CN117111052A - Target vehicle tracking method, system, target vehicle tracking device and storage medium - Google Patents
Target vehicle tracking method, system, target vehicle tracking device and storage medium Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The application provides a target vehicle tracking method, a target vehicle tracking system, target vehicle tracking equipment and a storage medium, wherein the method comprises the following steps: when a target vehicle is detected to pass through a first intersection, acquiring traveling data of the target vehicle when the target vehicle passes through the first intersection, wherein the traveling data comprises traveling direction information; selecting at least one alternative subordinate intersection corresponding to the first intersection, and acquiring intersection direction information corresponding to the alternative subordinate intersection and the travelling direction information; selecting a next intersection for predicting the entrance of the target vehicle from the candidate subordinate intersections as a second intersection according to the traveling direction information of the target vehicle and intersection direction information corresponding to the traveling direction information of each candidate subordinate intersection; and sending the coordination control instruction to the tracking resource equipment corresponding to the second intersection. The application improves the tracking efficiency of the target vehicle by pre-judging the traveling direction of the target vehicle and coordinating the available tracking resource equipment of the traveling route in front in advance.
Description
Technical Field
The present application relates to the field of vehicle tracking technologies, and in particular, to a target vehicle tracking method, a target vehicle tracking system, a target vehicle tracking device, and a storage medium.
Background
The real-time tracking of the target vehicle is a key link in police traffic, and can be applied to scenes such as crime illegal target vehicle escape and surrounding. At present, the conventional realization logic is that a target vehicle is screened out by taking the attribute of the target vehicle such as license plates, vehicle types, colors and the like as a characteristic on the basis of a video image recognition technology through intersection monitoring equipment, and then warning is carried out. The passive response type traffic mode is characterized in that the next operation can be carried out only if the target vehicle is monitored at the intersection, and the target vehicle is very likely to leave the current intersection, so that the delay is high, and the traffic value is greatly reduced. In addition, in other application scenarios where real-time tracking of the target vehicle is required, for example, when the target vehicle position needs to be grasped in real time to provide more accurate navigation for the target vehicle, the navigation effect is greatly compromised due to the high delay of tracking the target vehicle.
Disclosure of Invention
Aiming at the problems in the prior art, the application aims to provide a target vehicle tracking method, a target vehicle tracking system, target vehicle tracking equipment and a storage medium, and tracking resource equipment which can be used for a forward travel route is coordinated in advance by prejudging the travel direction of a target vehicle, so that the target vehicle tracking efficiency is improved.
The embodiment of the application provides a target vehicle tracking method, which comprises the following steps:
when a target vehicle is detected to pass through a first intersection, acquiring traveling data of the target vehicle when the target vehicle passes through the first intersection, wherein the traveling data comprises traveling direction information;
selecting at least one alternative subordinate intersection corresponding to the first intersection, and acquiring intersection direction information corresponding to the alternative subordinate intersection and the travelling direction information;
selecting a next intersection for predicting the entrance of the target vehicle from the candidate subordinate intersections as a second intersection according to the traveling direction information of the target vehicle and intersection direction information corresponding to the traveling direction information of each candidate subordinate intersection;
and sending a coordination control instruction to tracking resource equipment corresponding to the second intersection, wherein the coordination control instruction is used for indicating the tracking resource equipment to start executing a target vehicle tracking task.
According to the target vehicle tracking method, firstly, the advancing direction information of the target vehicle when passing through the first intersection is obtained, the intersection direction information of each alternative subordinate intersection is obtained, the advancing direction information of the target vehicle and the intersection direction information of each alternative subordinate intersection can be combined to predict the advancing route of the target vehicle, the next second intersection into which the target vehicle is predicted to advance is determined, then a coordination control instruction is sent to tracking resource equipment corresponding to the second intersection in advance, and the tracking resource equipment corresponding to the second intersection can be prepared for follow-up tracking in advance. By adopting the scheme, the continuity of tracking the target vehicle can be improved, the tracking delay caused by the fact that the corresponding tracking resource equipment is not ready when the target vehicle runs to the second intersection is avoided, and the effectiveness of continuous tracking of the target vehicle is greatly improved.
In some embodiments, the travel direction information includes a first direction angle of a travel direction of the target vehicle relative to a standard direction, the intersection direction information includes a second direction angle of a first entrance lane of the alternative subordinate intersection relative to the standard direction, the first entrance lane being an entrance lane of the alternative subordinate intersection corresponding to the travel direction information;
selecting a next intersection where the predicted target vehicle is driven from the candidate subordinate intersections, wherein the next intersection comprises comparing the first direction angle with the second direction angle of the first entrance lane of each candidate subordinate intersection, and selecting an intersection corresponding to the second direction angle closest to the first direction angle as the next intersection where the predicted target vehicle is driven.
