CN114399916A - Virtual traffic light control reminding method for digital twin smart city traffic - Google Patents

Abstract

The invention discloses a virtual traffic light control reminding method for digital twin smart city traffic, which comprises the steps of constructing a digital twin traffic system based on actual data information of each road intersection, and distributing virtual traffic lights at each virtual road intersection in the digital twin traffic system; continuously acquiring real-time feedback data of the vehicle, and determining the real-time position of the vehicle in the digital twin traffic system; when the real-time position reaches any virtual road intersection, lane position information of the vehicle is determined based on the real-time feedback data, a control instruction is generated based on target virtual traffic light signal information corresponding to the lane position information, and the control instruction is sent to the vehicle. The invention realizes that the vehicle can obtain the actual traffic light information of the road intersection in real time through the virtual traffic light even under the severe environment or the condition that the visual field of the vehicle camera probe is blocked in the driving process of the unmanned vehicle, thereby ensuring the safe driving of the unmanned vehicle.

Description

A virtual traffic light control reminder method for digital twin smart city traffic

technical field

The present application relates to the technical field of autonomous driving, and in particular, to a virtual traffic light control reminder method for digital twin smart city traffic.

Background technique

With the development of science and technology, autonomous driving technology has become a field that many technology companies are eager to research. The driverless car mainly relies on the driverless system to achieve the purpose of automatic driving, that is, the intelligent car that senses the road environment through the on-board sensing system, automatically plans the driving route and controls the vehicle to reach the predetermined target. For unmanned vehicles and urban roads, the control of traffic lights is a difficult point to ensure safe and efficient driving of autonomous vehicles.

At present, the vast majority of intersections still use traditional traffic light equipment. Due to the differences in installation location and shape of traffic light equipment at different intersections, most of the current traffic light recognition technologies based on cameras have a high false detection rate and poor robustness. powerful. In addition, the recognition method based on the traffic light image is also easily affected by the weather and the surrounding environment. For example, in the case of heavy snow or when the driverless vehicle is blocked by a large vehicle, it is difficult for the image recognition method to accurately recognize the traffic light. , which in turn poses an incalculable danger to unmanned vehicles.

SUMMARY OF THE INVENTION

In order to solve the above problems, the embodiments of the present application provide a virtual traffic light control reminder method for digital twin smart city traffic.

In a first aspect, an embodiment of the present application provides a virtual traffic light control reminder method for digital twin smart city traffic, the method comprising:

Build a digital twin traffic system based on the actual data information of each road intersection, and allocate virtual traffic lights at each virtual road intersection in the digital twin traffic system, so as to match the virtual traffic lights with the actual data information;

Continuously obtain real-time feedback data of the vehicle to determine the real-time position of the vehicle in the digital twin transportation system;

When the real-time position reaches any of the virtual road intersections, the lane position information of the vehicle is determined based on the real-time feedback data, and a control instruction is generated based on the target virtual traffic light signal information corresponding to the lane position information, and the The control command is sent to the vehicle.

Preferably, the digital twin traffic system is constructed based on the actual data information of each road intersection, and virtual traffic lights are allocated at each virtual road intersection in the digital twin traffic system, so as to make the virtual traffic lights and the actual data information matches, including:

Acquiring actual data information of each road intersection, and constructing a digital twin traffic system based on each actual data information, where the actual data information includes first traffic light cycle signal change information;

Allocate virtual traffic lights at each virtual road intersection in the digital twin traffic system, so as to match the virtual traffic lights with the first traffic light cycle signal change information;

Every time the first preset time period elapses, obtain the second traffic light periodic signal change information of each of the road intersections, and compare the second traffic light periodic signal change information with the virtual traffic light periodic signal change information of the virtual traffic light;

When the comparison results are characterized as being different, the virtual traffic light period signal change information is optimized based on the second traffic light period signal change information.

