Target vehicle tracking method and device

Abstract

The embodiments of the present application provide a method and device for tracking a target vehicle. The target vehicle tracking method includes: a control center determines a target roadside unit according to a tracking instruction message, so that the target roadside unit broadcasts the tracking instruction message to an auxiliary vehicle, and controls the image acquisition hardware of the auxiliary vehicle to start; obtains the tracking information of the target vehicle acquired by the image acquisition hardware; and determines the location information of the target vehicle according to the tracking information. The technical solution of the embodiments of the present application tracks the target vehicle through the vehicles around the target vehicle, thereby greatly improving the tracking efficiency.

Description

Technical Field

[0001] The present application relates to the field of computer and communication technology, and in particular to a method and device for tracking a target vehicle. Background Art

[0002] With the development of society, vehicles have gradually become an indispensable means of transportation for people, which inevitably makes the probability of vehicle accidents or violations higher and higher. After an accident or violation occurs, vehicles often evade responsibility by fleeing.

[0003] At present, the tracking of vehicles involved in accidents or violating traffic rules is generally carried out by using roadside cameras. However, due to cost reasons, roadside cameras are often distributed in blind spots, such as long-distance highways. In addition, roadside cameras are far away from the target vehicle, especially at night, it is difficult to see and distinguish the target vehicle, which can easily lead to the target vehicle escaping, causing difficulties in handling the case and safety issues. Summary of the invention

[0004] The embodiments of the present application provide a target vehicle tracking method and device, which are used to solve the problem in the prior art that the target vehicle cannot be effectively tracked.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0006] According to one aspect of an embodiment of the present application, a target vehicle tracking method is provided, including: a control center determines a target roadside unit according to a tracking instruction message, so that the target roadside unit broadcasts the tracking instruction message to an auxiliary vehicle, and controls the image acquisition hardware of the auxiliary vehicle to start; obtains tracking information of the target vehicle acquired by the image acquisition hardware; and determines the position information of the target vehicle according to the tracking information.

[0007] According to one aspect of an embodiment of the present application, a target vehicle tracking method is provided, including: a current vehicle acquiring characteristic information of a target vehicle; generating a tracking instruction message according to the characteristic information of the target vehicle; and broadcasting the tracking instruction message to the auxiliary vehicle to control the auxiliary vehicle to start image acquisition hardware to track the target vehicle.

[0008] According to one aspect of an embodiment of the present application, a target vehicle tracking method is provided, including: during driving, a first auxiliary vehicle receives a tracking instruction message, wherein the tracking instruction message includes characteristic information of the target vehicle; image acquisition hardware is turned on according to the tracking instruction message; and tracking information of the target vehicle is collected through the image acquisition hardware to track the target vehicle.

[0009] According to one aspect of an embodiment of the present application, a target vehicle tracking device is provided, including: a first determination unit, used for a control center to determine a target roadside unit according to a tracking instruction message, so that the target roadside unit broadcasts the tracking instruction message to an auxiliary vehicle and controls the image acquisition hardware of the vehicle to start; a first acquisition unit, used for acquiring tracking information of the target vehicle acquired by the image acquisition hardware; and a position determination unit, used for determining the position information of the target vehicle according to the tracking information.

[0010] In some embodiments of the present application, based on the aforementioned scheme, the first determination unit is used for the control center to determine the target roadside unit according to the tracking instruction message, and is also configured to: obtain characteristic information of the target vehicle; and generate a tracking instruction message according to the characteristic information of the target vehicle.

[0011] In some embodiments of the present application, based on the aforementioned scheme, the first determination unit is configured as: the control center determines the target roadside unit according to the characteristic information of the target vehicle contained in the tracking instruction message.

[0012] According to one aspect of an embodiment of the present application, a target vehicle tracking device is provided, including: a second acquisition unit, used for the current vehicle to acquire characteristic information of the target vehicle; a second determination unit, used to generate a tracking instruction message according to the characteristic information of the target vehicle; and a broadcast unit, used to broadcast the tracking instruction message to the auxiliary vehicle to control the auxiliary vehicle to start image acquisition hardware to track the target vehicle.

[0013] In some embodiments of the present application, based on the aforementioned scheme, the generation and determination unit is configured to: obtain characteristic information of the current vehicle; and generate a tracking instruction message according to the characteristic information of the target vehicle and the characteristic information of the current vehicle.