In some embodiments, the travel data further includes target vehicle position coordinates and target vehicle travel speed;
the step of sending the coordination control instruction to the tracking resource equipment corresponding to the second intersection comprises the following steps:
calculating a simulated driving track of the target vehicle from the target vehicle position coordinate to a first entrance lane of the second intersection according to the target vehicle position coordinate and the first entrance lane information of the second intersection;
Calculating the arrival time of the target vehicle from traveling to the first entrance lane of the second intersection according to the traveling distance of the simulated traveling path and the traveling speed of the target vehicle;
calculating the sending time of the coordination control instruction according to the arrival time and the preset elastic time;
and sending the coordination control instruction to tracking resource equipment corresponding to the second intersection at the sending time.
In some embodiments, when the target vehicle is detected to pass through the first intersection, the method for acquiring the travel data of the target vehicle when the target vehicle passes through the first intersection comprises the following steps:
detecting that a target vehicle enters a position area range of the first intersection;
acquiring positioning source data corresponding to the target vehicle in real time, calculating real-time position coordinates and real-time direction angles relative to the standard direction of the target vehicle, and projecting the target vehicle into a geographic information system map according to a calculation result;
determining the last frame of the target vehicle in the position area range of the first intersection;
and calculating the running speed of the target vehicle corresponding to the last frame, and taking the real-time position coordinate, the real-time direction angle and the running speed of the target vehicle corresponding to the last frame as the running data.
In some embodiments, obtaining intersection direction information of the candidate subordinate intersection corresponding to the travel direction information includes:
acquiring a pre-stored second direction angle of a first entrance lane of the alternative subordinate intersection; or alternatively, the first and second heat exchangers may be,
and acquiring position coordinates of a central line key point of the first inlet lane of the alternative subordinate intersection, and calculating a direction angle of a connecting line of the central line key point relative to the standard direction as the second direction angle.
In some embodiments, obtaining intersection direction information of the candidate subordinate intersection corresponding to the travel direction information includes:
and counting the instantaneous direction angles of all vehicles passing through the first entrance lane of the alternative lower-level intersection in a certain time period relative to the standard direction when passing through the parking line of the first entrance lane, and calculating the second direction angle of the first entrance lane of the alternative lower-level intersection according to all the obtained instantaneous direction angles.
In some embodiments, selecting an alternative subordinate intersection corresponding to the first intersection includes the following steps:
searching a first inlet lane of an alternative lower-level intersection on a geographic information system map based on a road section connectivity rule and a shortest path rule, selecting the alternative lower-level intersection corresponding to the first intersection, and determining a first inlet lane of the alternative lower-level intersection corresponding to the travelling direction information; or alternatively, the first and second heat exchangers may be,
According to the preset corresponding relation between each intersection and the corresponding alternative subordinate intersection, the corresponding alternative subordinate intersection of the first intersection is obtained, and a first entrance lane corresponding to the corresponding alternative subordinate intersection and the travelling direction information is determined.
The embodiment of the application also provides a target vehicle tracking system which is applied to the target vehicle tracking method, and the system comprises the following steps:
the first information acquisition module is used for acquiring traveling data when the target vehicle passes through a first intersection when the target vehicle is detected to pass through the first intersection, wherein the traveling data comprises traveling direction information;
the second information acquisition module is used for selecting at least one alternative lower-level intersection corresponding to the first intersection and acquiring intersection direction information corresponding to the advancing direction information of the alternative lower-level intersection;
the intersection prediction module is used for selecting a next intersection for predicting the entrance of the target vehicle from the alternative lower-level intersections as a second intersection according to the traveling direction information of the target vehicle and the intersection direction information of each alternative lower-level intersection corresponding to the traveling direction information;
and the instruction sending module is used for sending the coordination control instruction to the tracking resource equipment corresponding to the second intersection.
In the target vehicle tracking system, the first information acquisition module is adopted to acquire the traveling direction information of the target vehicle when passing through a first intersection, the second information acquisition module is adopted to acquire the intersection direction information of each alternative lower intersection, the intersection prediction module is adopted to combine the traveling direction information of the target vehicle and the intersection direction information of each alternative lower intersection to predict the traveling route of the target vehicle, the next second intersection into which the target vehicle is predicted to travel is determined, then the instruction sending module is adopted to send the coordination control instruction to the tracking resource equipment corresponding to the second intersection in advance, and the tracking resource equipment corresponding to the second intersection can be prepared for follow-up tracking in advance. By adopting the scheme, the continuity of tracking the target vehicle can be improved, the tracking delay caused by the fact that the corresponding tracking resource equipment is not ready when the target vehicle runs to the second intersection is avoided, and the effectiveness of continuous tracking of the target vehicle is greatly improved.
The embodiment of the application also provides target vehicle tracking equipment, which comprises a computing hardware system, wherein the computing hardware system comprises:
A processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the target vehicle tracking method via execution of the executable instructions.
By adopting the target vehicle tracking device provided by the application, the processor executes the target vehicle tracking method when executing the executable instructions, so that the beneficial effects of the target vehicle tracking method can be obtained. The target vehicle tracking equipment can be deployed at the edge side of the intersection as edge computing equipment, so that the delay of a data transmission network is greatly reduced, the operation load of a road traffic management center server is reduced, the equipment is light and can be rapidly deployed, and the realization of the target vehicle tracking method is reliably and efficiently ensured, but the application is not limited to the method.
