A target tracking method and device, electronic equipment and readable medium

Abstract

The application provides a target tracking method and device, electronic equipment and readable medium, which are applied to a target tracking system, receives information of a current target in a current image frame collected by a sensor currently; based on the information of the current target, it is judged whether the current target and any historical fusion target exist as a same target; if so, based on the Mahalanobis distance value of the current target and any historical fusion target, a target historical fusion target which is the same target as the current target is determined; after determining that the current target and the target historical fusion target in a preset number of current image frames are the same target based on the Mahalanobis distance value, the target historical fusion target is assigned a corresponding target number; if the current target and the target historical fusion target corresponding to the target number exist as the same target, it is determined that the current target and the target historical fusion target corresponding to the target number are the same target, and the Mahalanobis distance and the target number are used, so that the accuracy of environmental perception is improved.

Description

Technical Field

[0001] This invention relates to the field of environmental sensing technology, and in particular to a target tracking method, a target tracking device, an electronic device, and a computer-readable medium. Background Technology

[0002] Existing technologies typically employ techniques such as Mahalanobis distance, Euclidean distance, and image features to match and associate newly detected targets with historically fused targets, enabling the tracking of changes in historically fused targets over time. However, during the tracking of the first historically fused target, if the distance between the first and second historically fused targets is relatively short for a certain period, the changing target of the first historically fused target at a certain moment may be matched with the second historically fused target during that period. This results in the first historically fused target repeatedly switching between matching with the second historically fused target at different moments during that period, thereby reducing the accuracy of environmental perception. Summary of the Invention

[0003] This invention provides a target tracking method, apparatus, electronic device, and computer-readable storage medium to address the problem that during the tracking of a first historical fusion target, the changing target of the first historical fusion target at different times may repeatedly switch and match between the first historical fusion target and the second historical fusion target, thereby reducing the accuracy of environmental perception.

[0004] This invention discloses a target tracking method applied to a target tracking system, wherein the target tracking system is communicatively connected to at least one sensor, and the method includes:

[0005] Receive information about the current target in the current image frame currently acquired by the sensor;

[0006] Based on the information of the current target, determine whether there is a possibility that the current target and any preset historical fusion target are the same target;

[0007] If there is a possibility that the current target and any of the historical fusion targets are the same target, then based on the Mahalanobis distance between the current target and any of the historical fusion targets, determine the target historical fusion target that is the same target as the current target among the historical fusion targets.

[0008] If, based on the Mahalanobis distance value, a preset number of the current target and the target historical fusion target in the current image frames are determined to be the same target, a corresponding target number is assigned to the target historical fusion target;

[0009] If there is a possibility that the current target and the target historical fusion target corresponding to the target number are the same target, then the current target and the target historical fusion target corresponding to the target number are determined to be the same target.

[0010] Optionally, the target tracking system stores information and update flags of the historical fused targets; the update flags of the historical fused targets are used to indicate whether the information of the historical fused targets has been updated; the step of determining the target historical fused target that is the same target as the current target among any of the historical fused targets includes:

[0011] The information of the target's historical fusion targets is updated using the information of the current target;

[0012] Modifying the value of the update flag of the target historical fusion target indicates that the information of the target historical fusion target has been updated.

[0013] Optionally, the historical fusion target is determined based on information about historical targets historically collected by the sensors; the information about the historical fusion target includes at least one of the following: the category information, location information, velocity information of the historical fusion target, and the number of the first sensor that collected the information about the historical target.

[0014] Optionally, the information of the current target includes at least one of the current target's category information, location information, and speed information; the step of determining, based on the information of the current target, whether there is a possibility that the current target and any preset historical fusion target are the same target includes:

[0015] For any of the historical fusion targets, based on the category information of the historical fusion targets and the category information of the current target, it is determined whether the relationship between the historical fusion targets and the current target satisfies a preset category condition;

[0016] Based on the location information of the historical fused target and the location information of the current target, determine whether the relationship between the historical fused target and the current target satisfies a preset distance condition;

[0017] Based on the speed information of the historical fusion target and the speed information of the current target, determine whether the relationship between the historical fusion target and the current target satisfies a preset speed condition;

[0018] Based on the update flag of the historical fusion target, determine whether the historical fusion target meets the preset update conditions;

[0019] The number of the second sensor that has collected information about the current target is obtained;

[0020] Based on the number of the first sensor and the number of the second sensor, determine whether the relationship between the historical fusion target and the current target meets the preset numbering conditions.

