CN118470969A - Vehicle visualization method, device, electronic equipment and readable storage medium - Google Patents
Vehicle visualization method, device, electronic equipment and readable storage medium Download PDFInfo
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Abstract
The disclosure provides a vehicle visualization method and device, and relates to the technical field of artificial intelligence such as automatic driving, intelligent traffic, vehicle-road coordination and the like. The vehicle visualization method comprises the following steps: acquiring first vehicle data corresponding to a current vehicle, wherein the first vehicle data comprises first vehicle position data and first vehicle attribute data; acquiring a target vehicle data set sent by the road side equipment, wherein the target vehicle data set comprises second vehicle data corresponding to different vehicles acquired by the road side equipment, and the second vehicle data comprises second vehicle position data and second vehicle attribute data; matching the first vehicle data with at least one second vehicle data in the target vehicle data set, and taking the second vehicle data obtained by matching as target second vehicle data; and taking the vehicle corresponding to the target second vehicle data as a main vehicle, and visualizing the vehicle in a display interface of the current vehicle according to the target second vehicle data and other second vehicle data in the target vehicle data set.
Description
Technical Field
The disclosure relates to the technical field of data processing, in particular to the technical field of artificial intelligence such as automatic driving, intelligent traffic, vehicle-road coordination and the like. Provided are a vehicle visualization method, a vehicle visualization device, an electronic device and a readable storage medium.
Background
The visualization of the vehicle is a process of converting acquired vehicle data into an image or a graphic by using a technique such as image processing, and displaying the image or the graphic on a display interface such as a screen of a mobile terminal in a vehicle or a screen of a vehicle.
However, in the prior art, when the vehicle is visualized, the vehicle end data and the data matched with the current vehicle in the data perceived by the road side equipment are fused first to obtain the fused position data of the current vehicle, and then the vehicle is visualized according to the fused position data of the current vehicle and other vehicle data perceived by the road side equipment.
Disclosure of Invention
According to a first aspect of the present disclosure, there is provided a vehicle visualization method, comprising: acquiring first vehicle data corresponding to a current vehicle, wherein the first vehicle data comprises first vehicle position data and first vehicle attribute data; acquiring a target vehicle data set sent by road side equipment, wherein the target vehicle data set comprises second vehicle data corresponding to different vehicles acquired by the road side equipment, and the second vehicle data comprises second vehicle position data and second vehicle attribute data; matching the first vehicle data with at least one second vehicle data in the target vehicle data set, and taking the second vehicle data obtained by matching as target second vehicle data; and taking the vehicle corresponding to the target second vehicle data as a main vehicle, and visualizing the vehicle in the display interface of the current vehicle according to the target second vehicle data and other second vehicle data in the target vehicle data set.
According to a second method of the present disclosure, there is provided a visualization apparatus of a vehicle, including: a first acquisition unit configured to acquire first vehicle data corresponding to a current vehicle, the first vehicle data including first vehicle position data and first vehicle attribute data; a second obtaining unit, configured to obtain a target vehicle data set sent by a road side device, where the target vehicle data set includes second vehicle data corresponding to different vehicles obtained by the road side device, and the second vehicle data includes second vehicle position data and second vehicle attribute data; the matching unit is used for matching the first vehicle data with at least one second vehicle data in the target vehicle data set, and taking the second vehicle data obtained by matching as target second vehicle data; and the visualization unit is used for taking the vehicle corresponding to the target second vehicle data as a main vehicle, and visualizing the vehicle in the display interface of the current vehicle according to the target second vehicle data and other second vehicle data in the target vehicle data set.
According to a third aspect of the present disclosure, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method as described above.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements a method as described above.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure;
FIG. 2 is a schematic diagram according to a second embodiment of the present disclosure;
FIG. 3 is a schematic diagram according to a third embodiment of the present disclosure;
FIG. 4 is a schematic diagram according to a fourth embodiment of the present disclosure;
FIG. 5 is a schematic diagram according to a fifth embodiment of the present disclosure;
FIG. 6 is a schematic diagram according to a sixth embodiment of the present disclosure;
FIG. 7 is a schematic diagram according to a seventh embodiment of the present disclosure;
fig. 8 is a block diagram of an electronic device for implementing a method of visualizing a vehicle in accordance with an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram according to a first embodiment of the present disclosure. As shown in fig. 1, the vehicle visualization method of the present embodiment specifically includes the following steps:
S101, acquiring first vehicle data corresponding to a current vehicle, wherein the first vehicle data comprises first vehicle position data and first vehicle attribute data;
s102, acquiring a target vehicle data set sent by road side equipment, wherein the target vehicle data set comprises second vehicle data corresponding to different vehicles acquired by the road side equipment, and the second vehicle data comprises second vehicle position data and second vehicle attribute data;
S103, matching the first vehicle data with at least one second vehicle data in the target vehicle data set, and taking the second vehicle data obtained by matching as target second vehicle data;
And S104, taking the vehicle corresponding to the target second vehicle data as a main vehicle, and visualizing the vehicle in a display interface of the current vehicle according to the target second vehicle data and other second vehicle data in the target vehicle data set.