The embodiment of the application also provides a computer readable storage medium for storing a program which, when executed by a processor, implements the steps of the target vehicle tracking method.
By adopting the computer-readable storage medium provided by the present application, the program stored therein, when executed, realizes the steps of the target vehicle tracking method, whereby the advantageous effects of the target vehicle tracking method described above can be obtained.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings.
FIG. 1 is a flow chart of a target vehicle tracking method of an embodiment of the application;
FIG. 2 is a schematic illustration of target vehicle travel prediction according to an embodiment of the present application;
FIG. 3 is a schematic illustration of a first calculation of a second direction angle of a first entrance lane of an intersection according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a second calculation of a second direction angle of a first entrance lane of an intersection according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a target vehicle tracking system according to an embodiment of the application;
FIG. 6 is a block diagram of a target vehicle tracking apparatus according to an embodiment of the present application;
fig. 7 is a schematic structural view of a computer storage medium according to an embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus a repetitive description thereof will be omitted. Although the terms "first" or "second" etc. may be used herein to describe certain features, these features should be interpreted in a descriptive sense only and not for purposes of limitation as to the number and importance of the particular features.
As shown in fig. 1, in an embodiment, the present application provides a target vehicle tracking method, including the steps of:
s100: when a target vehicle is detected to pass through a first intersection, acquiring traveling data of the target vehicle when the target vehicle passes through the first intersection, wherein the traveling data comprises traveling direction information;
the target vehicle is a tracked target vehicle, the first intersection is an intersection where the target vehicle is currently located, specifically, the position area range of each intersection can be preset, the positioning position of the target vehicle is obtained in real time, when the target vehicle is determined to travel to the position area range of the first intersection according to the positioning position of the target vehicle, the target vehicle is considered to pass through the first intersection, the obtaining of the real-time positioning position of the target vehicle can be directly obtained from another target vehicle positioning device, or the real-time positioning position of the target vehicle can be obtained by adopting a vehicle fusion positioning algorithm based on positioning source data (video data and/or radar data) related to the target vehicle;
the traveling direction information is information representing a traveling direction trend of the target vehicle, and may be represented, for example, as an included angle between the traveling direction of the target vehicle and a certain direction, or a degree of deviation from a certain direction, and the like;
S200: selecting at least one alternative subordinate intersection corresponding to the first intersection, and acquiring intersection direction information corresponding to the alternative subordinate intersection and the travelling direction information;
the alternative lower-level intersection is communicated with the first intersection, the target vehicle can select the next intersection to be driven in, and the intersection direction information of the alternative lower-level intersection can be an included angle between the extending direction of the intersection and a certain direction, or the deviation degree relative to the certain direction, and the like;
s300: selecting a next intersection for predicting the entrance of the target vehicle from the candidate subordinate intersections as a second intersection according to the traveling direction information of the target vehicle and intersection direction information corresponding to the traveling direction information of each candidate subordinate intersection;
the method comprises the steps of combining two direction information to predict the next intersection where a target vehicle enters, namely predicting the next intersection which is possibly passed through in the advancing path of the target vehicle according to the advancing direction trend of the target vehicle;
s400: and sending a coordination control instruction to tracking resource equipment corresponding to the second intersection, wherein the coordination control instruction is used for indicating the tracking resource equipment to start executing a target vehicle tracking task.
In this embodiment, the tracking resource device refers to a device for executing a target vehicle tracking task corresponding to the second intersection, for example, the tracking resource device is a monitoring device disposed at the second intersection, and may collect video data, radar data, and the like of the target vehicle at the second intersection, and after predicting an intersection through which the target vehicle passes next, send a coordination control instruction to the monitoring device at the second intersection in advance, so that the monitoring device at the second intersection is started in advance and starts to execute the target vehicle tracking task preset in the monitoring device, where the target vehicle tracking task may include shooting, identifying, detecting a position of the target vehicle, and so on, so that tracking may be started immediately when the target vehicle travels to the second intersection, thereby greatly reducing a delay of tracking. Or, the tracking resource device may be an internal communication device of the vehicle executing the tracking task, the tracking resource device corresponding to the second intersection may be an internal communication device of the vehicle executing the tracking task closest to the second intersection, the coordination control instruction may be sent to the vehicle executing the tracking task, and the target vehicle tracking task may include a driving route of the vehicle executing the tracking task and a driving of the target vehicle according to the target vehicle position plan, or may be an internal communication device of the vehicle executing the tracking task responsible for administrating the second intersection. Alternatively, the tracking resource device may be a traffic light at the second intersection, and the color of the traffic light is adjusted by sending a coordination control instruction, and the target vehicle tracking task may include keeping the traffic light in the traveling direction of the target vehicle as a red light, and may also implement traffic restriction on the target vehicle.