[0021] Optionally, the step of determining whether there is a possibility that the current target and any preset historical fusion target are the same target based on the information of the current target includes:

[0022] For any of the aforementioned historical fusion targets, if at least one of the preset category condition, the preset distance condition, the preset speed condition, the preset update condition, and the preset number condition is satisfied, then it is confirmed that the current target and the historical fusion target may be the same target.

[0023] Optionally, the step of determining the target historical fusion target that is the same as the current target among the historical fusion targets based on the Mahalanobis distance value between the current target and any of the historical fusion targets includes:

[0024] Calculate the Mahalanobis distance between the current target and any of the historical fused targets;

[0025] For any of the historical fusion targets, if the Mahalanobis distance between the current target and the historical fusion target is less than a preset threshold, then the historical fusion target is regarded as a historical fusion target to be processed.

[0026] Based on the Mahalanobis distance between the current target and at least one of the historical fusion targets to be processed, a target historical fusion target that is the same as the current target is determined among the at least one historical fusion target to be processed.

[0027] Optionally, the step of determining whether there is a possibility that the current target and any preset historical fusion target are the same target based on the information of the current target includes:

[0028] For any of the aforementioned historical fusion targets, predict the information of the historical fusion target at the current time;

[0029] Based on the information of the current target and the information of the historical fused target at the current time, determine whether there is a possibility that the current target and the historical fused target are the same target.

[0030] This invention also discloses a target tracking device applied to a target tracking system, the target tracking system being communicatively connected to at least one sensor, the device comprising:

[0031] The information receiving module is used to receive information about the current target in the current image frame currently acquired by the sensor;

[0032] The probability determination module is used to determine, based on the information of the current target, whether there is a possibility that the current target and any preset historical fusion target are the same target;

[0033] The target historical fusion target determination module is used to determine the target historical fusion target that is the same as the current target among any of the historical fusion targets if there is a possibility that the current target and any of the historical fusion targets are the same target, based on the Mahalanobis distance value between the current target and any of the historical fusion targets;

[0034] The allocation module is used to assign a corresponding target number to the target historical fusion target when, based on the Mahalanobis distance value, a preset number of the current target and the target historical fusion target in the current image frames are determined to be the same target;

[0035] The determination module is used to determine that the current target and the target historical fusion target corresponding to the target number are the same target if there is a possibility that the current target and the target historical fusion target corresponding to the target number are the same target.

[0036] Optionally, the target tracking system stores information and update flags of the historical fused targets; the update flags of the historical fused targets are used to indicate whether the information of the historical fused targets has been updated; the device includes:

[0037] The module is used to update the information of the target's historical fused targets using the information of the current target;

[0038] The modification module is used to indicate that the information of the target historical fusion target has been updated by modifying the value of the update flag bit of the target historical fusion target.

[0039] Optionally, the historical fusion target is determined based on information about historical targets historically collected by the sensors; the information about the historical fusion target includes at least one of the following: the category information, location information, velocity information of the historical fusion target, and the number of the first sensor that collected the information about the historical target.

[0040] Optionally, the information of the current target includes at least one of the current target's category information, location information, and speed information; the probability determination module includes:

[0041] The first judgment submodule is used to determine, for any historical fusion target, whether the relationship between the historical fusion target and the current target satisfies a preset category condition based on the category information of the historical fusion target and the category information of the current target;

[0042] The second judgment submodule is used to determine whether the relationship between the historical fusion target and the current target satisfies a preset distance condition based on the location information of the historical fusion target and the location information of the current target.

[0043] The third judgment submodule is used to determine whether the relationship between the historical fusion target and the current target satisfies a preset speed condition based on the speed information of the historical fusion target and the speed information of the current target.

[0044] The fourth judgment submodule is used to determine whether the historical fusion target meets the preset update conditions based on the update flag bit of the historical fusion target;

[0045] The acquisition submodule is used to acquire the number of the second sensor that has collected information about the current target;

[0046] The fifth judgment submodule is used to determine, based on the number of the first sensor and the number of the second sensor, whether the relationship between the historical fusion target and the current target meets the preset numbering conditions.

