CN112800157B

CN112800157B - Dynamic occupying grid model construction method and application architecture design method thereof

Info

Publication number: CN112800157B
Application number: CN202110031583.4A
Authority: CN
Inventors: 王争鸣
Original assignee: Wuhan Xuyun Intelligent Transportation Co ltd
Current assignee: Wuhan Xuyun Intelligent Transportation Co ltd
Priority date: 2021-01-11
Filing date: 2021-01-11
Publication date: 2022-08-19
Anticipated expiration: 2041-01-11
Also published as: CN112800157A

Abstract

The invention relates to the technical field of information, and discloses a dynamic occupation grid model construction method and an application architecture design method thereof, wherein the method comprises the following steps: 1) constructing a real-time dynamic digital visualization area grid frame graph model associated with the area mapping of the real description according to the application scene; 2) the digital visual grid occupation body structure chart or the segment set which is mapped with real moving or static entities and is associated with the area grid block chart in real time and dynamic mode is constructed based on the sensor system. The dynamic occupation grid model construction method and the application architecture design method thereof solve the problems that digital intelligent management such as real-time, efficient and accurate monitoring, searching, tracking, scheduling, early warning and the like cannot be well realized for various vehicles, personnel and moving objects by various information management systems in the prior art, and the problems of difficult automatic monitoring management and poor performance and efficacy exist.

Description

Dynamic occupying grid model construction method and application architecture design method thereof

Technical Field

The invention relates to the technical field of information, in particular to a dynamic grid occupation model construction method and an application architecture design method thereof.

Background

In various places of traffic, tourism and urban environment, effective management such as orderly and safe monitoring, scheduling, dredging, early warning and the like is carried out on vehicles and personnel, which is an important requirement of the current relevant management organization, and corresponding methods are provided, such as various relevant information management systems such as a monitoring system, a positioning system, a GIS system, a database and the like.

However, various information is often lack of comprehensive high efficiency and fine correlation, so that the real-time, efficient and accurate digital intelligent management such as monitoring, searching, tracking, scheduling and early warning for various vehicles, people and moving objects cannot be well realized, and the problems of difficult automatic monitoring management and weak performance and efficacy exist.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a dynamic occupation grid model construction method, which solves the problems of difficult automatic monitoring management and weak performance and efficacy in the digital intelligent management of various types of vehicles, personnel and moving objects, which cannot be well realized by various types of information management systems in the prior art, such as real-time, efficient and accurate monitoring, searching, tracking, scheduling, early warning and the like.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme:

a method for constructing a dynamic grid occupancy model is characterized by comprising the following steps:

1. constructing a real-time dynamic digital visualization area grid frame graph model associated with the area mapping of the reality description according to the application scene;

2. constructing a real-time dynamic digital visual occupying body structure diagram or a graphic block set-grid occupying body model which is mapped with a real moving or static entity and is associated with an area grid block diagram according to an application scene;

3. and (2) carrying out comprehensive synthesis, checking correction, calculation operation, state interpretation and process processing on the regional grid frame diagram model constructed in the step (1) and the grid placeholder model in the step (2) by adopting a specific digital technical method, extracting and collecting digital information to a built library, carrying out digital modeling, constructing and obtaining a scene dynamic placeholder grid frame diagram comprehensive model, and further obtaining each placeholder structure diagram or diagram block and dynamic information collected in the regional grid frame diagram in real time.

Preferably, the model construction process of the digital visualization area grid frame diagram model is as follows:

1. designing, calculating and structurally shaping the structure and the size of a basic grid unit according to application scene requirements and design rules by taking various GIS, electronic maps, databases, mobile positioning tools, block chain technologies and big data technologies as basic components, and obtaining the basic grid unit by testing, optimizing and adjusting if necessary;

2. and (2) splicing, expanding, covering and filling the single or multiple basic grid units obtained in the step (1) according to the geographical plane area and the spatial area to be managed, performing parameter attribute assignment on each grid unit, collecting data, and establishing a library to obtain a digital visual grid frame diagram model which has real-time data and is associated with the area mapping of the real description.

Preferably, the basic grid cell area block diagram model comprises a plane, a solid or a mixed structure thereof. The grid area block diagram model formed by the grid units can be a plane structure-2-dimensional configuration, a three-dimensional structure-3-dimensional configuration, a mixed structure-2-3-dimensional mixed configuration, a multi-layer plane configuration, a distributed structure and the like, and can also be a different type of grid block diagram overlapping structure, such as a scene created by overlapping a rectangular grid unit block diagram and a triangular grid unit block diagram or an elliptical grid unit block diagram in the same area.

The grid cells in the model can be in a single graph structure or can be formed by superposing and mixing a plurality of geometric graphs.

The dynamic characteristic of the grid frame graph model is realized, and the structure of the grid frame graph model can be timely adjusted according to the change of a region space structure required to be described by application; some of the structure data and parameter attribute data have real-time continuous characteristics.

Each grid cell has an independent code and identification, each with various attributes and spatial coordinates.

Preferably, the construction process of the structure diagram or the tiles and the set thereof in the digital visual grid placeholder model is as follows:

1. by taking various types of GIS, an electronic map, a database, a mobile positioning tool, a graphic tool, a block chain technology, a big data technology, a sensor technology, a pattern recognition technology, an information terminal technology and a grid occupation block diagram structure model as basic tool components, acquiring, recognizing, measuring and calculating image data of a moving entity video acquired by various sensors in an application scene through a digital processing technology of pattern recognition to obtain information such as the shape, the size, the characteristic attribute, the motion state and the like of an entity structure in the application scene, positioning the position of the moving entity according to a specific method to obtain information such as position, coordinate, time and the like, and then carrying out comprehensive coding, library building and modeling;

2. and constructing a real-time dynamic digital visual grid occupational entity map which is mapped with a real moving or static entity and is associated with the regional grid block diagram or the image blocks and the collection thereof.

The grid placeholder structure diagram or the image blocks and the set thereof are collected and modeled through a space sensor system, for example, through dynamic images of a video sensor, projection sampling, pattern recognition, data structure conversion and measurement calculation on the placeholder structure diagram, the placeholder structure diagram or the image blocks with a structure similar to that of the active entity and data such as related structure parameters, motion parameters, image attributes, identification codes and the like obtained by the placeholder structure diagram or the image blocks are generated, the comprehensive data is collected and modeled, and a grid placeholder model system is constructed and generated.

The placeholder structure diagram or the placeholder tiles and the set thereof in the placeholder model can be a single structure, or can be a mixture of a plurality of structures, such as a structure diagram of a vehicle placeholder, a personnel placeholder and other active entities, or a mixed display scene of the placeholder structure diagram or the placeholder tiles and the set thereof.

The comprehensive data of the lattice placeholder comprises shape structure, size, state, characteristic attributes and the like, the speed parameters are collected by a speed measuring sensor (a speed measuring radar and a speed measuring camera), and the coordinate and time parameters are collected by a coordinate positioning method, an image matching method, a coordinate image synthesis method and the like.

The method for obtaining the grid placeholder structure diagram or the image block comprises the steps of directly selecting a proper type from a type module library to construct the grid placeholder structure diagram or the image block after the placeholder structure diagram or the image block modeled by adopting a coordinate positioning method can be detected and identified through a video image and extracted by characteristic attributes, and constructing the grid placeholder structure diagram or the image block by adopting a video image detection and identification method, a projection sampling measurement method, characteristic attribute acquisition method, personalized forming method or a method matched in a type library.

Preferably, each mesh tenant map or tile and its set has an independent code and identification, and each has various characteristic attribute parameters and real-time dynamic space coordinates, such as ID code, structure shape, color, time, position coordinates, status shape, speed, size, etc.

Preferably, the construction process of the comprehensive model of the scene dynamic grid occupancy map is as follows:

the method is characterized in that various types of GIS, electronic maps, databases, big data technologies, block chain technologies, mobile positioning tools, sensor technologies, mode recognition technologies, information terminal technologies, network communication technologies, high-performance computation and storage, cloud computing and AI technologies are used as basic components, and a specific digital technology method is adopted for carrying out comprehensive synthesis, verification correction, computation operation, state interpretation and process processing on an area grid frame map model, a grid occupation body structure diagram or a grid block diagram and a set model thereof, and data is collected to build a library, so that dynamic management of a real virtual twinborn scene is realized.

Preferably, the dynamic information of each mesh computing unit structure diagram or segment and its set in the regional mesh diagram includes time, position, speed, path track, motion state, attribute feature, identification code, etc., and the related data is managed by using block chain technology, which can perform observation, calculation, library building, indexing, tracing and precision automatic tracking digital operation management. Similarly, the grid unit data in the grid frame graph model is managed by adopting a block chain technology, and the grid frame graph model is used for enhancing a scene with high index tracking function tracing requirement.

Preferably, the dynamic mesh placeholder model and the mesh basic unit and placeholder graph tile basic unit structure definition and description method thereof are as follows:

1. a structure definition description method of a basic unit of a dynamic placeholder grid diagram; the method comprises the steps of geometric shape selection, size definition and calculation of a basic unit structure of the dynamic placeholder grid.

2. Splicing method between basic units of space-occupying grid block diagram; defining a description method of a basic unit of a placeholder grid diagram in an application scene; a mixed application method of different geometric shape space occupying grid diagram basic units in the same scene is provided.

3. The definition of basic unit (space occupying block or filling block or occupying block structure) of dynamic occupying body and its visual describing method. A description method of dynamic relationship states and fit size relationships between placeholder pattern blocks and placeholder grid pattern block basic units is provided.

4. The data attribute setting and defining method of the dynamic place-occupying grid block diagram system model comprises a data structure and a structure attribute which are respectively set by a dynamic place-occupying unit and a dynamic place-occupying grid unit, and an expression mode of the data structure and the structure attribute.

5. The virtual dynamic placeholder cells and the combined groups thereof, the dynamic placeholder grid cells and the grid region block diagram structure forms and real-time characteristics of the dynamic placeholder grid cells and the grid region block diagram structure in the system and the space and time of the physical objects which are described and expressed in reality have the description method of the close correlation characteristics of refined real-time mapping.

Preferably, the method further includes a data analysis method of the scene dynamic occupancy model constructed based on the dynamic mesh occupancy model construction method, including the following steps:

1. determining a data structure basic rule of a scene occupancy model, and confirming an occupancy relation between an occupancy body and a grid block diagram;

2. performing data analysis of the application scene according to the scene occupancy model data structure and the rule, and performing statistical calculation on the digital characteristics of the real scene to obtain basic data of the real scene and the model scene;

3. carrying out predictive analysis on the scene occupation model, carrying out simulation on the process from the beginning to the end point of the regular movement of the occupation body, and judging the operation state and the trend of the occupation body;

4. the scene occupation model data is subjected to classification management, and high-efficiency analysis of data of related applications is facilitated;

5. the early warning plan process control method of the scene occupation model is used for triggering early warning when a scene dynamic value reaches a standard value precision range.