According to the target vehicle tracking method, the traveling direction information of the target vehicle when passing through the first intersection can be obtained through the step S100, the intersection direction information corresponding to the traveling direction information of each alternative lower intersection can be obtained through the step S200, the traveling route of the target vehicle can be predicted through the step S300 by combining the traveling direction information of the target vehicle and the intersection direction information corresponding to the traveling direction information of each alternative lower intersection, the next second intersection into which the target vehicle is predicted to travel is determined, and then the coordination control instruction is sent to the tracking resource equipment corresponding to the second intersection in advance through the step S400, wherein the tracking resource equipment corresponding to the second intersection can be prepared for follow-up tracking in advance. By adopting the scheme, the continuity of tracking the target vehicle can be improved, the tracking delay caused by the fact that the corresponding tracking resource equipment is not ready when the target vehicle runs to the second intersection is avoided, and the effectiveness of continuous tracking of the target vehicle is greatly improved. The method can be used for continuously tracking a specific target vehicle, and can also be used for continuously tracking a plurality of continuous target vehicles, so that the next passing crossing of each target vehicle is respectively predicted and the tracked resource equipment of the corresponding crossing is coordinated in advance.
In this embodiment, the traveling direction information includes a first direction angle of a traveling direction of the target vehicle with respect to a standard direction, the intersection direction information includes a second direction angle of a first entrance lane of the alternative lower-level intersection with respect to the standard direction, and the first entrance lane is an entrance lane of the alternative lower-level intersection corresponding to the traveling direction information. Specifically, for an intersection, there are four entrance lanes at one intersection, and the first entrance lane is the entrance lane that is determined according to the current traveling direction of the target vehicle and is likely to be driven into. The standard direction may be selected as desired, for example, as a specific coordinate axis direction of a certain coordinate system. When the standard direction is the north-pointing direction, each azimuth refers to an azimuth, a first direction angle is a horizontal included angle between a clockwise direction and a target vehicle traveling direction line from the north-pointing direction line of the target vehicle, and a second direction angle is a horizontal included angle between a clockwise direction and a first entrance lane extending direction line from the north-pointing direction line of a certain point in the first entrance lane of the alternative lower-level intersection. The following description will take the azimuth angle as an example, but the present application is not limited thereto.
Fig. 2 presents a schematic view of an exemplary target vehicle travel prediction, wherein the tracked target vehicle is represented by a square at intersection a. In this embodiment, the travel data may further include target vehicle position coordinates and target vehicle travel speed. The step S100: when detecting that a target vehicle passes through a first intersection, acquiring traveling data of the target vehicle when passing through the first intersection, wherein the method comprises the following steps of:
detecting that the target vehicle enters the position area range of the first intersection, namely determining that the target vehicle passes through the first intersection, taking fig. 2 as an example, wherein the target vehicle is currently positioned in the position area range of the intersection A, so that the first intersection is the intersection A;
acquiring positioning source data corresponding to the target vehicle in real time, calculating real-time position coordinates and real-time azimuth angles relative to the standard direction of the target vehicle, and projecting the target vehicle into a Geographic Information System (GIS) map according to a calculation result; the positioning source data of the target vehicle can comprise video data and/or radar data related to the target vehicle, and the calculation of the real-time position coordinates of the target vehicle and the real-time azimuth angle relative to the standard direction can be realized by adopting the existing video/radar data fusion positioning algorithm or an algorithm for positioning by only relying on video or only relying on radar data;
Determining the last frame of the target vehicle in the position area range of the first intersection;
and calculating the running speed of the target vehicle corresponding to the last frame (for example, calculating according to the position coordinate change and the time change of the target vehicle of the adjacent frames), and taking the real-time position coordinate, the real-time azimuth angle and the running speed of the target vehicle corresponding to the last frame as the running data, namely, taking the real-time azimuth angle of the target vehicle corresponding to the last frame as the first azimuth angle. In this embodiment, the travel data of the target vehicle at the time of selecting the last frame may accurately represent the real-time position coordinates, the real-time azimuth angle, and the target vehicle travel speed of the target vehicle at the time of leaving the position area range of the first intersection.
In this embodiment, the target vehicle tracking method may be implemented based on a holographic road network. The holographic road network is a road environment which takes a high-precision digital map as a unified coordinate system basis, fuses structured data acquired by sensors such as existing videos, microwave radars, laser radars and the like of roads into the unified coordinate system, and acquires the positions, speeds and tracks of all on-network vehicles, non-motor vehicles and pedestrians in the whole road network. The holographic road network intersections can be laid out for example: annunciators and traffic lights; the video acquisition equipment shoots a vehicle video to acquire attributes of the vehicle, such as license plates, vehicle types, colors and the like; the radar equipment acquires longitude and latitude coordinates, speed, headstock traveling azimuth angle and the like of the vehicle; the edge computing device acquires the video data of the video acquisition device and the radar data of the radar device, and executes the steps of the target vehicle tracking method, so that the processing of each sensor data can be directly finished at the road side without a central end server, the delay of data communication is reduced, and the workload of the central end server is reduced. The present application is not limited thereto, but in another embodiment, the target vehicle tracking method may be performed in a center end server.
In this embodiment, in step S200, selecting an alternative lower-level intersection corresponding to the first intersection includes the following steps:
searching a first inlet lane of an alternative lower-level intersection on a geographic information system map based on a road section connectivity rule and a shortest path rule, selecting the alternative lower-level intersection corresponding to the first intersection, and determining a first inlet lane of the alternative lower-level intersection corresponding to the travelling direction information.