[0047] Optionally, the probability determination module includes:

[0048] The confirmation submodule is used to confirm the possibility that the current target and the historical fusion target are the same target if at least one of the preset category condition, the preset distance condition, the preset speed condition, the preset update condition, and the preset number condition is satisfied for any of the historical fusion targets.

[0049] Optionally, the target history fusion target determination module includes:

[0050] The calculation submodule is used to calculate the Mahalanobis distance between the current target and any of the historical fused targets;

[0051] As a submodule, it is used to, for any of the historical fusion targets, if the Mahalanobis distance between the current target and the historical fusion target is less than a preset threshold, then the historical fusion target is taken as a historical fusion target to be processed.

[0052] The determination submodule is used to determine the target historical fusion target that is the same as the current target among the at least one target historical fusion targets to be processed, based on the Mahalanobis distance value between the current target and at least one of the target historical fusion targets to be processed.

[0053] Optionally, the probability determination module includes:

[0054] The prediction submodule is used to predict the information of any of the historical fusion targets at the current time.

[0055] The sixth judgment submodule is used to determine, based on the information of the current target and the information of the historical fused target at the current time, whether there is a possibility that the current target and the historical fused target are the same target.

[0056] This invention also discloses an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0057] The memory is used to store computer programs;

[0058] When the processor executes a program stored in the memory, it implements the method described in the embodiments of the present invention.

[0059] This invention also discloses one or more computer-readable media storing instructions that, when executed by one or more processors, cause the processors to perform the methods described in this invention.

[0060] The embodiments of the present invention have the following advantages:

[0061] In this embodiment of the invention, the target tracking system is communicatively connected to at least one sensor. The target tracking system receives information about the current target in the current image frame currently acquired by the sensor. Based on the information about the current target, it determines whether the current target and any preset historical fusion target are the same target. If the current target and any historical fusion target are likely to be the same target, then based on the Mahalanobis distance between the current target and any historical fusion target, a target historical fusion target that is the same target as the current target is identified among the historical fusion targets. If, based on the Mahalanobis distance, a preset number of current image frames are determined to contain the same target as the target historical fusion target, a corresponding target number is assigned to the target historical fusion target. If the current target and the target historical fusion target corresponding to the target number are likely to be the same target, then the current target and the target historical fusion target corresponding to the target number are determined to be the same target. In the case where the current target and the target historical fusion target are likely to be the same target, the target number is used to determine that the current target and the target historical fusion target are the same target, and association matching is performed. This avoids the problem of one historical fusion target repeatedly switching between multiple historical fusion targets for association matching when the distance between multiple historical fusion targets is close, thus improving the environmental perception capability. Attached Figure Description

[0062] Figure 1 This is a flowchart of the steps of a target tracking method provided in an embodiment of the present invention;

[0063] Figure 2 This is a flowchart of another target tracking method provided in this embodiment of the invention;

[0064] Figure 3 This is a flowchart illustrating the steps of tracking a target based on a target number, provided in an embodiment of the present invention.

[0065] Figure 4 This is a flowchart illustrating the steps of tracking a target based on Mahalanobis distance, as provided in an embodiment of the present invention.

[0066] Figure 5 This is a structural block diagram of a target tracking device provided in an embodiment of the present invention;

[0067] Figure 6 This is a structural block diagram of another target tracking device provided in an embodiment of the present invention;

[0068] Figure 7 This is a block diagram of an electronic device provided in an embodiment of the present invention;

[0069] Figure 8 This is a schematic diagram of a computer-readable medium provided in an embodiment of the present invention. Detailed Implementation

[0070] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0071] To facilitate understanding of the technical solutions and effects of the embodiments of the present invention, the prior art of the present invention will be briefly described below.

[0072] With the rapid development of technology, the demand for environmental perception and recognition is increasing in the fields of drones, intelligent driving, and robotics. Drones are widely used in rescue scenarios such as forest fire prevention, intelligent driving technology is applied to land transportation scenarios such as cars, trucks, and buses, while robots are applied to environments such as factories and homes.

[0073] In existing technologies, sensors such as cameras, millimeter-wave radar, and lidar are commonly used to perceive the environment. Depending on the cost and requirements of environmental perception, a single sensor or a combination of multiple sensors can be selected to improve the ability to perceive the environment.

