each collection device is configured so that it can be connected to the device information management module of the highway twin control system through wireless or wired transmission methods such as 4G, 5G, WiFi, and Bluetooth.

[0078] The collected equipment information is transmitted to the highway twin management and control system through the network.

[0079] 3. Calibrate the data of the acquisition equipment:

[0080] After the network configuration is completed, the relevant acquisition equipment needs to be calibrated for data.

[0081] In some embodiments, the data calibration includes two parts: sensor calibration and joint calibration.

[0082] In some embodiments, the sensor calibration includes internal parameter calibration and distortion correction, and the calibration parameters are verified, packaged, and connected to the highway twin management and control system.

[0083] Joint calibration is the calibration of the position and posture relationship of the millimeter-wave radar, camera, and high-precision map, so that the vehicle observed by the millimeter-wave radar (without lane ownership information) can accurately drive in the corresponding actual lane in the high-precision map, and further accurately present it in the highway twin control system; among them, camera calibration only serves as a calibration bridge, so that the millimeter-wave radar and high-precision map can be accurately aligned, and it may not be used as the final perception data input depending on specific needs.

[0084] S2. Construct a digital twin highway scene based on the relevant data combined with high-precision maps, 3D modeling technology, and simulation technology.

[0085] In some embodiments, the specific process of S2 is:

[0086] S2.1. After collecting actual highway information using a specialized collection vehicle equipped with a collection device, the actual highway information is calculated and manually corrected, and the calculated and corrected actual highway information is stored in a high-precision map file;

[0087] More specifically, actual highway information (such as the number of lanes, lane lines, roadside equipment information, road signs, roadside vegetation, roadside buildings, road latitude and longitude information, etc.) is collected by professional data collection vehicles equipped with multiple devices such as cameras, lidar, IMU (inertial measurement module), etc., and then after a series of algorithm calculations and manual corrections, the road information is finally stored in a high-precision map file.

[0088] S2.2. Mapping the relevant information with the acquisition device contained in the calculated and corrected actual highway information;

[0089] S2.3. The 3D modeling technology comprises: constructing a digital twin corresponding to the modeled object based on actual physical model parameters of the modeled object, wherein the modeled object includes static or dynamic traffic scene objects contained in the actual highway information;

[0090] 3D modeling constructs the corresponding digital twin in the virtual simulation system based on the actual physical model parameters. The modeling objects mainly include various traffic vehicles (such as ordinary cars, SUVs, trucks, trailers, police cars, ambulances, fire trucks, etc.), highways, signs, roadside vegetation, roadside buildings, guardrails and other static or dynamic traffic scene objects.

[0091] S2.4. Based on the high-precision map and the digital twin, simulation is performed through simulation technology to establish a digital twin highway scene that corresponds one-to-one with the actual highway scene.

[0092] The twin construction engine establishes a digital twin highway scene that corresponds one-to-one to the actual highway scene based on high-precision maps and three-dimensional models.

[0093] S3. Obtain a perception data fusion result, where the perception data fusion result is obtained by using a perception fusion technology based on data collected by the plurality of collection devices installed on the highway.

[0094] S4. Establish a one-to-one correspondence between the digital twin in the digital twin highway scene and the perception data fusion result, so as to construct a real-time twin of the traffic scene on the highway by using perception fusion technology and digital twin scene.

[0095] Based on the data collected from the roadside, a real-time twin of the traffic scene on the highway is constructed using perception fusion technology and digital twin scenes.

[0096] Using the deployment of cameras, millimeter-wave radar, and a terminal box as an example, the following illustrates this: A perception fusion algorithm is deployed on the terminal box, which receives camera video data and millimeter-wave radar detection data from a specific road section. Based on this data, the perception algorithm identifies vehicle type, color, license plate number, speed, direction, lane position, and other information.

[0097] The above-mentioned vehicle types include six major categories of motor vehicle models:

[0098] Sedan: family sedans, SUVs, and MPVs with fewer than seven seats;

[0099] Van: common vans, MPVs with more than seven seats, ambulances, escort vehicles, etc.

[0100] Bus: bus, coach, etc.

[0101] Container: container truck, etc.

[0102] Truck: flatbed truck, trailer, etc.

[0103] Special vehicles: fuel tank trucks, concrete mixer trucks, water trucks, and truck cranes.

[0104] The above-mentioned vehicle colors include 5 color systems:

[0105] Pink series: pink, red;

[0106] Gray and white series: white, silver gray;

[0107] Dark colors: black, blue, brown, purple;

[0108] Yellow series: orange, yellow;

[0109] Green: Green.

[0110] The terminal box transmits the results of the fusion perception algorithm to the highway twin control system via the network. Based on the 3D modeled digital twin and the fusion of perception data, the highway twin control system establishes a one-to-one correspondence between actual traffic scene objects and their virtual twins (digital twins), thereby generating a real-time twin that corresponds one-to-one with the actual traffic scene objects.