The first entrance lane search of the alternative lower level intersection is performed based on the road segment connectivity rule and the shortest path principle, and may include, for example: firstly, acquiring all communicated intersections communicated with a first intersection based on road section connectivity, then respectively calculating the path distances from the first intersection to each entrance lane of each communicated intersection, then sequencing according to the path distances, and selecting the intersection with the smallest path distance and the corresponding entrance lane as the alternative subordinate intersection of the first intersection and the corresponding first entrance lane; alternatively, it may include: firstly, acquiring an inlet lane of a communication intersection of the first intersection in each advancing direction (for example, the intersection corresponds to four advancing directions of east, west and north, the T-shaped intersection corresponds to three advancing directions) based on road section connectivity, and then selecting an intersection with the smallest path distance from the first intersection in each advancing direction and a corresponding inlet lane as an alternative subordinate intersection and a corresponding first inlet lane in the advancing direction, thereby acquiring the alternative subordinate intersection and the corresponding first inlet lane in each advancing direction.
In another embodiment, the first entrance lanes of the alternative lower-level intersections of each intersection may be searched in advance on the basis of the road segment connectivity rule and the shortest path principle in the geographic information system map, so as to obtain the alternative lower-level intersections corresponding to each intersection, and the correspondence between each intersection and the first entrance lanes of the alternative lower-level intersections may be stored in advance, where the searching manner of the first entrance lanes of the alternative lower-level intersections may be the manner of processing the first road openings. In the step S200, selecting an alternative subordinate intersection corresponding to the first intersection includes: according to the preset corresponding relation between each intersection and the corresponding alternative subordinate intersection, the corresponding alternative subordinate intersection of the first intersection is obtained, and a first entrance lane corresponding to the corresponding alternative subordinate intersection and the travelling direction information is determined. However, the present application is not limited thereto, and in other embodiments, for example, the correspondence between each intersection and the first entrance lane of the intersection of the alternative lower level may be manually set in advance, or the correspondence between each intersection and the first entrance lane of the intersection of the alternative lower level may be learned in advance by a deep learning model, which falls within the protection scope of the present application.
In the step S300, selecting a next intersection from the candidate subordinate intersections, where the predicted target vehicle is driven in, includes: comparing the first azimuth with the second azimuth of the first entrance lane of each alternative lower-level intersection, and selecting an intersection corresponding to the second azimuth closest to the first azimuth as the next intersection where the predicted target vehicle is driven, as the second intersection, namely the intersection where the target vehicle is most likely to be driven.
Fig. 2 presents a schematic view of an example selection of a second intersection. The intersection where the target vehicle is currently located is a first intersection A, the current first azimuth angle alpha of the target vehicle is obtained, all next-level intersections of the holographic intersection A are traversed to serve as alternative next-level intersections, and the intersection B1, the intersection B2 and the intersection B3 are respectively included. Determining first entrance lanes of each alternative lower-level intersection, generating an alternative first entrance lane set, including a south entrance lane of an intersection B1, a north entrance lane of an intersection B2 and a west entrance lane of an intersection B3 in FIG. 2, and then acquiring second azimuth angles beta corresponding to the calibrated three first entrance lanes respectively 1 、β 2 And beta 3 Wherein beta is 1 ＝351°，β 2 ＝169.4°，β 3 ＝77.7°。
The first azimuth angle alpha and the three second azimuth angles beta i Difference is calculated and absolute value delta is calculated respectively:
Δ1＝|α-β 1 |＝6.3°
Δ2＝|α-β 2 |＝175.3°
Δ3＝|α-β 3 |＝267°
the minimum value of the absolute value of the difference is chosen:
min(Δ1,Δ2,Δ3)＝Δ1＝6.3°
the minimum value is delta 1, and the corresponding intersection is intersection B1, so that the second intersection into which the target vehicle is about to drive is predicted to be intersection B1.
In this embodiment, the step S400: the sending of the coordination control instruction to the tracking resource device corresponding to the second intersection may be that the coordination control instruction is sent to the tracking resource device of the second intersection immediately after the second intersection is determined according to step S300, so that the tracking resource device can be controlled to be turned on in advance, and the target vehicle is ready in advance before running to the second intersection. In addition, considering that a certain driving time is required for the target vehicle to travel from the first intersection to the second intersection, for example, when road congestion is serious, the driving time may be long, if the tracking resource device of the second intersection is started in advance for a long time, the waiting time of the tracking resource device may be long, and thus, resources may be wasted to some extent. Therefore, in this embodiment, the arrival time of the target vehicle at the first entrance lane of the second intersection may be further predicted according to the travel time of the target vehicle, an advance amount of time may be set before the arrival time, and the tracking resource device of the second intersection may be turned on if the advance amount of time is satisfied.