Preferably, the actual data information also includes video surveillance information;

The virtual traffic lights are allocated to each virtual road intersection in the digital twin traffic system, including:

Acquire all the video surveillance information in the preset monitoring period, and determine the mapping relationship between traffic flow, weather, and date in the video surveillance information;

Virtual traffic lights are allocated to each virtual road intersection in the digital twin traffic system based on the mapping relationship.

Preferably, the continuous acquisition of real-time feedback data of the vehicle to determine the real-time position of the vehicle in the digital twin transportation system includes:

Continuously obtain real-time feedback data of the vehicle, where the real-time feedback data includes GPS positioning information;

Determine the real-time position of the vehicle in the digital twin transportation system according to the GPS positioning information;

Obtain vehicle orientation information collected by roadside sensors within a first preset range of the real-time location, and optimize the real-time location based on the vehicle orientation information.

Preferably, when the real-time position reaches any of the virtual road intersections, determining the lane position information of the vehicle based on the real-time feedback data includes:

When the real-time position enters the judgment range corresponding to any of the virtual road intersections, the lane position information of the vehicle is determined based on the real-time feedback data.

Preferably, the real-time feedback data further includes the steering angle of the vehicle;

The method also includes:

When it is detected that the angle change value of the vehicle driving steering angle within the second preset time period is greater than the preset change value, the lane position information is updated, and the target virtual traffic light signal corresponding to the lane position information is repeated. The process of generating control instructions from information and sending the control instructions to the vehicle.

In a second aspect, the embodiments of the present application provide a virtual traffic light control reminder device for digital twin smart city traffic, the device comprising:

A building module for constructing a digital twin traffic system based on the actual data information of each road intersection, and assigning virtual traffic lights at each virtual road intersection in the digital twin traffic system, so as to make the virtual traffic lights and the actual data information match;

an acquisition module for continuously acquiring real-time feedback data of the vehicle, and determining the real-time position of the vehicle in the digital twin traffic system;

A control module, configured to determine the lane position information of the vehicle based on the real-time feedback data when the real-time position enters the judgment range corresponding to any of the virtual road intersections, and based on the target corresponding to the lane position information The virtual traffic light signal information generates a control command, and sends the control command to the vehicle.

In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the first The aspect or any one of the possible implementations of the first aspect provides the steps of the method.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the first aspect or any possible implementation of the first aspect method provided.

The beneficial effects of the present invention are: during the driving process of the unmanned vehicle, even in a harsh environment or the field of view of the vehicle camera probe is blocked, the vehicle can still obtain the actual traffic light information of the road intersection through the virtual traffic light in real time, ensuring that Safe driving of driverless vehicles.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic flowchart of a virtual traffic light control reminder method for digital twin smart city traffic provided by an embodiment of the present application;

2 is a schematic structural diagram of a virtual traffic light control reminder device for digital twin smart city traffic provided by an embodiment of the present application;

FIG. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

In the following introduction, the terms "first" and "second" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments may be substituted or combined, so the present application may also be considered to include all possible combinations of the same and/or different embodiments described. Thus, if one embodiment includes features A, B, C and another embodiment includes features B, D, the application should also be considered to include all other possible combinations of one or more of A, B, C, D example, although this example may not be explicitly described in the following content.

The following description provides examples, and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements described without departing from the scope of the present disclosure. Various examples may omit, substitute or add various procedures or components as appropriate. For example, the methods described may be performed in an order different from that described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined in other examples.

Referring to FIG. 1, FIG. 1 is a schematic flowchart of a virtual traffic light control reminder method for digital twin smart city traffic provided by an embodiment of the present application. In this embodiment of the present application, the method includes:

S101. Build a digital twin traffic system based on actual data information of each road intersection, and assign virtual traffic lights to each virtual road intersection in the digital twin traffic system, so as to match the virtual traffic lights with the actual data information.

The executive body of this application may be a cloud server.