According to the vehicle visualization method, firstly, the target vehicle data set corresponding to the current vehicle and the target vehicle data set sent by the road side equipment is obtained, then, the target second vehicle data matched with the first vehicle data is determined from the target vehicle data set, finally, the vehicle corresponding to the target second vehicle data is used as a main vehicle, the other vehicles around the current vehicle and the current vehicle are visualized in the display interface of the current vehicle according to the other second vehicle data in the target second vehicle data set, the target second vehicle data matched with the first vehicle data is determined from the target vehicle data set, the vehicle can be visualized according to the target vehicle data set, fusion operation between the first vehicle data and the second vehicle data is not required in the visualization process, the vehicle visualization step can be simplified, the vehicle visualization efficiency is improved, the vehicle corresponding to the target second vehicle data is used as the main vehicle, the main vehicle visual angle is shown in the vehicle visualization process, the vehicle visualization accuracy is improved, and the vehicle safety is enhanced.
In the present embodiment, the visualization of the vehicle refers to a process of converting vehicle data into an image or a graphic by using a technique such as image processing, etc., so as to display on a display interface such as a screen of the vehicle or a screen of a mobile terminal in the vehicle.
The visual execution body of the vehicle in this embodiment may be the vehicle itself, and the display interface is a vehicle-mounted screen, or may be a mobile terminal in the vehicle, and the display interface is a screen of the mobile terminal; the vehicle in the present embodiment may be a vehicle having an autopilot capability.
The embodiment executes S101 to obtain first vehicle data corresponding to the current vehicle, including first vehicle position data and first vehicle attribute data.
The first vehicle position data are acquired in real time through a position sensor installed on the vehicle, and the first vehicle attribute data are mobile terminals pre-stored in the vehicle or in the vehicle.
The embodiment executes the first vehicle attribute data acquired in S101, including license plate data, body color data, vehicle type data, and the like of the current vehicle; the present embodiment does not limit the type of attribute data.
In this embodiment, a vehicle traveling on a road may establish a communication link with a road side device, and information interaction between the two may be achieved through the established communication link.
The road side device in this embodiment may include a sensing module and a calculating module, where the sensing module is configured to acquire position information and images of vehicles traveling on a road, and the sensing module may further transmit the acquired images to the calculating module, so that the calculating module performs corresponding processing according to the images, for example, determining vehicles included in the images, attribute data corresponding to different vehicles, and so on.
The embodiment executes the target vehicle data set sent by the road side device acquired in S102, where the target vehicle data set includes second vehicle data corresponding to different vehicles acquired by the road side device, and the second vehicle data includes second vehicle position data and second vehicle attribute data acquired by the road side device for each vehicle.
The second vehicle attribute data comprises license plate data, vehicle body color data, vehicle type data and the like of corresponding vehicles acquired by road side equipment.
The second vehicle data corresponding to the different vehicles acquired in S102 may further include a vehicle number corresponding to the vehicle, in addition to the second vehicle position data and the second vehicle attribute data, and a unique one of the vehicles may be determined by the different vehicle numbers.
In a practical scenario, a vehicle may continuously send its acquired vehicle data sets to the vehicle after entering the perceived range of a certain roadside device, i.e., the vehicle receives multiple vehicle data sets sent by the roadside device over a period of time.
Therefore, in executing S102 to acquire the target vehicle data set transmitted by the roadside apparatus, the present embodiment may employ the following implementation manner: acquiring a plurality of vehicle data sets transmitted by the road side equipment, and determining a second time stamp corresponding to each vehicle data set, wherein the second time stamp represents the time when the road side equipment acquires the vehicle data sets; acquiring a first time stamp corresponding to the first vehicle data, wherein the first time stamp represents the time when the current vehicle acquires the first vehicle data; and taking the vehicle data set corresponding to the second time stamp closest to the first time stamp as a target vehicle data set.
That is, the present embodiment selects one target vehicle data set from among a plurality of vehicle data sets transmitted from the roadside apparatus according to the time stamp at the time of acquiring the vehicle data set and the first vehicle data, ensures that the target vehicle data set and the first vehicle data are as close as possible in acquisition time, and can promote accuracy of the acquired target vehicle data set.
The present embodiment may further include the following after executing S102 to acquire the target vehicle data set: obtaining a first time difference value according to a second time stamp corresponding to the target vehicle data set and a first time stamp corresponding to the first vehicle data, for example, taking a subtraction result between the second time stamp and the first time stamp as the first time difference value; and adjusting the first vehicle position data in the first vehicle data according to the determined first time difference value and the running speed of the current vehicle.
