CN108711298B

CN108711298B - Mixed reality road display method

Info

Publication number: CN108711298B
Application number: CN201810484958.0A
Authority: CN
Inventors: 陈明强
Original assignee: Beijing Xinyang Haohai Technology Co ltd
Current assignee: Beijing Xinyang Haohai Technology Co ltd
Priority date: 2018-05-20
Filing date: 2018-05-20
Publication date: 2022-06-17
Anticipated expiration: 2038-05-20
Also published as: CN108711298A

Abstract

A mixed reality road display method comprises the following steps that a vehicle-mounted end receives virtual mixed model information or real space model information stored in a relay station; locating a position of the vehicle in the real space model; the virtual mixed model also comprises coordinate information of the virtual mixed model in the real space model, the real-time relative position of the virtual mixed model and the vehicle is obtained by calculating coordinate transformation according to the coordinate information, and the virtual mixed model is displayed in the display equipment at the vehicle end according to the relative position. The problem of assisting a road driving vehicle to acquire a real scene and update a virtual scene at any time can be solved.

Description

Mixed reality road display method

Technical Field

The invention relates to the field of mixed reality, in particular to the field of road indicator sign display applying mixed reality.

Background

Mixed Reality (MR), which includes both augmented reality and augmented virtual, refers to a new visualization environment created by the merging of real and virtual worlds. Physical and digital objects coexist in the new visualization environment and interact in real time. The system is generally characterized in that:

it combines virtual and reality; projecting a virtual in a real three-dimensional space; and (4) running in real time.

Mixed Reality (MR) implementations need to be in an environment where real-world objects can interact with each other. It is the domain of VR if everything is virtual. If the displayed virtual information can only be simply superposed on the real things, the AR is the virtual reality (AR). The key point of MR is the interaction with the real world and the timely acquisition of information.

In the existing road driving environment, the isolation belt needs to be pulled up, the guideboard needs to be established, the lane paint needs to be brushed and the like, resources are wasted, if the virtual display of the road traffic facilities can be achieved through the existing computer-aided display technology, a large amount of physical cost can be saved, and the road indication mark which is displayed virtually can not be damaged even if being 'hit' by a vehicle, so that the safety of the driving environment is improved.

Disclosure of Invention

Therefore, a mixed reality application method capable of assisting a road vehicle to acquire a real scene and update a virtual scene at any time needs to be provided.

In order to achieve the above object, the inventor provides a mixed reality road display method, which includes the following steps that a vehicle-mounted end receives virtual mixed model information or real space model information stored in a relay station; locating a position of the vehicle in the real space model; the virtual mixed model also comprises coordinate information of the virtual mixed model in the real space model, the real-time relative position of the virtual mixed model and the vehicle is obtained by calculating coordinate transformation according to the coordinate information, and the virtual mixed model is displayed in the display equipment at the vehicle end according to the relative position.

Specifically, the method comprises the steps that the vehicle-mounted end sends a data request instruction; and the relay station receives the data request instruction and returns the real space model information or the virtual mixed model information according to the request instruction.

Further, the method comprises the steps that the scanning module scans the real space, establishes a real space model and stores the scanning result into the relay station.

Preferably, the establishing of the real space model specifically includes establishing the real space model within a preset space range, and sending the real space models of different spaces to the corresponding relay station for storage.

Optionally, editing the virtual mixed model information of the specific road segment, including the model to be displayed on the road segment, the display time, the shape and size of the model, the content displayed on the model, or the coordinate information of the model; and sending the edited virtual mixed model information to a relay station.

And further, the method also comprises the steps of receiving the road condition information, processing and judging according to the road condition information and the virtual mixed model information, and sending a road driving control instruction to the vehicle.

Different from the prior art, the technical scheme has the advantages that the real-space model and the virtual hybrid model are transmitted to the vehicle in real time through the relay station, so that the vehicle can obtain driving auxiliary information in real time in the road driving process, and the virtual hybrid model information can be edited and modified through the service end. The problem of supplementary vehicle travel in the mixed reality field has been solved to above-mentioned scheme.