Another technical problem to be solved by the present invention is a method for designing an application architecture of a dynamic mesh placeholder model constructed based on a dynamic mesh placeholder model construction method, comprising: road traffic, city, travel, etc. scenarios, as follows:

1. designing and modeling by applying a dynamic grid occupancy model method in road traffic;

2. the method for describing the dynamic parking space at the road section and the intersection in the road traffic comprises the following steps:

1) a transient fitting description method;

2) a multilayer structure layering superposition fitting description method;

3) a single-layer time-interval fitting road section dynamic parking space description method;

4) a dynamic parking space description method for a single-layer scene-divided road section fitting road section;

5) a single-layer multi-factor scene mixed fitting road section dynamic parking space description method;

6) a single-layer specific scene fitting road section dynamic parking space description method;

7) a crossing dynamic parking space description method;

8) dynamic parking space occupation mode;

9) dynamic parking space occupation rules and an occupation body description method;

10) a method for creating a dynamic parking space grid system;

3. defining and calculating parameters such as traffic flow and the like based on a dynamic parking space system;

4. calculating the dynamic parking space occupation judgment based on a dynamic parking space system;

5. defining, describing and managing a virtual parking area of the road network segment;

6. digitally managing the road safety based on the dynamic parking spaces;

7. the road traffic comprehensively models the multi-type placeholder model based on the dynamic placeholder grid system;

8. modeling a dynamic space occupying model of a parking lot in a city and a tourism scene;

9. modeling a dynamic occupancy model of urban and tourism scene personnel, comprising the following steps: the dynamic occupation model of personnel in pedestrian passageways at intersections, the dynamic occupation model of personnel in roadside pedestrian passageway spaces and the dynamic occupation model of personnel in town and tourism spaces.

Preferably, the visualization representation display method of the dynamic mesh occupancy model in the traffic network application is as follows:

1. splicing and synthesizing video images of intersections of each road section into visual display of a local area, and simultaneously selectively superposing and displaying a road network grid block diagram structure layer, a placeholder set layer containing or not containing an identifier, an operation parameter display layer, an early warning layer and the like;

2. and the occupation body and the grid block diagram structural model are calculated and run in the background. And only displaying the spliced regional video image. When an early warning alarm occurs, a target needing to be tracked or other abnormal scenes, relevant digital image layers are displayed in an overlapping mode.

3. The virtual digital operation scene and the spliced video image of the area needing observation are displayed in parallel, such as double pictures.

4. Virtual digital macro, meso and micro images of all functional scenes and video images are displayed on different screens simultaneously.

Preferably, still include the control unmanned aerial vehicle device that is used for monitoring people stream gathering area, be equipped with the parachute on the control unmanned aerial vehicle device, wherein: the parachute has automatic and manual opening functions and judgment modes of opening conditions of the parachute; the parachute landing process has the direction operation and alarm broadcasting prompting modes.

(III) advantageous effects

The invention provides a method for constructing a dynamic grid occupancy model, which has the following beneficial effects:

1. a dynamic grid space-occupying model construction method is used for carrying out digital conversion of real-time dynamic space-occupying relation on a real moving object and an environment place where the moving object runs, and carrying out operation management such as digital description, calculation, output, display, storage and the like on a virtual scene on key information and application requirements of a research object. The method is not only a method for carrying out digitalized simulation modeling of a real environment, but also an information technology method of a virtual twin mode for realizing digitalized mapping of a real scene and a virtual scene.

2. The dynamic grid occupation model construction method utilizes a virtual visualization system as a middleware of a digital model, can upgrade and expand information systems of traffic management (including road traffic safety control management), city management, tourism field management and the like, and realizes real-time, efficient and accurate digital intelligent management of monitoring, searching, tracking, scheduling, early warning and the like on various vehicles, personnel and moving objects. The problem of difficult automatic monitoring and management of related application scenes can be solved, the performance and the efficiency are enhanced, and the management and control level is upgraded.

Drawings

FIG. 1 is a diagrammatic representation of a graphical representation of a dynamic placeholder grid cell;

FIG. 2 is a block diagram of a single-layer two-dimensional planar grid;

FIG. 3 is a block diagram of a multi-layer two-dimensional planar grid;

FIG. 4 is a block diagram of a three-dimensional grid;

FIG. 5 is a schematic diagram of a two-dimensional and three-dimensional hybrid grid structure;

FIG. 6 is a data flow diagram of a dynamic placeholder grid system for a scene;

FIG. 7 is a schematic diagram of a system architecture of a dynamic placeholder model;

FIG. 8 is a schematic view of a relationship scenario of a dynamic placeholder grid system with placeholders;

FIG. 9 is a schematic diagram of the dynamic placeholder and placeholder grid cell coordination relationship;

FIG. 10 is a schematic diagram of various types of grid cell size structures;

FIG. 11 is a schematic representation of placeholder model attribute identification;

FIG. 12 is a flow chart of a model analysis method;

FIG. 13 is a schematic diagram of a method for describing dynamic parking spaces at an intersection;

FIG. 14 is a schematic diagram of a layered superposition fitting method for dynamic parking spaces in a road section;

FIG. 15 is a schematic diagram of a single-layer time-division fitted road section dynamic parking space description method

FIG. 16 is a schematic diagram of a dynamic car space description mode of a single-layer scene-based road section fitting road section

FIG. 17 is a schematic diagram of a single-layer multi-factor scene hybrid fitting road segment dynamic parking space description mode

FIG. 18 is a schematic diagram of a method for describing dynamic parking spaces of a single-layer specific scene fitting road section

FIG. 19 is a schematic diagram of the occupation mode of the dynamic parking space

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

A method for constructing a dynamic mesh occupancy model, as shown in fig. 6 and 7.

A method for constructing a dynamic placeholder grid model comprises the following steps:

1) calculating and obtaining basic grid units according to application scene requirements and a grid occupation model method and a tool by taking various GIS, an electronic map, a database, a mobile positioning tool (such as Beidou, GPS and the like), a block chain technology and a big data technology as basic components;

2) splicing, expanding, covering and filling the single basic grid unit or a plurality of basic grid units with different structures obtained in the step one according to a geographical plane area and a spatial area to be managed to obtain a digital visual grid frame diagram model related to area mapping of real description in real time, wherein the basic grid unit comprises a plane, a three-dimensional or mixed structure or a multilayer structure, such as shown in figures 2-5, or a distributed structure, and the like, or can be a different type grid frame diagram overlapping structure, such as a scene created by overlapping a rectangular grid unit frame diagram and a triangular grid unit frame diagram or an elliptical grid unit frame diagram in the same area, and the area grid unit can be a single graphic structure or a plurality of graphic mixed structures, including plane mixing and three-dimensional mixing; the grid block diagram can be dynamically adjusted in time according to the change of the regional space structure to be described.

3) And (3) creating a database system of the regional grid frame diagram model, wherein each basic grid unit has independent codes and identifications and has various attributes and space coordinates, and related data can be managed by adopting a block chain technology according to scene requirements.

2. Constructing a real-time dynamic digital visual grid occupying body structure diagram or a block set which is mapped with a real moving or static entity and is associated with an area grid block diagram according to an application scene;

1) the method comprises the steps of taking various GIS, electronic maps, databases, mobile positioning tools (such as Beidou, GPS and the like), graphic tools, block chain technologies, big data technologies, sensor technologies, mode recognition technologies and information terminal technologies as basic components, carrying out image data acquisition, recognition, measurement and calculation on active entities in an application scene through various sensors to obtain the structure shape and size of the entities in the application scene, and acquiring and obtaining various related attribute and parameter data.

The placeholder structure diagram or the tiles and the set thereof in the placeholder model may be a single structure, or may be a mixture of multiple structures, such as a structure diagram of a movable entity, such as a vehicle placeholder and a human placeholder, or a mixed display scene of the tiles and the set thereof.

The grid placeholder structure diagram or the image blocks and the set thereof are collected and modeled through a space sensor system, for example, a placeholder structure diagram or the image blocks with a structure similar to an active entity and data such as related structure parameters, motion parameters, image attributes, identification codes and the like are generated through dynamic images of a video sensor and projection sampling, pattern recognition, data structure conversion and measurement calculation on the placeholder structure diagram, and a comprehensive data base is built to construct and generate a grid placeholder model system.

The comprehensive data of the lattice placeholder comprises shape structure, size, state, characteristic attributes and the like, the speed parameters are collected by a speed measuring sensor (a speed measuring radar and a speed measuring camera), and the coordinate and time parameters are collected by a coordinate positioning method or an image matching method and the like.

The acquisition method of the mesh placeholder structure chart or the image blocks comprises the steps of directly selecting proper types from a module library to construct the mesh placeholder structure chart or the image blocks after the placeholder structure chart or the image blocks modeled by a coordinate positioning method can be detected, identified and extracted by video images and characteristic attributes; the space occupying body structure chart or the space occupying body block chart modeled by adopting an image matching method and a method combining coordinate positioning and image matching can be constructed by adopting a method of video image detection and identification, projection sampling measurement, characteristic attribute acquisition, individuation or typed forming.

The specific method for acquiring the position coordinate information of the active entity from the grid position occupying body structure diagram or the image blocks and the set model thereof is as follows:

first method, positioning coordinate method

According to the principle of consistency of coordinate data and time data of the mobile positioning method, real-time space coordinates and time data of the movable entity obtained from various types of mobile positioning technologies are bound into a real-time dynamic placeholder structure diagram or a track library of image blocks in a dynamic placeholder model.

Method II, image matching method

Converting the projection of the video image position on the reference system into a structure diagram or an image block in the placeholder model by using a coordinate system of the grid frame diagram model system as a reference system through related facilities such as a space or a video sensor and the like; and binding the time, coordinate and position attribute data extracted from the corresponding grid unit into a real-time dynamic placeholder structure diagram or a track library of the image block in the dynamic placeholder model.

Method III, positioning coordinate and image matching combination method

And performing projection sampling on the active entities in the management area by taking an image matching method as a main mode to generate an occupying body set image and coordinate and time data parameters thereof. And simultaneously acquiring coordinate and time data from the movable entity with data generation capacity of space coordinates, time and the like, comparing, checking and correcting the data with data generated by the movable entity image matching method while storing the data, and binding the optimized time, coordinate and position attribute data into a real-time dynamic placeholder structure diagram or a track library of a diagram block in the dynamic placeholder model.