Specifically, the step S400: sending the coordination control instruction to the tracking resource equipment corresponding to the second intersection, wherein the method comprises the following steps of:
calculating a simulated vehicle path of the target vehicle from the target vehicle position coordinate to a first entrance lane of the second intersection according to the target vehicle position coordinate and first entrance lane information of the second intersection, wherein the simulated vehicle path can be realized through planning a shortest path between the two intersections, and the first entrance lane information is, for example, the position coordinate of a parking line of the first entrance lane;
according to the driving distance S of the simulated driving track AB1 And the target vehicle running speed v A Calculating the arrival time t' of the target vehicle driving to the first entrance lane of the second intersection;
in this embodiment, the calculation of the arrival time t' includes: by the travel distance S AB1 Divided by the target vehicle travel speed v A I.e.
According to the arrival time and the preset elastic time, the time is countedCalculating the sending time t of the coordination control instruction; specifically, the arrival time t' is subtracted by an elastic time t Bullet After (a preset empirical value), the transmission time t=t' -t as the coordination control command Bullet ；
For example, assuming a travel distance of 120m, a speed v A The preset elastic time is 10m/s, and the preset elastic time is 5s, the sending time of the coordination control instruction is the same as the sending time of the coordination control instruction
And sending the coordination control instruction to tracking resource equipment corresponding to the second intersection at the sending time. And if the calculated sending time t is smaller than or equal to 0, immediately sending a coordination control instruction to the corresponding tracking resource equipment. By setting the elastic time, the communication delay time of the coordination control instruction reaching the tracking resource equipment and the response delay time of the tracking resource equipment after receiving the coordination control instruction can be eliminated in advance, the tracking condition of the tracking resource equipment can be coordinated more accurately, and the tracking resource equipment can start to execute the target vehicle tracking task in advance.
Therefore, in this embodiment, the advance of the tracking resource device at the second intersection being started in advance can be controlled by adjusting the specific time length of the elastic time, and by setting the elastic time, the tracking resource device can be made to be ready for tracking in advance, and meanwhile, the user cannot wait for too long time, so that the tracking efficiency is effectively improved, and meanwhile, the resources are effectively saved.
In this embodiment, in the step S200, the intersection direction information corresponding to the traveling direction information of the candidate lower-level intersection may be acquired in one of the following three manners:
(1) And acquiring position coordinates of a central line key point of the first entrance lane of the alternative subordinate intersection, and calculating an azimuth angle of a connecting line of the central line key point relative to the standard direction as the second azimuth angle.
Taking the intersection B1 in fig. 3 as an example, an azimuth angle (corresponding to a clockwise angle indicated by a circular arc arrow in fig. 3) of a line m of the central line key point of the first entrance lane B11 of the intersection B1 with respect to the north direction n is calculated as the second azimuth angle.
(2) And counting the instantaneous azimuth angles of all vehicles passing through the first entrance lane of the alternative lower-level intersection in a certain time period relative to the standard direction when passing through the parking line of the first entrance lane, and calculating the second azimuth angle of the first entrance lane of the alternative lower-level intersection according to all obtained instantaneous azimuth angles.
Taking intersection B1 in fig. 4 as an example, all vehicles (three vehicles are taken as examples in fig. 4) passing through the first entrance lane of the alternative lower-level intersection in a certain period of time are counted, the instantaneous azimuth angles (azimuth angles between x1 and n, azimuth angles between x2 and n, and azimuth angles between x3 and n, corresponding to the clockwise angle indicated by the circular arc arrow in fig. 4) relative to the standard direction when passing through the parking line of the first entrance lane are respectively obtained, and the average value of all the instantaneous azimuth angles is calculated as the second azimuth angle of the first entrance lane of the alternative lower-level intersection.
(3) And acquiring a pre-stored second azimuth angle of the first entrance lane of the alternative subordinate intersection. The second azimuth angle of the first entrance lane of the alternative lower level intersection pre-stored here may be, for example, previously obtained by the above-described (1) th or (2) th means, but the present application is not limited thereto.
In this embodiment, the target vehicle tracking method is a step performed in one cycle. After the target vehicle runs in the position area range of the second intersection, the second intersection is the first intersection of the next cycle, and the steps S100-S400 of the target vehicle tracking method are re-executed, so that continuous tracking of the target vehicle is realized.
As shown in fig. 5, an embodiment of the present application further provides a target vehicle tracking system, which is applied to the target vehicle tracking method, where the system includes:
the first information acquisition module M100 is used for acquiring traveling data when the target vehicle passes through a first intersection when the target vehicle is detected to pass through the first intersection, wherein the traveling data comprises traveling direction information;
the second information acquisition module M200 is configured to select at least one alternative lower level intersection corresponding to the first intersection, and acquire intersection direction information of the alternative lower level intersection;
The intersection prediction module M300 is configured to select, according to the traveling direction information of the target vehicle and the intersection direction information of each of the candidate lower-level intersections, a next intersection at which the target vehicle is predicted to travel from the candidate lower-level intersections as a second intersection;
and the instruction sending module M400 is used for sending the coordination control instruction to the tracking resource equipment corresponding to the second intersection.