In the embodiments of the present application, the digital twin can be understood as making full use of data such as physical models, sensor updates, and operation history, integrating multi-disciplinary, multi-physical, multi-scale, and multi-probability simulation processes to complete mapping in virtual space, thereby It reflects the whole life cycle process of the corresponding physical equipment. It can be seen as a digital mapping system of one or more important, interdependent equipment systems. The digital twin traffic system uses the existing video surveillance resources at the current intersection, collects data from millimeter-wave radar, and conducts sufficient data fusion through holographic perception of traffic elements in the traffic network including motor vehicles, non-motor vehicles, and pedestrians. Import real-world information into the twin traffic simulation system.

In the embodiment of this application, the digital twin traffic system can be regarded as an identical virtual traffic system simulated based on the actual traffic system. Therefore, in order to ensure the authenticity and reliability of the system, the cloud server needs to obtain the actual traffic system. The actual data information collected by the equipment and sensors at each road intersection in China is used to build a digital twin traffic system. After the digital twin traffic system is constructed, virtual traffic lights will be allocated to each virtual road intersection corresponding to each road intersection in the digital twin traffic system, and the virtual traffic lights will be matched with the actual data information to ensure the digital twin traffic system. The changes of the virtual traffic lights in the traffic lights can be the same as the traffic lights of the actual road intersections. In the case where the actual data information required for the construction of the system is determined, the construction process of the digital twin system is the prior art well known to those skilled in the art, and the specific construction process of the digital twin system is not the focus of this application. This is not detailed.

In a possible implementation manner, step S101 includes:

Acquiring actual data information of each road intersection, and constructing a digital twin traffic system based on each actual data information, where the actual data information includes first traffic light cycle signal change information;

Allocate virtual traffic lights at each virtual road intersection in the digital twin traffic system, so as to match the virtual traffic lights with the first traffic light cycle signal change information;

Every time the first preset time period elapses, obtain the second traffic light periodic signal change information of each of the road intersections, and compare the second traffic light periodic signal change information with the virtual traffic light periodic signal change information of the virtual traffic light;

When the comparison results are characterized as being different, the virtual traffic light period signal change information is optimized based on the second traffic light period signal change information.

In the embodiment of this application, the most critical information in the actual data information is the first traffic light cycle signal change information, and the cloud server will use the first traffic light cycle signal change information to represent the actual traffic light signal change at the intersection, and make the digital twin The virtual traffic lights in the traffic system can match the first traffic light cycle signal change information, that is, the first traffic light cycle signal change information is used as the virtual traffic light cycle signal change information of the virtual traffic lights, thereby ensuring that the signal changes of the virtual traffic lights are the same as the actual situation. In addition, in order to ensure the real-time accuracy of the virtual traffic lights, the cloud server will obtain the signal change information of the second traffic light cycle in the actual situation of the road intersection again every time after a period of time, and compare the signal change information of the first traffic light cycle with the second traffic light cycle. The signal change information is compared. If the signal changes of the virtual traffic lights are normal, the comparison results of the two should be the same. Therefore, if the comparison results are not identical, it means that the current signal changes of the virtual traffic lights are abnormal, which may deviate from the actual situation. The second traffic light cycle signal change information The virtual traffic light cycle signal change information is optimized to ensure the continuous accuracy of the virtual traffic light cycle signal change information.

In a possible implementation manner, the actual data information further includes video surveillance information;

The virtual traffic lights are allocated to each virtual road intersection in the digital twin traffic system, including:

Acquire all the video surveillance information in the preset monitoring period, and determine the mapping relationship between traffic flow, weather, and date in the video surveillance information;

Virtual traffic lights are allocated to each virtual road intersection in the digital twin traffic system based on the mapping relationship.

In the embodiment of the present application, the actual data information also includes video surveillance information captured by a surveillance camera at a road intersection, and the road traffic flow within a period of time can be calculated according to the video surveillance information. In actual situations, with different weather and holidays, the number of road trips is different, which in turn leads to different traffic flow. Compared with the real traffic lights, the virtual traffic lights are still data information in essence, and they also need to interact with the matching vehicle to inform the actual traffic lights. Therefore, in order to ensure the data processing efficiency of each virtual traffic light, its There should not be information interaction with too many vehicles at the same time. Based on the above reasons, in the peak travel period, in order to ensure the information exchange efficiency of virtual traffic lights, and to ensure that traveling vehicles can receive relevant control data in a timely manner, it is necessary to set up multiple virtual traffic lights to work at the same time. The cloud server will determine the change of traffic flow on different days and weather according to all the video monitoring information in the preset monitoring period, so as to determine the mapping relationship between the traffic flow and the weather and date. After the mapping relationship is determined, the traffic flow on the current date can be estimated, and a corresponding number of virtual traffic lights can be allocated.

