CN117854272A - Road condition display method, device, computer equipment and storage medium - Google Patents

Road condition display method, device, computer equipment and storage medium Download PDF

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Publication number
CN117854272A
CN117854272A CN202311663976.2A CN202311663976A CN117854272A CN 117854272 A CN117854272 A CN 117854272A CN 202311663976 A CN202311663976 A CN 202311663976A CN 117854272 A CN117854272 A CN 117854272A
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China
Prior art keywords
data
vehicle
form data
traffic
traffic participants
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CN202311663976.2A
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Chinese (zh)
Inventor
王季森
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Beijing Wanji Technology Co Ltd
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Beijing Wanji Technology Co Ltd
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Priority to CN202311663976.2A priority Critical patent/CN117854272A/en
Publication of CN117854272A publication Critical patent/CN117854272A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application relates to a road condition display method, a road condition display device, computer equipment and a storage medium. The method comprises the following steps: receiving first form data of traffic participants sent by a road side unit and second form data sent by an on-board unit of a vehicle in a preset range, wherein the form data can be used for representing at least one model display form; performing deduplication processing on the traffic participants and the vehicles based on the first morphological data and the second morphological data to obtain morphological data of the rest traffic participants; and determining a target model display form based on the form data of the rest traffic participants, and displaying the corresponding models of the rest traffic participants according to the target model display form. The method provided by the embodiment can avoid double images when displaying traffic participants and vehicles.

Description

Road condition display method, device, computer equipment and storage medium
Technical Field
The application relates to the technical field of intelligent driving, in particular to a road condition display method, a road condition display device, computer equipment and a storage medium.
Background
Along with the rapid development of the road cooperation and the internet of vehicles, the demand of man-machine interaction is more and more, and a user can enrich driving scenes by interacting with the road cooperation scenes and the internet of vehicles scenes through a display interface, so that the driving safety is effectively improved. However, in the existing method for displaying the vehicle-road cooperative scene and the vehicle networking scene, data from different data sources are directly displayed, and because repeated data may exist in the data of the different data sources, double images and even front-back confusion of the displayed traffic participants can occur.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a road condition display method, apparatus, computer device, and computer-readable storage medium that can avoid ghost images of displayed traffic participants.
In a first aspect, the present application provides a road condition display method, where the method includes:
receiving first form data of traffic participants sent by a road side unit and second form data sent by an on-board unit of a vehicle in a preset range, wherein the form data can be used for representing at least one model display form;
performing deduplication processing on the traffic participant and the vehicle based on the first morphological data and the second morphological data to obtain morphological data of the rest traffic participants;
and determining a target model display form based on the form data of the rest traffic participants, and displaying the corresponding models of the rest traffic participants according to the target model display form.
In one embodiment, the first modality data and the second modality data each include location coordinates of a respective traffic participant; the performing deduplication processing on the traffic participant and the vehicle based on the first morphological data and the second morphological data to obtain morphological data of remaining traffic participants, including:
determining a position coordinate range by taking the position coordinates of the corresponding vehicle of the vehicle-mounted unit as the center for each vehicle-mounted unit in the preset range;
and if the position coordinates of the traffic participants sent by the road side units are in the position coordinate range, deleting the first form data of the corresponding traffic participants, and taking the second form data and the first form data which are not deleted as form data of the rest traffic participants.
In one embodiment, the method further comprises:
receiving map information and road traffic information sent by the road side unit;
and displaying corresponding road information based on the map message and the road traffic information.
In one embodiment, the method further comprises:
determining the target model display form based on the first form data when the first form data of the traffic participant sent by the road side unit is received and the second form data sent by the vehicle-mounted unit of the vehicle in the preset range is not received;
and when receiving second form data sent by an on-board unit of the vehicle in a preset range and not receiving first form data of a traffic participant sent by a road side unit, determining the target model display form based on the second form data.
In one embodiment, the first morphological data is sent to the roadside unit by a roadside base station, and the first morphological data includes image data of the traffic participant acquired by a camera of the roadside base station and/or motion data of the traffic participant acquired by a radar of the roadside base station, the image data is determined by the roadside base station based on the acquired video image, and the motion data is determined by the roadside base station based on the acquired point cloud image.
In one embodiment, the first morphological data is sent by the roadside base station to the roadside unit in a case where a similarity between the video image and the point cloud image is greater than a preset similarity.
In one embodiment, the similarity is determined based on a preset image matching algorithm, which includes an associative matching algorithm and an cross-over matching algorithm.