2) According to the step 1), establishing a virtual space occupying body structure diagram or image blocks, coding one by one, aggregating parameter data, establishing a library, modeling, and establishing a real-time dynamic digital visual grid space occupying body structure diagram or image blocks and a set thereof which are mapped with a real-time moving or static entity and are associated with an area grid block diagram. Each grid space occupying body structure chart or image block and the aggregation thereof have independent codes and identifications and have various attributes and real-time dynamic space coordinates, such as ID codes, structure shapes, colors, time, position coordinates, condition forms, speeds, sizes and the like, and the grid space occupying body structure chart or image block and the aggregation thereof can be of a single structure or can be of a placeholder mixture of a plurality of structures.

3. The construction process of the comprehensive model of the scene dynamic grid occupancy diagram comprises the following steps:

as shown in fig. 7, based on various GIS, electronic maps, databases, big data technologies, block chain technologies, mobile positioning tools (such as beidou, GPS, etc.), sensor technologies, pattern recognition technologies, information terminal technologies, network communication technologies, high-performance computing and storage, cloud computing, and AI technologies, the area grid frame diagram model constructed in step 1, the grid occupying object structure diagrams or blocks in step 2, and the set model thereof are subjected to comprehensive synthesis, calibration and correction, computing operation, state interpretation, and process processing by using a specific data processing method, so as to construct a scene dynamic occupying grid block diagram comprehensive model, and simultaneously acquire each occupying object structure diagram or block and dynamic information thereof set in the area grid block diagram; further realizing dynamic management of twinning scenes with real and virtual scenes; in the scene dynamic space-occupying grid block diagram comprehensive model, dynamic information of each grid space-occupying body structure diagram or each grid space-occupying body diagram and each grid space-occupying body diagram set in the regional grid block diagram comprises position, speed, path track and state, and can be observed, calculated, built, indexed, traced back and accurately managed automatically.

The specific digital processing comprehensive synthesis method comprises a comprehensive coordinate positioning method, a comprehensive image matching method and a comprehensive coordinate positioning and image matching combined method, and is described as follows:

first method, comprehensive modeling positioning coordinate method

And continuously displaying the placeholder structure diagram or the placeholder pattern blocks bound with the positioning data in the placeholder model and the set of the placeholder structure diagram or the placeholder pattern blocks on the corresponding time and coordinate points in the grid frame diagram model according to real-time space coordinates and time data of the movable entity obtained from various mobile positioning technologies, and further obtaining the dynamic placeholder grid comprehensive model. The method is suitable for scenes in which the movable entity carries a positioning data generator device with space coordinates and the like.

Method II, comprehensive modeling image matching method

Continuously, projection sampling is carried out on active entities in the management area in the background of the space-occupying grid frame graph model, and a space-occupying body set image and a comprehensive data set, namely a space-occupying body model, are generated. And displaying a placeholder structure diagram or a placeholder pattern block bound with positioning data in the placeholder model and a set of placeholder structure diagram or pattern block on corresponding time and coordinate points in the grid frame diagram model according to the real-time space coordinates and time data of the active entity obtained by the image matching method, so as to obtain the dynamic placeholder grid comprehensive model. The method is suitable for scenes in which the movable entity does not have a data generator device such as a space coordinate.

Method III for combining comprehensive modeling positioning coordinate with image matching

Continuously performing projection sampling identification measurement on the movable entities in the management area to generate the occupation body set image and the comprehensive data information thereof. And comparing, checking and correcting the data such as the coordinates, the time parameters and the like with the data obtained by the movable entity with data generation capacity such as space coordinates, time and the like, and the data generated by the movable entity image matching method while storing the data to obtain optimized time, coordinate and position attribute data. And binding the comprehensive data into an attribute library of the placeholder structure diagram or the image block to generate a placeholder model. And displaying the placeholder generated by sampling, identifying and measuring and the set structure chart or the image block of the placeholder in the placeholder grid graph model according to the comprehensive parameter data of the activity entity optimization obtained by the positioning coordinate and image matching comprehensive method, thereby obtaining the dynamic placeholder grid comprehensive model. The method has higher accuracy. By the method, the obtained accurate data is used as reference, and verification and correction can be performed on the related data of the placeholder structure diagram or the image block of other non-comparison data. The system has higher accuracy and reliability.

In a dynamic grid placeholder system model, one of methods for realizing indexing, tracing and accurate automatic tracking management of each placeholder is to introduce a block chain technical method in the database management of grid units and placeholders in the model to realize stable collection management of track data.

The expressions of the placeholders and the basic grid cell modules in the dynamic placeholder grid model are as follows:

the geometric shape of basic grid cells in the dynamic grid placeholder model is usually represented by a wire frame geometric figure with boundary meaning, and when the basic grid cells are not occupied by a running or static placeholder type research object, the wire frame geometric figure is of an empty frame structure;

as shown in fig. 1, wherein the open frame (wire frame) figure includes a square, a circle, a polygonal rhombus, a rhomboid, an ellipse, a rectangle, a triangle, a corner cut rectangle or a corner cut rhombus, a round corner rectangle or a round corner rhombus, etc.;

as shown in fig. 9, the occupation form of the placeholder may be represented by a structure diagram or a fill-in tile in a certain shape, and since the placeholder is mainly in a moving state and sometimes in a static state, the representation form of the placeholder is a representation form of a matching relationship between the structure diagram or the fill-in tile and the placeholder cell, and the matching form has a vector characteristic.

As shown in fig. 10, the size of the basic cell graph of the placeholder grid is quantified by two parameters, one is the basic expression size of the placeholder, also called the basic cell size, and the other is the control distance (control size), while the width size is usually defined as a constant according to the scene requirements, and the specific value is properly set according to the scene conditions and requirements, for example, in a lane, the width size generally locates the lane width, and in the travel and public places where people move, the width size can be referenced according to the natural spacing distance between people, and can be usually set to about 1 meter, and the specific size is determined by the scene requirements, and the calculation method thereof is as follows:

setting the size of a basic unit as W, the control distance as A and the size of a dynamic occupation grid as f (x);

then, F (x) ═ F (W, a)

The case arising in a road traffic scenario is illustrated below,

the grid basic unit of the motor vehicle can be defined as a typical small vehicle size, and the width constant size is a lane width size and a parking space width size; the size of the motor vehicle f (x) refers to the size parameter between the length margins of the motor vehicle f (x);

if the basic unit of the non-motor vehicle is the size of a powered bicycle, the margin constant can be defined as the margin width size of most electric vehicles and bicycles with hoppers, such as 1.5 m, and the like, then the grid unit sizes f (x) of the non-motor vehicle refer to the size parameters between the length margins;

the basic unit of the person is the range size of walking of an adult (which can be adjusted according to the specific application management requirements in different places), and the geometric figure is a square, a rectangle, a circle or a rhombus; the width dimension may be defined as a constant, e.g. 1 meter. Then, in f (x), the size of the person W refers to the dimension of the side length margin thereof, and A refers to the additional dimension of the side length thereof;

for squares, at this time, a is 0; for the rectangle, the value of the control parameter A is not 0 at this time;

for a rectangle, the size of the person W refers to the length of four sides of the basic unit, and may also be the abstract length of the basic unit of the placeholder (for example, the basic unit size W of a small vehicle is 5 meters), a refers to the additional size of the front (longitudinal) side length, and the transverse side length is a set constant value (set constant value P) and is not changed;

for circles, W represents the diameter and a represents an additional dimension of the diameter;

for a rhombus, W represents the maximum width dimension between two of the four tops, A represents the additional dimension of the front (longitudinal) length of the rhombus, and the transverse side length is an invariance constant;

the relationship scene description of the dynamic space-occupying grid diagram and the space-occupying object (space-occupying body) in the dynamic grid space-occupying model is as follows:

when the occupation object of the dynamic occupation grid diagram is a person, the superposition problem of actual person on occupation space exists in both dynamic occupation and static occupation of the person, the person needs to be expressed in a targeted manner in matching calculation, the condition shows the density relation of person contact, and when the density is a large parcel scene, the situation of an early warning state can be reflected;

setting: the grid unit of the dynamic space occupying grid frame graph model is a rectangular grid, and the mapping image blocks of the personnel are circular;

as shown in fig. 8, when describing a scene of aggregation degree of the placeholder staff, when the staff mapping tiles are aggregated in a large area and some tiles are still in a superposition state according to different aggregation densities, the tiles become darker and yellow along with the increase of different aggregation degrees, and when a superposition situation occurs, the colors become red.

Adaptive scenes of wireframe graphic styles of basic grid cells in the dynamic grid placeholder model:

when a travel area is described by using a dynamic occupancy grid system, for different area structures and areas with different modes of personnel activities, the basic unit structure form of the dynamic occupancy grid should be adaptively described, for example:

for the channel area of the scenic spot, a rectangular or elliptical wire frame structure (A >0) is generally adopted;

for an empty active area, a square, a regular diamond or a circular structure (A is 0) is adopted.

The structure of the mesh frame diagram and the placeholders in the dynamic mesh placeholder model is mainly expressed as follows,

1. the pattern form is formed by splicing an integral grid virtual frame formed by matching and selecting the grid basic units according to the adaptability with the mapped actual terrain; the dynamic placeholder object placeholder is a quasi-pattern graph and a graph block structure;

2. digital expression forms, namely various mathematical expressions and digital models for describing mathematical relations adaptive to scene modes on the scene grid block diagram and the placeholders, such as data structures and data parameter attributes of dynamic placeholders and the block diagram thereof;

3. the model system realizes the digital scene of the comprehensive model by superposing the two model scenes of the grid block diagram and the placeholder, and presents a dynamic real-time visual graphic system twinned with the real virtual reality;

the specific description is as follows:

1) the system is based on basic tools such as a GIS system or a special regional map system, a positioning system, a database system, a plotting system and the like, and creates a virtual grid graphic scene matched with the terrain coordinates of an actual region in a related regional space. Each grid unit has the attributes of identification codes, space coordinates, structural features, structural dimensions, a time data relational database, an encryption structure and the like;

2) various real object image sensors are adopted to carry out digital acquisition and identification of real object scene images, formatting conversion of data, comprehensive digital scene matching and generation of a dynamic data structure diagram or image block with rich characteristic attributes and information parameters on an object of interest;

3) the two modes are subjected to digital information synthesis, and a placeholder block diagram or an image block is used for carrying out real-time dynamic filling, data distribution and resident storage on the scene dynamic placeholder grid; and continuously repeating the related operations on the time axis to realize the process of continuously constructing the matching graphs of the two on the time axis and carrying out related comprehensive data processing.

4. The model system is in a digital relation structure form in application, various tools and methods of a scene dynamic occupation grid model are adopted in a time axis direction to meet the digital acquisition frequency set by application scene requirements, comprehensive data creation, processing, distribution and storage of the model are carried out, the model is used by a specific application information management system in the data stream transfer process, the capacity of carrying out related data application processing is provided, and function expression of various special requirements is formed.