[0111] Example 2 discloses a device for implementing a twin highway management and control system, the device comprising:

[0112] A data receiving module is used to obtain relevant data of various collection devices on the highway, wherein the relevant data includes type information, deployment location information, status information and parameter information of the collection devices;

[0113] A digital twin highway scene construction module is used to construct a digital twin highway scene based on the relevant data in combination with high-precision maps, 3D modeling technology, and simulation technology;

[0114] a fusion module, configured to obtain a perception data fusion result, wherein the perception data fusion result is obtained by using a perception fusion technology based on data collected by the plurality of collection devices arranged on the highway;

[0115] The twin construction module is used to establish a one-to-one correspondence between the digital twin in the digital twin highway scene and the perception data fusion result, thereby realizing the construction of a real-time twin of the traffic scene on the highway using perception fusion technology and digital twin scenes.

[0116] Example 3 discloses a highway twin control system, the overall interface design of which is as follows: Figure 3 As shown, the control system includes a vehicle information management module (including vehicle information viewing (including following mode), vehicle abnormality monitoring), an equipment information management module (including equipment information viewing, equipment abnormality monitoring), a global search module, a layer control module, a video monitoring positioning module and a traffic event display module.

[0117] For ease of understanding, only key vehicle tracking situations in business scenarios are taken as examples to illustrate how the system of the present invention is applied in specific scenarios to solve specific problems.

[0118] Scenario description: In the highway scenario, the full-area perception capability of the highway twin control system can be used to conduct targeted immersive tracking of key vehicles such as passenger and hazardous vehicles, abnormal vehicles, etc., to promptly detect and track dangerous situations and improve the safe passage capacity of the highway. Overview diagram Figure 4 shown.

[0119] In summary, the scenarios for entering vehicle tracking mode (i.e., entering vehicle tracking state for the target vehicle) include:

[0120] Scenario 1: The problem vehicle is discovered through video surveillance. After locating it in the corresponding twin scene, the target vehicle is selected and the vehicle tracking mode is entered.

[0121] Scenario 2: Know the target vehicle's license plate number. Search and select the target vehicle in the search area to enter vehicle tracking mode.

[0122] Scenario 3: Select an abnormal vehicle notification in the twin scene and enter vehicle tracking mode.

[0123] Scenario 4: Directly select an abnormal vehicle in the twin scene and enter vehicle tracking mode.

[0124] The above scenario can be realized through the highway twin control system. Figure 5 interface to perform corresponding operations.

[0125] Next, the above functional modules and their related operations and other detailed information are introduced in detail.

[0126] The vehicle information management module is used to progressively view the vehicle information of the target vehicle according to the click operation of the target vehicle, enter the following state for the target vehicle, and cancel the following state for the target vehicle after entering the following state. The vehicle information includes the vehicle status and the vehicle information tray, and when a vehicle abnormality is detected, the abnormal situation of the abnormal vehicle is actively sent, and the abnormal vehicle enters the following state.

[0127] In some embodiments, the specific process for progressively viewing vehicle information of a target vehicle, entering a follow-up state for the target vehicle, and canceling the follow-up state for the target vehicle after entering the follow-up state is as follows:

[0128] When the plug-in for clicking moves to the first area where the target vehicle is located, the first area is displayed in different colors, and different colors are used to represent different vehicle states of the target vehicle;

[0129] When the click plug-in moves to the first area where the target vehicle is located and a click operation is performed in the first area, the first area is displayed in different colors, and the different vehicle states of the target vehicle are represented by different colors. At the same time, a vehicle information tray of the target vehicle is displayed in a second area at a set distance from the first area;

[0130] When the plug-in for clicking moves to the first area where the target vehicle is located and is clicked twice in the first area within a preset time, the target vehicle enters the following state, and exits the following state after the clicked plug-in clicks the third area or a trigger signal is sent through a hardware-set button.

[0131] Vehicle information management module: The main functions include vehicle information viewing, vehicle abnormality monitoring, etc.

[0132] The above-mentioned vehicle information viewing function supports users to freely select dynamically moving vehicles in the twin scene, and further follow the vehicle to view the vehicle driving details.

[0133] Its prototype and interactive operations are as follows:

[0134] Mouse hover vehicle model:

[0135] "Highlight + Stroke" target vehicle: The color indicates the vehicle status (normal - green, abnormal - red), such as Figure 6 shown.

[0136] Click the vehicle model with the mouse:

[0137] Select the vehicle and “stroke” the target vehicle, where the color indicates the vehicle status (normal - green, abnormal - red), and the vehicle information tray (3D) is displayed, including the vehicle’s license plate number, speed and other information, such as Figure 7 shown.