S102. Continuously acquire real-time feedback data of the vehicle, and determine the real-time position of the vehicle in the digital twin transportation system.

In the embodiment of the present application, the vehicle will continuously send real-time feedback data to the cloud server during the driving process, so that the cloud server can determine the actual position of the vehicle by continuously acquiring the real-time feedback data sent by the vehicle, and then can determine the actual position of the vehicle. The real-time position of the vehicle in the digital twin transportation system.

In a possible implementation manner, step S102 includes:

Continuously obtain real-time feedback data of the vehicle, where the real-time feedback data includes GPS positioning information;

Determine the real-time position of the vehicle in the digital twin transportation system according to the GPS positioning information;

Obtain vehicle orientation information collected by roadside sensors within a first preset range of the real-time location, and optimize the real-time location based on the vehicle orientation information.

In the embodiment of the present application, the real-time feedback data includes GPS positioning information collected by the vehicle according to the on-board GPS, and the cloud server will determine the actual position of the vehicle on the road according to the GPS positioning information, and then determine its position in the digital twin transportation system. real-time location in . In addition, since the positioning information determined by GPS may have errors, in order to accurately determine the position of the vehicle, roadside sensors are intermittently arranged on the roadside. The roadside sensor will collect the vehicle orientation information of the vehicle according to the relative distance and relative angle between it and the vehicle. The cloud server adjusts the real-time position by obtaining the vehicle orientation information to ensure the accuracy of the optimized real-time position.

S103. When the real-time position reaches any of the virtual road intersections, determine the lane position information of the vehicle based on the real-time feedback data, and generate a control instruction based on the target virtual traffic light signal information corresponding to the lane position information, The control command is sent to the vehicle.

In the embodiment of the present application, when the cloud server detects that the real-time position of the vehicle arrives at a certain virtual road intersection, it indicates that it is necessary to perform auxiliary reminder control on the change of the traffic light signal to the vehicle at this time, so as to help the vehicle to comply with the traffic regulations safely. of passing traffic lights. Specifically, the cloud server will determine the lane position information of the vehicle at this time through the real-time feedback data continuously sent by the vehicle, that is, which lane of the current road the vehicle is on, and then determine the target virtual traffic light corresponding to the lane position information. The target virtual traffic light signal information can be used to determine the actual traffic light conditions of the road that the vehicle needs to pass through, and finally generate a corresponding control command to control the driving process of the vehicle and assist it to pass the traffic light safely.

In a possible implementation manner, when the real-time position reaches any of the virtual road intersections, determining the lane position information of the vehicle based on the real-time feedback data includes:

When the real-time position enters the judgment range corresponding to any of the virtual road intersections, the lane position information of the vehicle is determined based on the real-time feedback data.

In the embodiment of the present application, each virtual road intersection is set with a corresponding judgment range. When the real-time position corresponding to the vehicle enters the judgment range, the cloud server considers that the vehicle has reached the virtual road intersection, and will determine according to the real-time feedback data. Lane location information of the vehicle.

In a possible implementation manner, the real-time feedback data further includes a vehicle driving steering angle;

The method also includes:

When it is detected that the angle change value of the vehicle driving steering angle within the second preset time period is greater than the preset change value, the lane position information is updated, and the target virtual traffic light signal corresponding to the lane position information is repeated. The process of generating control instructions from information and sending the control instructions to the vehicle.