[0074] Reference Figure 1The diagram illustrates a flowchart of a target tracking method provided in an embodiment of the present invention, applied to a target tracking system. The target tracking system is communicatively connected to at least one sensor, and specifically includes the following steps:

[0075] Step 101: Receive information about the current target in the current image frame currently acquired by the sensor;

[0076] In this embodiment of the invention, the target tracking system is communicatively connected to at least one sensor. The sensor includes at least one of a forward-looking camera, a lidar, a front radar, and an angle radar. The forward-looking camera can acquire image frame information; the lidar can create a precise three-dimensional map of the surrounding environment by emitting laser pulses and measuring the reflected light, for target identification and distance measurement between the target and the lidar. The front radar can use millimeter-wave technology to measure the distance and relative velocity between the front radar and the target. The angle radar can detect targets in the environment surrounding the angle radar and track the target's position and motion.

[0077] Target tracking systems can achieve information fusion by integrating data collected by these sensors at the time of camera image frame acquisition. Therefore, a target tracking system can receive information about the current target in the current image frame acquired by at least one sensor. The current target is the target newly detected by the sensor at the current time.

[0078] Step 102: Based on the information of the current target, determine whether there is a possibility that the current target and any preset historical fusion target are the same target;

[0079] In this embodiment of the invention, the target tracking system may store at least one historical fusion target. The historical fusion target is obtained by integrating information about historical targets on historical image frames acquired by at least one sensor. The information of the historical fusion target may include information such as the target's category, velocity, and location.

[0080] In this embodiment of the invention, the target tracking system can receive information about a current target in the current image frame acquired by at least one sensor. The information about the current target may include its category, velocity, and location. Based on the information about the current target and information about any historically fused target, the target tracking system can determine whether the current target and any historically fused target are likely the same target.

[0081] In a specific example, for any historical fusion target, if the current target and the historical fusion target are of the same category, the distance between the current target's position and the historical fusion target's position is less than a preset distance threshold, the difference between the current target's speed and the historical fusion target's speed is less than a preset speed threshold, and the sensor that collects the information of the current target is the same as the sensor that collects the information of the historical target, then the target tracking system confirms that the current target and the historical fusion target may be the same target.

[0082] Step 103: If there is a possibility that the current target and any of the historical fusion targets are the same target, then based on the Mahalanobis distance between the current target and any of the historical fusion targets, determine the target historical fusion target that is the same target as the current target among the historical fusion targets.

[0083] In this embodiment of the invention, if the target tracking system confirms that the current target and any historically fused target may be the same target, the target tracking system can calculate the Mahalanobis distance between the current target and any historically fused target. Specifically, the formula for calculating the Mahalanobis distance is as follows:

[0084]

[0085] Where D(x,y) is the Mahalanobis distance between the current target and any historical fused target, x is the data vector of the current target, which includes the position and velocity features of the current target, y is the data vector of the historical fused target, which includes the position and velocity features of the historical fused target, S is the covariance matrix of the data of the current target and the historical fused target, S-1 is the inverse of the covariance matrix, and T represents the transpose.

[0086] In this embodiment of the invention, for any historical fusion target, if the Mahalanobis distance between the current target and the historical fusion target is less than a preset threshold, the target tracking system confirms that the current target and the historical fusion target are the same target. If a Mahalanobis distance less than the preset threshold is found among multiple historical fusion targets, the target tracking system selects the historical fusion target with the smallest Mahalanobis distance as the target historical fusion target.

[0087] Step 104: If, based on the Mahalanobis distance value, a preset number of the current target and the target historical fusion target in the current image frames are determined to be the same target, then a corresponding target number is assigned to the target historical fusion target.

[0088] In this embodiment of the invention, during the tracking of historical fusion targets, if the target tracking system uses Mahalanobis distance to identify the current target in a preset number of current image frames as the same target as the same historical fusion target, then the target tracking system assigns a corresponding target number to the historical fusion target.

[0089] In a specific example, during the tracking of historical fusion targets, if the target tracking system uses Mahalanobis distance to identify targets in five consecutive image frames as the same historical fusion target, then the target tracking system assigns a corresponding target number to that historical fusion target.