[0138] Double-click the vehicle model:

[0139] Enter the following state ("Exit" or keyboard "ESC" to exit the following state on the spot), such as Figure 8 The system responds as follows:

[0140] ○ “Dynamic Light Effect” target vehicle: color indicates vehicle status (normal - green, abnormal - red);

[0141] ○ Display vehicle information tray (3D): license plate number, speed;

[0142] ○ Video relay is not displayed by default; users are allowed to open video relay; users are allowed to drag the video relay window at will;

[0143] ○2D map is not displayed by default; users can open 2D map; users can open real-time traffic conditions;

[0144] ○ Display surrounding vehicle warning (supports V2X safe driving warning capabilities, including front vehicle collision warning, blind spot warning, etc.);

[0145] ○Supports camera adjustment centered on the target vehicle.

[0146] The above vehicle abnormality monitoring function will proactively report the abnormality to the user when it detects a vehicle abnormality. The abnormality includes: overspeed, overspeed, wrong-way driving, etc. Its prototype and interactive operation are as follows: when the vehicle has an abnormality, an abnormality mark will automatically appear and follow the vehicle model; when the abnormality disappears, the abnormality mark will automatically hide; Figure 9 When an abnormal vehicle appears outside the field of view, the red light area will prompt the user the abnormal vehicle location, such as Figure 10 shown.

[0147] The device information management module is used to view the relevant data of the collection device and actively send the abnormal situation of the collection device when the collection device is abnormal. The relevant data includes the type information, deployment location information, status information and parameter information of the collection device;

[0148] Device information management module: includes features such as device information viewing and device abnormality monitoring.

[0149] The above-mentioned device information viewing supports users to select facilities and equipment at will in the twin scene and view their details. Its interface design is as follows Figure 11 shown.

[0150] The data displayed in the device details panel includes but is not limited to the following table information:

[0151]

[0152] The above-mentioned device abnormality monitoring will proactively report the device offline situation to the user when it is detected that the device is offline. Its interface design is as follows Figure 12 shown.

[0153] The global search module is used to search and locate the target real-time twin in the digital twin scene. The real-time twin includes vehicles and facilities and equipment. The facilities and equipment include acquisition equipment and road equipment. When the searched real-time twin is a vehicle, the located vehicle enters the vehicle following state;

[0154] Global search module: supports users to search and locate target vehicles, facilities and equipment in the twin scene. Its interactive interface design is as follows Figure 13 shown.

[0155] The layer control module is used to select whether to display multiple types of layers in the digital twin scene, such as Figure 14 As shown, there are multiple types of layers including road condition thermal, abnormal alarm and key vehicles; Figure 14 In the system, the colors on the road represent different traffic conditions, where green represents smooth traffic and red represents congestion. In addition, displaying colors on real-time roads in the highway twin control system can help users understand the specific location of congested sections more accurately, which is more objective and vivid than the existing color display on virtual roads.

[0156] Layer control module: mainly includes supporting users to choose whether to display multiple types of layers, etc., where the layers are as follows:

[0157] ●Road heat;

[0158] ●Abnormal alarm: vehicle abnormality, equipment abnormality, traffic incident;

[0159] ●Key vehicles: ambulances, fire trucks, police cars, and rescue vehicles.

[0160] The video surveillance positioning module is used to directly locate the target vehicle in the digital twin scene corresponding to the target vehicle when the target vehicle is found in the video surveillance, and put the target vehicle into the vehicle following state, thereby realizing the focused tracking of the target vehicle.

[0161] The traffic event display module is used to display traffic events in the digital twin scene, and its 2D global view is displayed as follows: Figure 15 As shown, its 3D local field of view is shown as Figure 16 shown.

[0162] Example 4 also discloses an electronic device, comprising at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a method for implementing a highway twin control system as described in Example 1.

[0163] Example 5 also discloses a storage medium storing a computer program, which, when executed by a processor, implements a method for implementing a highway twin control system as described in Example 1.

[0164] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for implementing a twin highway management and control system, characterized in that: The implementation method includes: Acquire relevant data of various collection devices on the highway, the relevant data including type information, deployment location information, status information, and parameter information of the collection devices; Construct a digital twin highway scene based on the relevant data combined with high-precision maps, 3D modeling technology, and simulation technology; Acquiring a perception data fusion result, where the perception data fusion result is obtained by using a perception fusion technology based on data collected by a plurality of collection devices arranged on the highway; A one-to-one correspondence is established between the digital twin in the digital twin highway scene and the perception data fusion result, thereby realizing the construction of a real-time twin of the traffic scene on the highway by using perception fusion technology and digital twin scenes.

2. The method for implementing a highway twin control system according to claim 1, characterized in that: The acquisition equipment includes various combinations of cameras, millimeter-wave radars, terminal boxes, and roadside modules.