Drawings

Fig. 1 is a flowchart of a road administration instruction display method according to an embodiment of the present invention;

FIG. 2 is a block diagram of a mixed reality roadway display system according to an embodiment of the present invention;

FIG. 3 is a flowchart of a mixed reality road display method according to an embodiment of the invention;

FIG. 4 is a flowchart of an isolation model display method according to an embodiment of the present invention;

fig. 5 is a flowchart of a road display optimization method according to an embodiment of the present invention.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Please refer to fig. 1, which is a schematic diagram of an indication and display method for mixed reality to be described in the present invention, the method can be used in any situation of road traffic, and whether it is an urban road, an off-road, an expressway, etc., the method can be used to perform mixed display of road administration indication information and real road conditions. It can be seen from the figure that the method of the present invention includes the following steps, that is, S100 establishes three-dimensional model information scanned in real space, that is, it is necessary to be able to pre-datalize the current real space environment, which is a conventional step that is required to be completed in general mixed reality, and is beneficial to accurately mixing subsequent virtual information and real information. The real space model information is established, so that the display of the subsequent virtual road mixed information can be more accurate. However, in the prior art, there are few examples in which a hybrid display can be performed in an open space, which requires a large memory, but it is not yet overcome, and in an application scenario of an intersection, an area within a certain range near the intersection may be modeled as a limited space, so in an embodiment of the present invention, a step is performed in which the display device receives a real space model in S102, and then, the method of the present invention further includes a step in which the display device receives virtual road hybrid information in S104, and loads the virtual road hybrid information. The display device is an electronic device capable of allowing light generated or reflected by a real object to pass through, and generating a virtual and auxiliary light signal (whether a display screen is used as a medium or direct retina projection imaging) capable of being received by a retina, and is generally head-mounted, and in a preferred embodiment, the display device can be even realized by a windshield of a vehicle, and the like. This does not exclude AR technology and AR devices that simply perform the display of virtual models, but to date AR and MR have not a well-defined distinction, even the difference in "claimed" effect between different companies. In the scheme, the effect of mixing and displaying the virtual road mixed information and the real space model information is only required to be finally achieved. The virtual road mixing information here includes virtual mixing model information and coordinate information; the virtual mixed model information is a plurality of luminous points, and the pixel points represent two-dimensional mixed information in a two-dimensional plane or three-dimensional mixed information with a certain space structure in a virtual space. The virtual hybrid model can be used for road traffic indication, for example, the virtual hybrid model can be a two-dimensional picture such as a road sign, a traffic sign, a lane line on the ground, a straight/turning sign symbol, and the like. And also can be three-dimensional models such as guardrails, isolation belts, triangular cones, safety islands and the like. The coordinate information, i.e., the position information of these virtual hybrid models with respect to the aforementioned real space model, may be the position information of the light points in all models, or may be the coordinate information of the feature points in different models. Through the hybrid display of the virtual hybrid model information and the real space model, the method comprises the steps of calculating the relative position of the virtual hybrid model and the display equipment, and displaying the virtual hybrid model at the relative position. Through the steps, the user can see the virtually generated road traffic indication mark through the mixed reality display equipment under the road traffic situation, the cost of the entity road mark can be saved, and the safety of the road traffic is improved. In addition, more importantly, when the road traffic indication signs of the partial road sections need to be changed, only the virtual model needs to be edited or replaced and displayed on the computer, so the scheme further comprises the steps of S106 receiving the first virtual road mixing information and the second virtual road mixing information, S108 receiving a switching display instruction of the virtual road mixing information, and S110 displaying equipment replacing the originally displayed first virtual road mixing information with the second virtual road mixing information for displaying after receiving the switching display instruction. If the virtual traffic lane at the leftmost side of a certain intersection indicates a turning lane, when the virtual traffic lane needs to be changed into a left-turn lane, people do not need to be dispatched to paint again, and the two-dimensional mixed information is directly adjusted to be the road indication for displaying the left-turn lane. The user can easily see the new identification through the display device, and meanwhile, the problem that the existing entity indication is easy to fade over the years is solved. Moreover, all the signs related to the existing road administration can be replaced and displayed according to the requirements, not only can the changed traffic lights be displayed, but also the traffic lanes closed in time limit, the road boards forbidden to pass and the like can be displayed.