[0090] Step 105: If there is a possibility that the current target and the target historical fusion target corresponding to the target number are the same target, then determine that the current target and the target historical fusion target corresponding to the target number are the same target.

[0091] In this embodiment of the invention, during the tracking of historical fusion targets, after the target tracking system assigns a corresponding target number to the historical fusion target, if the current target newly detected by the sensor has the possibility that it is the same target as the historical fusion target corresponding to the target number, then the target tracking system confirms that the current target and the historical fusion target corresponding to the target number are the same target.

[0092] In this embodiment of the invention, when the target tracking system confirms that the current target and the target historical fusion target corresponding to the target number are the same target, the target tracking system can use the information of the current target to update the information of the target historical fusion target corresponding to the target number.

[0093] In a specific example, after the target tracking system assigns a corresponding target number to a historically fused target, if the distance between the location of the newly detected current target and the location of the historically fused target corresponding to the target number is less than a preset distance threshold, the difference between the velocity of the newly detected current target and the velocity of the historically fused target corresponding to the target number is less than a preset velocity threshold, and the sensor collecting the information of the current target is the same as the sensor collecting the information of the historical targets, then there is a possibility that the newly detected current target and the historically fused target corresponding to the target number are the same target. In the case where there is a possibility that the newly detected current target and the historically fused target corresponding to the target number are the same target, the target tracking system confirms that the current target and the historically fused target corresponding to the target number are the same target.

[0094] In this embodiment of the invention, the target tracking system is communicatively connected to at least one sensor. The target tracking system receives information about the current target in the current image frame currently acquired by the sensor. Based on the information about the current target, it determines whether there is a possibility that the current target and any preset historical fusion target are the same target. If there is a possibility that the current target and any historical fusion target are the same target, then based on the Mahalanobis distance between the current target and any historical fusion target, a target historical fusion target that is the same target as the current target is identified among any historical fusion targets. If, based on the Mahalanobis distance, a preset number of current image frames are determined to contain the same target as the target historical fusion target, a corresponding target number is assigned to the target historical fusion target. If there is a possibility that the current target and the historical fused target corresponding to the target number are the same target, then the current target and the historical fused target corresponding to the target number are determined to be the same target. In cases where there is a possibility that the current target and the historical fused target are the same target, the target number is used to determine that the current target and the historical fused target are the same target, and association matching is performed. This avoids the problem of one historical fused target repeatedly switching between multiple historical fused targets for association matching when the distance between them is relatively close, thus improving environmental perception capabilities and the accuracy of the motion state and attribute information (category, bounding box, heading angle, etc.) of historical fused targets. In this embodiment of the invention, target number is used for matching and association. When a sensor target appears in the next frame, if there is a possibility that it is the same target as a historical fused target, association matching is performed without performing Mahalanobis distance calculation, reducing resource consumption.

[0095] Further, in any of the above embodiments, the target tracking system stores information and an update flag of the historical fused targets; the update flag of the historical fused targets is used to indicate whether the information of the historical fused targets has been updated; after step 103, the following is included:

[0096] Sub-step S11: Update the information of the target's historical fused targets using the information of the current target;

[0097] Sub-step S12: Modify the value of the update flag of the target historical fusion target to indicate that the information of the target historical fusion target has been updated.

[0098] In this embodiment of the invention, the target tracking system may store information and update flags of historical fused targets. The update flags of historical fused targets are used to indicate whether the information of historical fused targets has been updated.

[0099] In this embodiment of the invention, when the target tracking system determines that the current target and the target historical fused target are the same target, the target tracking system can use the information of the current target to update the information of the target historical fused target, and indicate that the information of the target historical fused target has been updated by modifying the value of the update flag bit of the target historical fused target.

[0100] In a specific example, if the update flag of the target's historical merged target is 0, it means that the information of the target's historical merged target has not been updated; if the update flag is 1, it means that the information of the target's historical merged target has been updated. After the target tracking system updates the information of the target's historical merged target using the information of the current target, the target tracking system can change the value of the update flag of the target's historical merged target from 0 to 1 to indicate that the information of the target's historical merged target has been updated.