In a second aspect, the present application further provides a road condition display device, including:
the system comprises a receiving module, a display module and a display module, wherein the receiving module is used for receiving first form data of traffic participants sent by a road side unit and second form data sent by an on-board unit of a vehicle in a preset range, and the form data can be used for representing at least one model display form;
the deduplication module is used for performing deduplication processing on the traffic participants and the vehicles based on the first morphological data and the second morphological data to obtain morphological data of the rest traffic participants;
and the model display module is used for determining a target model display form based on the form data of the rest traffic participants, and displaying the corresponding models of the rest traffic participants according to the target model display form.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the steps of the method of any of the embodiments described above when the computer program is executed by the processor.
In a fourth aspect, the present application also provides a computer-readable storage medium. A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of the embodiments described above.
The road condition display method, the road condition display device, the computer equipment, the storage medium and the computer program product are used for receiving the first form data of the traffic participants sent by the road side units and the second form data sent by the vehicle-mounted units of the vehicles in a preset range, wherein the form data can be used for representing at least one model display form; performing deduplication processing on the traffic participants and the vehicles based on the first morphological data and the second morphological data to obtain morphological data of the rest traffic participants; and determining a target model display form based on the form data of the rest traffic participants, and displaying the corresponding models of the rest traffic participants according to the target model display form. According to the method provided by the embodiment, based on the first form data of the traffic participants from the road side units and the second form data of the vehicle-mounted units from the vehicles in the preset range, the duplicate data in the two source data can be removed, so that double images are avoided when the traffic participants and the vehicles are displayed.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for a person having ordinary skill in the art.
FIG. 1 is an application environment diagram of a road condition display method in one embodiment;
FIG. 2 is a flow chart of a road condition display method according to an embodiment;
FIG. 3 is a flow chart of a method of determining morphology data of remaining traffic participants in one embodiment;
FIG. 4 is a block diagram of a road condition display device in one embodiment;
fig. 5 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The road condition display method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. On one hand, the road side base station acquires first form data of traffic participants through a radar and a camera, sends the first form data to the road side unit, and then sends the received first form data to a target vehicle-mounted unit of a target vehicle; on the other hand, the on-vehicle units of the other vehicles within the preset range of the target vehicle transmit the second shape data to the target on-vehicle unit. The target vehicle-mounted unit sends the residual data to the display device after the first form data and the second form data are subjected to de-duplication, so that corresponding residual traffic participants are displayed on the display device.
In an exemplary embodiment, as shown in fig. 2, a road condition displaying method is provided, and the method is applied to the target vehicle-mounted unit of the target vehicle in fig. 1, and is described as an example, and includes the following steps 202 to 206. Wherein:
s202, receiving first form data of traffic participants sent by a road side unit and second form data sent by an on-board unit of a vehicle in a preset range, wherein the form data can be used for representing at least one model display form.
Wherein the morphological data includes at least one of a plurality of image data and a plurality of movement data of the traffic participant, for example, the image data may include a shape and a color of the traffic participant, and the movement data may include a heading angle, a position coordinate, and a speed of the traffic participant; the second form data are form data of corresponding vehicles of the vehicle-mounted unit; the model display form refers to a form in which the corresponding morphological data is displayed on the display interface, for example, the type of the traffic participant may be determined based on the shape of the traffic participant, the model of the corresponding type may be displayed on the display interface, and the corresponding model may be displayed with different colors based on the source of the image data; the traffic participant corresponding to the first shape data may or may not include the vehicle corresponding to the second shape data, which is not specifically limited in this embodiment of the present application.
S204, performing de-duplication processing on the traffic participants and the vehicles based on the first shape data and the second shape data to obtain shape data of the rest traffic participants.
In this case, if the deduplication process is not performed, two models of the same vehicle may be displayed on the display interface based on two data sources, and thus ghost may occur. Since the first modality data includes the first modality data of the target vehicle, and the target vehicle is also required to be displayed on the display interface, it is also required to perform deduplication on the target vehicle based on the modality data of the target vehicle in the target vehicle-mounted unit and the first modality data of the target vehicle. In the actual weight removal, the shape data of the target vehicle in the target in-vehicle unit can be generally considered to be more accurate than the first shape data of the target vehicle, and therefore the first shape data of the target vehicle can be deleted.
Specifically, in the course of the deduplication process, one of the first shape data and the second shape data may be deleted based on at least one item of shape data, and for example, the corresponding first shape data or second shape data may be deleted based on the position coordinates of the corresponding vehicle.