In the embodiment of the present application, the real-time feedback data sent by the vehicle also includes the vehicle driving steering angle, that is, the steering angle of the forward wheels of the vehicle during driving. When the driving steering angle of the vehicle continues to change within the second preset time period and the angle change value is greater than the preset change value, it is considered that the vehicle has changed lanes. For different lanes, the corresponding virtual traffic lights are different, and the actual traffic light changes are also different. Therefore, when it is determined that the vehicle changes lanes, the cloud server will update the lane position information, and regenerate the control instructions to perform new control on the vehicle, so as to ensure that the latest control instructions for the vehicle conform to the driving conditions of the vehicle and ensure the driving of the vehicle. Safety.

The virtual traffic light control reminder device for digital twin smart city traffic provided by the embodiment of the present application will be described in detail below with reference to FIG. 2 . It should be noted that the virtual traffic light control reminder device for digital twin smart city traffic shown in FIG. 2 is used to execute the method of the embodiment shown in FIG. 1 of the present application. For the relevant parts, if the specific technical details are not disclosed, please refer to the embodiment shown in FIG. 1 of the present application.

Please refer to FIG. 2. FIG. 2 is a schematic structural diagram of a virtual traffic light control reminder device for digital twin smart city traffic provided by an embodiment of the present application. As shown in Figure 2, the device includes:

The building module 201 is used to construct a digital twin traffic system based on the actual data information of each road intersection, and allocate virtual traffic lights at each virtual road intersection in the digital twin traffic system, so as to make the virtual traffic lights and the actual data information matching;

An acquisition module 202, configured to continuously acquire real-time feedback data of the vehicle, and determine the real-time position of the vehicle in the digital twin transportation system;

The control module 203 is configured to determine the lane position information of the vehicle based on the real-time feedback data when the real-time position enters the judgment range corresponding to any of the virtual road intersections, and determine the lane position information corresponding to the lane position information based on the real-time feedback data. The target virtual traffic light signal information generates a control command, and sends the control command to the vehicle.

In one possible implementation, building block 201 includes:

a construction unit, configured to acquire actual data information of each road intersection, and construct a digital twin traffic system based on each of the actual data information, where the actual data information includes the change information of the first traffic light cycle signal;

a first allocating unit, configured to allocate virtual traffic lights at each virtual road intersection in the digital twin traffic system, so as to match the virtual traffic lights with the first traffic light periodic signal change information;

The comparison unit is configured to acquire the second traffic light cycle signal change information of each of the road intersections every time the first preset time period elapses, and compare the second traffic light cycle signal change information with the virtual traffic light cycle of the virtual traffic light. Signal change information;

A first optimization unit, configured to optimize the virtual traffic light period signal change information based on the second traffic light period signal change information when the comparison results are characterized as being different.

In a possible implementation, the building block 201 further includes:

a mapping relationship determining unit, configured to acquire all the video surveillance information in the preset monitoring period, and determine the mapping relationship between traffic flow, weather, and date in the video surveillance information;

The second allocating unit is configured to allocate virtual traffic lights at each virtual road intersection in the digital twin traffic system based on the mapping relationship.

In a possible implementation, the obtaining module 202 includes:

an acquisition unit for continuously acquiring real-time feedback data of the vehicle, where the real-time feedback data includes GPS positioning information;

a position determining unit, configured to determine the real-time position of the vehicle in the digital twin traffic system according to the GPS positioning information;

A second optimization unit, configured to acquire vehicle orientation information collected by each roadside sensor within a first preset range of the real-time location, and optimize the real-time location based on the vehicle orientation information.

In a possible embodiment, the control module 203 includes:

A judging unit, configured to determine the lane position information of the vehicle based on the real-time feedback data when the real-time position enters the judgment range corresponding to any of the virtual road intersections.

In a possible embodiment, the device further comprises:

The repeating module is configured to update the lane position information when it is detected that the angle change value of the vehicle driving steering angle within the second preset time period is greater than the preset change value, and repeat the corresponding correspondence based on the lane position information. The process of generating a control command from the target virtual traffic light signal information, and sending the control command to the vehicle.

Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented by means of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can perform specific functions independently or in cooperation with other components, wherein the hardware can be, for example, a Field-Programmable Gate Array (FPGA), Integrated Circuit (IC), etc.

