Video relay tracking method and platform based on trajectory positioning

Abstract

The invention discloses a video relay tracking method and platform based on track positioning, and the method comprises the steps: calculating a road section where a target vehicle travels in real time according to the positioning data of the target vehicle on the basis of the existing traffic guarantee equipment and facility conditions, and carrying out the real-time tracking of the target vehicle based on the information of the road section where the target vehicle travels; and crossing video monitoring corresponding to the crossing that the target vehicle leaves the crossing, is about to arrive at the crossing and the next crossing of the crossing is about to arrive at is automatically tracked and played in a relay manner, so that the aim of monitoring key information such as the target vehicle and traffic road conditions in a task execution process in real time is fulfilled. The technical scheme can be applied to various tasks such as traffic police department service guarantee needing to track and monitor the target vehicle, and the problems that in the prior art, video tracking has high requirements for business personnel, and intersection video monitoring equipment is poor in playing effect are solved.

Description

Technical Field

[0001] The invention belongs to the field of intelligent transportation technology, and in particular to a video relay tracking method and platform based on track positioning. Background Art

[0002] Target vehicle video tracking tasks are usually used in traffic organization during large-scale events, priority passage of special vehicles (such as firefighting, 120 emergency, etc.), and convoy guidance when important persons visit. With the development of social economy, traffic road construction is also constantly advancing, the number of residents' cars is increasing, and traffic conditions are becoming increasingly complex. In this case, how to ensure traffic safety during the execution of the task has brought great challenges to the task guarantee work of the traffic police department.

[0003] There are two main ways to carry out target vehicle tracking tasks. One is the traditional manual tracking method, where business personnel use the video monitoring platform to manually switch and retrieve the camera equipment near the target vehicle in real time to monitor the target vehicle's travel status, traffic conditions on the route and other information; the other existing automatic tracking method is mainly based on the location of the target vehicle and plays the video surveillance near the vehicle. The current target vehicle tracking mainly has the following problems:

[0004] 1) The manual tracking method has high requirements for business personnel. They need to be familiar with the task routes and the installation of camera equipment on the routes. Otherwise, it is easy to "lose" the fleet. In addition, when multiple tasks are executed concurrently, it is necessary to arrange a designated video surveillance operator for each task, which requires a high manpower investment from the traffic police department.

[0005] 2) The existing automatic tracking method retrieves the video surveillance that is closer to the target vehicle for playback. The video surveillance equipment that is closer has certain limitations in tracking the target vehicle, and it is difficult to retrieve the optimal video surveillance equipment for tracking playback in real time and accurately;

[0006] 3) Due to factors such as equipment failure and network delay, the traditional video relay method of roadside traffic video surveillance equipment often fails to play the video or the screen switches are not timely, which greatly affects the use effect of the target vehicle tracking platform. Summary of the invention

[0007] The purpose of the present invention is to provide a video relay tracking method based on track positioning in view of the problems existing in the above-mentioned prior art. The method automatically retrieves and plays the video monitoring of the target vehicle leaving the intersection, about to arrive at the intersection, and the next intersection (hereinafter collectively referred to as "next intersection") based on the real-time positioning data of the target vehicle, so as to achieve the purpose of automatically tracking and monitoring the key information such as the target vehicle and traffic conditions during the execution of the vehicle tracking task. At the same time, a video relay tracking platform based on track positioning is provided. The platform is fully automated during the execution of tasks such as service support, without manual intervention, reducing the workload of the support task operators and improving the quality and effect of task execution.

[0008] The technical solution to achieve the purpose of the present invention is: on the one hand, a video relay tracking method based on trajectory positioning is provided, and the method comprises the following steps:

[0009] Step 1: Select and configure video surveillance equipment that can observe the target vehicle and traffic conditions at the best viewing angle for the intersection on the mission route;

[0010] Step 2: determine the target vehicle for the tracking task and configure a positioning device for the target vehicle. The positioning device can send positioning data to the central video relay tracking platform in real time;

[0011] Step 3: When the tracking task is started, based on the real-time positioning of the target vehicle and the configuration information of the video surveillance equipment at the intersection on the task route, the following process is executed to realize the relay tracking and playback of the video:

[0012] Step 3-1, obtaining the target vehicle positioning data corresponding to the tracking task;

[0013] Step 3-2, according to the positioning data of the target vehicle, combined with the point coordinate information of the starting point and the end point of each section on the mission route, determine the section where the target vehicle is currently traveling;

[0014] Step 3-3, according to the road section information on which the target vehicle is currently traveling, select video surveillance devices at several intersections from the task configuration information as video relay playback devices for the tracking task, and play the video on a display page according to the set playback strategy;

[0015] Step 3-4, repeating steps 3-1 to 3-3, and automatically switching the video surveillance device when the road section where the target vehicle is traveling changes;

[0016] Step 4: When the target vehicle tracking task is completed, the process ends.