For example, if the first time difference between the second time stamp and the first time stamp is a negative value, which indicates that the acquiring the target vehicle data set occurs before the acquiring the first vehicle data, the embodiment may obtain the corrected distance according to the first time difference and the current running speed of the vehicle when executing S102, and then adjust the first position data according to the corrected distance, for example, subtract the corrected distance from the first vehicle position data, where the current vehicle is located, to be the adjusted first vehicle position data.
Similarly, if the first time difference between the second time stamp and the first time stamp is a positive value, which indicates that the acquisition of the target vehicle data set occurs after the first vehicle data is acquired, the embodiment may obtain the correction distance according to the first time difference and the current running speed of the vehicle when executing S102, and then adjust the first position data according to the correction distance, for example, after adding the correction distance to the first vehicle position data, the position data of the current vehicle is used as the adjusted first vehicle position data.
That is, the present embodiment can also adjust the deviation between the position data according to the second time stamp corresponding to the target vehicle data set and the first time stamp corresponding to the first vehicle data, so as to align the first vehicle position data with the second vehicle position data in time, which can improve the accuracy in the subsequent matching of the position according to the first vehicle data and the second vehicle data.
In this embodiment, after the first vehicle data corresponding to the current vehicle is acquired in S101 and the target vehicle data set sent by the roadside apparatus is acquired in S102, S103 is performed to match the first vehicle data with at least one second vehicle data in the target vehicle data set, and the second vehicle data obtained by the matching is used as the target second vehicle data.
It can be understood that the second target vehicle data obtained by the matching in S103 is the vehicle data corresponding to the current vehicle in the target vehicle data set acquired by the roadside device.
In the embodiment, when S103 is executed to match the first vehicle data with at least one second vehicle data in the target vehicle data set, and the second vehicle data obtained by the matching is taken as the target second vehicle data, the implementation manner may be as follows: matching the first vehicle position data with at least one second vehicle position data in the target vehicle data set to obtain a position matching score between the first vehicle data and the at least one second vehicle data, wherein the closer the distance between the position data is, the higher the position matching score is; matching the first vehicle attribute data with at least one second vehicle attribute data in the target vehicle data set to obtain attribute matching scores between the first vehicle data and the at least one second vehicle data, wherein the more similar the attribute data are, the higher the attribute matching scores are; obtaining a comprehensive matching score between the first vehicle data and at least one second vehicle data according to the position matching score and the attribute matching score; and taking the second vehicle data with the largest corresponding comprehensive matching score as target second vehicle data.
That is, the present embodiment performs matching between the vehicle-end data and the road-side data from two aspects of the position data and the attribute data, so as to determine, according to the obtained comprehensive matching score, the target second vehicle data in the target vehicle data set, which is matched with the current vehicle, and because the used matching information is richer, the present embodiment can improve the accuracy of the target second vehicle data.
Since the attribute data of the vehicle of the present embodiment further includes attribute data corresponding to different types, when executing S103, the present embodiment may obtain, for each type of attribute data, attribute matching scores corresponding to the corresponding type, respectively, and further use the addition result between the attribute matching scores corresponding to all types as the attribute matching score between the first vehicle data and the second vehicle data.
In the present embodiment, when S103 is executed, the following calculation formula may be used to obtain the comprehensive matching score between the first vehicle data and the second vehicle data:
Score(i)＝αd*δd(i)+αc*δc(i)+αt*δt(i)+αp*δp(i)+…
In the above formula: score (i) is a composite match Score between the ith second vehicle data and the first vehicle data; δ d (i) is the position matching score between the ith second vehicle data and the first vehicle data; δ c (i) is a vehicle color matching score between the ith second vehicle data and the first vehicle data, the closer the color is, the greater the score; δ t (i) is a vehicle type matching score between the ith second vehicle data and the first vehicle data, the closer the type is, the greater the score is; delta p (i) is the license plate matching score between the ith second vehicle data and the first vehicle data, if the license plates are the same, the upper limit is obtained, otherwise, the lower limit is obtained; α d、αc、αt、αp is a weight value of a corresponding dimension, which can be preset, and the value in this embodiment can be α d＝5、αc＝1、αt＝2、αp =20; the weight value of the matching dimension of the corresponding license plate is larger than that of other matching dimensions.
For example, if the ith second vehicle data includes the second vehicle position data i, the second vehicle color data i, the second vehicle type data i and the second vehicle license plate data i, and if the first vehicle data includes the first vehicle position data, the first vehicle color data, the first vehicle type data and the first vehicle license plate data, when the calculation of the comprehensive matching score is performed in S103, the matching score corresponding to each dimension may be calculated for the vehicle data belonging to the same dimension, for example, the position matching score is obtained according to the distance between the position data, the color matching score is obtained according to the similarity between the color data, the type matching score is obtained according to the similarity between the type data, and the license plate matching score is obtained according to whether the two license plate data are consistent; and then obtaining the comprehensive matching score between the ith second vehicle data and the first vehicle data according to the weight values and the matching scores corresponding to different dimensions.