[0014] According to one aspect of an embodiment of the present application, a target vehicle tracking device is provided, including: a receiving unit, used for a first auxiliary vehicle to receive a tracking instruction message during driving, wherein the tracking instruction message includes characteristic information of the target vehicle; an activation unit, used for activating image acquisition hardware according to the tracking instruction message; and an acquisition unit, used for acquiring tracking information of the target vehicle through the image acquisition hardware to track the target vehicle.

[0015] In some embodiments of the present application, based on the aforementioned scheme, it is also configured as: if the driving route changes during driving, a second auxiliary vehicle is determined; the tracking information is sent to the second auxiliary vehicle so that the second auxiliary vehicle tracks the target vehicle according to the tracking information.

[0016] In the technical solutions provided in some embodiments of the present application, the control center determines the target roadside unit based on the tracking instruction message, the target roadside unit broadcasts the tracking instruction message to the auxiliary vehicle, and controls the image acquisition hardware of the auxiliary vehicle to start, thereby determining the position information of the target vehicle based on the tracking information acquired by the image acquisition hardware, and tracking the target vehicle with the help of the vehicle's image acquisition hardware. Compared with the prior art, the target vehicle tracking method provided in this embodiment does not require a lot of human resources and time for tracking. The target vehicle can be tracked with the help of vehicles around the target vehicle on the road, making the tracking method faster and more efficient.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0019] Figure 1 A schematic diagram showing an exemplary system architecture to which the technical solution of the embodiments of the present application can be applied;

[0020] Figure 2 A flow chart of a target vehicle tracking method according to an embodiment of the present application is shown;

[0021] Figure 3 A flow chart of a target vehicle tracking method according to an embodiment of the present application is shown;

[0022] Figure 4 A flow chart of a target vehicle tracking method according to an embodiment of the present application is shown;

[0023] Figure 5 A flow chart of a target vehicle tracking method according to an embodiment of the present application is shown;

[0024] Figure 6 A flow chart of a target vehicle tracking method according to an embodiment of the present application is shown;

[0025] Figure 7 An exemplary scenario of target vehicle tracking according to an embodiment of the present application is shown;

[0026] Figure 8An interactive flow chart of a target vehicle tracking method according to an embodiment of the present application is shown;

[0027] Fig. 9 An interactive flow chart of a target vehicle tracking method according to another embodiment of the present application is shown;

[0028] Fig.10 A block diagram of a target vehicle tracking device according to an embodiment of the present application is shown;

[0029] Fig.11 A block diagram of a target vehicle tracking device according to an embodiment of the present application is shown;

[0030] Fig.12 A block diagram of a target vehicle tracking device according to an embodiment of the present application is shown;

[0031] Fig.13 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0032] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0033] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0034] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0035] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0036] Figure 1 A schematic diagram of an exemplary system architecture to which the technical solution of the embodiments of the present application can be applied is shown.

[0037] like Figure 1 As shown, the system architecture 100 may include a target road side unit (RSU) 10, an auxiliary vehicle 20, a target vehicle 30, and a control center 40, and the target road side unit 10, the auxiliary vehicle 20 and the target vehicle 30 are communicatively connected. The communication connection mode may be any communication link that can provide a communication connection. For example, it may be a mobile communication network, or a core network of a mobile communication network. In the embodiment of the present application, the auxiliary vehicle 20 or the target vehicle 30 may be an autonomous driving vehicle, or may be a non-autonomous driving vehicle controlled by a driver.

[0038] The target roadside unit 10 is a device installed on the roadside, using DSRC (Dedicated Short Range Communication) technology to communicate with the on-board unit (OBU) to achieve vehicle identification and electronic deduction. In one embodiment of the present application, the target roadside unit 10 is used to broadcast a tracking instruction message to an auxiliary vehicle 20, wherein the auxiliary vehicle 20 is a vehicle within the communication range of the target roadside unit. After receiving the tracking instruction message, the auxiliary vehicle 20 turns on the image acquisition hardware to track the target vehicle 30. At the same time, the target roadside unit 10 is also used to receive the tracking information of the target vehicle 30 collected by the auxiliary vehicle 20, and feed the tracking information back to the control center 40, so that the control center 40 obtains the location information of the target vehicle 30 based on the tracking information.

[0039] The auxiliary vehicle 20 is used to track the target vehicle 30. It can be understood that the auxiliary vehicle 20 is a vehicle within the communication range of the target roadside unit 10. After determining the target roadside unit 10, the target roadside unit 10 can broadcast a tracking instruction message to the auxiliary vehicle 20 within the communication range of the target roadside unit 10. The auxiliary vehicle 20 starts the image acquisition hardware to track the target vehicle 30 by receiving the tracking instruction message.