[0017] Furthermore, in step 1, the user customizes the selection and configuration of one or more video surveillance devices for each intersection on the task route, and sets a polling playback strategy for the video surveillance devices at each intersection.

[0018] Furthermore, in step 3-2, based on the positioning data of the target vehicle and in combination with the point coordinate information of the starting point and the end point of each section on the mission route, the section on which the target vehicle is currently traveling is determined, specifically including:

[0019] (1) Determine a candidate set of target vehicle travel sections based on the positioning data of the target vehicle and the point coordinate information of the starting point and the end point of each section on the mission route. If the candidate set is not empty, execute (2); otherwise, jump to (4);

[0020] (2) based on the candidate set of target vehicle travel sections, calculating the effective projection distance from the target vehicle point to each section on the task route;

[0021] (3) The road section corresponding to the minimum effective projection distance is the road section where the target vehicle is currently traveling, and the method ends;

[0022] (4) The target vehicle is not currently on the mission route. At this time, the Euclidean distance from the target vehicle point to the starting point and the end point of the mission route are calculated respectively. If the distance from the target vehicle point to the starting point of the mission route is less than the distance from the target vehicle point to the end point of the mission route, the status of the current tracking task is marked as pending execution, otherwise it is marked as pending end.

[0023] Furthermore, the calculation formula for calculating the effective projection distance from the target vehicle point to each section on the mission route is:

[0024]

[0025] In the formula, is the effective projection distance from the target vehicle point P to the road section i, d Pi is the projection distance from the target vehicle point P to the road section i, S c is the candidate set of target vehicle driving sections. If the distances from the target vehicle point to the two endpoints of a section are less than or equal to the length of the section, then the section belongs to the candidate set of target vehicle driving sections S c .

[0026] Furthermore, in step 3-3, if the target vehicle is on the mission route, the starting point of the current target vehicle's driving section, the end point of the driving section, and the end point of the section with the end point of the driving section as the starting point are selected as the intersection where the target vehicle has left, the intersection about to arrive, and the next intersection of the intersection about to arrive, and the video surveillance equipment bound to the above three intersections is used as the tracking mission video relay playback equipment.

[0027] Furthermore, in step 3-3, if the target vehicle is not on the task route and the status of the tracking task is to be executed, the video surveillance devices corresponding to the first three intersections on the task route are selected as video relay tracking devices for playback; if the status of the tracking task is to be ended, the video surveillance devices corresponding to the last three intersections on the task route are selected as video relay tracking devices for playback.

[0028] Furthermore, in step 3-3, if a certain intersection point on the task route is selected to be bound to multiple video surveillance devices and a carousel strategy is configured, the video surveillance devices bound to the intersection point are polled and played according to the priority and the configured carousel strategy.

[0029] Furthermore, in step 3-3, a video fault detection mechanism is introduced. Before playing the intersection video surveillance, it is first detected whether the corresponding video surveillance device can play the stream normally. If the video stream push is abnormal, it is determined that the video surveillance device has a fault, and the playback of the intersection video surveillance is automatically canceled, and other configured or default videos are selected for playback.

[0030] Furthermore, in step 3-4, when the target vehicle's driving section changes and the corresponding intersection video surveillance is switched to be played, one or more video surveillance devices of the intersections where the target vehicle will arrive in the future are preloaded in advance.

[0031] On the other hand, a video relay tracking platform based on trajectory positioning is provided, the video relay tracking platform comprising: a task video relay tracking configuration module, a positioning data receiving and pushing module, a video relay tracking calculation implementation module, a roadside video device calling and playing module and a task video relay tracking display module;

[0032] The task video relay tracking configuration module is used to select and configure video surveillance equipment information for each intersection on the task route, including video surveillance equipment number, equipment playback priority number and equipment carousel duration;

[0033] The positioning data receiving and pushing module is used to receive the positioning data sent by the positioning device installed on the target vehicle, and push the positioning data of the target vehicle to the task video relay tracking platform of the intranet of the traffic police command center through wireless transmission and network security boundaries;

[0034] The video relay tracking calculation implementation module is used to determine the road section where the target vehicle is currently traveling based on the target vehicle positioning data and the intersection point coordinate information on the task route, and push the starting point, end point and intersection information of the end point of the road section where the target vehicle is currently traveling to the task video relay tracking display module;

[0035] The roadside video device calls the playback module, which is connected to the roadside video device through the streaming media service, receives the request of the mission video relay tracking platform to play the video, and calls the playback roadside video device monitoring through the video number;

[0036] The task video relay tracking display module includes: a tracking task list, which displays the tracking tasks configured in the platform, and the user starts and closes the task by clicking; a map page, which displays the real-time position of each intersection and the target vehicle in the tracking task based on the map; and three video monitoring playback windows, which are used to play the configured video monitoring devices corresponding to the intersection where the target vehicle has left, is about to arrive at, and is at the next intersection.