The dynamic mesh occupancy model or the attribute system description mode called the dynamic occupancy mesh model:

1. the dynamic mesh occupancy model has reality expression attribute which has matching attribute with the described geographic space and the entity structure of the movable object;

2. the dynamic mesh occupying model has virtual twinning property, is an independently constructed digital system, is an analog simulation image for carrying out real-time dynamic digital abstract conversion on a real object scene (comprising a regional environment and a moving object) described by reality, is represented as a virtual dynamic occupying mesh frame diagram and is mapped and associated with the real scene of the real-time dynamic of the dynamic occupying object, and a scene function is determined by other various variable, vector and parameter properties;

such as: setting a dynamic grid occupation block diagram model function as f (X); the dynamic placeholder model function is f (Y);

then, the real-time dynamic space-occupying grid model scene function is f (X, Y)

f(X，Y)＝F(Z，C，Q，K，T)

Function variables are attribute variables, as defined by the types of attributes below.

2.1) the dynamic occupation grid model has position coordinate attributes, the coordinates of the dynamic occupation grid from the overall structure to each grid unit are isomorphic with the described geography, the central point position and the edge key point position of each grid unit are provided with coordinate locating points which can be discretely and continuously planned and set, and the coordinate attribute variable is Z;

2.2) the dynamic placeholder grid model hasIndependent identification attribute, as shown in fig. 11, the total structure area, each sub-structure area, each grid unit, and each placeholder of the dynamic placeholder all have an independent ID identifier and other name and information data identifiers associated with the ID identifier, and the identification attribute parameter is

2.3) the dynamic occupying grid model has a size structure attribute, each grid unit has an independent geometric structure and a marked size, and the size attribute variable is C;

2.4) each grid unit and the placeholder of the dynamic placeholder grid system can be set to have a comprehensive data real-time acquisition and storage identification structure related to placeholder similar to the block chain and a data encryption safety function, and can also be endowed with the loading of data such as timing, payment, authentication and the like, the attribute can be a standard configuration attribute for a scene grid model system applied to a parking lot, a temporary parking space, a track key node and the like, related vehicles, personnel and the like, and a general scene can be a selection configuration attribute and is set, and a block chain attribute variable is Q;

2.5) the dynamic placeholder grid model has the property of space shape, as shown in fig. 2-5, the general space shape is a two-dimensional plane geometry wire frame type structure. For an area scene, the described area can be widely spliced and combined to cover a plane structure, the covering mode fluctuates along with the terrain, the mapping expression of the actual state of the ground surface structure is realized, and for some special terrains and moving objects, a three-dimensional frame structure can be established to describe the height parameters; there are also layered structure, superimposed structure, distributed structure, and multi-type mixed structure (2 is 3 for mixing, different shapes of basic unit structure mixing, different structures of different spatial regions mixing, etc.), and it is assumed that the spatial attribute variable is K;

2.6) the dynamic place-occupying grid model system has time attributes, structural forms and digital parameters thereof, on one hand, continuity presentation expression on a time axis is realized, when a scene on a specific time period is researched, the acquisition frequency and the length of the time period can be adjusted according to a preset or temporary plan along with the research requirement of the specific time period, and the variable of the time attributes is T;

2.7) the placeholder object of the dynamic placeholder model has the attribute of the space geometric structure, the placeholder object has the description of the specific space geometric structure form (can be two-dimensional, three-dimensional), if the front part of the vehicle pattern block is narrow, the back part is wide, etc. the pattern block with the same structure as the basic unit pattern of the grid is adopted, and the directional feature description is realized by adopting an arrow or a special mark, the personnel pattern block can also adopt the homomorphic or special-shaped geometric structure, and simultaneously the arrow or the special mark is adopted to represent the front and back directional feature, the geometric structure of the placeholder object has the vector attribute (has the directionality), the personnel pattern block and the vehicle pattern block can also adopt the characteristic pattern of the video screenshot as the pattern block, and if the attribute placeholder object geometric structure attribute variable is the attribute variable

2.8) the dynamic space-occupying grid model system has the information interaction attribute between the grid frame model and the space-occupying object, the space-occupying grid frame model structure scene of the dynamic space-occupying grid model system is a reference system for the digital visual expression, description and record of the motion state of the space-occupying object, and the two have the characteristic of real-time change (the static state is the state with the change parameter being 0), the two can correspondingly carry out the mutual circulation of respective data according to the application management control requirement, the processing, the storage and the marking, the dynamic space-occupying grid model system needs to carry out the mutual circulation of the information related to the display scene between the space-occupying objects according to the requirement of the application management control aspect, which is an environment parameter attribute, the setting, the grid frame model structure environment and the space-occupying object information interaction behavior parameter attribute

2.9) dynamic placeholder grid model System with Integrated data Properties, as shown in FIG. 11, the Integrated data for each placeholder graph Structure or fill-in tile UnitThe attribute comprises an independent ID, the ID is bound with a plurality of identity characteristic data (such as license plate number, frame number, brand, model, color, age, owner and the like of a vehicle, name, mobile phone number, identification number, sex, height, age, native place and the like of a person) of a mapping object entity, the comprehensive data attribute also comprises an activity data set (such as path, time and the like) of a position occupying body, a behavior data set (such as abnormal behavior record, violation record, payment record, reservation record, transaction record related to application, information record interaction with a management system and the like), the comprehensive data attribute of the space occupying grid unit is represented in scenes such as driveways, intersections, parking lots, parking spaces, activity places, living places, working places and the like, the unit scenes comprise the independent ID and various comprehensive characteristic information data bound with the ID, and the comprehensive data parameter attribute is set

The rule and data analysis method of the dynamic grid occupancy model based on the scene is specifically described as follows:

1. the data structure basic rule of the dynamic grid space occupying model is used for standardizing the space occupying relation between the space occupying body and the grid block diagram;

the basic occupation rule of the scene dynamic grid occupation model system is that when a grid unit is filled by an occupation body, the status bit attribute identifier of the grid unit is 1, and when the grid unit is empty, the status bit attribute identifier of the grid unit is 0;

calculating the motion speed value of the occupying body according to the filling time of the grid unit by the same occupying body;

the activity track of the placeholder can be calculated by the sequential collection of the grid cells filled by the same placeholder;

the frequency of filling the grid cells with different placeholders can represent the position weight characteristics of the grid cells;

the space occupying body density can be calculated according to the filling quantity of occupied bodies in unit time or at a certain moment of a specific area of the grid diagram;

the frequency of filling the occupied body in a unit time of a specific area of the grid diagram can be used for calculating the flow of the occupied body in the area;

the grid diagram shows a state that the occupancy overlaps the occupancy in a specific area, and the aggregation degree of the area can be calculated.

2. The scene dynamic grid occupation model data structure rule and the mathematical expression based on the rule can be used for carrying out data analysis and calculating the digital characteristics of a real scene to obtain the basic data of a scene model;

based on the rules and the mathematical expression based on the rules, the required statistical calculation of the digital characteristics of the real scene simulated by the scene grid occupation model can be realized, and various indexes and basic data of the model scene and the research object (the occupation body and the collection thereof) can be rapidly obtained. For example,

calculating the number f (x) of the placeholders in a certain grid block diagram area at a certain moment, and only counting the number of the grid cells (Y) in the area at the certain moment, wherein the state bits at the certain moment are 1:

f(x)＝F(Y)

calculating the density f (m) of the occupied space at a certain moment of a certain grid frame diagram area, and taking the ratio of the quantity x of the occupied space of the certain grid frame diagram area to the total quantity z of grid units of the certain area at a certain moment to obtain:

f(m)＝F(x，z)

3. the scene grid occupation model is subjected to prediction analysis, and the aggregation state of a certain area of a path in a certain future time period can be predicted by adopting a method of performing simulation on the process from the beginning to the end of the movement of the occupation body set under the rule;

based on the scene dynamic mesh occupancy model, a prediction method and tool can be provided, as follows:

a reverse iteration method, wherein the basic prediction method is that when no basic data accumulation condition exists, a reverse prediction method can be adopted for prediction analysis, prediction is firstly carried out according to a conventional prediction calculation method, initial parameters are set, and then iterative correction is carried out through data accumulation; the model provides a corresponding conventional prediction calculation method for application and selection, such as an average calculation method, a qualitative analysis method, a regression analysis method and an index smoothing method, and related tools can be continuously and abundantly added in the application;

if data accumulation exists and errors of backward iteration are large, a forward prediction method can be adopted for analysis, the analysis process only needs to select relevant data sets through limiting conditions such as time periods, region ranges and precision, and relevant tools of a conventional prediction calculation method are adopted for calculation;

as shown in fig. 12, the model analysis method designs a change rule of each variable parameter of the environment through a relationship model between the moving object and the environment provided by the model system, and can perform simulation on the process from the start point to the end point of the movement of the research object under the rule, thereby realizing prediction analysis.

4. The data management analysis method and the tool thereof are used for classifying various types of data of the scene dynamic grid occupancy model:

the data management tool mainly provides a classification method and a form design creating and sorting method and means of various types of data required by application for a user, and provides a data analysis chart tool required by the application, such as a histogram, a fluctuation graph, a pie graph, a distribution graph, a quadrant graph, a pole parameter graph and the like.

5. The early warning plan method based on the scene dynamic grid occupation model is used for triggering early warning when a scene dynamic value reaches a preset standard value precision range:

a method for providing a predictive early warning model building method and a tool for a scene dynamic grid occupation model includes creating a series of standard data modulus parameter levels according to application requirements of a user, setting related limiting conditions, precision requirements, aging requirements, calculation tool selection, calculation method creation and the like, independently operating a monitoring program by a system or automatically generating the monitoring program according to requirements, triggering early warning when a scene dynamic value reaches a preset standard value precision range, calling a plan execution dialog box for the user to execute operations through sound and light graph display, and arranging an automatic execution part in the plan execution dialog box, for example, sending a short message to related personnel, starting a broadcast and screen display system, executing information issuing operations, dialing related personnel telephones, transmitting warning voices and the like.

For example, in the level system f (d) of the early warning scheme for the activity aggregation degree of the personnel in the site, the scene dynamic occupancy model only needs to set different weights and levels of parameters, such as length L and width parameter W of continuity of grid cells marked as 1, speed index V of occupancy activity, stacking density m and the like, in a grid block diagram of a certain area. The relational expression is as follows:

f(D)＝F(L，W，V，m)

the visual expression display method of the dynamic grid occupancy model comprises the following steps:

1. splicing and synthesizing video images of intersections of each road segment into visual display of a local area, and simultaneously selectively superposing and displaying a road network grid block diagram structure layer, a placeholder set layer containing or not containing a mark, an operation parameter display layer, an early warning layer and the like;

2. and the occupation body and the grid block diagram structural model are calculated and operated in the background. Only the stitched regional video image is presented. When an early warning alarm occurs, a target needing to be tracked or other abnormal scenes, relevant digital image layers are displayed in an overlapping mode.