In this embodiment, after the second vehicle data obtained by matching is used as the target second vehicle data in step S103, step S104 is performed to use the vehicle corresponding to the target second vehicle data as the host vehicle, and the vehicle is visualized in the display interface of the current vehicle according to the target second vehicle data and other second vehicle data in the target vehicle data set.
Because the vehicle corresponding to the target second vehicle data obtained by executing S103 in the embodiment is the current vehicle, when executing S104 in the embodiment, the vehicle corresponding to the target second vehicle data is used as the host vehicle, that is, the view angle of the host vehicle is shown when the vehicle is visualized, so that the current vehicle and the surrounding vehicles of the current vehicle are visualized in the display interface of the current vehicle according to different second vehicle data in the target vehicle data set.
That is, the present embodiment can perform visualization of the vehicle with the current vehicle as the main vehicle viewing angle, so that the visualization of the vehicle can embody the main vehicle viewing angle, thereby enhancing the effect of vehicle visualization.
For example, if the target vehicle data set includes the second vehicle data 1, the second vehicle data 2, the second vehicle data 3 and the second vehicle data 4, and if the second vehicle data 2 is the obtained target second vehicle data, the present embodiment uses the vehicle corresponding to the second vehicle data 2 as the host vehicle and the vehicles corresponding to the other second vehicle data as the other vehicles around the host vehicle when executing S104, and then visualizes the vehicles in the display interface according to the second vehicle data corresponding to the host vehicle and the other vehicles, for example, the vehicle position data corresponding to the different vehicles, so that the visualized result in the display interface can reflect the positional relationship between the current vehicle and the other vehicles around and the positional relationship between the vehicles around.
Fig. 2 is a schematic diagram according to a second embodiment of the present disclosure. As shown in fig. 2, the present embodiment may further include the following:
S201, acquiring a first time difference value according to a second time stamp corresponding to the target vehicle data set and a first time stamp corresponding to the first vehicle data;
S202, under the condition that the first time difference value is larger than or equal to a first preset time threshold value, the vehicle is visualized in a display interface of the current vehicle according to at least one second vehicle data in the target vehicle data set.
That is, in this embodiment, the time stamps corresponding to the target vehicle data set and the first vehicle data are used for quality evaluation of the data for vehicle visualization, and when it is determined that the time difference between the time stamps corresponding to the target vehicle data set and the first vehicle data is large, it is indicated that there is a large time deviation between the vehicle end data and the road side end data, the quality of the obtained vehicle data is low, the view angle of the host vehicle is not reflected when the vehicle visualization is performed, misguidance is avoided when the user in the vehicle understands the traffic situation around the vehicle, and thus the accuracy of vehicle visualization is improved.
Fig. 3 is a schematic diagram according to a third embodiment of the present disclosure. As shown in fig. 3, the present embodiment may further include the following:
S301, acquiring a maximum comprehensive matching score between the first vehicle data and the at least one second vehicle data;
S302, under the condition that the maximum comprehensive matching score is smaller than a preset score threshold, the vehicle is visualized in a display interface of the current vehicle according to at least one second vehicle data in the target vehicle data set.
That is, in this embodiment, after matching between vehicle data according to richer multidimensional information, quality evaluation is performed on data for vehicle visualization according to the obtained comprehensive matching score, if the obtained maximum comprehensive matching score is smaller, it is greatly indicated that the target vehicle data set does not include second vehicle data corresponding to the current vehicle, that is, the obtained vehicle data has lower quality, so in this case, the main vehicle viewing angle is not reflected when the vehicle visualization is performed, and misguidance is avoided when the user in the vehicle understands traffic situation around the vehicle, thereby improving accuracy of vehicle visualization.
Fig. 4 is a schematic diagram according to a fourth embodiment of the present disclosure. As shown in fig. 4, the present embodiment may further include the following:
s401, under the condition that the target second vehicle data cannot be obtained, acquiring a second time difference value between the time of the current matching and the time of the previous successful matching;
s402, under the condition that the second time difference value is smaller than a second preset time threshold value, acquiring a vehicle number corresponding to historical target second vehicle data when the previous successful matching is performed, and taking the vehicle number as a target vehicle number;
S403, taking second vehicle data corresponding to the target vehicle number in the target vehicle data set as the target second vehicle data.
That is, the present embodiment is also capable of providing a parking function of successfully matched vehicle data at the roadside end, continuously using the vehicle number corresponding to the successfully matched history target second vehicle data for a certain period of time to continuously regard the second vehicle data corresponding to the vehicle number as the target second vehicle data, so that the main vehicle viewing angle can be embodied when the visualization of the vehicle is performed.
In the present embodiment, when S401 is executed, it may be determined that the target second vehicle data is not available in a case where it is determined that the maximum comprehensive matching score is smaller than the preset score threshold.