[0040] It should be understood that Figure 1 The number of the roadside units 10, the auxiliary vehicles 20 and the target vehicles 30 in FIG. 3 is only illustrative. According to the implementation requirements, there may be any number of roadside units 10, the auxiliary vehicles 20 and the target vehicles 30.

[0041] In one embodiment of the present application, the control unit 40 determines the target roadside unit 10 based on the tracking instruction message. After receiving the tracking instruction message, the target roadside unit broadcasts the tracking instruction message to the auxiliary vehicle 20 to control the image acquisition hardware installed on the auxiliary vehicle 20 to start up, and the auxiliary vehicle 20 starts to track the target vehicle 30 through the image acquisition hardware. When the auxiliary vehicle 20 tracks the target vehicle 30, that is, after the auxiliary vehicle 20 acquires the tracking information of the target vehicle 30 through the image acquisition hardware, the auxiliary vehicle 20 can send the tracking information to the target roadside unit 10, so that the target roadside unit 10 can feed back the acquired tracking information to the control center 40, so that the control center 40 determines the location information of the target vehicle 30 based on the tracking information.

[0042] In one embodiment of the present application, if the auxiliary vehicle 20 cannot continue to track the target vehicle 30 during the tracking process, the auxiliary vehicle 20 can determine other auxiliary vehicles that can be tracked, and send the tracking information collected by the auxiliary vehicle 20 to the other auxiliary vehicles that can be tracked, so as to continue tracking the target vehicle 30.

[0043] In one embodiment of the present application, the tracking instruction message received by the auxiliary vehicle 20 may be broadcast by the target roadside unit 10 or by the tracking party of the target vehicle 30. The tracking party of the target vehicle 30 may generate the tracking instruction message by acquiring the characteristic information of the target vehicle 30, thereby broadcasting the tracking instruction message to the auxiliary vehicle 20.

[0044] In one embodiment of the present application, the target roadside unit 10 receives a tracking instruction message generated by the control center 40, and broadcasts the tracking instruction message to the auxiliary vehicle 20 within the communication range of the target roadside unit 10, and tracks the target vehicle 30 through the auxiliary vehicle 20. After the target roadside unit 10 obtains the tracking information collected by the designated vehicle 20 through the image acquisition hardware, the tracking information is fed back to the control center 40, so that the control center 40 extracts the location information in the tracking information to locate the target vehicle 30.

[0045] It should be noted that the target vehicle tracking method provided in the embodiment of the present application can be executed by the control unit 40, and accordingly, the target vehicle tracking device can be provided in the control unit 40. However, in other embodiments of the present application, the target vehicle tracking method can also be executed by the auxiliary vehicle 20.

[0046] The implementation details of the technical solution of the embodiment of the present application are described in detail below:

[0047] Figure 2 A flow chart of a target vehicle tracking method according to an embodiment of the present application is shown. The target vehicle tracking method can be executed by a control center, such as Figure 1 The control center 40 shown in FIG. Figure 2 As shown, the method includes:

[0048] Step S210: The control center determines a target roadside unit according to the tracking instruction message, so that the target roadside unit broadcasts the tracking instruction message to the auxiliary vehicle to control the image acquisition hardware of the auxiliary vehicle to start;

[0049] Step S220, obtaining tracking information of the target vehicle acquired by the image acquisition hardware;

[0050] Step S230: Determine the location information of the target vehicle according to the tracking information.

[0051] These steps are described in detail below.

[0052] In step S210, the control center determines a target roadside unit according to the tracking instruction message, so that the target roadside unit broadcasts the tracking instruction message to the auxiliary vehicle and controls the image acquisition hardware of the auxiliary vehicle to start.

[0053] Target vehicle tracking is generally done using roadside cameras. In this method, a camera uses a visual algorithm to lock onto the target vehicle and extract its features. When the target vehicle leaves the camera's line of sight, the feature information of the target vehicle is sent to the control center. Based on the above technical features, the control center searches for the target vehicle in the videos of other cameras, thereby achieving the target vehicle tracking effect.

[0054] However, roadside cameras often have poor tracking effects due to blind spots or light shooting problems. Tracking the target vehicle through an auxiliary vehicle, on the one hand, the auxiliary vehicle is a vehicle within the target vehicle's location range. Compared with roadside cameras, the auxiliary vehicle is closer to the target vehicle and is easier to track. On the other hand, the auxiliary vehicle can track the entire process, greatly improving the tracking efficiency.