S206, determining a target model display form based on the form data of the rest traffic participants, and displaying the corresponding models of the rest traffic participants according to the target model display form.
After the target model display form is determined, the target model display form and the morphological data of the remaining traffic participants are sent to the display terminal, so that the display device displays the morphological data of the remaining traffic participants in the target model display form on the display interface.
In the road condition display method, the first form data of the traffic participants sent by the road side units and the second form data sent by the vehicle-mounted units of the vehicles in the preset range are received, and the form data can be used for representing at least one model display form; performing deduplication processing on the traffic participants and the vehicles based on the first morphological data and the second morphological data to obtain morphological data of the rest traffic participants; and determining a target model display form based on the form data of the rest traffic participants, and displaying the corresponding models of the rest traffic participants according to the target model display form. According to the method provided by the embodiment, based on the first form data of the traffic participants from the road side units and the second form data of the vehicle-mounted units from the vehicles in the preset range, the duplicate data in the two source data can be removed, so that double images are avoided when the traffic participants and the vehicles are displayed.
In some embodiments, as shown in fig. 3, the first modality data and the second modality data each include location coordinates of a corresponding traffic participant; performing deduplication processing on the traffic participant and the vehicle based on the first morphology data and the second morphology data to obtain morphology data of remaining traffic participants, including:
s302, for each vehicle-mounted unit in a preset range, the position coordinate range is determined by taking the position coordinate of the corresponding vehicle of the vehicle-mounted unit as the center.
And S304, deleting the first form data of the corresponding traffic participants if the position coordinates of the traffic participants sent by the road side units are in the position coordinate range, and taking the second form data and the undeleted first form data as the form data of the rest traffic participants. In practice, the first form data is acquired by the road side base station and then sent to the vehicle-mounted unit by the road side unit, and the second form data is acquired by direct interaction of vehicles and vehicles, so that the time delay of the latter is shorter in general, that is, the data is more accurate, and therefore, the first form data can be selectively deleted.
The vehicle-mounted unit in the preset range comprises a target vehicle-mounted unit; in other embodiments, the corresponding second shape data may be deleted based on the position coordinates, which is not specifically limited in the embodiments of the present application.
In this embodiment, the first form data located in the position coordinate range is deleted, so that the corresponding vehicle can be effectively de-duplicated, and the ghost image in the subsequent display process is avoided.
In some embodiments, the above method further comprises: receiving map information and road traffic information sent by a road side unit; based on the map message and the road traffic information, corresponding road information is displayed.
Among them, MAP messages (MAP messages) are generally used in scenes such as vehicle navigation and route planning, and can help vehicles to accurately travel on roads, for example, the MAP messages may include road networks, road section information, lane information, traffic lights, and the like; road traffic information (Road Side Infrastructure, RSI messages) is used to help vehicles get to changes and events on the road in time, e.g., road traffic information may include road condition information, traffic events, road construction information, emergency events, etc.
In this embodiment, based on the map message and the road traffic information, the corresponding road information is displayed, so that driving scene data provided for the driver is richer, and driving safety and comfort are improved.
In some embodiments, the above method further comprises: determining a target model display form based on the first form data when the first form data of the traffic participant transmitted by the road side unit is received and the second form data transmitted by the vehicle-mounted unit of the vehicle in the preset range is not received; and when the second form data sent by the vehicle-mounted unit of the vehicle in the preset range is received and the first form data of the traffic participant sent by the road side unit is not received, determining the display form of the target model based on the second form data.
When the first form data of the traffic participant sent by the road side unit is received and the second form data sent by the vehicle-mounted unit of the vehicle in the preset range is not received, the target vehicle is required to be deduplicated although the vehicle corresponding to the second form data is not required to be deduplicated, otherwise, the form data in the target vehicle-mounted unit and the first form data of the target vehicle are displayed on the display interface at the same time, so that ghost is generated.
In this embodiment, based on the received morphological data from different sources, the model is displayed in different manners, so that the displayed model better conforms to the actual situation of the corresponding traffic participant.
In some embodiments, the first modality data is transmitted by the road side base station to the road side unit, the first modality data including image data of the traffic participant acquired by a camera of the road side base station and/or motion data of the traffic participant acquired by a radar of the road side base station, the image data being determined by the road side base station based on the acquired video image, the motion data being determined by the road side base station based on the acquired point cloud image.
In other embodiments, the first form data may include other data of the traffic participant acquired by other sensors of the roadside base station, which is not specifically limited in this embodiment of the present application.