In the embodiment, when S401 is executed, the successful matching is that the target second vehicle data can be determined from the target vehicle data set according to the first vehicle data, and the time when each matching is successful is recorded.
It can be understood that the target second vehicle data that has been successfully matched in the present embodiment is historical target second vehicle data; the present embodiment may record the vehicle number corresponding to the target second vehicle data each time the target second vehicle data is obtained, and update the previously recorded vehicle number with the vehicle number recorded last time.
Fig. 5 is a schematic diagram according to a fifth embodiment of the present disclosure. A schematic diagram of vehicle visualization at a host vehicle perspective is shown in fig. 5; the main vehicle visual angle is displayed in the vehicle visualization process, so that the position relationship between the current vehicle and the surrounding vehicles and the position relationship between the surrounding vehicles can be perceived more clearly by the personnel in the vehicle.
Fig. 6 is a schematic diagram according to a sixth embodiment of the present disclosure. A schematic diagram of vehicle visualization without a host vehicle perspective is shown in fig. 6; in the vehicle visualization process, the view angle of the main vehicle is not displayed, the purpose of visualizing the vehicle on the display interface is only achieved, the in-vehicle user cannot perceive the position relationship between the current vehicle and the surrounding vehicles according to the visual content, and in the case, the in-vehicle user can be further reminded, and the displayed visual content is irrelevant to the actual running of the current vehicle.
Fig. 7 is a schematic diagram according to a seventh embodiment of the present disclosure. As shown in fig. 7, a vehicle visualization apparatus 700 of the present embodiment includes:
A first obtaining unit 701, configured to obtain first vehicle data corresponding to a current vehicle, where the first vehicle data includes first vehicle position data and first vehicle attribute data;
A second obtaining unit 702, configured to obtain a target vehicle data set sent by a roadside apparatus, where the target vehicle data set includes second vehicle data corresponding to different vehicles obtained by the roadside apparatus, and the second vehicle data includes second vehicle position data and second vehicle attribute data;
a matching unit 703, configured to match the first vehicle data with at least one second vehicle data in the target vehicle data set, and use the second vehicle data obtained by matching as target second vehicle data;
And the visualization unit 704 is configured to take the vehicle corresponding to the target second vehicle data as a host vehicle, and visualize the vehicle in the display interface of the current vehicle according to the target second vehicle data and other second vehicle data in the target vehicle data set.
The first vehicle data corresponding to the current vehicle acquired by the first acquisition unit 701 includes first vehicle position data and first vehicle attribute data.
The first vehicle position data are acquired in real time through a position sensor installed on the vehicle, and the first vehicle attribute data are mobile terminals pre-stored in the vehicle or in the vehicle.
The first vehicle attribute data acquired by the first acquisition unit 701 includes license plate data, body color data, vehicle type data, and the like of the current vehicle; the present embodiment does not limit the type of attribute data.
In this embodiment, a vehicle traveling on a road may establish a communication link with a road side device, and information interaction between the two may be achieved through the established communication link.
The road side device in this embodiment may include a sensing module and a calculating module, where the sensing module is configured to acquire position information and images of vehicles traveling on a road, and the sensing module may further transmit the acquired images to the calculating module, so that the calculating module performs corresponding processing according to the images, for example, determining vehicles included in the images, attribute data corresponding to different vehicles, and so on.
The target vehicle data set sent by the road side device and acquired by the second acquiring unit 702 includes second vehicle data corresponding to different vehicles acquired by the road side device, where the second vehicle data includes second vehicle position data and second vehicle attribute data acquired by the road side device for each vehicle.
The second vehicle attribute data comprises license plate data, vehicle body color data, vehicle type data and the like of corresponding vehicles acquired by road side equipment.
The second vehicle data corresponding to the different vehicles acquired by the second acquiring unit 702 may further include a vehicle number corresponding to the vehicle, in addition to the second vehicle position data and the second vehicle attribute data, and a unique one of the vehicles may be determined by the different vehicle numbers.
In a practical scenario, a vehicle may continuously send its acquired vehicle data sets to the vehicle after entering the perceived range of a certain roadside device, i.e., the vehicle receives multiple vehicle data sets sent by the roadside device over a period of time.
Accordingly, the second acquisition unit 702 may employ the following implementation manner when acquiring the target vehicle data set transmitted by the roadside apparatus: acquiring a plurality of vehicle data sets sent by road side equipment, and determining a second time stamp corresponding to each vehicle data set; acquiring a first timestamp corresponding to first vehicle data; and taking the vehicle data set corresponding to the second time stamp closest to the first time stamp as a target vehicle data set.
That is, the second acquisition unit 702 selects one target vehicle data set from among the plurality of vehicle data sets transmitted from the roadside apparatus, based on the time stamp at the time of acquiring the vehicle data set and the first vehicle data, ensures that the target vehicle data set and the first vehicle data are as close as possible in acquisition time, and can promote accuracy of the acquired target vehicle data set.