[0055] The target roadside unit is a roadside unit used to broadcast tracking instruction messages. After the control center determines the target roadside unit based on the tracking instruction message, it can send the tracking instruction message to the target roadside unit. In order to track the target vehicle, after receiving the tracking instruction message sent by the control center, the target roadside unit needs to further broadcast the tracking instruction message to the auxiliary vehicle, control the auxiliary vehicle to turn on the image acquisition hardware, and track the target vehicle. Among them, the image acquisition hardware is an image acquisition device that tracks the target vehicle through image acquisition. For example, it can be a camera installed on the vehicle. In one embodiment, the target roadside unit can broadcast the tracking instruction message to the auxiliary vehicle based on the communication interface PC5.

[0056] In one embodiment, Figure 3 As shown, before the control center determines the target roadside unit according to the tracking instruction message, it also includes:

[0057] Step S310, obtaining characteristic information of the target vehicle;

[0058] Step S320: Generate a tracking instruction message according to the characteristic information of the target vehicle.

[0059] In step S310, the control center can obtain the characteristic information of each vehicle, and the obtained characteristic information of the vehicle may include the vehicle identification number (such as the license plate number), the vehicle driving target (such as the driving direction, the destination, the turn at the intersection ahead, etc.), the vehicle position information, the vehicle status information (such as the current acceleration and the current speed, etc.), the vehicle color, the vehicle model, at least one of the driver characteristics (such as male or female) or other special characteristic information. After the control center obtains the characteristic information of the target vehicle, it can generate a tracking instruction message according to the characteristic information of the target vehicle.

[0060] Continue to see Figure 3 In step S320, a tracking instruction message is generated according to the characteristic information of the target vehicle.

[0061] After the characteristic information of the target vehicle is acquired in step S310, the control center may generate a tracking instruction message according to the acquired characteristic information, where the tracking instruction message is used to instruct the target vehicle to be tracked.

[0062] The control center can generate a tracking instruction message for the target vehicle based on the characteristic information of the target vehicle, and send the tracking instruction message to the target roadside unit through a communication link. In order to save communication resources, the control center only sends the tracking instruction message to the target roadside unit. In one embodiment, after the control center generates the tracking instruction message, the target roadside unit can be determined based on the characteristic information of the target vehicle contained in the tracking instruction message. In this embodiment, the control center determines the target roadside unit based on the tracking instruction message, including:

[0063] The target roadside unit is determined according to the characteristic information of the target vehicle included in the tracking instruction message.

[0064] After the control center generates a tracking instruction message according to the characteristic information of the target vehicle, it can also extract the characteristic information of the target vehicle in the tracking instruction message and determine the target roadside unit according to the characteristic information of the target vehicle.

[0065] Among them, determining the target roadside unit according to the characteristic information of the target vehicle can be determining the target roadside unit according to the location characteristic information of the target vehicle, and all roadside units within the location range of the target vehicle are determined as target roadside units. For example, the control center knows that the target vehicle is in Haidian District, Beijing, then the control center can determine all roadside units in Haidian District, Beijing as target roadside units.

[0066] Continue to see Figure 2 In step S220, the tracking information of the target vehicle acquired by the image acquisition hardware is acquired.

[0067] When the auxiliary vehicle tracks the target vehicle through the image acquisition hardware, that is, after the tracking information of the target vehicle is collected through the image acquisition hardware, the auxiliary vehicle can send the tracking information to the target roadside unit, and the target roadside unit feeds back the tracking information to the control center. Among them, the tracking information of the target vehicle collected by the image acquisition hardware may include the location coordinates of the target vehicle, the image information of the target vehicle, etc.

[0068] In step S230, the location information of the target vehicle is determined according to the tracking information.

[0069] In one embodiment of the present application, after the target roadside unit obtains the tracking information collected by the auxiliary vehicle according to the tracking instruction message, it can further feed back the tracking information to the control center, and the control center extracts the location information in the tracking information to determine the location information of the target vehicle.

[0070] Through the above embodiment, the control center determines the target roadside unit according to the tracking instruction message, and the target roadside unit broadcasts the tracking instruction message to the auxiliary vehicle, controls the image acquisition hardware of the auxiliary vehicle to start, and thereby determines the position information of the target vehicle according to the tracking information acquired by the image acquisition hardware, thereby realizing tracking of the target vehicle with the help of the image acquisition hardware of the designated vehicle. Compared with the prior art, the target vehicle tracking method provided in this embodiment does not require a lot of human resources and time for tracking, and the target vehicle can be tracked with the help of vehicles around the target vehicle on the road, thereby making the tracking method faster and more efficient.