In this embodiment, different form data of the traffic participants are acquired based on different sensors of the road side base station, so that the first form data is richer, and a model displayed on the display interface is more in line with the actual situation of the corresponding traffic participants.
In some embodiments, the first modality data is transmitted by the road side base station to the road side unit in the event that the similarity between the video image and the point cloud image is greater than a preset similarity.
Wherein the similarity is used to characterize the degree of similarity between the shape of the traffic participant in the video image and the shape of the corresponding traffic participant in the point cloud image.
In this embodiment, when the similarity between the video image and the point cloud image is greater than the preset similarity, the road side base station transmits the first form data to the road side unit, so that the accuracy of the transmitted first form data can be ensured, and the subsequent model display for the corresponding traffic participant is more accurate.
In some embodiments, the similarity is determined based on a preset image matching algorithm, including an associative matching algorithm and an cross-ratio matching algorithm.
Specifically, firstly, extracting corresponding feature points from a video image and a point cloud image by using a feature extraction method in an association matching algorithm, and then, establishing association relations of the feature points between the two images by using methods such as nearest neighbor search in the association matching algorithm, so as to finish association matching between the two images. After the association matching is completed, the corresponding interested areas (can be rectangular, circular and the like) can be extracted from the two images based on the feature point information obtained by the association matching, then the areas are described, descriptors can be color histograms, texture features and the like, finally the cross ratio between the two area descriptors is calculated by using a cross ratio matching algorithm, and the similarity of the two areas is measured according to the size of the cross ratio.
In the embodiment, the similarity between the video image and the point cloud image is determined based on the association matching algorithm and the intersection matching algorithm, so that the determination result of the similarity is more accurate.
In one embodiment, another road condition display method is provided. The method comprises the following steps: on the one hand, the road side base station acquires first form data of traffic participants through a radar and a camera, the first form data are sent to the road side unit, and the road side unit sends the received first form data, the MAP message stored by the road side base station and the real-time RSI message to a target vehicle-mounted unit of a target vehicle; on the other hand, the on-vehicle units of the other vehicles within the preset range of the target vehicle transmit the second shape data to the target on-vehicle unit. The target vehicle-mounted unit sends the residual data to the display device after the first form data and the second form data are subjected to de-duplication, so that corresponding residual traffic participants are displayed on the display device.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a road condition display device for realizing the road condition display method. The implementation scheme of the solution provided by the device is similar to the implementation scheme described in the above method, so the specific limitation in the embodiments of the one or more road condition display devices provided below can be referred to the limitation of the road condition display method hereinabove, and will not be repeated here.
In an exemplary embodiment, as shown in fig. 4, there is provided a road condition display device 400 including: a receiving module 401, a deduplication module 402, and a model display module 403, wherein:
the receiving module 401 is configured to receive first form data of a traffic participant sent by a road side unit and second form data sent by an on-board unit of a vehicle within a preset range, where the form data may be used to characterize at least one model display form.
And a deduplication module 402, configured to perform deduplication processing on the traffic participant and the vehicle based on the first morphology data and the second morphology data, so as to obtain morphology data of the remaining traffic participants.
The model display module 403 is configured to determine a target model display form based on the morphological data of the remaining traffic participants, and display a model corresponding to the remaining traffic participants according to the target model display form.
In some embodiments, the first modality data and the second modality data each include location coordinates of a respective traffic participant; the deduplication module 402 is further configured to determine, for each vehicle-mounted unit within the preset range, a position coordinate range with respect to a position coordinate of a vehicle corresponding to the vehicle-mounted unit as a center; and if the position coordinates of the traffic participants sent by the road side units are in the position coordinate range, deleting the first form data of the corresponding traffic participants, and taking the second form data and the first form data which are not deleted as form data of the rest traffic participants.
In some embodiments, the road condition display device 400 is specifically configured to receive the map message and the road traffic information sent by the road side unit; and displaying corresponding road information based on the map message and the road traffic information.
In some embodiments, the road condition display device 400 is further configured to determine, based on the first form data, the target model display form when the first form data of the traffic participant sent by the roadside unit is received and the second form data sent by the on-board unit of the vehicle in the preset range is not received; and when receiving second form data sent by an on-board unit of the vehicle in a preset range and not receiving first form data of a traffic participant sent by a road side unit, determining the target model display form based on the second form data.