[0037] Compared with the prior art, the present invention has the following significant advantages:

[0038] (1) Based on the previous experience of video surveillance tracking and playback during tracking execution, the corresponding video surveillance equipment of the target vehicle that has left the intersection, is about to arrive at the intersection, and is at the next intersection in the tracking task is selected as the main body of relay tracking during the task execution. This can maximize the acquisition of information such as the target vehicle's moving status and traffic conditions on the traffic route, effectively ensuring the execution efficiency of the tracking task.

[0039] (2) Based on the target vehicle positioning data, the program automatically switches to play the corresponding intersection video surveillance, which solves the problem of manual tracking and switching of video surveillance during the execution of previous tracking tasks, relieves the pressure on business operators, and reduces the manpower investment of the traffic police department.

[0040] (3) The driving section matching, video carousel, video fault detection and video preloading methods introduced in the present invention can be effectively applied to the target vehicle tracking scenario in the complex environment of traffic mission assurance, and provide a high execution quality of the target vehicle tracking task in a low-cost and lightweight manner.

[0041] The present invention is further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the structure of the video relay tracking platform of the present invention in one embodiment.

[0043] Figure 2a The figure is a workflow diagram of the video relay tracking method of the present invention in one embodiment.

[0044] Figure 2b The present invention is a video relay tracking method according to an embodiment of the present invention.

[0045] Figure 2cThe present invention is a working flow chart for implementing the method for video relay tracking of the present invention for determining a driving section according to the positioning data of a target vehicle in one embodiment.

[0046] Figure 3a The figure is a schematic diagram of a task route in an embodiment.

[0047] Figure 3b The diagram is a schematic diagram of determining a driving section based on a target vehicle position in an embodiment.

[0048] Figure 3c is a schematic diagram of a specific position of a target vehicle in one embodiment.

[0049] Figure 4a The figure is a schematic diagram of a video relay tracking playback page in an embodiment.

[0050] Figure 4b The figure is a schematic diagram of a video relay tracking switching playback page in an embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] In one embodiment, in combination Figure 2a , Figure 2b , Figure 2c , provides a video relay tracking method based on trajectory positioning, the method comprising the following steps:

[0053] S1, select and configure video surveillance equipment that can observe the target vehicle and traffic conditions at the best viewing angle for the intersection on the mission route;

[0054] S2, determine the target vehicle for the tracking task, configure a positioning device for the target vehicle, and the positioning device can send positioning data to the central video relay tracking platform in real time;

[0055] S3, when the tracking task is started, based on the real-time positioning of the target vehicle and the configuration information of the video surveillance equipment at the intersection on the task route, the following process is executed to realize the relay tracking and playback of the video:

[0056] S301, obtaining the target vehicle positioning data corresponding to the tracking task;

[0057] S302, determining the road section where the target vehicle is currently traveling based on the positioning data of the target vehicle and the point coordinate information of the starting point and the end point of each road section on the mission route;

[0058] S303, according to the road section information of the target vehicle currently traveling, select video surveillance devices at several intersections from the task configuration information as video relay playback devices for the tracking task, and play the video on a display page according to the set playback strategy;

[0059] S304, repeatedly executing S301 to S303, when the road section traveled by the target vehicle changes, automatically switching the video monitoring device;

[0060] S4, when the target vehicle tracking task is completed, the process ends.

[0061] Furthermore, in one of the embodiments, in S1, one or more video surveillance devices that can observe the target vehicle and traffic conditions at the best viewing angle are selected and bound to the intersections on the task route, and a polling playback strategy is set for the video surveillance devices at each intersection. When multiple video surveillance devices are configured for a certain intersection, the configured multiple video surveillance devices can be prioritized, and it can be set whether to play multiple video surveillance devices in rotation. When setting the video surveillance device in rotation, the playback time can be set for each video surveillance.

[0062] Further, in one embodiment, the step S302 determines the road section on which the target vehicle is currently traveling based on the positioning data of the target vehicle and the point coordinate information of the starting point and the end point of each road section on the mission route, specifically including:

[0063] (1) Determine a candidate set of target vehicle travel sections based on the positioning data of the target vehicle and the point coordinate information of the starting point and the end point of each section on the mission route. If the candidate set is not empty, execute (2); otherwise, jump to (4);

[0064] (2) based on the candidate set of target vehicle travel sections, calculating the effective projection distance from the target vehicle point to each section on the task route;

[0065] (3) The road section corresponding to the minimum effective projection distance is the road section where the target vehicle is currently traveling, and the method ends;

[0066] (4) The target vehicle is not currently on the mission route. At this time, the Euclidean distance from the target vehicle point to the starting point and the end point of the mission route are calculated respectively. If the distance from the target vehicle point to the starting point of the mission route is less than the distance from the target vehicle point to the end point of the mission route, the status of the current tracking task is marked as pending execution, otherwise it is marked as pending end.