[0071] Figure 4 A flow chart of a target vehicle tracking method according to an embodiment of the present application is shown, and the target vehicle tracking method can be executed by a vehicle related to the target vehicle. Figure 4 As shown, the target vehicle tracking method includes the following steps:

[0072] Step S410: The current vehicle obtains characteristic information of the target vehicle;

[0073] Step S420: generating a tracking instruction message according to the characteristic information of the target vehicle;

[0074] Step S430: broadcast the tracking instruction message to the auxiliary vehicle to control the auxiliary vehicle to start the image acquisition hardware to track the target vehicle.

[0075] These steps are described in detail below:

[0076] In step S410, the current vehicle obtains characteristic information of the target vehicle.

[0077] Specifically, the current vehicle may be a vehicle that has an accident with the target vehicle, or may be a vehicle that needs to track the target vehicle for other reasons, such as a law enforcement vehicle that needs to track the target vehicle because the target vehicle has illegally escaped.

[0078] It is understandable that the current vehicle can obtain the characteristic information of the target vehicle based on the driving recorder, or can obtain the characteristic information of the target vehicle based on other methods, such as communicating with other network-side devices to obtain the characteristic information of the target vehicle.

[0079] Among them, the characteristic information of the target vehicle may include the target vehicle's identification number (such as license plate number), driving target (such as driving direction, destination, turn at the next intersection, etc.), vehicle location information, vehicle status information (such as current acceleration and current speed, etc.), vehicle color, model, driver characteristics (such as gender) or at least one of other special characteristic information.

[0080] Continue to see Figure 4 In step S420, a tracking instruction message is generated according to the characteristic information of the target vehicle.

[0081] After the current vehicle obtains the characteristic information of the target vehicle, it can generate a tracking instruction message based on the characteristic information of the target vehicle. The tracking instruction message is used to instruct the auxiliary vehicle to track the target vehicle according to the characteristic information of the target vehicle contained in the tracking instruction message.

[0082] In one embodiment of the present application, the tracking instruction message generated by the current vehicle may include not only the characteristic information of the target vehicle but also the characteristic information of the current vehicle itself. Sending the characteristic information of both the current vehicle and the target vehicle to the auxiliary vehicle can enable the auxiliary vehicle to obtain more comprehensive tracking instruction information, including both the tracking demander and the tracked party.

[0083] In this example, generating a tracking instruction message according to the characteristic information includes:

[0084] Acquiring characteristic information of the current vehicle;

[0085] A tracking instruction message is generated according to the characteristic information of the target vehicle and the characteristic information of the current vehicle.

[0086] Continue to see Figure 4 In step S430, the tracking instruction message is broadcast to the auxiliary vehicle to control the auxiliary vehicle to start the image acquisition hardware to track the target vehicle.

[0087] After generating the tracking instruction message through step S420, the current vehicle needs to further broadcast the tracking instruction message to the auxiliary vehicle, wherein the auxiliary vehicle is a vehicle within the communication range of the current vehicle. The current vehicle can send the tracking instruction message to the auxiliary vehicle, and the vehicle that is not within the communication range of the current vehicle cannot be used as an auxiliary vehicle. For example, the current vehicle is in Haidian District, Beijing, and the vehicles within the communication range of the current vehicle are vehicles in Haidian District, Beijing. The current vehicle cannot communicate with vehicles in Chongqing. Therefore, vehicles in Haidian District, Beijing can be used as auxiliary vehicles to track the target vehicle, while vehicles in Chongqing cannot be tracked as auxiliary vehicles. In one embodiment, the current vehicle broadcasts the tracking instruction message to the auxiliary vehicle through the communication interface PC5 between the current vehicle and the auxiliary vehicle.

[0088] After receiving the tracking instruction message broadcast by the current vehicle, the auxiliary vehicle turns on the image acquisition hardware according to the tracking instruction message and tracks the target vehicle through the image acquisition hardware.

[0089] Figure 5 A flow chart of a target vehicle tracking method according to an embodiment of the present application is shown. The target vehicle tracking method can be performed by an auxiliary vehicle, such as Figure 1 The auxiliary vehicle 20 shown in FIG. Figure 5 As shown, the method includes:

[0090] Step S510: During driving, the first auxiliary vehicle receives a tracking instruction message, wherein the tracking instruction message includes characteristic information of the target vehicle;

[0091] Step S520, starting the image acquisition hardware according to the tracking instruction message;

[0092] Step S530: Collect tracking information of the target vehicle through the image acquisition hardware to track the target vehicle.