3. And the virtual digital operation scene and the spliced video images of the areas needing to be observed are displayed in parallel.

An application architecture design method based on a dynamic occupancy model is applied to scenes such as road traffic, cities, tourism and the like and comprises the following steps:

1. the dynamic parking space model is defined in road traffic, and comprises the following descriptions:

1) dynamic parking space definition

The total length of a certain road section is set to be L meters, the number of lanes is M, the number of dynamic parking spaces of the road section is set to be N, the size of a basic standard vehicle unit is set to be W meters (for example, W can be set to be the length of a small vehicle to be 5 meters), the safety distance between vehicles at a certain calibrated speed (V) is set to be A meters, and the number of dynamic parking spaces which can be accommodated by the road section under the above conditions is set to be N.

The definition can also be described as that, if the safe distance between vehicles at a certain speed of vehicles running at a speed below the speed limit of a certain road section is A meters, the length of a reference vehicle is W meters, the total length of the road section is L meters, and the number of lanes is M, then the dynamic vehicle number of the road section is N under the condition of the speed;

f (n) ═ F (M, L, W, a); the limited speed is less than or equal to V

The application of the dynamic parking spaces of the road sections can be correspondingly planned and applied at intersections, can be popularized to the whole road network of a city, and can be applied to various types of electronic maps and digital traffic systems of road networks such as city loops, provincial roads among towns, national roads, expressways and the like.

In the application of the dynamic parking spaces at the intersection, because the vehicles in different phase directions occupy the intersection space in an overlapping manner, and because the vehicles occupy different phase directions in different phase time, the conflict problem does not exist; as shown in fig. 13;

2) definition of safety distance:

the safety distance, also called control distance, which is an added value of dynamic parking spaces in a road section, may be defined in various ways, for example,

in the first method, when the safe distance is the reaction time when the driver can react emergently and implement brake response when the driver faces the front vehicle and the road condition is in emergency, the safe distance is the distance generated at the current speed.

Setting the speed limit of a vehicle on a road section as V (km/h) and the speed on the road section as a range from 0 to V;

if the reaction time constant is t, for example, if the reaction time is y seconds, and the safety factor is N times, then: and when t is equal to yN and the safety distance is A, the following steps are performed: a ═ Vt;

functional relationship of safety distance:

f(A)＝F(V，t)

the safety distance can also refer to the braking distance when the vehicle stops at the current speed after the driver takes emergency braking under the condition that the driver faces the front vehicle and the road condition is in emergency, so that an acceleration a exists;

then, the safe distance function relation:

f(A)＝F(V，t，a)

2. the method for describing the dynamic parking space system structure at the road section and the intersection in the road traffic comprises the following steps:

2.1) transient fitting description method, as follows:

if the number of vehicles at a speed V on a link at a certain time is J, the total length of the safe distance of the link occupied by the vehicles in a speed predetermined range (e.g., 0-60 km/h) is Σ A.

ΣA＝F(V，J，A)

The number of the dynamic stations without vehicles is the average safe distance

If the number is j, the total length of the road section is sigma L;

the function F (N) of the transient fitting value of the total number of the dynamic parking spaces of the road section is F (V, J, A, M, L, W),

or, F (n) F (Σ L, Σ a, W)

(N) is a full dynamic change value, fitting description can be performed according to the actual traffic flow operation scene rule, and an N value basically conforming to the actual scene is obtained;

such as: a method for averaging transient vehicle speeds within a specified range of vehicle speeds

Obtaining the corresponding N value;

2.2) multilayer structure layered superposition fitting description method

As shown in fig. 14, since the vehicle is driven at different speeds on the road section, according to the definition, the road section has the number of dynamic parking spaces at different speeds, and the actual road section is unique, the description manner of layered superposition fitting of the dynamic parking spaces of the road section is that the dynamic parking space division of the road section in different speed scenes is respectively described by using a graphic layered manner, and is respectively calculated, and in the second step, the scenes at different layers are superposed, and are synthesized into a model which is basically coincident with the reality for fitting calculation;

the layering mode adopts a typical common speed in a speed limit range as a layered reference value, speed values in the range of plus or minus 50% of the speed are merged into a speed layer, a scene layer without a vehicle is additionally arranged, the variation range of any vehicle speed in a road section does not exceed the value range defined by the speed of the layer, the speed is kept in the layer, if the speed exceeds the range, the speed is switched into the layer adaptive to the speed of the layer, and a comprehensive image after superposition fitting can reflect any transient vehicle flow operation scene on the road section;

enough and proper margin is reserved for the safety distance set by each layer, if the emergency response time of a driver is increased to 0.5s, the scene mode of layered superposition fitting basically meets the requirement of matching with the actual running scene, and more layers are arranged, the closer the matching degree is to the actual situation, the more calculation resources are required to be occupied;

example (c): setting the speed limit of a vehicle on a road section as 60(km/h), the driving speed on the road section as 0-60 km/h, and dividing the vehicle speed in the 0-60 (km/h) range as 0, 10, 20, 30, 40, 50, 60 and no vehicle (X) to drive a vehicle scene structure on a road section with 8 layers of dynamic parking spaces;

the safe distance of the dynamic parking spaces on each layer of road section is set as A ₀ 、A ₁ 、A ₂ 、A ₃ 、A ₄ 、A ₅ 、A ₆ 、A _x ；

The number of vehicles at any time on each speed layer is J, and the sum of all safe distances on the road section is as follows:

∑A＝J ₀ A ₀ +J ₁ A ₁ +J ₂ A ₂ +J ₃ A ₃ +J ₄ A ₄ +J ₅ A ₅ +J ₆ A ₆ +J _x A _x

the number of dynamic parking spaces occupied by vehicles on each layer is respectively as follows:

N ₀ ＝J ₀ ，N ₆ ＝J ₆ ，N _x ＝J _x

then, the expression of the dynamic number of cars N at any time on the road section is as follows:

N＝N ₀ +...+N ₆ +N _x

f(N)＝F(M，L，W，A，J)

2.3) dynamic parking space description method for single-layer time-division fitting road section

As shown in fig. 15, the fitting description of the dynamic parking spaces of the road section can be realized on only one display layer without dividing into multiple layers, and one of the ways is to adopt time-sharing to perform the fitting description of the dynamic parking spaces of the road section.

When the road section is in a high-flow scene and a congestion scene, the total number of the dynamic parking spaces of the road section can be obtained according to the corresponding average speed;

f(N)＝F(M，L，W，A，V)

2.4) dynamic parking space description method for single-layer scene-divided road section fitting road section

As shown in fig. 16, in a general situation, if the traffic flow speeds of the entrance section and the middle section of the road section are high, in this situation, an appropriate position is taken for marking, the safe distance a of the high-speed scene road section is taken as a high matching value, and the safe distance a of the low-speed scene road section is taken as a low matching value due to a low vehicle speed at the exit section of the road section, and the total number of the dynamic parking stalls of the fitted road section of the vehicle speed scene of the single-layer front, middle and rear road sections can be obtained by integrating the dynamic parking stall values of the two sections;

N＝N ₁ +N ₂

2.5) dynamic parking space description method for single-layer multi-factor scene mixed fitting road section

As shown in fig. 17, on the basis of the front, middle and rear road section vehicle speed scenes, the single-layer multi-factor scene hybrid fitting road section dynamic parking space description mode can be obtained by fusing the vehicle speed factors such as the scene vehicle speed in the time section, the green wave band scene, the road section long and short scenes, and the like, and the example description is as follows:

in the peak period, the speed of the front and middle sections is low, and the value A can be small;

in a conventional time period, the vehicle speeds of the front section and the middle section are all high, and the value A can be large;

in a green wave band scene, the vehicle speed of the whole road section is higher, and the value A can be larger;

if the road section is too long, dividing the road section into more vehicle speed road sections to carry out corresponding safe distance value planning;

2.6) method for describing dynamic parking spaces of single-layer specific scene fitting road section

As shown in fig. 18, under the condition of the vehicle-road interaction function, the speed of the traffic flow in the specific road section can be controlled more consistently, and the scene can be managed more finely, under such condition, the safe distance value of the corresponding road section can be matched and valued according to the speed operation rule in the scene, so as to obtain the single-layer fitting description of the dynamic parking space of the road section in the specific scene, and obtain the single-layer dynamic parking space value N of the road section which is more consistent with the actual situation;

2.7) intersection dynamic parking space description method

As shown in fig. 13, the intersection dynamic parking spaces are a graphic structure whose form changes with the signal phase, and the basic graphic structure of each dynamic parking space is basically consistent with that of the dynamic parking spaces of the road section, but since the vehicles passing through the intersection have a certain speed and are limited in quantity, the safety distance a can be defined in a transient mode, a layered mode, a single-layer mode, or a proper fixed value application;

planning and setting dynamic parking spaces at intersections, wherein structural figures of the dynamic parking spaces of all lanes in all possible phase directions are made in a layered mode, namely one phase direction occupies one layer of figure;

the structure graphs of the dynamic parking spaces of all lanes in each phase direction can also be processed according to a graph block structure, are associated with the phase direction, and simultaneously call out an associated dynamic parking space structure graph block in the corresponding phase direction time;

2.8) method for describing occupation mode of dynamic parking space

As shown in fig. 19, when a vehicle is traveling on a road section at a certain speed, according to the definition of dynamic parking spaces, the system automatically calculates the number of dynamic parking spaces under the speed condition by using a proper scene fitting manner according to a related formula, the number of dynamic parking spaces in different image layers is fixed, and the system determines that each vehicle occupies the dynamic parking spaces of the road section at corresponding transient positions in different image layers according to an occupation rule;

the graphic structure of the dynamic parking space occupied by the vehicle is represented by a graphic block with a narrow front part and a wide back part, and is used as a filling graphic block, the numerical state of the filled dynamic parking space grid is defined as 1,

the graphic frame in the idle state is represented as an unfilled dynamic parking space grid, and the digital state is defined as 0;

2.9) dynamic parking space occupying rule and occupying body description method

If the length of the dynamic parking space occupied by the vehicle in a certain transient state is larger than 50%, the vehicle is regarded as occupying the parking space.

If the occupied area of the dynamic parking space is equal to 50%, whether other vehicle parts exist in the front parking space and the rear parking space of the vehicle is judged, and if the occupied area of the dynamic parking space is equal to 50%, the parking space is judged to be 0; if the front and rear parking spaces are empty, the parking space occupation mark is 1, and if the front and rear parking spaces are empty, the parking space occupation mark is effective by judging the parking space in advance;

the management of the occupation body and the occupation mode of the dynamic parking stall, and the key node data of the dynamic parking stall are used as the judgment basis for occupation or not, such as the image graph structure of the central point coordinate, the central line or the boundary dividing line at a certain position in front and at the back of the parking stall structure and the like are used as the calculation judgment basis. And detecting the correspondence between the occupation body and the central coordinate of the dynamic grid by using the occupation body with coordinate positioning, wherein the parameters are only required to be within an error range. And detecting the position relation between the boundary line or the central line of the occupying body image and the wire frame or the line segment or the central line of the virtual grid unit without coordinate positioning, and then determining the matching between the number of the basic grid units and the size of the occupying body.