In order to be able to use the new mixed reality display method of road indication in larger areas, we have also designed a new system. As shown in fig. 2, this system includes a vehicle-mounted terminal 20, and a relay station 22 disposed along a road, which may be a roadside, a road surface, a roadbed, or the like. The relay station is used for storing the real space model information of part of the road sections and is also used for storing the virtual mixed model information of part of the road sections. The partial road sections are used for generally conveniently positioning the display equipment 200 at the vehicle-mounted end, the position of the display equipment is positioned in the real space model, the virtual hybrid model also comprises coordinate information in the real space model, and therefore the real-time relative position of the virtual hybrid model and the display equipment is obtained through calculating coordinate transformation, and smooth display can be achieved. Therefore, in some embodiments, the real-space model and the virtual hybrid model may be packaged and stored, and when communication with the display device is required, for example, after the relay station receives a data request instruction from the display device, the packaged data is transmitted to the vehicle-mounted terminal together, or the real-space model information and the virtual hybrid model are transmitted separately, so that the method is practical in a situation where the virtual hybrid model needs to be changed frequently. The design of the relay station can solve the requirement of mixed display of the road traffic indication signs in a large-scale space.

In this system, still include scanning module 202, scanning module is used for scanning the real space, establishes the real space model, and saves, and scanning module can gather and construct the data ization information to the real space model, and scanning module can set up along the road, or can save the scanning result in the relay station along with the collocation setting of relay station, and such scanning result will have certain limitation. In a preferred embodiment, as shown in fig. 2, the scanning module 202 is disposed at a vehicle-mounted end, and scans road condition information in real time during a vehicle driving process, constructs a real space model in a form of dividing a real space into road segment blocks, and sends the real space model to the relay stations 22 corresponding to different road segments for storage. The technology of modeling the space in the vehicle-mounted scanning mode is mature. The accuracy of modeling of the road related area can be further improved by performing real-time block scanning through the moving vehicle end.

As can be seen from fig. 2, the mixed reality display system further includes a display device at the vehicle-mounted end, which is an electronic device capable of allowing light generated or reflected by a real object to pass through, and generating a virtual, or auxiliary, display optical signal (whether requiring a display screen as a medium or direct retinal projection imaging) that can be received by the retina, and is generally head-mounted, and in a preferred embodiment, may even be implemented as a windshield of a vehicle. The display device may be configured to perform the steps of receiving a real space model, receiving virtual road blending information, loading the virtual road blending information, and displaying the virtual road blending information. Through the system, the mixed reality display system achieves the effect of displaying the virtual traffic indication sign, solves the problems that in the prior art, the physical road guardrail, the isolation belt and the like are damaged by vehicles and people are killed once being collided, and are too dangerous, can be recovered even if the isolation fence is accidentally collided after the virtual display is changed, and a driver only needs to go back to the god and then turns back to the steering wheel to drive the vehicle to the correct road. The virtual road traffic sign has the advantages that the sign can be changed conveniently, cost is saved, replacement is easy, and maintenance is convenient.

In order to better achieve the management of the road traffic indicator, the system further includes a server 24, which includes an editing module 240 and a communication module 242, where the editing module is used to edit the virtual mixed model information of a certain road segment, the edited content may include models to be displayed on the road segment, display time, shapes and sizes of the models, content displayed on the models, coordinate information of the models, and the like, and a user can select, modify, add, delete, color, and other various editing functions on the content on the server for the virtual mixed model information of a specific road segment. And finally, the server sends the edited virtual mixed model information to a relay station through a communication module, and the information is sent to the vehicle by the relay station or directly sent to a vehicle-mounted end through a mobile communication network. In a specific embodiment, a lane at a crossing is a bus lane at a time limit, and yellow solid lines are displayed on the display device from 11 to 13 at noon and from 17 to 19 at evening, and white solid lines are displayed in the rest of time periods. On the road traffic sign of a certain road section, the road traffic sign is a one-way road in a certain time, and is a pedestrian street where motor vehicles are forbidden to enter in other times such as holidays, and the like. The system can be flexibly set according to the needs of city managers, police force on-duty scheduling needs to be sent out in the past, and the problem of human resource consumption can be solved after the system is applied.