[0067] Furthermore, in one of the embodiments, the calculation formula for calculating the effective projection distance from the target vehicle point to each road section on the mission route is:

[0068]

[0069] In the formula, is the effective projection distance from the target vehicle point P to the road section i, d Pi is the projection distance from the target vehicle point P to the road section i, S c is the candidate set of target vehicle driving sections. If the distances from the target vehicle point to the two endpoints of a section are less than or equal to the length of the section, then the section belongs to the candidate set of target vehicle driving sections S c .

[0070] Here, the candidate set S of the target vehicle driving section c The determination method is: for the section i on the task route, its starting point is s i , the end point is e i ,if and Then the road segment i belongs to the candidate set S c , otherwise, road segment i does not belong to the candidate set S c ,in, From the target vehicle point P to the starting point s of section i i The distance From the target vehicle point P to the end point e of section i i The distance is the length of road section i.

[0071] Furthermore, in one of the embodiments, in S303, if the target vehicle is on the mission route, the starting point of the current target vehicle's driving section, the end point of the driving section, and the end point of the section with the end point of the driving section as the starting point are selected as the intersection the target vehicle has left, the intersection it is about to arrive at, and the next intersection of the intersection it is about to arrive at, and the video surveillance devices bound to the above three intersections are used as the tracking mission video relay playback devices.

[0072] Furthermore, in one of the embodiments, in S303, if the target vehicle is not on the task route and the status of the tracking task is to be executed, the video surveillance devices corresponding to the first three intersections on the task route are selected as video relay tracking devices for playback; if the status of the tracking task is to be ended, the video surveillance devices corresponding to the last three intersections on the task route are selected as video relay tracking devices for playback.

[0073] Further, in one of the embodiments, in S303, if a certain intersection point on the task route is selected to be bound to multiple video surveillance devices and a carousel strategy is configured, the video surveillance devices bound to the intersection point are polled and played according to the priority and the configured carousel strategy.

[0074] Furthermore, in one of the embodiments, in S303, a video fault detection mechanism is introduced. Before playing the intersection video surveillance, it is first detected whether the corresponding video surveillance device can play the stream normally. If the video stream push is abnormal, it is determined that the video surveillance device has a fault, and the playback of the intersection video surveillance is automatically canceled, and other configured or default videos are selected for playback. This approach can improve the execution effect of the tracking task.

[0075] Furthermore, in one of the embodiments, in S304, when the target vehicle travels on a different road section, when switching to play the corresponding intersection video surveillance, one or more video surveillance devices of the intersections where the target vehicle will arrive in the future can be preloaded in advance. In this way, when switching to load video surveillance later, the waiting time for video surveillance playback can be effectively reduced, and this approach can improve the execution effect of the tracking task.

[0076] In one embodiment, in combination Figure 1 , provides a video relay tracking platform based on trajectory positioning, including a task video relay tracking configuration module, a positioning data receiving and pushing module, a video relay tracking calculation implementation module, a roadside video device calling and playing module and a task video relay tracking display module.

[0077] The task video relay tracking configuration module is used to select and configure the video monitoring device number, device playback priority number, device carousel duration and other information for each intersection on the task route;

[0078] The positioning data receiving and pushing module is used to receive the positioning data sent by the positioning device installed on the target vehicle, and push the positioning data of the target vehicle to the task video relay tracking platform of the intranet of the traffic police command center through wireless transmission and network security boundaries;

[0079] The video relay tracking calculation implementation module is used to determine the road section where the target vehicle is currently traveling based on the target vehicle positioning data and the intersection point coordinate information on the task route, and push the starting point, end point and intersection information of the road section where the target vehicle is currently traveling to the task video relay tracking display module. The intersection information mainly includes: intersection number, video surveillance device number bound to the intersection, priority playback order corresponding to the video surveillance device, carousel duration, etc.

[0080] The roadside video device calls a playback module, which is connected to the roadside video device through a streaming media service, and can receive a request from the mission video relay tracking platform to play a video, and retrieve the playback of the roadside video device monitoring through the video number;

[0081] The task video relay tracking display module mainly includes: a tracking task list, which displays the tracking tasks configured in the platform, and users can start and close tasks by clicking; a map page, which displays the real-time position of each intersection and the target vehicle in the tracking task based on the map; three video monitoring playback windows, which are used to play the configured video monitoring devices corresponding to the target vehicle leaving the intersection, about to arrive at the intersection, and the next intersection.