[0093] In step S510 , the first auxiliary vehicle is a vehicle for tracking the target vehicle and the first auxiliary vehicle is a vehicle traveling around the target vehicle.

[0094] In one embodiment of the present application, the tracking instruction message can be sent by the target roadside unit, or it can be generated and sent by the tracking required vehicle. The first auxiliary vehicle can receive the tracking instruction message based on the PC5 port. The PC5 port is the communication interface between vehicles and between vehicles and roadside units. The tracking instruction message contains characteristic information of the target vehicle.

[0095] In step S520, after receiving the tracking instruction message, the first auxiliary vehicle may start the image acquisition hardware according to the tracking instruction message.

[0096] Continue to see Figure 5 In step S530, the tracking information of the target vehicle is collected by the image acquisition hardware to track the target vehicle.

[0097] Since the first auxiliary vehicle is a vehicle within the range of the target vehicle, it is easier to collect tracking information of the target vehicle through the image acquisition hardware of the first auxiliary vehicle. The collected tracking information may include image information of the target vehicle, location information of the target vehicle, etc., thereby achieving tracking and positioning of the target vehicle.

[0098] In one embodiment of the present application, the driving route of the first auxiliary vehicle may change during the tracking process. At this time, the first auxiliary vehicle can determine the second auxiliary vehicle to instruct the second auxiliary vehicle to track the target vehicle, thereby ensuring the successful tracking of the target vehicle and avoiding interruption of the tracking of the target vehicle due to the change of the driving route.

[0099] In this embodiment, if Figure 6 As shown, the method for tracking the target vehicle also includes:

[0100] Step S610: If the driving route changes during driving, determine a second auxiliary vehicle;

[0101] Step S620: Send the tracking information to the second auxiliary vehicle, so that the second auxiliary vehicle tracks the target vehicle according to the tracking information.

[0102] In step S610, it should be noted that if the driving route of the first auxiliary vehicle changes during the tracking process, that is, the first auxiliary vehicle can no longer track the target vehicle, the first auxiliary vehicle can determine the second auxiliary vehicle, and the second auxiliary vehicle tracks the target vehicle.

[0103] In step S620, the first auxiliary vehicle sends the tracking information obtained through the image acquisition hardware to the second auxiliary vehicle, and the second auxiliary vehicle continues to track the target vehicle. In one embodiment, the first auxiliary vehicle sends the tracking information to the second auxiliary vehicle, controls the second auxiliary vehicle to turn on the image acquisition hardware, and the second auxiliary vehicle acquires the tracking information of the target vehicle through the image acquisition hardware.

[0104] Figure 7 An exemplary scenario of target vehicle tracking according to an embodiment of the present application is shown.

[0105] like Figure 7 As shown, there are three vehicles on the road, namely vehicle A, vehicle B and vehicle C, and a target roadside unit RSU, wherein vehicle C is the target vehicle, vehicle A is the first auxiliary vehicle, and vehicle B is the second auxiliary vehicle determined by the first auxiliary vehicle A.

[0106] The target roadside unit broadcasts a tracking instruction message to the first auxiliary vehicle A, controls the first auxiliary vehicle A to start the image acquisition hardware, tracks the target vehicle C, and obtains tracking information of the target vehicle C. The tracking information may include tracking status information, location information of the target vehicle C, image information, etc. After obtaining the tracking information, the first auxiliary vehicle A may send the tracking information to the target roadside unit.

[0107] During driving, when the first auxiliary vehicle A is unable to continue tracking the target vehicle C due to reasons such as the driving route, the first auxiliary vehicle A can determine the second auxiliary vehicle B based on the location information of the target vehicle C included in the tracking information, and broadcast the tracking information to the second auxiliary vehicle B, which will continue to track the target vehicle C.

[0108] Figure 8 An interactive flow chart of a target vehicle tracking method according to an embodiment of the present application is shown.

[0109] In step S810 , the control center 40 sends a tracking instruction message to the target roadside unit 10 .

[0110] Specifically, the tracking instruction message is a message generated by the control center based on the characteristic information of the target vehicle 30 for tracking the target vehicle. The tracking instruction message includes the characteristic information of the target vehicle 30, such as the license plate number, vehicle color, vehicle model, location information, etc. of the target vehicle.

[0111] In step S820 , after receiving the tracking instruction message, the target roadside unit 10 broadcasts the tracking instruction message to the auxiliary vehicle 20 .