In order to further improve the practicability of the mixed reality display system, a vehicle end can be designed and integrated with a unmanned navigation module 204, and the unmanned navigation module is used for receiving road condition information, processing and judging and sending a control instruction for road running to a vehicle. The above functions can be achieved well according to the prior art, and there are no differences in logic of processing judgment, such as Google X of Google corporation, and unmanned AI of companies such as hundredths, UBER, and the like. The system has the advantages that the unmanned navigation module can receive the virtual mixed model information and also can be used as input of a part of road condition information, the existing road condition information generally identifies emergency situations in actual road conditions through optical identification, radar scanning and the like to carry out driving navigation, and scanning results of the actual road conditions need to be digitalized so as to be processed and judged. In the embodiment of the invention, after receiving the virtual mixed model information, the vehicle-mounted end sends the virtual mixed model information to the unmanned navigation module, and the unmanned navigation module judges the position, the size, the color, the characters and the like of the virtual mixed model as road condition information, so that a control instruction of road driving is sent to the vehicle. Thus, when a human driver with a display device and an unmanned vehicle exist on the road at the same time, the human driver and the unmanned vehicle can 'see' the same road condition and road traffic indication signs, and further traffic accidents caused by poor information are avoided.

Corresponding to the system in fig. 2, we will also introduce a mixed reality road display method, as shown in fig. 3, which further includes the steps of S302, receiving virtual mixed model information or real space model information stored in the relay station by the vehicle-mounted end; locating a position of the vehicle in the real space model; the virtual hybrid model further comprises coordinate information of the virtual hybrid model in the real space model, the real-time relative position of the virtual hybrid model and the vehicle is obtained through S304 calculation coordinate transformation according to the coordinate information, and the virtual hybrid model is displayed in the display equipment at the vehicle end according to the relative position. By the method, the requirement of mixed display of the road traffic indicator in a large-scale space can be met, and the vehicle can refer to mixed reality display anytime and anywhere.

In a specific embodiment, the method further comprises the steps that the vehicle-mounted end sends a data request instruction; and the relay station receives the data request instruction and returns the real space model information or the virtual mixed model information according to the request instruction. The above steps are for realizing the transmission and sharing between the storage content of the relay station and the vehicle-mounted terminal, so that the vehicle can always know the specific situation of the road ahead or the road section in which the vehicle is located during the driving process, the communication modes between the vehicle-mounted terminal and the relay station can be various, and the communication modes can be freely selected according to the existing communication technology. However, it is not necessary for the vehicle-mounted terminal to send a data request instruction, and the same effect can be achieved if the relay station always broadcasts the real space model information or the virtual hybrid model information to the outside.

In other embodiments, the method further includes the step of the scanning module scanning the real space, establishing a real space model, and storing the scanning result in the relay station. The accuracy of modeling of the road related area can be further improved by performing real-time block scanning through the moving vehicle end. In a preferred embodiment, the real space model may be built within a preset space range, and the real space models in different spaces are sent to the corresponding relay stations for storage after being built.

In order to better provide different virtual mixed model information for displaying, before the relay station transmits the mixed model or the real space model, the method further comprises the step S300 of editing the virtual mixed model information of a specific road section, wherein the virtual mixed model information comprises the model to be displayed on the road section, the display time, the shape and the size of the model, the content displayed on the model or the coordinate information of the model; and sending the edited virtual mixed model information to a relay station. The editing content may include models to be displayed in the road section, display time, shapes and sizes of the models, content displayed on the models, coordinate information of the models, and the like, and the user can select, modify, add, delete, color, and the like, various editing functions for the content on the server for the virtual mixed model information of the specific road section. Through artificial design, the labor cost can be better saved, and the emergency response level of the road administration facility is improved.

In a further embodiment, the method further comprises the steps that the unmanned navigation module at the vehicle-mounted end receives the road condition information, processing and judging are carried out according to the road condition information and the virtual mixed model information, the unmanned navigation module needs to regard all the virtual mixed model information as existing physical entities, and a control instruction of road driving is sent to the vehicle based on the logic. The adaptability of the method in the field of unmanned driving can be further improved by processing and responding the virtual mixed model information as road condition information.