The vehicle visualization apparatus 700 of the present embodiment may further include an adjustment unit 705 for performing the following: acquiring a first time difference value according to the second time stamp corresponding to the target vehicle data set and the first time stamp corresponding to the first vehicle data; and adjusting the first vehicle position data in the first vehicle data according to the determined first time difference value and the running speed of the current vehicle.
That is, the adjustment unit 705 may also adjust the deviation between the position data based on the second time stamp corresponding to the target vehicle data set and the first time stamp corresponding to the first vehicle data, thereby temporally aligning the first vehicle position data with the second vehicle position data, which can improve the accuracy in the subsequent matching of the position according to the first vehicle data with the second vehicle data.
In the present embodiment, after the first acquiring unit 701 acquires the first vehicle data corresponding to the current vehicle and the second acquiring unit 702 acquires the target vehicle data set transmitted by the roadside apparatus, the matching unit 703 matches the first vehicle data with at least one second vehicle data in the target vehicle data set, and the second vehicle data obtained by the matching is regarded as target second vehicle data.
It may be understood that the target second vehicle data obtained by matching by the matching unit 703 is the vehicle data corresponding to the current vehicle in the target vehicle data set acquired by the roadside apparatus.
The matching unit 703 may adopt, when matching the first vehicle data with at least one second vehicle data in the target vehicle data set and using the second vehicle data obtained by the matching as the target second vehicle data, implementation manners as follows: matching the first vehicle position data with at least one second vehicle position data in the target vehicle data set to obtain a position matching score between the first vehicle data and the at least one second vehicle data; matching the first vehicle attribute data with at least one second vehicle attribute data in the target vehicle data set to obtain an attribute matching score between the first vehicle data and the at least one second vehicle data; obtaining a comprehensive matching score between the first vehicle data and at least one second vehicle data according to the position matching score and the attribute matching score; and taking the second vehicle data with the largest corresponding comprehensive matching score as target second vehicle data.
That is, the matching unit 703 performs matching between the vehicle-end data and the road-side data from both the position data and the attribute data, so as to determine the target second vehicle data matching the current vehicle in the target vehicle data set, and the accuracy of the target second vehicle data can be improved because the used matching information is richer.
Since the attribute data of the vehicle of the present embodiment further includes attribute data corresponding to different types, the matching unit 703 may obtain, for each type of attribute data, an attribute matching score corresponding to the type, respectively, and further use the addition result between the attribute matching scores corresponding to all types as the attribute matching score between the first vehicle data and the second vehicle data.
In this embodiment, after the matching unit 703 uses the second vehicle data obtained by matching as the target second vehicle data, the visualization unit 704 uses the vehicle corresponding to the target second vehicle data as the host vehicle, and visualizes the vehicle in the display interface of the current vehicle according to the target second vehicle data and other second vehicle data in the target vehicle data set.
Since the vehicle corresponding to the target second vehicle data obtained by the matching unit 703 is the current vehicle, the visualization unit 704 uses the vehicle corresponding to the target second vehicle data as the host vehicle, that is, the perspective of the host vehicle is shown when the vehicle is visualized, so that the current vehicle and the surrounding vehicles of the current vehicle are visualized in the display interface of the current vehicle according to different second vehicle data in the target vehicle data set.
That is, the visualization unit 704 can perform the visualization of the vehicle with the current vehicle as the main vehicle viewing angle, so that the visualization of the vehicle can embody the main vehicle viewing angle, thereby enhancing the effect of the vehicle visualization.
The vehicle visualization apparatus 700 of the present embodiment may further include a first evaluation unit 706 for performing the following: acquiring a first time difference value according to the second time stamp corresponding to the target vehicle data set and the first time stamp corresponding to the first vehicle data; and under the condition that the first time difference value is larger than or equal to a first preset time threshold value, the vehicle is visualized in a display interface of the current vehicle according to at least one second vehicle data in the target vehicle data set.
That is, the first evaluation unit 706 performs quality evaluation on the data for vehicle visualization by corresponding to the target vehicle data set and the timestamp of the first vehicle data, and when it is determined that the time difference between the timestamps corresponding to the target vehicle data set and the first vehicle data is large, it indicates that there is a large time deviation between the vehicle end data and the road side end data, the quality of the acquired vehicle data is low, the view angle of the host vehicle is not reflected when the vehicle is visualized, and misguidance of the user in the vehicle when understanding the traffic situation around the vehicle is avoided, so that the accuracy of vehicle visualization is improved.
The vehicle visualization apparatus 700 of the present embodiment may further include a second evaluation unit 707 for performing the following: obtaining a maximum comprehensive matching score between the first vehicle data and at least one second vehicle data; and if the maximum comprehensive matching score is determined to be smaller than the preset score threshold value, the vehicle is visualized in a display interface of the current vehicle according to at least one second vehicle data in the target vehicle data set.