Each processing unit and/or module in the embodiments of the present application may be implemented by an analog circuit that implements the functions described in the embodiments of the present application, or may be implemented by software that executes the functions described in the embodiments of the present application.

Referring to FIG. 3 , it shows a schematic structural diagram of an electronic device involved in an embodiment of the present application, and the electronic device can be used to implement the method in the embodiment shown in FIG. 1 . As shown in FIG. 3 , the electronic device 300 may include: at least one central processing unit 301 , at least one network interface 304 , user interface 303 , memory 305 , and at least one communication bus 302 .

Among them, the communication bus 302 is used to realize the connection and communication between these components.

The user interface 303 may include a display screen (Display) and a camera (Camera), and the optional user interface 303 may also include a standard wired interface and a wireless interface.

Wherein, the network interface 304 may optionally include a standard wired interface and a wireless interface (eg, a WI-FI interface).

The central processing unit 301 may include one or more processing cores. The central processing unit 301 uses various interfaces and lines to connect various parts of the entire electronic device 300, and by running or executing the instructions, programs, code sets or instruction sets stored in the memory 305, and calling the data stored in the memory 305, Various functions of the terminal 300 are executed and data is processed. Optionally, the central processing unit 301 may use at least one of a digital signal processing (Digital Signal Processing, DSP), a field-programmable gate array (Field-Programmable Gate Array, FPGA), and a programmable logic array (Programmable Logic Array, PLA). implemented in a hardware form. The central processing unit 301 may integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics central processing unit (Graphics Processing Unit, GPU), a modem, and the like. Among them, the CPU mainly handles the operating system, user interface, and application programs; the GPU is used to render and draw the content that needs to be displayed on the display screen; the modem is used to handle wireless communication. It can be understood that, the above-mentioned modem may not be integrated into the central processing unit 301, but is implemented by a single chip.

The memory 305 may include a random access memory (Random Access Memory, RAM), or may include a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. Memory 305 may be used to store instructions, programs, codes, sets of codes, or sets of instructions. The memory 305 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), Instructions and the like used to implement the above method embodiments; the storage data area may store the data and the like involved in the above method embodiments. Optionally, the memory 305 may also be at least one storage device located away from the aforementioned central processing unit 301 . As shown in FIG. 3 , the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module and program instructions.

In the electronic device 300 shown in FIG. 3 , the user interface 303 is mainly used to provide an input interface for the user to obtain the data input by the user; and the central processing unit 301 can be used to call the digital twin smart city traffic stored in the memory 305 . The virtual traffic light control alerts the app and does the following:

Build a digital twin traffic system based on the actual data information of each road intersection, and allocate virtual traffic lights at each virtual road intersection in the digital twin traffic system, so as to match the virtual traffic lights with the actual data information;

Continuously obtain real-time feedback data of the vehicle to determine the real-time position of the vehicle in the digital twin transportation system;

When the real-time position reaches any of the virtual road intersections, the lane position information of the vehicle is determined based on the real-time feedback data, and a control instruction is generated based on the target virtual traffic light signal information corresponding to the lane position information, and the The control command is sent to the vehicle.

The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the above method. Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, micro-drives, and magneto-optical disks, ROM, RAM, EPROM, EEPROM, DRAM, VRAM, flash memory devices , magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and/or data.

It should be noted that, for the sake of simple description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Because in accordance with the present application, certain steps may be performed in other orders or concurrently. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components may be combined or Integration into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some service interfaces, indirect coupling or communication connection of devices or units, and may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented as a software functional unit and sold or used as a stand-alone product, may be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art, or all or part of the technical solution, and the computer software product is stored in a memory, Several instructions are included to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned memory includes: a U disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a mobile hard disk, a magnetic disk, or an optical disk and other media that can store program codes.

Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: flash memory disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.