[0112] It should be noted that after receiving the tracking instruction message, the target roadside unit 10 can broadcast the tracking instruction message to the auxiliary vehicle 20. The auxiliary vehicle 20 can be any vehicle located within the position range of the target roadside unit 10. In one embodiment, the target roadside unit 10 broadcasts the tracking instruction message to the auxiliary vehicle 20 based on the PC5 port. The PC5 port is the communication interface between the target roadside unit 10 and the auxiliary vehicle 20. The auxiliary vehicle 20 is a vehicle used to track the target vehicle 30.

[0113] In step S830, the target roadside unit 10 broadcasts the tracking instruction message to the auxiliary vehicle 20, controls the auxiliary vehicle 20 to turn on the image acquisition hardware, and the auxiliary vehicle 20 collects tracking information of the target vehicle 30 through the image acquisition hardware. The tracking information collected by the image acquisition hardware may include the tracking status, the location information of the target vehicle 30, the picture information of the target vehicle 30, etc.

[0114] In step S840 , the assist vehicle 20 broadcasts the tracking information to the target roadside unit 10 .

[0115] After the auxiliary vehicle 20 collects the tracking information of the target vehicle 30 , the tracking information can be broadcast to the target roadside unit 10 through the PC5 port.

[0116] In step S850 , the target roadside unit 10 feeds back the tracking information to the control center 40 .

[0117] Here, after receiving the tracking information, the target roadside unit 10 may feed back the tracking information to the control center 40 , and the control center 40 may obtain the position information of the target vehicle 30 by extracting the position information in the tracking information.

[0118] Fig. 9 An interactive flow chart of a target vehicle tracking method according to another embodiment of the present application is shown.

[0119] In step S910 , the tracking requester 50 sends a tracking instruction message to the auxiliary vehicle 20 .

[0120] In this step, the tracking demand party 50 is the party that needs to track the target vehicle 30. For example, the tracking demand party 50 is the vehicle that has an accident with the target vehicle 30, or it is a vehicle that needs to track the target vehicle 30 for other reasons, such as a law enforcement vehicle that needs to track the target vehicle 30 because the target vehicle 30 escapes illegally.

[0121] The tracking party 50 can generate a tracking instruction message by obtaining the characteristic information of the target vehicle and send the tracking instruction message to the auxiliary vehicle 20. The tracking party can also generate a tracking instruction message based on the characteristic information of the target vehicle and the characteristic information of the vehicle itself and send the tracking instruction message to the auxiliary vehicle 20.

[0122] Step S920 to step S940 are similar to step S830 to step S850, so they are not repeated here.

[0123] In the above embodiments, the tracking instruction message is broadcast to the auxiliary vehicle, and the image acquisition hardware of the auxiliary vehicle is controlled to start up, so as to determine the position information of the target vehicle according to the tracking information acquired by the image acquisition hardware, thereby tracking the target vehicle with the help of the image acquisition hardware of the auxiliary vehicle, making the tracking method faster and more efficient.

[0124] The following describes an apparatus embodiment of the present application, which can be used to execute the target vehicle tracking method in the above-mentioned embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the above-mentioned embodiment of the target vehicle tracking method of the present application.

[0125] Fig.10 A block diagram of a target vehicle tracking device according to an embodiment of the present application is shown, referring to Fig.10 As shown, a target vehicle tracking device 1000 according to an embodiment of the present application includes: a first determination unit 1002 , a first acquisition unit 1004 and a position determination unit 1008 .

[0126] Among them, the first determination unit 1002 is used for the control center to determine the target roadside unit according to the tracking instruction message, so that the target roadside unit broadcasts the tracking instruction message to the auxiliary vehicle to control the image acquisition hardware of the auxiliary vehicle to start; the first acquisition unit 1004 is used to obtain the tracking information of the target vehicle collected by the image acquisition hardware; the position determination unit 1008 is used to determine the position information of the target vehicle according to the tracking information.

[0127] In some embodiments of the present application, the first determination unit 1002 is used for the control center to determine the target roadside unit according to the tracking instruction message, and is also configured to: obtain characteristic information of the target vehicle; and generate a tracking instruction message according to the characteristic information of the target vehicle.

[0128] In some embodiments of the present application, the first determination unit 1002 is configured as: a control center determines the target roadside unit based on the characteristic information of the target vehicle contained in the tracking instruction message.

[0129] Fig.11A block diagram of a target vehicle tracking device according to an embodiment of the present application is shown.

[0130] See also Fig.11 As shown, a target vehicle tracking device 1100 according to an embodiment of the present application includes: a second acquisition unit 1102 , a second determination unit 1104 and a broadcasting unit 1106 .