[0101] In this embodiment of the invention, the information of the target's historical fused targets is updated using the information of the current target, thereby enabling the tracking of the target's historical fused targets; by modifying the value of the update flag bit of the target's historical fused targets, it is indicated that the information of the target's historical fused targets has been updated, providing support for determining whether the current target and the historical fused targets are the same target based on the update flag bit.

[0102] Furthermore, in any of the above embodiments, the historical fusion target is determined based on the information of historical targets historically collected by the sensors; the information of the historical fusion target includes at least one of the following: the category information, location information, speed information of the historical fusion target, and the number of the first sensor that collected the information of the historical target.

[0103] In this embodiment of the invention, the historical fusion target is obtained by integrating information about historical targets from historical image frames historically acquired by at least one sensor. The information of the historical fusion target may include at least one of the following: category information, velocity information, location information of the historical fusion target, and the number of the first sensor that acquired the historical target information. The first sensor may include at least one sensor.

[0104] Further, in any of the above embodiments, the information of the current target includes at least one of the current target's category information, location information, and speed information; step 102 includes:

[0105] Sub-step S21: For any of the historical fusion targets, based on the category information of the historical fusion targets and the category information of the current target, determine whether the relationship between the historical fusion targets and the current target satisfies the preset category conditions;

[0106] Sub-step S22: Based on the location information of the historical fused target and the location information of the current target, determine whether the relationship between the historical fused target and the current target satisfies a preset distance condition;

[0107] Sub-step S23: Based on the speed information of the historical fusion target and the speed information of the current target, determine whether the relationship between the historical fusion target and the current target satisfies a preset speed condition;

[0108] Sub-step S24: Determine whether the historical fusion target meets the preset update conditions based on the update flag bit of the historical fusion target;

[0109] Sub-step S25: Obtain the number of the second sensor that has collected information about the current target;

[0110] Sub-step S26: Based on the number of the first sensor and the number of the second sensor, determine whether the relationship between the historical fusion target and the current target meets the preset numbering condition.

[0111] In this embodiment of the invention, the information of the current target in the current image frame detected by the sensor includes at least one of the current target's category information, position information, and velocity information. The target tracking system can obtain the number of the second sensor that has acquired the information of the current target. The second sensor may include at least one sensor.

[0112] In this embodiment of the invention, for any historical fusion target, based on the category information of the historical fusion target and the category information of the current target, the target tracking system can determine whether the relationship between the historical fusion target and the current target satisfies a preset category condition; based on the location information of the historical fusion target and the current target, the target tracking system can determine whether the relationship between the historical fusion target and the current target satisfies a preset distance condition; based on the speed information of the historical fusion target and the current target, the target tracking system can determine whether the relationship between the historical fusion target and the current target satisfies a preset speed condition; based on the update flag of the historical fusion target, the target tracking system can determine whether the historical fusion target satisfies a preset update condition; based on the number of the first sensor and the number of the second sensor, the target tracking system can determine whether the relationship between the historical fusion target and the current target satisfies a preset number condition. Based on whether the preset category condition, preset distance condition, preset speed condition, preset update condition, and preset number condition are satisfied respectively, it can be determined whether there is a possibility that the current target and the historical fusion target are the same target.

[0113] The preset category condition means that the historical fusion target and the current target are of the same category; the preset distance condition means that the distance between the positions of the historical fusion target and the current target is less than a preset distance threshold; the preset speed condition means that the difference between the speeds of the historical fusion target and the current target is less than a preset difference threshold; the preset update condition means that the update flag of the historical fusion target indicates that the information of the historical fusion target has been updated; and the preset number condition means that the number of the first sensor and the number of the second sensor are the same. It should be noted that the positions of the historical fusion target and the current target are respectively their positions in a three-dimensional coordinate system with the rear axle of the vehicle as the origin, and the speeds of the historical fusion target and the current target are respectively their speeds perpendicular to the vehicle's forward direction.

[0114] In this embodiment of the invention, the possibility of whether the current target and the historical fused target are the same target is realized by determining whether the preset category condition, preset distance condition, preset speed condition, preset update condition and preset number condition are satisfied respectively.

[0115] Further, in any of the above embodiments, step 102 includes:

[0116] Sub-step S31: For any of the historical fusion targets, if at least one of the preset category condition, the preset distance condition, the preset speed condition, the preset update condition, and the preset number condition is satisfied, then it is confirmed that the current target and the historical fusion target may be the same target.