The basic unit of the dynamic parking space of the road section is defined by the size of the small-sized vehicle plus the safety distance, and the occupation scene of the medium-sized vehicle and the large-sized vehicle to the dynamic parking space is processed, and on the basis of identifying and marking the medium-sized vehicle and the large-sized vehicle, the multiple of the corresponding basic parking space size is matched with the basic parking space size;

example (a): the medium-sized vehicles can be defined as occupying 2 reference parking spaces, the large-sized vehicles can be defined as occupying 3 reference parking spaces, and the oversized vehicles can be defined as occupying 4 reference parking spaces, and the like;

the method for calculating and judging the parking space occupation of the medium and large-sized vehicles comprises the following steps: the coordinate method of the central point of the dynamic parking space of the small vehicle or the image graph structure method of the central line and the dividing line at the front and the rear parts can be used as the reference, and then the matching parking spaces which are multiples of the small parking spaces are distributed for the occupied medium and large vehicles. And a method for calculating the number of matched parking spaces by adopting a odd-even multiple classification method can also be adopted. The parking spaces with odd multiples can be calculated by using the coordinates of the central point of the small parking space as a reference, and then equal parking spaces are respectively distributed in front of and behind the parking space. And in parking spaces with even multiples, the central coordinate or the central line of the vehicle is superposed on the image graph structure or the coordinate of the front and the rear side lines of the small parking spaces as a reference, and the dynamic parking numbers with symmetrical side lines are redistributed.

The superposition rule of dynamic parking spaces of each layer in a multilayer mode is as follows:

performing superposition operation on the dynamic parking spaces with different vehicle speed layers on the same road section, and when the overlap of the low-speed dynamic parking spaces and the high-speed dynamic parking spaces exceeds 50%, regarding the dynamic parking spaces with high speed as occupied, namely the dynamic parking spaces with high-speed layers, performing superposition operation on the dynamic parking spaces of each layer within unit time or when needed, and performing vehicle occupation calculation;

superposition of vehicle mapping tiles:

because the mapping image blocks of the vehicle in the space occupying grid system have the characteristic of being matched with the actual coordinates, when the control distance A of the space occupying grid is not proper in value (for example, is small) or congestion occurs, the situation that the vehicle mapping image blocks are overlapped can occur in the vehicle space occupying grid system, at the moment, the overlapped image blocks are subjected to visualization processing of deepening the color or changing the color, warning is given, and managers are required to distinguish the reason and carry out targeted processing. The vehicle occupation state matched with the actual vehicle occupation state can be restored by adopting a digital processing method;

2.10) filing method of dynamic parking space grid system

The dynamic parking space grid block diagram is stored, according to the occupying grid block diagram model modeling method, the dynamic parking space grid system is established at the road network road section intersection, and can be used as systematic virtual basic data for filing and storing after image matching and coordinate matching inspection are carried out on the dynamic parking space grid system and an actual scene;

storing the driving path of the dynamic parking spaces, namely acquiring and summarizing the passing dynamic parking spaces and the dynamic parking spaces to be passed when the vehicle drives in a virtual real-time system or a simulation system to form a special path, and filing and storing;

the dynamic parking spaces are stored in the vehicle path planning, and when the path planning of each vehicle is completed, the path of each vehicle can be displayed and stored in a graphic mode of a dynamic parking space chain, so that the dynamic parking space is convenient to call.

3. Dynamic parking space model system based traffic flow and other parameters are defined and calculated

When the vehicle runs on a road, the traffic condition of the road can be evaluated through the occupancy rate of the dynamic parking spaces, and the traffic of the road is divided into the following steps: normal flow, large flow and congestion flow, wherein the corresponding flow areas are a normal flow road network area, a large flow road network area and a congestion flow road network area;

the flow state of the road is described in a layered superposition fitting manner of dynamic parking spaces of the road section, and the flow state is exemplified as follows,

based on the concept of the dynamic parking spaces of the road sections, the grade (L) of the road network flow can be described by two parameters, namely the average vehicle speed (V) and the occupancy rate (beta) of the dynamic parking spaces, which are superposed and fitted on the road sections, the two parameters are extracted from a dynamic parking space model of the road sections, and the calculation method based on the occupancy of the dynamic parking spaces is described as follows:

normal flow rate:

when the occupancy rate of the dynamic parking space in the road section superposition fitting reaches a certain value (for example, 50%), and the average vehicle speed is above a certain value (for example, 20 km/h);

large flow:

the vehicle speed of large flow is positioned in a certain value range (for example, 10 km/h-20 km/h), and the occupancy rate of the dynamic parking space on the dynamic parking space map layer reaches a certain range value (for example, 60% -69%);

congestion flow:

the vehicle speed is positioned in a certain value range (for example, 0-10 km/h), and the dynamic parking space occupancy rate of the dynamic parking space on the dynamic parking space map layer reaches a certain value range (for example, more than 70%);

f(L)＝F(V，β)

4. defining, describing and managing virtual parking areas of road network segments

4.1) parking area definition:

the parking area is used as a substitution model of the urban parking lot in a simulation system and is divided into a work and rest parking area and a boundary parking area, the work and rest parking area is represented by an irregular frame line graph or a polygonal frame line matched with a cell or unit area in structure, the graph structure is marked in each residential cell, unit office area production area and the like of a map, the boundary parking area is represented by a circular frame line, a dotted line frame or a hidden frame line, all the graph structures are marked at each broken port of a map window road network to serve as a terminal area;

when the work and rest type parking areas do not do vehicle distribution planning, the vehicle types and the number of the vehicles in the work and rest type parking areas are not limited, and when the vehicle distribution planning is done, the corresponding planning and positioning can be carried out on the vehicle number, the vehicle types and the like in each parking area according to various planning schemes and strategies;

the boundary type parking area does not carry out restrictive planning and positioning such as vehicle quantity, vehicle type and the like;

the system provides operations of adding, modifying and deleting the mark of the parking area;

4.2) the parking area is connected with the road network:

the simulation system supports the connection of a parking area and a road network, facilitates the construction of a topological relation, and provides basic topological connection and graphical display data for vehicle initiation and termination visualization of path planning and traffic simulation;

4.3) vehicle distribution planning of parking areas:

the simulation system supports each parking area to fix the type, the number, the specification and the license plate of the vehicle according to the data such as the vehicle registration address of the traffic administration so as to adapt to the simulation requirement;

4.4) path planning of parking areas:

the simulation system supports path planning between the current parking area and other parking areas (N-1) in sequence and formulates a vehicle delivery plan.

4.5) delivery of the parking area to the vehicle:

before the case of the simulation system is operated, the vehicle classification and number of vehicles in each parking area, the putting frequency, the speed of the put vehicle and other indexes are set according to the target requirements of the operation case, and the actual scene situation is simulated.

5. Digital management is carried out to road safety based on developments parking stall

A method for automatically managing traffic safety by a dynamic grid block diagram system model is characterized in that under the condition that high-precision real-time dynamic mapping between a placeholder and a dynamic grid unit corresponds to a real scene and a virtual scene, the distance and the speed between the placeholders and the relation between placeholder characteristics can be monitored and calculated dynamically in real time, and once a calculated value enters the range of safety relation parameters of different levels between two placeholders, early warning and alarm signals can be sent out, even automatic safety measures and operation are started, so that dangerous accidents are effectively prevented.

6. Comprehensive modeling of multi-type placeholder model for road traffic based on dynamic placeholder grid system

The dynamic occupation models of the crossing pedestrian passageway, the roadside pedestrian space and the non-motor vehicle space are as follows:

6.1) dynamic occupation models of personnel in the pedestrian passageways at the intersections;

the method comprises the following steps of setting a dynamic personnel occupation basic unit parameter of a pedestrian passageway of an intersection, setting a dynamic personnel occupation geometric figure as a rectangle, setting the side length of the basic unit as W (for example, W is 0.8M), the control distance as A (for example, A is 0.5M), the number of virtual personnel channels as M (for example, M is 10), the total length of the pedestrian passageway of the intersection as L (for example, L is 24M), and the number of occupied personnel planning of the pedestrian passageway of the intersection as N;

then: n — ML/(W + a) example: n10 × 24/(0.8+0.5) ≈ 184

If the occupied grid density is considered to be too high and not enough to be matched with the actual scene, the W, A value scale can be widened;

6.2) roadside pedestrian passageway space and personnel occupying model

The pedestrian state of the roadside pedestrian passageway space is not completely the same as that of the intersection pedestrian passageway space, and the roadside pedestrian passageways are divided into various functional sections, such as a bus waiting section, a motor vehicle and non-motor vehicle pedestrian mixed passageway section, a pure pedestrian passageway section and the like, and relatively static people, walking people, running people and the like are present; the A values related to different functional intervals can be adaptively corrected to form dynamic occupation grid area block diagrams with different areas and different sizes;

in the personnel dynamic grid occupation model, the occupation patterns representing personnel are allowed to have a partially overlapped state, the same grid area is covered, the color of the overlapped area is darkened, and the intuitive evaluation and accurate calculation of the personnel density can be conveniently obtained;

setting the number of the dynamic occupying grids of the public bus waiting area as N ₁ The number of dynamic occupying grids of the personnel in the mixed aisle section of the motor vehicles and the non-motor vehicles is N ₂ The number of the dynamic occupying grids of the personnel in the pure pedestrian passageway interval is N ₃ Setting the total number of dynamic occupied grids of the personnel in the section as N;

N＝N ₁ +N ₂ +N ₃

note: in the planning of the personnel dynamic occupancy grids in the same specific function space, different A values can be taken according to different scenes to plan dynamic occupancy grid systems with different evaluation requirements.

6.3) dynamic occupation models of the non-motor vehicle lane and the non-motor vehicle:

the non-motor vehicle lane generally refers to a special lane planned and arranged for various bicycles, human tricycles, various light single electric vehicles, three-wheel electric vehicles and the like, a dynamic occupation model needs to be specially designed for the occupation body of the type, the structure of the dynamic occupation model is similar to that of a motor vehicle dynamic occupation model frame, and the difference is that the size, the speed, the control distance and other data are different, and the planning and design can be designed according to a motor vehicle scene dynamic model method. Such as modeling in a layered stack of different types of vehicles.

6.4) dynamic occupancy model of roadside temporary parking space:

some temporary parking spaces are often needed to be arranged on the conditioned roadside of some schools, malls, communities and the like. And a dynamic motor vehicle occupancy model is established for the temporary parking spaces, so that the management operations such as parking time, parking regulation, illegal parking punishment and the like can be conveniently carried out on the relevant parking spaces and non-parking space areas.