[0082] For the specific definition of the video relay tracking platform based on trajectory positioning, please refer to the definition of the video relay tracking method based on trajectory positioning above, which will not be repeated here. Each module in the above-mentioned video relay tracking platform based on trajectory positioning can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0083] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following is achieved:

[0084] S1, select and configure video surveillance equipment that can observe the target vehicle and traffic conditions at the best viewing angle for the intersection on the mission route;

[0085] S2, determine the target vehicle for the tracking task, configure a positioning device for the target vehicle, and the positioning device can send positioning data to the central video relay tracking platform in real time;

[0086] S3, when the tracking task is started, based on the real-time positioning of the target vehicle and the configuration information of the video surveillance equipment at the intersection on the task route, the following process is executed to realize the relay tracking and playback of the video:

[0087] S301, obtaining the target vehicle positioning data corresponding to the tracking task;

[0088] S302, determining the road section where the target vehicle is currently traveling based on the positioning data of the target vehicle and the point coordinate information of the starting point and the end point of each road section on the mission route;

[0089] S303, according to the road section information of the target vehicle currently traveling, select video surveillance devices at several intersections from the task configuration information as video relay playback devices for the tracking task, and play the video on a display page according to the set playback strategy;

[0090] S304, repeatedly executing S301 to S303, when the road section traveled by the target vehicle changes, automatically switching the video monitoring device;

[0091] S4, when the target vehicle tracking task is completed, the process ends.

[0092] For the specific limitations of each step, please refer to the limitations of the video relay tracking method based on trajectory positioning above, which will not be repeated here.

[0093] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the computer program implements:

[0094] S1, select and configure video surveillance equipment that can observe the target vehicle and traffic conditions at the best viewing angle for the intersection on the mission route;

[0095] S2, determine the target vehicle for the tracking task, configure a positioning device for the target vehicle, and the positioning device can send positioning data to the central video relay tracking platform in real time;

[0096] S3, when the tracking task is started, based on the real-time positioning of the target vehicle and the configuration information of the video surveillance equipment at the intersection on the task route, the following process is executed to realize the relay tracking and playback of the video:

[0097] S301, obtaining the target vehicle positioning data corresponding to the tracking task;

[0098] S302, determining the road section where the target vehicle is currently traveling based on the positioning data of the target vehicle and the point coordinate information of the starting point and the end point of each road section on the mission route;

[0099] S303, according to the road section information of the target vehicle currently traveling, select video surveillance devices at several intersections from the task configuration information as video relay playback devices for the tracking task, and play the video on a display page according to the set playback strategy;

[0100] S304, repeatedly executing S301 to S303, when the road section traveled by the target vehicle changes, automatically switching the video monitoring device;

[0101] S4, when the target vehicle tracking task is completed, the process ends.

[0102] For the specific limitations of each step, please refer to the limitations of the video relay tracking method based on trajectory positioning above, which will not be repeated here.

[0103] As a specific example, in one of the embodiments, the present invention is further verified and explained in detail.

[0104] In S1, select and bind one or more video surveillance devices that can observe the target vehicle and traffic conditions from the best perspective for the intersection on the task route. When binding multiple video surveillance devices to a certain intersection, you can set the playback sequence number for each video surveillance device, starting from 1 and increasing, and the video surveillance device with a lower sequence number will be played first. At the same time, you can set whether to play the bound video surveillance device in a carousel. If you set it to participate in the carousel, you need to set the playback time for each video surveillance device, otherwise the polling playback time is the default value. If the carousel is not set, when the tracking task is running, the video surveillance device with the highest priority at the intersection will be played by default. When other video surveillance devices at the intersection need to be played, they will be manually switched manually. This improves the flexibility of the platform in actual application.

[0105] Figure 3a This is a diagram of a mission route with 5 sections and camera distribution. Figure 3b The following is a simplified diagram of its task line. Figure 3a The mission route information and camera distribution status are displayed. The intersection camera selection and binding information configuration on the mission route are as follows:

[0106] Intersection R1 is bound to three video surveillance devices and a carousel is set up. The settings are shown in Table 1:

[0107] Table 1 Intersection R1 video device binding information

[0108] Serial number Video surveillance equipment Priority number Whether to participate in the carousel Carousel duration 1 <![CDATA[C1]]> 2 yes 5S 2 <![CDATA[C2]]> 1 yes 10S 3 <![CDATA[C3]]> 3 no -

[0109] Intersection R2 is bound to two video surveillance devices and is set to not be rotated. The settings are shown in Table 2:

[0110] Table 2 Intersection R2 video device binding information

[0111] Serial number Video surveillance equipment Priority number Whether to participate in the carousel Carousel duration 4 <![CDATA[C4]]> 2 yes - 5 <![CDATA[C5]]> 1 yes -

[0112] Intersection R3 is bound to one video surveillance device, and the settings are shown in Table 3:

[0113] Table 3 Intersection R3 video device binding information

[0114] Serial number Video surveillance equipment Priority number Whether to participate in the carousel Carousel duration 6 <![CDATA[C6]]> - - -

[0115] Intersection R4 is bound to two video surveillance devices, and the settings are shown in Table 4:

[0116] Table 4 Intersection R4 video device binding information

[0117] Serial number Video surveillance equipment Priority number Whether to participate in the carousel Carousel duration 7 <![CDATA[C7]]> 1 yes 10S 8 <![CDATA[C8]]> 2 yes 5S 9 <![CDATA[C9]]> 3 yes 5S

[0118] Intersection R5 is bound to one video surveillance device, and the settings are shown in Table 5:

[0119] Table 5 Intersection R5 video device binding information

[0120] Serial number Video surveillance equipment Priority number Whether to participate in the carousel Carousel duration 10 <![CDATA[C 10 ]]> - - -

[0121] Intersection R6 is bound to three video surveillance devices, and the settings are shown in Table 6:

[0122] Table 6 Intersection R6 video device binding information

[0123] Serial number Video surveillance equipment Priority number Whether to participate in the carousel Carousel duration 11 <![CDATA[C 11 ]]> 1 yes 10S 12 <![CDATA[C 12 ]]> 2 yes 5S

[0124] Figure 3b P Figure 3a The target vehicle configured in the mission route shown is implemented in the video relay tracking process in S3 as follows:

[0125] S301, obtain the positioning data of the target vehicle P corresponding to the task. The positioning device installed on the target vehicle obtains the latitude and longitude coordinate data through navigation satellites such as Beidou, and then transmits it to the intranet platform of the traffic police command center through wireless networks such as 4G network and 5G network and network security boundaries.

[0126] S302, based on the positioning data of the mission target vehicle and the point coordinate information of the starting point and the end point of each section on the mission route, determine the section where the target vehicle is currently traveling, such as Figure 2c As shown, the specific method flow is:

[0127] First, according to the positioning data of the mission target vehicle and the point coordinate information of the starting and ending points of each section on the mission route, the candidate set of the target vehicle driving section is determined. For the section i on the mission route, its starting point is s i , the end point is e i ,if and Then the road segment i belongs to the candidate set S c , otherwise, road segment i does not belong to the candidate set S c For ease of explanation, Figure 3b In the task route, the length of each section is set as shown in Table 7:

[0128] Table 7 Length of each section on the mission route

[0129] Serial number Road Section length 1 <![CDATA[R1R2]]> 3km 2 <![CDATA[R2R3]]> 2.8km 3 <![CDATA[R3R4]]> 1.8km 4 <![CDATA[R4R5]]> 2.5km 5 <![CDATA[R5R6]]> 2km

[0130] The distance setting from the target vehicle point to each intersection on the mission route is shown in Table 8:

[0131] Table 8 Distances from target vehicle points to intersections on the mission route

[0132]

[0133]

[0134] Combining the distances set in Table 7 and Table 8, because and Therefore, the road segment R1R2 belongs to the candidate set S c ; For road section R3R4, because Therefore, the road sections R3R4 do not belong to the selection set S c .right Figure 3b Similar judgments are made for other distances, and we can see that Figure 3b At the moment shown, the candidate set S of the road section that the target vehicle is traveling on is c is: {R1R2,R2R3};

[0135] Then calculate the effective projection distance from the target vehicle to each road section on the mission route, and compare the effective projection distances from the target vehicle point to each road section to obtain the minimum effective projection distance. The road section where the projection point corresponding to the minimum effective projection distance is located is the road section where the current target vehicle is traveling. Figure 3b Because the road sections R3R4, R4R5 and R5R6 do not belong to the candidate set S c Therefore, the effective projection distance between point P and road sections R3R4, R4R5 and R5R6 is ∞, and the effective projection distance between point P and road section R1R2 is less than the effective projection distance between point P and road section R2R3. Therefore, the road section traveled by the target vehicle at this time is R1R2.

[0136] In step S302 of the above embodiment, the projection distance from the target vehicle point to the road section is calculated by first calculating the projection coordinates of the target vehicle point on the road section, and then calculating the Euclidean distance between the target vehicle point and the projection coordinates. The Euclidean distance is the projection distance from the target vehicle point to the road section. Assume that the starting coordinates of road section i are s i (x is ,y is ), the end point coordinate is e i (x ie ,y ie ), the target vehicle point P(x,y) is projected on the road section i i T (x it ,y it ) The coordinate calculation formula is as follows:

[0137]

[0138] The target vehicle point P(x,y) segment and the projection point P i T (x it ,y it ) is calculated as follows:

[0139]

[0140] In step S302 of the above embodiment, if the candidate set of the target vehicle driving section is empty, it is necessary to further determine the state of the tracking task, such as Figure 3c As shown, when the target vehicle is at P s or P e When the target vehicle is at the position shown by the point, the candidate set of the target vehicle driving section is empty, and R1 and R2 are the starting point and end point of the task route respectively, because Therefore, when the target vehicle is in P s When the position shown by the point is clicked, the tracking task execution status is pending; because Therefore, the target vehicle is at P e When the location shown is clicked, the tracking task execution status is pending.