The above descriptions are merely exemplary embodiments of the present disclosure, which cannot limit the scope of the present disclosure. That is, all equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. Embodiments of the present disclosure will be readily apparent to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or conventional techniques in the art not described in the present disclosure . The specification and examples are to be regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims (9)

1. a virtual traffic light control reminder method of digital twin smart city traffic, is characterized in that, described method comprises: Build a digital twin traffic system based on the actual data information of each road intersection, and allocate virtual traffic lights at each virtual road intersection in the digital twin traffic system, so as to match the virtual traffic lights with the actual data information; Continuously obtain real-time feedback data of the vehicle to determine the real-time position of the vehicle in the digital twin transportation system; When the real-time position reaches any of the virtual road intersections, the lane position information of the vehicle is determined based on the real-time feedback data, and a control instruction is generated based on the target virtual traffic light signal information corresponding to the lane position information, and the The control command is sent to the vehicle. 2. The method according to claim 1, wherein the digital twin traffic system is constructed based on the actual data information of each road intersection, and virtual traffic lights are allocated at each virtual road intersection in the digital twin traffic system, using to match the virtual traffic lights with the actual data information, including: Acquiring actual data information of each road intersection, and constructing a digital twin traffic system based on each actual data information, where the actual data information includes first traffic light cycle signal change information; Allocate virtual traffic lights at each virtual road intersection in the digital twin traffic system, so as to match the virtual traffic lights with the first traffic light cycle signal change information; Every time the first preset time period elapses, obtain the second traffic light periodic signal change information of each of the road intersections, and compare the second traffic light periodic signal change information with the virtual traffic light periodic signal change information of the virtual traffic light; When the comparison results are characterized as being different, the virtual traffic light period signal change information is optimized based on the second traffic light period signal change information. 3. The method according to claim 1, wherein the actual data information further comprises video surveillance information; The virtual traffic lights are allocated to each virtual road intersection in the digital twin traffic system, including: Acquire all the video surveillance information in the preset monitoring period, and determine the mapping relationship between traffic flow, weather, and date in the video surveillance information; Virtual traffic lights are allocated to each virtual road intersection in the digital twin traffic system based on the mapping relationship. 4. The method according to claim 1, wherein the continuously acquiring real-time feedback data of the vehicle to determine the real-time position of the vehicle in the digital twin transportation system comprises: Continuously obtain real-time feedback data of the vehicle, where the real-time feedback data includes GPS positioning information; Determine the real-time position of the vehicle in the digital twin transportation system according to the GPS positioning information; Obtain vehicle orientation information collected by roadside sensors within a first preset range of the real-time location, and optimize the real-time location based on the vehicle orientation information. 5. The method according to claim 1, wherein when the real-time position reaches any of the virtual road intersections, determining the lane position information of the vehicle based on the real-time feedback data, comprising: When the real-time position enters the judgment range corresponding to any of the virtual road intersections, the lane position information of the vehicle is determined based on the real-time feedback data. 6. The method according to claim 1, wherein the real-time feedback data further comprises a vehicle driving steering angle; The method also includes: When it is detected that the angle change value of the vehicle driving steering angle within the second preset time period is greater than the preset change value, the lane position information is updated, and the target virtual traffic light signal corresponding to the lane position information is repeated. The process of generating control instructions from information and sending the control instructions to the vehicle. 7. A virtual traffic light control reminder device for digital twin smart city traffic, wherein the device comprises: A building module for constructing a digital twin traffic system based on the actual data information of each road intersection, and assigning virtual traffic lights at each virtual road intersection in the digital twin traffic system, so as to make the virtual traffic lights and the actual data information match; an acquisition module for continuously acquiring real-time feedback data of the vehicle, and determining the real-time position of the vehicle in the digital twin traffic system; A control module, configured to determine the lane position information of the vehicle based on the real-time feedback data when the real-time position enters the judgment range corresponding to any of the virtual road intersections, and based on the target corresponding to the lane position information The virtual traffic light signal information generates a control command, and sends the control command to the vehicle. 8. An electronic device, comprising a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor implements any of claims 1-6 when the processor executes the computer program. A step of the method. 9. A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1-6 are implemented.

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