Two areas can be established for establishing the roadside temporary parking space dynamic occupying model. One is a prescribed temporary parking area parking occupancy grid system. One is the non-compliant region space. An underlying data structure is provided to a transit parking management system.

And the expression of the roadside temporary parking space dynamic occupation grid model of the road section.

And setting a dynamic occupation grid model of x small roadside temporary parking places on a certain road section. The sum N of the dynamic parking space occupancy grids of the road section is:

N＝N ₁ +N ₂ +...+N _x

wherein the number of dynamic space occupying grids N of each small section _x Comprises the following steps:

N _x ＝L/(W+A)

note: and L is the length of the dynamic occupied road section planned for the small section. W is the vehicle footprint base unit length. A is the control distance length in the parking space dynamic occupying sash. And (W + A) is the length of the parking space dynamic occupying sash. The sash width is a specification constant.

7. Dynamic occupying model of various types of parking lots

Special parking lot systems are planned and constructed in conditional areas such as schools, business areas, residential communities, office areas, production areas, entertainment places, hotel hotels and the like;

virtual space patterns and coordinate positioning creation matched with on-site coordinates are carried out on the parking lot systems based on GIS or special electronic maps, a dynamic occupancy model of the motor vehicle parking lot is established, and then relevant management operations such as parking space occupation, parking time, parking regulation, penalty, parking charge, parking safety and the like can be conveniently carried out on parking spaces and non-parking space areas of the parking lots;

the method comprises the following steps of establishing a parking space dynamic occupation model of a parking space area of a parking lot, wherein two areas can be established, namely a specified parking area parking occupation grid system and a non-compliant parking area space, and providing a basic data structure for a parking management system;

the size of the vehicle occupying frame takes the size of a small vehicle as a basic unit, the length of the small vehicle is W, and the control distance is A. The width is taken as a constant of the specification constant (e.g., constant 3). The total length dimension of the vehicle occupancy grid frame is W + A.

It has x parallel parking spaces in a parking lot. And L is the length of dynamic occupation planned for each row. The sum N of the dynamic parking space occupancy grids of the road section is:

N＝N ₁ +N ₂ +...+N _x

wherein each row of dynamic space occupying grid number N _x Comprises the following steps:

N _x ＝L/3

the vehicle agent may take the form of various graphics, block diagrams, or tile structures. For example, the blocks may be asymmetrical blocks with a narrow front and a wide rear to show the vehicle front-rear direction.

The system also needs to be equipped with a spatial video sensor system and an image recognition system that cover all areas to be managed. And the parking lot management system which is widely applicable, perfect in function and low in cost can be realized by matching with a corresponding information management system.

8. Comprehensive dynamic occupation model of special intersection road section

The transition intersection road section between the driving road section and each type of parking area (a general name of public places such as parking lots, life production office, market entertainment and leisure education and the like) is a cross and mixed shared space of motor vehicles, non-motor vehicles and pedestrians, and the space is a mixed occupation body area or road section space shared by multiple types of occupation bodies, so that a related structure model with comprehensive occupation aliasing needs to be established for the type of space, the model method can be used for independently modeling in a layered mode and then performing invisible aliasing graphic representation, and each layer is associated with other similar models in respective digital management systems to form an integral structure so as to support the management functions of the respective systems;

the involved elements in the road traffic digital system are the vehicles in road network road section intersections, as well as personnel in various states on sidewalks, roadside parking spaces, resident vehicles in various parking spaces and the like, and the attention, research and management of the related elements are also important tasks of the digital traffic system, so that the comprehensive dynamic occupancy model method of the related elements is adopted, and the close relation between various monitoring means and a digital information application management system is established through the associated application of new technologies such as intelligent mode identification, big data, AI and the like, and the digital traffic digital system has a very positive significance in improving the efficiency of attention, research, management and control.

9. Modeling of dynamic space occupying model of parking lot in city and tourism scene

A special parking lot system is planned and constructed in the areas with conditional conditions such as schools, business areas, residential communities, office areas, production areas, leisure and entertainment places, hotel hotels and the like in cities and towns, and in various tourist attractions, parks, stadiums and the like;

virtual space patterns and coordinate positioning creation matched with the on-site coordinates are carried out on the parking lot systems based on a GIS or a special electronic map, and a dynamic occupation model of the motor vehicle parking lot is established, so that the related management operations of parking space occupation, parking time, parking regulation, illegal parking punishment, parking charge, parking safety and the like can be conveniently carried out on the parking spaces and non-parking space areas of the parking lots;

the method comprises the following steps of establishing a parking space dynamic occupation model of a parking space region of a parking lot, wherein two regions can be established, namely a specified parking region parking occupation grid system and a non-compliant parking region space, and providing a basic data structure for a parking management system;

the vehicle occupying frame takes the size of a small vehicle as a basic unit, the length is W, the width is a standard fixed value, and the control distance is A;

the total size of the vehicle space occupying frame is as follows: w + A;

and various graphs, block diagrams and graphic block marks of the vehicle retainer. For example, the block figures adopted by the blocks adopt asymmetrical blocks with narrow front and wide back so as to show the front and back directions of the vehicle;

the system also needs to be provided with a space video sensor system and an image recognition system which cover all areas needing to be managed, and is provided with a corresponding information management system, so that the widely applicable, complete-function and low-cost parking lot management system can be realized;

10. an image recognition mode of a parking lot management system based on a low-cost space sensor;

at a vehicle entrance, main characteristic information such as a license plate number, a vehicle brand, a color, a vehicle type and decoration of a target vehicle can be identified through a high-definition approaching camera, information characteristics, coordinates, independent time timing, prearranged parking space numbers and the like are bound and calibrated to the established virtual vehicle image block, the virtual vehicle image block is tracked and guided into a convenient or preset space occupying frame, a video image and a virtual matching image can be displayed side by side, can be displayed in a superposition mode and can be displayed independently, and meanwhile, when the vehicle is in place, the guide and correction management can be carried out on the normalization of the actual in-place space occupation of the vehicle;

if the situation of personnel activity occurs around the vehicle, the parking lot management system automatically pops up related pictures to an active display window for monitoring by a manager;

the vehicle occupation area management camera is a high-definition camera with fixed focus, fixed angle and fixed area, is responsible for monitoring the area of the surface structure, and is additionally arranged for carrying out auxiliary close-up picture monitoring management on the high-definition camera with omnidirectional long zooming, automatic routing inspection, automatic early warning positioning and low illumination.

11. Modeling dynamic occupation model of urban and tourism scene personnel

The dynamic occupation model of the personnel in the town and tourism space comprises the following description of the dynamic occupation model of the personnel in the pedestrian passageways at the intersections of the town and tourism space and the dynamic occupation model of the personnel in the roadside pedestrian passageways:

11.1) dynamic occupying model of urban and tourism space personnel:

the space occupying models of space related personnel in places such as urban leisure, commercial entertainment, cultural sports and the like and places such as park square tourism and the like need to consider various states of the personnel in corresponding environments, and have relatively static personnel such as standing, squatting and the like and personnel with various activities such as walking personnel, running personnel and the like;

the related areas are provided with various functional places and channels which have different requirements on states of personnel, so that different dynamic occupation grids need to be created in the functional areas of the related areas so as to carry out data matching, analysis and evaluation which meet the requirements of management and control functions;

for example, for the occupied space of a person in a specific functional area with seats, the width is a fixed value of the seat, the length has a fixed value (constant), a is 0, and the value (constant) can be set according to the specification without the fixed value, and the proper control distance a is additionally arranged;

if, for the parameter of the dynamic occupancy basic unit of the staff in the open place, the dynamic occupancy geometric figure of the staff is set to be a rectangle, the side length of the basic unit is W (example W is 1 meter), the control distance is a (example a is 0.5 meter), the length L of the place is about 200 meters, the width M is about 50 meters, and then the number of the occupancy plans of the place is N;

example N ═ ML/((W + a) × W): n ═ 200 × 50/((1+0.5) × 1) ≈ 6666

If the occupation density is considered to be too large and the actual scene is not matched enough, the W, A value scale can be widened;

the number of persons that can be accommodated in the relevant location cannot be simply measured as the N index of the open field, which is simply a reference limit;

for the personnel accommodation quantity in the market room, the total accommodation quantity of each counter is suitable, and the accommodation quantity can be properly widened to divide a small part of accommodation quantity of the passageway;

for the number of persons accommodated in each outdoor tourist attraction, the sum of the outdoor N values of each attraction is considered, partial values of the N values of the total channels are properly considered, such as 20% -30%, and the indoor accommodation N value of a related scene is recommended to be regarded as a buffer space only;

the N value of the relevant area is the sum of N values of all scenic spots and channels in the scenic area;

N＝N ₁ +N ₂ +N ₃ +...

the occupation grids of the personnel in different functional areas can be planned in a layered mode, so that the personnel density states in the different functional areas can be conveniently analyzed and managed;

for the N values of indoor leisure entertainment and cultural stadiums, the designed maximum number of people can be used as the number of control people, and the N values of all channels can be used as the monitoring, early warning, intervention and management data;

the A values of different functional intervals can be adaptively corrected to form dynamic occupation grids with different areas and different sizes;

in the dynamic personnel occupation model, personnel overlapping is allowed to cover the same grid, and the color of the overlapping area is darkened, so that the intuitive evaluation and accurate calculation of the personnel density can be conveniently obtained;

note: in the planning of the dynamic space occupying grid of the personnel in the same specific function space, different A values can be taken according to different scenes to plan dynamic space occupying grid systems with different evaluation requirements;

for example, different customers in a certain market can hold space species (shopping intervals, walking intervals, empty space, automatic elevators and corridors), scene pre-planning is carried out according to comfort type, tolerance type, critical type, high-density type and the like, a corresponding safety matching evaluation system is operated at the same time, the requirement management of automatic evaluation on the personnel density safety condition in the market can be carried out, plans are made according to different condition scenes, and once an early warning signal appears in a local area or a functional space, the corresponding plan can be started to timely deal with the personnel density safety condition.