[0141] S303, playing a video corresponding to the intersection on the page according to the road section where the target vehicle is currently traveling. Figure 3b In the example, the target vehicle is traveling on R1R2. At this time, it is necessary to obtain the video surveillance equipment corresponding to the three intersections R1, R2 and R3 from the point video surveillance configuration information on the mission route for playback. Figure 4a This is a diagram showing the task video relay tracking page, corresponding to Figure 3b The target vehicle and mission route information shown in the page, the first video window will poll and play videos C1, C2, C3 corresponding to the R1 intersection, the second video window will poll and play videos C4, C5 corresponding to the R2 intersection, and the third video window will continue to play video C6 corresponding to the R3 intersection. The video polling playback mechanism is determined by the configuration information. For example, in the first video playback window, since the priority of C2 is 1 and the priority of C1 is 2, C3 does not participate in the polling playback. Therefore, in the first video playback window, first play C2 video 10S, then play C1 video 5S, and then repeat the above two video playbacks. The playback of C3 video can be manually selected by the user. When the user manually participates in the video playback, the video playback window polling playback mechanism stops.

[0142] In step S303 of the above embodiment, if the target vehicle tracking task is to be executed or has ended, the video window plays the video corresponding to the first three or last three intersections on the task route. Figure 3c As shown, if the target vehicle is in P s If the target vehicle is at the position indicated by the point, the video window will play the video surveillance devices corresponding to the three intersections R1, R2 and R3; if the target vehicle is at P e Click the location shown, and the video window will play the video surveillance devices corresponding to the three intersections R4, R5 and R6.

[0143] In step S303 of the above embodiment, the implementation method of the video fault detection mechanism is as follows: for example, intersection R2 is configured with two videos. When playing videos C4 and C5 in turn, it is possible to detect in advance whether the video streams of C4 and C5 are normal. If one of the videos, such as C4, has an abnormal video stream push, the second window can automatically play C5 all the time. This method can improve the execution effect of the tracking task.

[0144] In step S303 of the above embodiment, the preloading mechanism is as follows: Figure 4a As shown, when playing the videos corresponding to intersections R1, R2 and R3, the videos C7, C8 and C9 corresponding to intersection R4 can be preloaded in advance. In this way, when the target vehicle enters section R2R3, the videos of the three monitoring devices C7, C8 and C9 can be quickly loaded to improve the execution effect of the tracking task.

[0145] S304, when the road section traveled by the target vehicle changes, automatically switch to play the videos corresponding to the three intersections, namely, the starting point of the latest road section, the end point of the road section, and the end point of the road section with the end point of the road section as the starting point, such as Figure 4b As shown, when the target vehicle travels to the R2R3 section, the platform page automatically switches to play the video surveillance devices corresponding to the intersections R2, R3 and R4.

[0146] S4, when the target vehicle tracking task is completed, the process ends.

[0147] This technical solution can be applied to various tasks that require tracking and monitoring of target vehicles, such as traffic police department service support, and solves the problem in the prior art that video tracking has high requirements for business personnel and the playback effect of intersection video monitoring equipment is poor.

[0148] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A video relay tracking method based on trajectory positioning, characterized in that: The method comprises the following steps: Step 1: Select and configure video surveillance equipment that can observe the target vehicle and traffic conditions at the best viewing angle for the intersection on the mission route; Step 2: determine the target vehicle for the tracking task and configure a positioning device for the target vehicle. The positioning device can send positioning data to the central video relay tracking platform in real time; Step 3: When the tracking task is started, based on the real-time positioning of the target vehicle and the configuration information of the video surveillance equipment at the intersection on the task route, execute the following steps 3-1 to 3-4 to realize the relay tracking playback of the video: Step 3-1, obtaining the target vehicle positioning data corresponding to the tracking task; Step 3-2, according to the positioning data of the target vehicle, combined with the point coordinate information of the starting point and the end point of each section on the mission route, determine the section where the target vehicle is currently traveling; Step 3-3, according to the road section information on which the target vehicle is currently traveling, select video surveillance devices at several intersections from the task configuration information as video relay playback devices for the tracking task, and play the video on a display page according to the set playback strategy; Step 3-4, repeating steps 3-1 to 3-3, and automatically switching the video surveillance device when the road section where the target vehicle is traveling changes; Step 4: When the target vehicle tracking task is completed, the process ends.

2. The video relay tracking method based on trajectory positioning according to claim 1 is characterized in that: In step 1, the user selects and configures one or more video surveillance devices for each intersection on the task route, and sets a polling playback strategy for the video surveillance devices at each intersection.