In the target vehicle tracking system, the first information acquisition module M100 is adopted to acquire the traveling direction information of the target vehicle when passing through a first intersection, the second information acquisition module M200 is adopted to acquire the intersection direction information of each alternative lower intersection, the intersection prediction module M300 is adopted to combine the traveling direction information of the target vehicle and the intersection direction information of each alternative lower intersection to predict the traveling route of the target vehicle, the next second intersection into which the target vehicle is predicted to travel is determined, and then the instruction sending module M400 is adopted to send the coordination control instruction to the tracking resource equipment corresponding to the second intersection in advance, wherein the tracking resource equipment corresponding to the second intersection can be prepared for follow-up tracking in advance. By adopting the scheme, the continuity of tracking the target vehicle can be improved, the tracking delay caused by the fact that the corresponding tracking resource equipment is not ready when the target vehicle runs to the second intersection is avoided, and the effectiveness of continuous tracking of the target vehicle is greatly improved.
The functions of each module in the target vehicle tracking system may be implemented by adopting specific implementation manners of each step in the target vehicle tracking method, which are not described herein.
As shown in fig. 6, an embodiment of the present application further provides a target vehicle tracking apparatus, including a computing hardware system N100, where the computing hardware system N100 includes:
processor N110;
a memory N120 in which executable instructions of the processor are stored;
wherein the processor N110 is configured to perform the steps of the target vehicle tracking method via execution of the executable instructions.
By adopting the target vehicle tracking device provided by the application, the processor executes the target vehicle tracking method when executing the executable instructions, so that the beneficial effects of the target vehicle tracking method can be obtained.
In this embodiment, as shown in fig. 6, the target vehicle tracking apparatus further includes a data access conversion storage hardware system N200, a micro control unit N300, and a network switching module N400. The data access conversion storage hardware system N200 is configured to receive and store positioning source data from related devices of the holographic road network through the network switching module N400, where the positioning source data includes video data and/or radar data, for example, and the data access conversion storage hardware system N200 may decode the video data, and provide the video data to the computing hardware system N100 for performing subsequent data processing operations. The computing hardware system N100 may be implemented by using an algorithm acceleration chip from the processor N110 of the data access conversion storage hardware system N200, so as to obtain the positioning source data for real-time analysis, obtain the position coordinates and azimuth angle of the target vehicle in real time, and execute the steps of the target vehicle tracking method. The micro control unit N300 may be used to implement control of power-up timing of various parts of the target vehicle tracking apparatus. The network switching module N400 is configured to communicate with related devices (video acquisition devices, radar devices, etc.) in the holographic road network, obtain positioning source data, transmit the positioning source data to the data access conversion storage hardware system N200, communicate with the tracking resource device, and send the coordination control instruction to the tracking resource device.
The target vehicle tracking equipment can be deployed at the edge side of the intersection as edge computing equipment, so that the delay of a data transmission network is greatly reduced, the operation load of a road traffic management center server is reduced, the equipment is light in weight and can be rapidly deployed, and the realization of the target vehicle tracking method is reliably and efficiently ensured. The target vehicle tracking equipment not only can complete the data access, fusion and identification of the holographic sensing equipment and acquire the positioning information of the target vehicle, but also can support the algorithm implementation of the target vehicle tracking method, and forms a stable, rapid and light intersection 'thinking center'. The target vehicle tracking equipment can fully utilize various sensor data in the holographic road network environment, and improves the perception precision of the target vehicle. The target vehicle tracking device may be a separate hardware device or it may be integrated into an existing intersection device, such as a traffic light or an electric warning system.
The embodiment of the application also provides a computer readable storage medium for storing a program which, when executed by a processor, implements the steps of the target vehicle tracking method. In some possible embodiments, the various aspects of the application may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the application as described in the above description of the method of tracking a target vehicle, when said program product is run on the terminal device.
Referring to fig. 7, a program product 800 for implementing the above-described method according to an embodiment of the present application is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or cluster. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
By adopting the computer-readable storage medium provided by the present application, the program stored therein, when executed, realizes the steps of the target vehicle tracking method, whereby the advantageous effects of the target vehicle tracking method described above can be obtained.
The foregoing is a further detailed description of the application in connection with the preferred embodiments, and it is not intended that the application be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the application, and these should be considered to be within the scope of the application.
Claims (10)
1. A target vehicle tracking method, characterized by comprising the steps of:
when a target vehicle is detected to pass through a first intersection, acquiring traveling data of the target vehicle when the target vehicle passes through the first intersection, wherein the traveling data comprises traveling direction information;
selecting at least one alternative subordinate intersection corresponding to the first intersection, and acquiring intersection direction information corresponding to the alternative subordinate intersection and the travelling direction information;
selecting a next intersection for predicting the entrance of the target vehicle from the candidate subordinate intersections as a second intersection according to the traveling direction information of the target vehicle and intersection direction information corresponding to the traveling direction information of each candidate subordinate intersection;
And sending a coordination control instruction to tracking resource equipment corresponding to the second intersection, wherein the coordination control instruction is used for indicating the tracking resource equipment to start executing a target vehicle tracking task.