That is, the second evaluation unit 707 performs quality evaluation on the data for vehicle visualization according to the obtained comprehensive matching score after performing matching between the vehicle data according to the richer multidimensional information, and if the obtained maximum comprehensive matching score is smaller, it indicates to a great extent that the target vehicle data set does not include the second vehicle data corresponding to the current vehicle, that is, the obtained vehicle data has lower quality, so in this case, the main vehicle viewing angle is not reflected when performing vehicle visualization, and misguidance is avoided for the in-vehicle user when understanding the traffic situation around the vehicle, thereby improving the accuracy of vehicle visualization.
The vehicle visualization apparatus 700 of the present embodiment may further include a residence unit 708 for performing the following: under the condition that the target second vehicle data cannot be obtained is determined, a second time difference value between the time of the current matching and the time of the previous successful matching is obtained; under the condition that the second time difference value is smaller than a second preset time threshold value, acquiring a vehicle number corresponding to historical target second vehicle data when the previous successful matching is performed, and taking the vehicle number as a target vehicle number; and taking the second vehicle data corresponding to the target vehicle number in the target vehicle data set as target second vehicle data.
That is, the parking unit 708 is also capable of providing a parking function of successfully matched roadside-side vehicle data, continuously using the vehicle number corresponding to the successfully matched history target second vehicle data for a certain period of time to continuously regard the second vehicle data corresponding to the vehicle number as the target second vehicle data, so that the main vehicle viewing angle can be embodied when the visualization of the vehicle is performed.
The parking unit 708 may determine that the target second vehicle data is not available if it is determined that the maximum composite match score is less than the preset score threshold.
It can be understood that the target second vehicle data that has been successfully matched in the present embodiment is historical target second vehicle data; the present embodiment may record the vehicle number corresponding to the target second vehicle data each time the target second vehicle data is obtained, and update the previously recorded vehicle number with the vehicle number recorded last time.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
As shown in fig. 8, is a block diagram of an electronic device of a visualization method of a vehicle according to an embodiment of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 8, the apparatus 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM802, and the RAM803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.
Various components in device 800 are connected to I/O interface 805, including: an input unit 806 such as a keyboard, mouse, etc.; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, etc.; and a communication unit 809, such as a network card, modem, wireless communication transceiver, or the like. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 801 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as a vehicle visualization method. For example, in some embodiments, the vehicle visualization method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 808.
In some embodiments, part or all of the computer program may be loaded and/or installed onto device 800 via ROM802 and/or communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the vehicle visualization method described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the vehicle's visualization method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here can be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable vehicle visualization device such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a presentation device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for presenting information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service ("Virtual PRIVATE SERVER" or simply "VPS") are overcome. The server may also be a server of a distributed system or a server that incorporates a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (17)
1. A method of visualizing a vehicle, comprising:
Acquiring first vehicle data corresponding to a current vehicle, wherein the first vehicle data comprises first vehicle position data and first vehicle attribute data;
acquiring a target vehicle data set sent by road side equipment, wherein the target vehicle data set comprises second vehicle data corresponding to different vehicles acquired by the road side equipment, and the second vehicle data comprises second vehicle position data and second vehicle attribute data;
matching the first vehicle data with at least one second vehicle data in the target vehicle data set, and taking the second vehicle data obtained by matching as target second vehicle data;
And taking the vehicle corresponding to the target second vehicle data as a main vehicle, and visualizing the vehicle in the display interface of the current vehicle according to the target second vehicle data and other second vehicle data in the target vehicle data set.
2. The method of claim 1, wherein the acquiring the target vehicle data set transmitted by the roadside device comprises:
acquiring a plurality of vehicle data sets sent by the road side equipment, and determining a second time stamp corresponding to each vehicle data set;
Acquiring a first timestamp corresponding to the first vehicle data;
And taking a vehicle data set corresponding to a second time stamp closest to the first time stamp as the target vehicle data set.
3. The method of claim 1, wherein said matching the first vehicle data with at least one second vehicle data in the target vehicle data set, the matching second vehicle data as target second vehicle data comprising:
matching the first vehicle position data with at least one second vehicle position data in the target vehicle data set to obtain a position matching score between the first vehicle data and the at least one second vehicle data;
Matching the first vehicle attribute data with at least one second vehicle attribute data in the target vehicle data set to obtain an attribute matching score between the first vehicle data and the at least one second vehicle data;
Obtaining a comprehensive matching score between the first vehicle data and the at least one second vehicle data according to the position matching score and the attribute matching score;
and taking the second vehicle data with the largest corresponding comprehensive matching score as the target second vehicle data.