In some more progressive examples we will see how to solve the problem of road congestion by a new virtual hybrid model.

Let us imagine a scenario, a direction vehicle entering a traffic light intersection has already arranged a long dragon, but the opposite lane of the road is empty, which is very common in modern cities, the number of passing lanes at the intersection represents the upper limit of the through-flow of the road section, and in a specific time period, the number of vehicles entering the road section is higher than the number of vehicles leaving, which naturally causes congestion, so in our scheme, as shown in fig. 4, the method includes steps, S400, when detecting congestion at the intersection of the current road section, performs steps, changes the display position of the isolation model in the virtual mixed model information, and widens the road width entering the intersection direction. The method for detecting whether congestion occurs can use the prior art for reference, for example, the method judges whether congestion occurs through traffic flow detection and a threshold value; or receiving vehicle positioning, and judging congestion when the average time of the vehicle positioning trapped in a certain road section exceeds a certain threshold value, wherein the technology is used in map software of various regions; in a more preferable embodiment, the data of the city monitoring networks of the large cities can be directly called, and the congestion condition of the current road can be directly judged through image recognition in the monitoring of each road section. The isolation model here is a two-dimensional or three-dimensional virtual model for separating the opposite lanes, such as a guardrail, a pier, a green belt, a double yellow line, and the like. The display position can be changed to be a position for widening one lane, although the opposite lane is narrowed, one more lane is arranged in the same direction of the traffic lights, the length of the traffic jam can be effectively reduced, when the traffic jam can enter the intersection, more lanes are allowed to enter the intersection at the same time, the upper limit of the through flow of the road section can be increased, and therefore the problem of the congestion of the current road section can be effectively relieved.

The new method is to change the display position of the virtual isolation model for road administration, but if the change is too sudden, driving accidents may occur, and a means for avoiding the problem is to link with traffic lights, when the straight-going vehicles and the left-turning vehicles on other lanes are limited by the traffic lights and can not enter the road section, the display position of the isolation model is changed, in fact this may cause a problem in that the right-turn vehicle cannot be restricted from entering the intersection when the display position is changed, therefore, the steps of displaying a virtual warning sign to prompt the driver to avoid the vehicle in the lane to be changed, detecting whether the vehicle is in the lane which may change or not, the lanes where possible changes are detected include lanes of a certain width and also include limits within a certain length. That is, a road section with a length of 100 meters can be divided into 10 sections, and a lane which may change is a single lane width, and if it is detected that there is a vehicle in a preset road section with a length of 10 meters of a single lane, the step is performed to change the display position of the isolation model of the road section with a length of 10 meters, so that the number of lanes entering the intersection is increased. Or when the road is not congested, the display position of the isolation model is changed by reverse operation, so that the number of lanes entering the intersection is reduced. And detecting the next road section of 10 meters, and repeating the steps until the isolation models in all the preset road sections can obtain the change of the display position.

Therefore, in a more comprehensive embodiment, our scheme includes the steps as shown in fig. 5, S500 records congestion conditions of different roads and virtual hybrid model display contents, specifically including a time when congestion starts and a time when congestion ends, duration of displaying different contents by the virtual hybrid model, congestion information statistics results classified according to week, date and time, respectively, and an adjustment period of an optimal isolation model display position of different road segments is determined according to the congestion information statistics results. In a general embodiment, the statistical result may be analyzed, for example, an average value of the time of the start and the time of the end of the congestion in different road segments is used to determine an optimal adjustment period, so that the display position of the isolation model is changed in the congestion period, thereby widening the road surface, and the like. In some specific other embodiments, step S502 is further performed to construct a deep learning neural network, where an input layer of the deep learning neural network includes a date, a week, a time, whether the input layer is a holiday or not, and a road congestion condition, and an output layer includes display position information of the virtual hybrid model, and display content of the virtual hybrid model may be trained according to the statistical result, so that a trained deep learning neural network that automatically adjusts the virtual hybrid display content according to the time and the road condition can be finally obtained. S504, the trained deep learning neural network is used, the current time and date and the road congestion condition are collected at each preset time, and the neural network can obtain the virtual mixed model information which needs to be displayed at the optimized preset time. Of course, the application of the neural network for processing is not limited to the scope of isolated model display, and all the display and change of the virtual hybrid model can be completed through the neural network. The problem of intelligent optimization virtual hybrid model display is solved through the scheme.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.