[0117] In this embodiment of the invention, for any historical fusion target, if the relationship between the historical fusion target and the current target satisfies at least one of the preset category condition, preset distance condition, preset speed condition, preset update condition, and preset number condition, then the target tracking system can confirm that the current target and the historical fusion target may be the same target.

[0118] Specifically, if the relationship between the historical fusion target and the current target satisfies the preset distance condition, preset speed condition, and preset number condition, and the relationship between the historical fusion target and the current target satisfies the preset update condition and / or preset category condition, then the target tracking system can confirm that the current target and the historical fusion target may be the same target.

[0119] Further, in any of the above embodiments, step 103 includes:

[0120] Sub-step S41: Calculate the Mahalanobis distance between the current target and any of the historical fusion targets;

[0121] Sub-step S42: For any of the historical fusion targets, if the Mahalanobis distance between the current target and the historical fusion target is less than a preset threshold, then the historical fusion target is taken as a historical fusion target to be processed.

[0122] Sub-step S43: Based on the Mahalanobis distance between the current target and at least one of the historical fusion targets to be processed, determine the target historical fusion target that is the same as the current target among the at least one historical fusion targets to be processed.

[0123] In this embodiment of the invention, if the target tracking system confirms that the current target and any historical fused target may be the same target, the target tracking system can calculate the Mahalanobis distance between the current target and any historical fused target.

[0124] For any historical fusion target, if the Mahalanobis distance between the current target and the historical fusion target is less than a preset threshold, the historical fusion target is designated as a pending historical fusion target. If there is only one pending historical fusion target, the target tracking system designates it as the target historical fusion target. If there are multiple pending historical fusion targets, the one with the smallest Mahalanobis distance among them is determined as the target historical fusion target.

[0125] Further, in any of the above embodiments, step 102 includes:

[0126] Sub-step S51: For any of the historical fusion targets, predict the information of the historical fusion target at the current time;

[0127] Sub-step S52: Based on the information of the current target and the information of the historical fused target at the current time, determine whether there is a possibility that the current target and the historical fused target are the same target.

[0128] In this embodiment of the invention, when the target tracking system determines whether there is a possibility that the current target and any historical fused target are the same target based on the information of the current target and the information of any historical fused target, it needs to predict the information of the historical fused target at the current time for any historical fused target, and then determine whether there is a possibility that the current target and the historical fused target are the same target based on the information of the current target and the information of the historical fused target at the current time.

[0129] In this embodiment of the invention, when the target tracking system determines whether the current target and any historical fused target are the same target based on the information of the current target and the information of any historical fused target, since different sensors may detect the same target at different times, the target tracking system can synchronize the information of the current target detected by different sensors to the same time point; since different sensors may be located in different positions, the target tracking system can convert the position information of the current target detected by different sensors to the same coordinate system.

[0130] In this embodiment of the invention, based on the information of the current target and the information of the historical fused target at the current time, it is determined whether the current target and the historical fused target are the same target, thus achieving an accurate judgment on whether the current target and the historical fused target are the same target.

[0131] Reference Figure 2 The diagram illustrates a flowchart of another target tracking method provided in an embodiment of the present invention, which may specifically include the following steps:

[0132] Step 201: Obtain the newly detected current target and the historical fused target.

[0133] Step 202: Determine if match_counter is less than 5. If yes, proceed to step 203; otherwise, proceed to step 204.

[0134] match_counter is the number of current image frames in which the current target and the historical fused target of the same target are identified as the same target, based on Mahalanobis distance.

[0135] Step 203: Use Mahalanobis distance technology to correlate the newly detected current target and the historical fused target.

[0136] Step 204: Use the target numbering technique to associate the newly detected current target with the historical fused target.

[0137] The target tracking system, based on information about the current target, determines whether there is a possibility that the current target and any preset historical fusion target are the same target. If there is a possibility that the current target and any historical fusion target are the same target, then based on the Mahalanobis distance between the current target and any historical fusion target, it identifies a target historical fusion target that is the same target as the current target and associates them. If, based on the Mahalanobis distance, it is determined that the current target and the target historical fusion target in five current image frames are the same target, a corresponding target number is assigned to the target historical fusion target. If there is a possibility that the current target and the target historical fusion target corresponding to the target number are the same target, then the current target and the target historical fusion target corresponding to the target number are determined to be the same target and associated.