3. The video relay tracking method based on trajectory positioning according to claim 1 is characterized in that: Step 3-2 determines the road section where the target vehicle is currently traveling based on the positioning data of the target vehicle and the point coordinate information of the starting point and the end point of each road section on the mission route, specifically including: (1) Determine a candidate set of target vehicle travel sections based on the positioning data of the target vehicle and the point coordinate information of the starting point and the end point of each section on the mission route. If the candidate set is not empty, execute (2); otherwise, jump to (4); (2) based on the candidate set of target vehicle travel sections, calculating the effective projection distance from the target vehicle point to each section on the task route; (3) The road section corresponding to the minimum effective projection distance is the road section where the target vehicle is currently traveling, and the method ends; (4) The target vehicle is not currently on the mission route. At this time, the Euclidean distance from the target vehicle point to the starting point and the end point of the mission route are calculated respectively. If the distance from the target vehicle point to the starting point of the mission route is less than the distance from the target vehicle point to the end point of the mission route, the status of the current tracking task is marked as pending execution, otherwise it is marked as pending end.

4. The video relay tracking method based on trajectory positioning according to claim 3 is characterized in that: The calculation formula for calculating the effective projection distance from the target vehicle point to each section on the mission route is: In the formula, is the effective projection distance from the target vehicle point P to the road section i, d Pi is the projection distance from the target vehicle point P to the road section i, S c is the candidate set of target vehicle driving sections. If the distances from the target vehicle point to the two endpoints of a section are less than or equal to the length of the section, then the section belongs to the candidate set of target vehicle driving sections S c .

5. The video relay tracking method based on trajectory positioning according to claim 1 is characterized in that: In step 3-3, if the target vehicle is on the mission route, the starting point of the current target vehicle's driving section, the end point of the driving section, and the end point of the section with the end point of the driving section as the starting point are selected as the intersection where the target vehicle has left, the intersection it is about to arrive at, and the next intersection of the intersection it is about to arrive at, and the video surveillance equipment bound to the above three intersections is used as the tracking mission video relay playback equipment.

6. The video relay tracking method based on trajectory positioning according to claim 3 is characterized in that: In step 3-3, if the target vehicle is not on the task route and the status of the tracking task is to be executed, the video surveillance devices corresponding to the first three intersections on the task route are selected as the video relay tracking devices for playback; if the status of the tracking task is to be ended, the video surveillance devices corresponding to the last three intersections on the task route are selected as the video relay tracking devices for playback.

7. The video relay tracking method based on trajectory positioning according to claim 1 is characterized in that: In step 3-3, if a certain intersection point on the task route is selected to be bound to multiple video surveillance devices and a carousel strategy is configured, the video surveillance devices bound to the intersection point are polled and played according to the priority and the configured carousel strategy.

8. The video relay tracking method based on trajectory positioning according to claim 1, characterized in that: In step 3-3, a video fault detection mechanism is introduced. Before playing the intersection video surveillance, it is first detected whether the corresponding video surveillance device can play the stream normally. If the video stream push is abnormal, it is determined that the video surveillance device has a fault, and the playback of the intersection video surveillance is automatically canceled, and other configured or default videos are selected for playback.

9. The video relay tracking method based on trajectory positioning according to claim 1, characterized in that: In step 3-4, when the target vehicle's driving section changes and the corresponding intersection video surveillance is switched to be played, one or more video surveillance devices of the intersections where the target vehicle will arrive in the future are preloaded in advance.

10. A video relay tracking platform based on trajectory positioning based on the method according to any one of claims 1 to 9, characterized in that: The video relay tracking platform includes: a task video relay tracking configuration module, a positioning data receiving and pushing module, a video relay tracking calculation implementation module, a roadside video device calling and playing module and a task video relay tracking display module; The task video relay tracking configuration module is used to select and configure video surveillance equipment information for each intersection on the task route, including video surveillance equipment number, equipment playback priority number and equipment carousel duration; The positioning data receiving and pushing module is used to receive the positioning data sent by the positioning device installed on the target vehicle, and push the positioning data of the target vehicle to the task video relay tracking platform of the intranet of the traffic police command center through wireless transmission and network security boundaries; The video relay tracking calculation implementation module is used to determine the road section where the target vehicle is currently traveling based on the target vehicle positioning data and the intersection point coordinate information on the task route, and push the starting point, end point and intersection information of the end point of the road section where the target vehicle is currently traveling to the task video relay tracking display module; The roadside video device calls the playback module, which is connected to the roadside video device through the streaming media service, receives the request of the mission video relay tracking platform to play the video, and calls the playback roadside video device monitoring through the video number; The task video relay tracking display module includes: a tracking task list, which displays the tracking tasks configured in the platform, and the user starts and closes the task by clicking; a map page, which displays the real-time position of each intersection and the target vehicle in the tracking task based on the map; and three video monitoring playback windows, which are used to play the configured video monitoring devices corresponding to the intersection where the target vehicle has left, is about to arrive at, and is at the next intersection.

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