4. The method of claim 1, further comprising,
Acquiring a first time difference value according to a second time stamp corresponding to the target vehicle data set and a first time stamp corresponding to the first vehicle data;
And under the condition that the first time difference value is larger than or equal to a first preset time threshold value, the vehicle is visualized in a display interface of the current vehicle according to at least one second vehicle data in the target vehicle data set.
5. The method of claim 3, further comprising,
Obtaining a maximum composite match score between the first vehicle data and the at least one second vehicle data;
And under the condition that the maximum comprehensive matching score is smaller than a preset score threshold value, visualizing the vehicle in a display interface of the current vehicle according to at least one second vehicle data in the target vehicle data set.
6. The method of claim 1, further comprising,
Under the condition that the target second vehicle data cannot be obtained is determined, a second time difference value between the time of the current matching and the time of the previous successful matching is obtained;
Under the condition that the second time difference value is smaller than a second preset time threshold value, acquiring a vehicle number corresponding to historical target second vehicle data when the previous successful matching is performed, and taking the vehicle number as a target vehicle number;
and taking second vehicle data corresponding to the target vehicle number in the target vehicle data set as the target second vehicle data.
7. The method of claim 1, further comprising,
Acquiring a first time difference value according to a second time stamp corresponding to the target vehicle data set and a first time stamp corresponding to the first vehicle data;
and adjusting first vehicle position data in the first vehicle data according to the first time difference value and the running speed of the current vehicle.
8. A vehicle visualization apparatus, comprising:
A first acquisition unit configured to acquire first vehicle data corresponding to a current vehicle, the first vehicle data including first vehicle position data and first vehicle attribute data;
A second obtaining unit, configured to obtain a target vehicle data set sent by a road side device, where the target vehicle data set includes second vehicle data corresponding to different vehicles obtained by the road side device, and the second vehicle data includes second vehicle position data and second vehicle attribute data;
The matching unit is used for matching the first vehicle data with at least one second vehicle data in the target vehicle data set, and taking the second vehicle data obtained by matching as target second vehicle data;
And the visualization unit is used for taking the vehicle corresponding to the target second vehicle data as a main vehicle, and visualizing the vehicle in the display interface of the current vehicle according to the target second vehicle data and other second vehicle data in the target vehicle data set.
9. The apparatus according to claim 8, wherein the second acquisition unit, when acquiring the target vehicle data set transmitted by the roadside device, specifically performs:
acquiring a plurality of vehicle data sets sent by the road side equipment, and determining a second time stamp corresponding to each vehicle data set;
Acquiring a first timestamp corresponding to the first vehicle data;
And taking a vehicle data set corresponding to a second time stamp closest to the first time stamp as the target vehicle data set.
10. The apparatus according to claim 8, wherein the matching unit, when matching the first vehicle data with at least one second vehicle data in the target vehicle data set, specifically performs:
matching the first vehicle position data with at least one second vehicle position data in the target vehicle data set to obtain a position matching score between the first vehicle data and the at least one second vehicle data;
Matching the first vehicle attribute data with at least one second vehicle attribute data in the target vehicle data set to obtain an attribute matching score between the first vehicle data and the at least one second vehicle data;
Obtaining a comprehensive matching score between the first vehicle data and the at least one second vehicle data according to the position matching score and the attribute matching score;
and taking the second vehicle data with the largest corresponding comprehensive matching score as the target second vehicle data.
11. The apparatus of claim 8, further comprising a first evaluation unit to perform:
acquiring a first time difference value according to a second time stamp corresponding to the target vehicle data set and a first time stamp corresponding to the first vehicle data;
And under the condition that the first time difference value is larger than or equal to a first preset time threshold value, the vehicle is visualized in a display interface of the current vehicle according to at least one second vehicle data in the target vehicle data set.
12. The apparatus of claim 10, further comprising a second evaluation unit to perform:
Obtaining a maximum composite match score between the first vehicle data and the at least one second vehicle data;
And under the condition that the maximum comprehensive matching score is smaller than a preset score threshold value, visualizing the vehicle in a display interface of the current vehicle according to at least one second vehicle data in the target vehicle data set.
13. The apparatus of claim 8, further comprising a residence unit to perform:
Under the condition that the target second vehicle data cannot be obtained is determined, a second time difference value between the time of the current matching and the time of the previous successful matching is obtained;
Under the condition that the second time difference value is smaller than a second preset time threshold value, acquiring a vehicle number corresponding to historical target second vehicle data when the previous successful matching is performed, and taking the vehicle number as a target vehicle number;
and taking second vehicle data corresponding to the target vehicle number in the target vehicle data set as the target second vehicle data.
14. The apparatus of claim 8, further comprising an adjustment unit to perform:
acquiring a first time difference value according to a second time stamp corresponding to the target vehicle data set and a first time stamp corresponding to the first vehicle data;
and adjusting first vehicle position data in the first vehicle data according to the first time difference value and the running speed of the current vehicle.
15. An electronic device, comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
16. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.
17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-7.
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