As will be appreciated by one of skill in the art, the various embodiments described above may be provided as a method, apparatus, or computer program product. These embodiments may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. All or part of the steps in the methods according to the embodiments may be implemented by a program instructing associated hardware, where the program may be stored in a storage medium readable by a computer device and used to execute all or part of the steps in the methods according to the embodiments. The computer devices, including but not limited to: personal computers, servers, general-purpose computers, special-purpose computers, network devices, embedded devices, programmable devices, intelligent mobile terminals, intelligent home devices, wearable intelligent devices, vehicle-mounted intelligent devices, and the like; the storage medium includes but is not limited to: RAM, ROM, diskette, tape, optical disk, flash memory, U disk, removable hard disk, memory card, memory stick, network server storage, network cloud storage, etc.

The various embodiments described above are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a computer apparatus to produce a machine, such that the instructions, which execute via the processor of the computer apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer device to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer apparatus to cause a series of operational steps to be performed on the computer apparatus to produce a computer implemented process such that the instructions which execute on the computer apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Although the embodiments have been described, once the basic inventive concept is obtained, other variations and modifications of these embodiments can be made by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the contents of the present specification and drawings, or any other related technical fields, which are directly or indirectly applied thereto, are included in the scope of the present invention.

Claims

1. A mixed reality road display method is characterized by comprising the following steps that a vehicle-mounted end receives virtual mixed model information or real space model information stored in a relay station; locating a position of the vehicle in the real space model; the virtual hybrid model also comprises coordinate information of the virtual hybrid model in the real space model, the real-time relative position of the virtual hybrid model and the vehicle is obtained by calculating coordinate transformation according to the coordinate information, the virtual hybrid model is displayed according to the relative position in the display equipment at the vehicle end,

the server also changes the display position of the isolation model in the virtual mixed model information and widens the road width in the direction of entering the intersection when detecting the intersection jam of the current road section, the server comprises an editing module, the editing module is used for editing the virtual mixed model information of a certain road section, the editing content comprises the model and the display time of the road section, the shape and the size of each model, the content displayed on the model and the coordinate information of the model, a user can select, modify, add, delete or color and edit the virtual mixed model information of a specific road section, the steps are also carried out, a deep learning neural network is constructed, the input layer of the deep learning neural network comprises the date, the week, the time, whether the road is a holiday or not and the road jam condition, and the output layer comprises the display position information of the virtual mixed model, and obtaining a trained deep learning neural network which automatically adjusts the virtual mixed display content according to the time and the road condition, and applying the trained deep learning neural network to obtain the virtual mixed model information which needs to be displayed at the preset moment.

2. The mixed reality road display method according to claim 1, further comprising the steps of sending a data request instruction by a vehicle-mounted end; and the relay station receives the data request instruction and returns the real space model information or the virtual mixed model information according to the request instruction.

3. The mixed reality road display method of claim 1, further comprising the steps of scanning the real space by a scanning module, establishing a real space model, and storing the scanning result in a relay station.

4. The mixed reality road display method according to claim 3, wherein the establishing of the real space model is specifically that the real space model is established within a preset space range, and the real space models in different spaces are sent to corresponding relay stations for storage.

5. The mixed reality road display method of claim 1, wherein the virtual mixed model information of a specific link is edited, including a model to be displayed on the link, a display time, a shape and a size of the model, contents displayed on the model, or coordinate information of the model; and sending the edited virtual mixed model information to a relay station.

6. The method of claim 1, further comprising the steps of receiving traffic information, performing processing and determination according to the traffic information and the virtual hybrid model information, and sending a road driving control command to the vehicle.

7. The mixed reality road display method of claim 1, wherein when the isolation model is changed, a detection step of detecting whether vehicles are present in a lane which may change, the lane which may change includes a lane with a certain width and road sections within a preset length is further performed, each time whether vehicles are present in a preset road section is detected, if not, the step of changing the display position of the isolation model of the road section is performed, and then the next road section is detected, and the above steps are repeated until the display positions of the isolation models in all the preset road sections are changed.