In some embodiments, the road condition display device 400 is further configured to send, to the road side unit, first morphological data including image data of the traffic participant acquired by a camera of the road side base station and/or motion data of the traffic participant acquired by a radar of the road side base station, where the image data is determined by the road side base station based on the acquired video image, and the motion data is determined by the road side base station based on the acquired cloud image.
In some embodiments, the road condition display device 400 is further configured to send, by the road-side base station, the first morphological data to the road-side unit when the similarity between the video image and the point cloud image is greater than a preset similarity.
In some embodiments, the road condition display device 400 is further configured to determine the similarity based on a preset image matching algorithm, where the preset image matching algorithm includes an associative matching algorithm and an intersection ratio matching algorithm.
All or part of the modules in the road condition display device can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one exemplary embodiment, a computer device is provided, which may be a terminal, and an internal structure diagram thereof may be as shown in fig. 5. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program, when executed by the processor, implements a road condition display method.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one exemplary embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of: receiving first form data of traffic participants sent by a road side unit and second form data sent by an on-board unit of a vehicle in a preset range, wherein the form data can be used for representing at least one model display form; performing deduplication processing on the traffic participant and the vehicle based on the first morphological data and the second morphological data to obtain morphological data of the rest traffic participants; and determining a target model display form based on the form data of the rest traffic participants, and displaying the corresponding models of the rest traffic participants according to the target model display form.
In one embodiment, the first modality data and the second modality data, as implemented by the processor when executing the computer program, each include location coordinates of a corresponding traffic participant; the performing deduplication processing on the traffic participant and the vehicle based on the first morphological data and the second morphological data to obtain morphological data of remaining traffic participants, including: determining a position coordinate range by taking the position coordinates of the corresponding vehicle of the vehicle-mounted unit as the center for each vehicle-mounted unit in the preset range; and if the position coordinates of the traffic participants sent by the road side units are in the position coordinate range, deleting the first form data of the corresponding traffic participants, and taking the second form data and the first form data which are not deleted as form data of the rest traffic participants.
In one embodiment, the method implemented when the processor executes the computer program further comprises: receiving map information and road traffic information sent by the road side unit; and displaying corresponding road information based on the map message and the road traffic information.
In one embodiment, the method implemented when the processor executes the computer program further comprises: determining the target model display form based on the first form data when the first form data of the traffic participant sent by the road side unit is received and the second form data sent by the vehicle-mounted unit of the vehicle in the preset range is not received; and when receiving second form data sent by an on-board unit of the vehicle in a preset range and not receiving first form data of a traffic participant sent by a road side unit, determining the target model display form based on the second form data.
In one embodiment, first modality data implemented when the processor executes the computer program is transmitted to the roadside unit by a roadside base station, the first modality data including image data of the traffic participant acquired by a camera of the roadside base station and/or motion data of the traffic participant acquired by a radar of the roadside base station, the image data being determined by the roadside base station based on the acquired video image, the motion data being determined by the roadside base station based on the acquired point cloud image.
In one embodiment, the first modality data implemented when the processor executes the computer program is transmitted by the roadside base station to the roadside unit in the event that a similarity between the video image and the point cloud image is greater than a preset similarity.
In one embodiment, the similarity achieved when the processor executes the computer program is determined based on a preset image matching algorithm including an associative matching algorithm and an cross-over matching algorithm.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of: receiving first form data of traffic participants sent by a road side unit and second form data sent by an on-board unit of a vehicle in a preset range, wherein the form data can be used for representing at least one model display form; performing deduplication processing on the traffic participant and the vehicle based on the first morphological data and the second morphological data to obtain morphological data of the rest traffic participants; and determining a target model display form based on the form data of the rest traffic participants, and displaying the corresponding models of the rest traffic participants according to the target model display form.
In one embodiment, the first modality data and the second modality data, which are implemented when the computer program is executed by the processor, each include position coordinates of a corresponding traffic participant; the performing deduplication processing on the traffic participant and the vehicle based on the first morphological data and the second morphological data to obtain morphological data of remaining traffic participants, including: determining a position coordinate range by taking the position coordinates of the corresponding vehicle of the vehicle-mounted unit as the center for each vehicle-mounted unit in the preset range; and if the position coordinates of the traffic participants sent by the road side units are in the position coordinate range, deleting the first form data of the corresponding traffic participants, and taking the second form data and the first form data which are not deleted as form data of the rest traffic participants.
In one embodiment, the method implemented by the computer program when executed by the processor further comprises: receiving map information and road traffic information sent by the road side unit; and displaying corresponding road information based on the map message and the road traffic information.