3. The method for implementing a highway twin control system according to claim 1, characterized in that: The type information includes the name of the acquisition device, the device ID number, and the device IP number; The deployment location information includes the jurisdiction of the acquisition device, the stake location information of the acquisition device, and the device manufacturer; The status information includes the working status of the acquisition device, and the working status includes online and offline; The parameter information includes sensor calibration parameters of the acquisition device and joint calibration parameters of multiple acquisition devices.

4. The method for implementing a highway twin control system according to claim 3, characterized in that: The joint calibration parameters are used to calibrate the position and posture relationship between the millimeter-wave radar and the high-precision map, so that a vehicle without lane affiliation information observed by the millimeter-wave radar can accurately drive in the corresponding actual lane in the high-precision map.

5. The method for implementing a highway twin control system according to claim 1, characterized in that: The specific process of constructing a digital twin highway scene based on the relevant data combined with high-precision maps, 3D modeling, and simulation technology is as follows: After collecting actual highway information through a professional collection vehicle equipped with a collection device, the actual highway information is calculated and manually corrected, and the calculated and corrected actual highway information is stored in a high-precision map file; Mapping the relevant information with the collection device contained in the calculated and corrected actual highway information; The 3D modeling technology is to construct a digital twin corresponding to the modeling object based on the actual physical model parameters of the modeling object, wherein the modeling object includes static or dynamic traffic scene objects contained in the actual highway information; Based on the high-precision map and the digital twin, simulation technology is used to perform simulation, thereby establishing a digital twin highway scene that corresponds one-to-one to the actual highway scene.

6. A device for implementing a highway twin control system, characterized in that: The implementation device includes: A data receiving module is used to obtain relevant data of various collection devices on the highway, wherein the relevant data includes type information, deployment location information, status information and parameter information of the collection devices; A digital twin highway scene construction module is used to construct a digital twin highway scene based on the relevant data in combination with high-precision maps, 3D modeling technology, and simulation technology; a fusion module, configured to obtain a perception data fusion result, wherein the perception data fusion result is obtained by using a perception fusion technology based on data collected by the plurality of collection devices arranged on the highway; The twin construction module is used to establish a one-to-one correspondence between the digital twin in the digital twin highway scene and the perception data fusion result, thereby realizing the construction of a real-time twin of the traffic scene on the highway using perception fusion technology and digital twin scenes.

7. A twin highway management and control system, characterized in that: The control system includes: A vehicle information management module is used to progressively view vehicle information of a target vehicle based on a click operation on the target vehicle, enter a follow-up state for the target vehicle, and cancel the follow-up state for the target vehicle after entering the follow-up state, wherein the vehicle information includes the vehicle state and the vehicle information tray, and when a vehicle abnormality is detected, the abnormal condition of the abnormal vehicle is actively transmitted and the abnormal vehicle is entered into the follow-up state; The device information management module is used to view the relevant data of the collection device and actively send the abnormal situation of the collection device when the collection device is abnormal. The relevant data includes the type information, deployment location information, status information and parameter information of the collection device; A global search module is used to search for and locate the target real-time twin in the digital twin scene. The real-time twin includes vehicles and facilities and equipment. The facilities and equipment include acquisition equipment and road equipment. When the searched real-time twin is a vehicle, the located vehicle enters the vehicle following state; A layer control module is used to select whether to display multiple types of layers in the digital twin scene, wherein the multiple types of layers include road condition thermal, abnormal alarm and key vehicles; The video surveillance positioning module is used to directly locate the target vehicle in the digital twin scene corresponding to the target vehicle when it is found in the video surveillance, and enter the vehicle following state for the target vehicle, thereby achieving focused tracking of the target vehicle; A traffic event display module is used to display traffic events in the digital twin scene.

8. A highway twin control system according to claim 7, characterized in that: The specific process for progressively viewing vehicle information of a target vehicle according to a click operation on the target vehicle, entering a follow-up state for the target vehicle, and canceling the follow-up state for the target vehicle after entering the follow-up state is as follows: When the plug-in for clicking moves to the first area where the target vehicle is located, the first area is displayed in different colors, and different colors are used to represent different vehicle states of the target vehicle; When the click plug-in moves to the first area where the target vehicle is located and a click operation is performed in the first area, the first area is displayed in different colors, and the different vehicle states of the target vehicle are represented by different colors. At the same time, a vehicle information tray of the target vehicle is displayed in a second area at a set distance from the first area; When the plug-in for clicking moves to the first area where the target vehicle is located and is clicked twice in the first area within a preset time, the target vehicle enters the following state, and exits the following state after the clicked plug-in clicks the third area or a trigger signal is sent through a hardware-set button.

9. An electronic device, characterized in that: It includes at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a method for implementing a highway twin control system as described in any one of claims 1 to 5.

10. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it implements a method for implementing a highway twin control system according to any one of claims 1 to 5.

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