[0131] Among them, the second acquisition unit 1102 is used for the current vehicle to acquire the characteristic information of the target vehicle; the second determination unit 1104 is used to generate a tracking instruction message according to the characteristic information of the target vehicle; the broadcast unit 1106 is used to broadcast the tracking instruction message to the auxiliary vehicle to control the auxiliary vehicle to start the image acquisition hardware to track the target vehicle.

[0132] In some embodiments of the present application, the generation determination unit 1104 is configured to: obtain characteristic information of the current vehicle; and generate a tracking instruction message according to the characteristic information of the target vehicle and the characteristic information of the current vehicle.

[0133] Fig.12 A block diagram of a target vehicle tracking device according to an embodiment of the present application is shown.

[0134] See also Fig.12 As shown, a target vehicle tracking device 1200 according to an embodiment of the present application includes: a receiving unit 1202 , an opening unit 1204 and a collecting unit 1206 .

[0135] Among them, the receiving unit 1202 is used for the first auxiliary vehicle to receive a tracking instruction message during driving, and the tracking instruction message includes characteristic information of the target vehicle; the starting unit 1204 is used to start the image acquisition hardware according to the tracking instruction message; the acquisition unit 1206 is used to acquire the tracking information of the target vehicle through the image acquisition hardware to track the target vehicle.

[0136] In some embodiments of the present application, it is also configured as: if the driving route changes during driving, a second auxiliary vehicle is determined; the tracking information is sent to the second auxiliary vehicle so that the second auxiliary vehicle tracks the target vehicle according to the tracking information.

[0137] Fig.13 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0138] It should be noted that Fig.13 The computer system 1300 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0139] like Fig.13 As shown, the computer system 1300 includes a central processing unit (CPU) 1301, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1302 or the program loaded from the storage part 1308 to the random access memory (RAM) 1303, such as executing the method described in the above embodiment. In RAM 1303, various programs and data required for system operation are also stored. CPU 1301, ROM 1302 and RAM 1303 are connected to each other through bus 1304. Input / output (I / O) interface 1305 is also connected to bus 1304.

[0140] The following components are connected to the I / O interface 1305: an input section 1306 including a keyboard, a mouse, etc.; an output section 1307 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1308 including a hard disk, etc.; and a communication section 1309 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1309 performs communication processing via a network such as the Internet. A drive 1310 is also connected to the I / O interface 1305 as needed. A removable medium 1311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1310 as needed so that a computer program read therefrom is installed into the storage section 1308 as needed.

[0141] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 1309, and / or installed from a removable medium 1311. When the computer program is executed by a central processing unit (CPU) 1301, various functions defined in the system of the present application are executed.

[0142] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0143] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0144] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0145] As another aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the above embodiment.

[0146] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0147] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0148] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0149] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A target vehicle tracking method, characterized in that: include: During driving, the first auxiliary vehicle receives a tracking instruction message, wherein the tracking instruction message includes characteristic information of the target vehicle; Turn on the image acquisition hardware according to the tracking instruction message; The tracking information of the target vehicle is collected by the image acquisition hardware to track the target vehicle; the tracking information includes feature information of the first auxiliary vehicle, and the feature information includes vehicle features of the first auxiliary vehicle; If the driving route changes during driving, a second auxiliary vehicle is determined; The tracking information is directly sent to the second auxiliary vehicle, so that the second auxiliary vehicle tracks the target vehicle according to the tracking information.

2. A target vehicle tracking device, characterized in that: include: A receiving unit, used for the first auxiliary vehicle to receive a tracking instruction message during driving, wherein the tracking instruction message includes characteristic information of the target vehicle; An enabling unit, used for enabling image acquisition hardware according to the tracking instruction message; an acquisition unit, configured to acquire tracking information of the target vehicle through the image acquisition hardware to track the target vehicle; the tracking information includes feature information of the first auxiliary vehicle, and the feature information includes vehicle features of the first auxiliary vehicle; If the driving route changes during driving, a second auxiliary vehicle is determined; The tracking information is directly sent to the second auxiliary vehicle, so that the second auxiliary vehicle tracks the target vehicle according to the tracking information.

3. An electronic device, characterized in that: include: A memory, wherein a program is stored in the memory; A processor is used to load the program to implement the method described in claim 1.

4. A computer-readable medium, characterized in that The computer-readable medium carries one or more programs, and when the one or more programs are executed by an electronic device, the electronic device implements the method described in claim 1.

Images