11.2) dynamic occupation models of people in pedestrian passageways at intersections of cities and towns and tourist spaces:

the method comprises the following steps of setting a dynamic personnel occupation basic unit parameter of a pedestrian passageway of an intersection, setting a dynamic personnel occupation geometric figure as a rectangle, wherein the side length of the basic unit is W (example W is 0.8M), the control distance is A (example A is 0.5M), the number of virtual personnel channels is M (example M is 10), the total length of the pedestrian passageway of the intersection is L (example L is 24M), and the occupation plan number of the personnel in the pedestrian passageway of the intersection is N;

n — ML/(W + a) example: n ═ 10 × 24/(0.8+0.5) ≈ 184

If the occupation density is considered to be too large and the actual scene is not fit enough, W, A value scale can be relaxed, and the dynamic occupation model of roadside pedestrian passageway space personnel is as follows:

11.3) dynamic occupying model of space personnel in roadside pedestrian passageways in cities and towns and tourist spaces

The pedestrian states of the roadside pedestrian passageway space and the intersection pedestrian passageway space are not completely the same, and the pedestrian passageways are divided into various functional regions, such as a bus waiting region, a motor vehicle and non-motor vehicle pedestrian mixed passageway region, a pure pedestrian passageway region and the like, and relatively static people, walking people, running people and the like are present;

the A values related to different functional intervals can be adaptively corrected to form dynamic placeholder grids with different areas and different sizes;

setting the number of the dynamic occupying grids of the public bus waiting area as N ₁ The number of dynamic occupying grids of the personnel in the mixed aisle section of the motor vehicles and the non-motor vehicles is N ₂ The number of the dynamic occupying grids of the personnel in the pure pedestrian passageway interval is N ₃ Setting personnel dynamic occupying grid total of the section of the roadThe number is N;

N＝N ₁ +N ₂ +N ₃

note: in the planning of the dynamic space occupying grid of the personnel in the same specific function space, different A values can be taken according to different scenes to plan the dynamic space occupying grid system with different evaluation requirements.

12. Configuration and design method of space sensor system for large complex area scene

The scheme provides that an unmanned aerial vehicle high-definition camera system can be adopted to carry out maneuvering patrol shooting to cover an empty scenic spot field area as a supplementary facility of a fixed camera station, and the construction and maintenance cost can be relatively economical. In view of the power time limit of the general unmanned aerial vehicle, a multi-machine rotation mode can be adopted for duty.

The design method of the unmanned aerial vehicle shooting station system with the parachute protection device is described as follows:

the unmanned aerial vehicle shooting station system with the parachute protection is of great importance to the regional places (such as tourist attractions and traffic networks) with personnel and vehicle gathering, and once the aircraft is out of control and falls down, the parachute can be used for protecting ground personnel and objects as the only safety guarantee.

The opening of the parachute has two modes, namely an automatic mode and a manual mode;

the automatic mode mainly comprises the steps of detecting the lift performance of the aircraft, such as detecting the number of the lift devices which normally operate, judging the relative positions of the lift devices which can normally operate, automatically opening the canopy of the parachute bay by the system if the conditions that the lift devices can normally operate stably and fly back to the preset position are not met, and opening the parachute pack by the aid of the air pressure device.

The manual mode is mainly that when judging that the aircraft has the risk of falling, the aircraft height is insufficient by the operator, and when the automatic parachute opening device does not have the emergency state of start, the parachute opening operation is started manually.

The parachute has a direction control device, such as an automatic control motor system of a directional belt, which can have single motor, double motor and multi-motor control modes, or adopt a rudder mode and a directional fan mode to control the direction.

The unmanned aerial vehicle is provided with a broadcast public address device and is generally used for broadcasting various information or music and other contents which need prompting or early warning for the public. When the unmanned aerial vehicle breaks down and emergently lands, alarm information is sent out.

The shooting monitoring station is a space monitoring device with safety guarantee conditions, is used in a personnel activity area, can be provided with an infrared camera, and is convenient for realizing the function of searching personnel.

The invention has the beneficial effects that: the method is not only a method for carrying out simulation modeling of a real environment by using a comprehensive information technology, but also an information technology method of a virtual twin mode for realizing digital mapping of a real scene and a virtual scene. The information system of original traffic management, city management and tourism field management is upgraded and expanded, and the difficult problem of automatic monitoring management is solved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A method for constructing a dynamic grid placeholder model is characterized by comprising the following steps:

1) constructing a dynamic digital visualization area grid frame graph model associated with the area mapping of the reality description according to the application scene management requirement;

2) according to the application scene requirements, a digital visual grid occupying body structure diagram or a block set which is mapped with real-time dynamic and real-time moving or static entities and is associated with an area grid block diagram is constructed based on a sensor system and a digital processing technology method;

3) carrying out comprehensive synthesis, verification correction, calculation operation, state interpretation and process processing on the regional grid block diagram model constructed in the first step and the grid occupying body structure diagram or the image blocks and the set model thereof in the second step by adopting a digital technology method, constructing to obtain a scene dynamic grid occupying body diagram comprehensive model, and acquiring dynamic information of each occupying body structure diagram or image block and the set of the occupying body structure diagram or image block in the regional grid diagram;

the model construction process of the digital visual area grid frame graph model is as follows:

1) based on various types of GIS, electronic maps, databases, mobile positioning tools, block chain technology and big data technology, selecting a suitable grid unit geometric figure according to application scene requirements and design rules, calculating and sizing the structure and the size of the grid unit geometric figure, and obtaining a basic grid unit after test optimization and adjustment;

2) splicing, expanding and covering the single or multiple basic grid units obtained in the step one according to the geographical plane area and the spatial area to be managed, assigning values to the grid units, creating attribute data, and creating a library to obtain a digital visual grid frame diagram model which meets the requirements of an application scene and is associated with the area mapping of the real description;

the block diagram formed by the basic grid units comprises a plane and a solid, wherein the basic grid units are respectively provided with independent codes and identifications and respectively provided with various attributes and space coordinate exclusive information.

2. The method according to claim 1, wherein the constructed grid cell area diagram model structure can be a single planar-2-dimensional structure, a solid-3-dimensional structure; hybrid structures- -2 and 3-dimensional hybrid configurations are also possible; or a multilayer configuration of a planar, three-dimensional, hybrid structure; but also can be an overlapping or superposed structure of different types of grid block diagrams; the related structure can be a continuous structure or a distributed structure;

the grid block diagram system can dynamically adjust in time according to the change of the described actual spatial structure of the region.

3. The method of claim 1, wherein the model construction process of the digitized visualization grid placeholder structure map or tiles and the set thereof is as follows:

taking various GIS, an electronic map, a database, a positioning technology, a block chain technology, a big data technology, a sensor technology, a mode identification technology and an information terminal technology as basic tools, carrying out image data acquisition, identification, measurement and calculation on active entities in an application scene through various sensors to obtain the shape and the size of an entity structure in the application scene, and then carrying out coding, library building and modeling; and constructing a real-time dynamic digital visual grid occupational entity map which is mapped with a real moving or static entity and is associated with the regional grid block diagram or the image blocks and the collection thereof.

4. The method as claimed in claim 3, wherein each mesh placeholder structure diagram or tile and its set has independent coding and identification, and has specific properties and real-time dynamic space coordinate specific information.

5. The method for constructing a dynamic lattice occupancy model according to claim 1, wherein the construction process of the scene dynamic lattice occupancy diagram comprehensive model is as follows:

the method is characterized in that various types of GIS, electronic maps, databases, big data technologies, block chain technologies, positioning technologies, sensor technologies, mode recognition technologies, information terminal technologies, network communication technologies, high-performance computation and storage, cloud computing and AI technologies are taken as basic tools, and a digital technology method is adopted to continuously carry out comprehensive synthesis, verification correction, computation operation, state interpretation and process processing on an area grid frame diagram model, a grid occupying body diagram or a block diagram and a set model thereof to form a dynamic grid occupying body model, so that the dynamic management of a real virtual twin scene can be realized.

6. The method for constructing a dynamic mesh placeholder model according to claim 5, wherein the dynamic placeholder model is constructed by continuously obtaining a mesh placeholder structure diagram or a mesh block diagram by a positioning coordinate method, an image matching method, a positioning coordinate and image matching comprehensive method, and extracting and generating real-time data and attribute information; the dynamic information of each grid occupier structure diagram or each image block and the set thereof in the regional grid frame diagram model comprises time, position coordinates, speed, path tracks, states and shape structures, and can be observed, calculated, warehoused, indexed, traced and accurately tracked and managed automatically.

7. A method of constructing a dynamic mesh placeholder model according to any of claims 1-6, further comprising a data analysis method for constructing a dynamic mesh placeholder model based on the construction method, characterized by comprising the steps of:

1) determining a data structure basic rule of a scene occupancy model, and confirming an occupancy relation between an occupancy body and a grid block diagram;

2) carrying out data analysis on the scene occupancy model data structure rule, and carrying out statistical calculation on the digital characteristics of the real scene so as to obtain the basic data of the model scene;

3) carrying out prediction analysis on the scene occupation model, and carrying out simulation analysis on the process running conditions from the start to the end of the movement of the occupation body and the group thereof under the rule by utilizing the structure and the data characteristics of the model;

4) the classification mode of various types of data of the scene grid occupation model can meet the data management requirements of various applications;

5) the early warning plan method based on the scene occupation model is used for triggering early warning when the scene dynamic value reaches the precision range of a standard value.

8. The method of claim 7, further comprising an application architecture design method applied to road traffic, city, and tourism scenes based on the dynamic placeholder model, comprising:

1) establishing a dynamic grid space occupying block diagram model in road traffic;

2) the method for describing the dynamic parking space model at the road section and the intersection in the road traffic comprises the following steps:

2.1) transient fitting description method;

2.2) a multilayer structure layering superposition fitting description method;

2.3) a single-layer time-interval fitting road section dynamic parking space description method;

2.4) a dynamic parking space description method of a single-layer scene-divided road section fitting road section;

2.5) a dynamic parking space description method of a single-layer multi-factor scene hybrid fitting road section;

2.6) a single-layer specific scene fitting road section dynamic parking space description method;

2.7) intersection dynamic parking space description method;

2.8) the occupation mode of the dynamic parking spaces;

2.9) dynamic parking space occupying rule and occupying body description method;

2.10) a method for creating a dynamic parking space grid system;

3) defining and calculating traffic flow parameters based on a dynamic parking space system;

4) calculating the dynamic parking space occupation judgment based on a dynamic parking space system;

5) defining, describing and managing a virtual parking area of the road network segment;

6) digitally managing the road safety based on the dynamic parking spaces;

7) the road traffic comprehensively models the multi-type placeholder model based on the dynamic placeholder grid system;

8) modeling a dynamic space occupying model of a parking lot in a city and a tourism scene;

9) modeling a dynamic occupancy model of urban and tourism scene personnel, comprising the following steps: the dynamic occupation model of personnel in pedestrian passageways at intersections, the dynamic occupation model of personnel in roadside pedestrian passageway spaces and the dynamic occupation model of personnel in town and tourist spaces.

9. The method according to claim 8, wherein the application architecture design method further comprises a monitoring unmanned aerial vehicle for monitoring the people flow gathering area, and a parachute is disposed on the monitoring unmanned aerial vehicle, wherein: the parachute has automatic and manual opening functions and judgment modes of opening conditions of the parachute; the parachute landing process has the direction operation and alarm broadcasting prompting modes.