2. The target vehicle tracking method according to claim 1, wherein the traveling direction information includes a first direction angle of a traveling direction of the target vehicle with respect to a standard direction, the intersection direction information includes a second direction angle of a first entrance lane of the alternative lower-level intersection with respect to the standard direction, the first entrance lane being an entrance lane of the alternative lower-level intersection corresponding to the traveling direction information;
selecting a next intersection where the predicted target vehicle is driven from the candidate subordinate intersections, wherein the next intersection comprises comparing the first direction angle with the second direction angle of the first entrance lane of each candidate subordinate intersection, and selecting an intersection corresponding to the second direction angle closest to the first direction angle as the next intersection where the predicted target vehicle is driven.
3. The target vehicle tracking method of claim 2, wherein the travel data further includes target vehicle position coordinates and target vehicle travel speed;
The step of sending the coordination control instruction to the tracking resource equipment corresponding to the second intersection comprises the following steps:
calculating a simulated driving track of the target vehicle from the target vehicle position coordinate to a first entrance lane of the second intersection according to the target vehicle position coordinate and the first entrance lane information of the second intersection;
calculating the arrival time of the target vehicle from traveling to the first entrance lane of the second intersection according to the traveling distance of the simulated traveling path and the traveling speed of the target vehicle;
calculating the sending time of the coordination control instruction according to the arrival time and the preset elastic time;
and sending the coordination control instruction to tracking resource equipment corresponding to the second intersection at the sending time.
4. The target vehicle tracking method according to claim 3, wherein the step of acquiring travel data of the target vehicle when the target vehicle passes through the first intersection when the target vehicle is detected to pass through the first intersection comprises the steps of:
detecting that a target vehicle enters a position area range of the first intersection;
acquiring positioning source data corresponding to the target vehicle in real time, calculating real-time position coordinates and real-time direction angles relative to the standard direction of the target vehicle, and projecting the target vehicle into a geographic information system map according to a calculation result;
Determining the last frame of the target vehicle in the position area range of the first intersection;
and calculating the running speed of the target vehicle corresponding to the last frame, and taking the real-time position coordinate, the real-time direction angle and the running speed of the target vehicle corresponding to the last frame as the running data.
5. The target vehicle tracking method according to claim 2, wherein acquiring intersection direction information of the candidate lower-level intersection corresponding to the traveling direction information includes:
acquiring a pre-stored second direction angle of a first entrance lane of the alternative subordinate intersection; or alternatively, the first and second heat exchangers may be,
and acquiring position coordinates of a central line key point of the first inlet lane of the alternative subordinate intersection, and calculating a direction angle of a connecting line of the central line key point relative to the standard direction as the second direction angle.
6. The target vehicle tracking method according to claim 2, wherein acquiring intersection direction information of the candidate lower-level intersection corresponding to the traveling direction information includes:
and counting the instantaneous direction angles of all vehicles passing through the first entrance lane of the alternative lower-level intersection in a certain time period relative to the standard direction when passing through the parking line of the first entrance lane, and calculating the second direction angle of the first entrance lane of the alternative lower-level intersection according to all the obtained instantaneous direction angles.
7. The target vehicle tracking method according to claim 1, wherein selecting an alternative lower level intersection corresponding to the first intersection includes the steps of:
searching a first inlet lane of an alternative lower-level intersection on a geographic information system map based on a road section connectivity rule and a shortest path rule, selecting the alternative lower-level intersection corresponding to the first intersection, and determining a first inlet lane of the alternative lower-level intersection corresponding to the travelling direction information; or alternatively, the first and second heat exchangers may be,
according to the preset corresponding relation between each intersection and the corresponding alternative subordinate intersection, the corresponding alternative subordinate intersection of the first intersection is obtained, and a first entrance lane corresponding to the corresponding alternative subordinate intersection and the travelling direction information is determined.
8. A target vehicle tracking system, characterized by being applied to the target vehicle tracking method according to any one of claims 1 to 7, the system comprising:
the first information acquisition module is used for acquiring traveling data when the target vehicle passes through a first intersection when the target vehicle is detected to pass through the first intersection, wherein the traveling data comprises traveling direction information;
the second information acquisition module is used for selecting at least one alternative lower-level intersection corresponding to the first intersection and acquiring intersection direction information corresponding to the advancing direction information of the alternative lower-level intersection;
The intersection prediction module is used for selecting a next intersection for predicting the entrance of the target vehicle from the alternative lower-level intersections as a second intersection according to the traveling direction information of the target vehicle and the intersection direction information of each alternative lower-level intersection corresponding to the traveling direction information;
the instruction sending module is used for sending a coordination control instruction to the tracking resource equipment corresponding to the second intersection, wherein the coordination control instruction is used for indicating the tracking resource equipment to start to execute the target vehicle tracking task.
9. A target vehicle tracking apparatus comprising a computing hardware system, the computing hardware system comprising:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the target vehicle tracking method of any one of claims 1 to 7 via execution of the executable instructions.
10. A computer-readable storage medium storing a program, characterized in that the program when executed by a processor implements the steps of the target vehicle tracking method according to any one of claims 1 to 7.
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