In one embodiment, the method implemented by the computer program when executed by the processor further comprises: determining the target model display form based on the first form data when the first form data of the traffic participant sent by the road side unit is received and the second form data sent by the vehicle-mounted unit of the vehicle in the preset range is not received; and when receiving second form data sent by an on-board unit of the vehicle in a preset range and not receiving first form data of a traffic participant sent by a road side unit, determining the target model display form based on the second form data.
In one embodiment, first modality data implemented when the computer program is executed by the processor is transmitted to the roadside unit by a roadside base station, the first modality data including image data of the traffic participant acquired by a camera of the roadside base station and/or movement data of the traffic participant acquired by a radar of the roadside base station, the image data being determined by the roadside base station based on the acquired video image, the movement data being determined by the roadside base station based on the acquired point cloud image.
In one embodiment, the first modality data implemented when the computer program is executed by the processor is transmitted by the roadside base station to the roadside unit in the event that a similarity between the video image and the point cloud image is greater than a preset similarity.
In one embodiment, the degree of similarity achieved when the computer program is executed by the processor is determined based on a preset image matching algorithm including an associative matching algorithm and an cross-over matching algorithm.
It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use, and processing of the related data are required to meet the related regulations.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims (10)

1. A road condition display method, the method comprising:
receiving first form data of traffic participants sent by a road side unit and second form data sent by an on-board unit of a vehicle in a preset range, wherein the form data can be used for representing at least one model display form;
performing deduplication processing on the traffic participant and the vehicle based on the first morphological data and the second morphological data to obtain morphological data of the rest traffic participants;
and determining a target model display form based on the form data of the rest traffic participants, and displaying the corresponding models of the rest traffic participants according to the target model display form.
2. The method of claim 1, wherein the first modality data and the second modality data each include location coordinates of a respective traffic participant; the performing deduplication processing on the traffic participant and the vehicle based on the first morphological data and the second morphological data to obtain morphological data of remaining traffic participants, including:
determining a position coordinate range by taking the position coordinates of the corresponding vehicle of the vehicle-mounted unit as the center for each vehicle-mounted unit in the preset range;
and if the position coordinates of the traffic participants sent by the road side units are in the position coordinate range, deleting the first form data of the corresponding traffic participants, and taking the second form data and the first form data which are not deleted as form data of the rest traffic participants.
3. The method according to claim 1, wherein the method further comprises:
receiving map information and road traffic information sent by the road side unit;
and displaying corresponding road information based on the map message and the road traffic information.
4. The method according to claim 1, wherein the method further comprises:
determining the target model display form based on the first form data when the first form data of the traffic participant sent by the road side unit is received and the second form data sent by the vehicle-mounted unit of the vehicle in the preset range is not received;
and when receiving second form data sent by an on-board unit of the vehicle in a preset range and not receiving first form data of a traffic participant sent by a road side unit, determining the target model display form based on the second form data.
5. The method of claim 1, wherein the first modality data is transmitted to the roadside unit by a roadside base station, the first modality data including image data of the traffic participant acquired by a camera of the roadside base station and/or motion data of the traffic participant acquired by a radar of the roadside base station, the image data being determined by the roadside base station based on the acquired video image, the motion data being determined by the roadside base station based on the acquired point cloud image.
6. The method of claim 5, wherein the first modality data is transmitted by the roadside base station to the roadside unit in the event that a similarity between the video image and the point cloud image is greater than a preset similarity.
7. The method of claim 6, wherein the similarity is determined based on a preset image matching algorithm, the preset image matching algorithm comprising an associative matching algorithm and an cross-over matching algorithm.
8. A road condition display device, the device comprising:
the system comprises a receiving module, a display module and a display module, wherein the receiving module is used for receiving first form data of traffic participants sent by a road side unit and second form data sent by an on-board unit of a vehicle in a preset range, and the form data can be used for representing at least one model display form;
the deduplication module is used for performing deduplication processing on the traffic participants and the vehicles based on the first morphological data and the second morphological data to obtain morphological data of the rest traffic participants;
and the model display module is used for determining a target model display form based on the form data of the rest traffic participants, and displaying the corresponding models of the rest traffic participants according to the target model display form.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
CN202311663976.2A 2023-12-06 2023-12-06 Road condition display method, device, computer equipment and storage medium Pending CN117854272A (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311663976.2A CN117854272A (en) 2023-12-06 2023-12-06 Road condition display method, device, computer equipment and storage medium

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CN117854272A true CN117854272A (en) 2024-04-09

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