[0138] Step 205, association ends.

[0139] Reference Figure 3 The diagram illustrates a flowchart of a target tracking method based on a target number, as provided in an embodiment of the present invention. Specifically, it may include the following steps:

[0140] Step 301: Are the sensors that collect information about the current target the same as the sensors that collect information about historical targets?

[0141] Step 302: Is the distance between the current target's location and the location of the target's historical fusion target corresponding to the target number less than a preset distance threshold?

[0142] Step 303: Is the difference between the speed of the current target and the speed of the historical fused target corresponding to the target number less than a preset speed threshold?

[0143] Step 304: Check if is_samed_id && is_dist_checked is 1. If yes, proceed to step 305; otherwise, do not establish the association.

[0144] `is_samed_id` being 1 indicates that the sensor collecting information about the current target is the same sensor that collected information about historical targets. `is_dist_checked` being 1 indicates that the distance between the current target's position and the position of the historical fused target corresponding to the target number is less than a preset distance threshold, and the difference between the current target's velocity and the velocity of the historical fused target corresponding to the target number is less than a preset velocity threshold.

[0145] Step 305: Associate based on target number.

[0146] Step 306: Establish the association.

[0147] The target tracking system determines that the current target and the target number corresponding to the historical target fusion target are the same target and establishes a relationship.

[0148] Reference Figure 4 The diagram illustrates a flowchart of a target tracking method based on Mahalanobis distance, according to an embodiment of the present invention. Specifically, the method may include the following steps:

[0149] Step 401: Are the historical fusion target and the current target of the same category?

[0150] Step 402: Has the information of the historical fusion target been updated?

[0151] Step 403: Are the sensors that collect information about the current target the same as the sensors that collect information about historical targets?

[0152] Step 404: Is the distance between the current target's location and the historical fused target's location less than a preset distance threshold?

[0153] Step 405: Is the difference between the speed of the current target and the speed of the historical fused targets less than a preset speed threshold?

[0154] Step 406: Check if (is_updated||is_samed_type)&&is_samed_id&&is_dist_checked is 1. If yes, proceed to step 407. If no, do not establish an association.

[0155] `is_updated` being 1 indicates that the information of the historical fused target has been updated. `is_samed_type` being 1 indicates that the historical fused target and the current target belong to the same category. `is_samed_id` being 1 indicates that the sensor that collected the information of the current target is the same sensor that collected the information of the historical target. `is_dist_checked` being 1 indicates that the distance between the position of the current target and the position of the historical fused target is less than a preset distance threshold, and the difference between the velocity of the current target and the velocity of the historical fused target is less than a preset velocity threshold.

[0156] Step 407: Calculate the Mahalanobis distance value.

[0157] Step 408: If the Mahalanobis distance value is less than the preset threshold, then establish an association. Otherwise, do not establish an association.

[0158] The target tracking system calculates the Mahalanobis distance between the current target and any historical fused target. If the Mahalanobis distance between the current target and the historical fused target is less than a preset threshold, the historical fused target is used as the target historical fused target, and a relationship is established.

[0159] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0160] Reference Figure 5 The diagram illustrates a structural block diagram of a target tracking device provided in an embodiment of the present invention. This device is applied to a target tracking system, which is communicatively connected to at least one sensor and may specifically include the following modules:

[0161] The information receiving module 501 is used to receive information about the current target in the current image frame currently acquired by the sensor;

[0162] The probability determination module 502 is used to determine, based on the information of the current target, whether there is a possibility that the current target and any preset historical fusion target are the same target;

[0163] The target historical fusion target determination module 503 is used to determine the target historical fusion target that is the same as the current target among any of the historical fusion targets if there is a possibility that the current target and any of the historical fusion targets are the same target.

[0164] The allocation module 504 is used to allocate a corresponding target number to the target historical fusion target when, based on the Mahalanobis distance value, a preset number of the current target and the target historical fusion target in the current image frames are determined to be the same target;

[0165] The determination module 505 is used to determine that the current target and the target historical fusion target corresponding to the target number are the same target if there is a possibility that the current target and the target historical fusion target corresponding to the target number are the same target.

[0166] In an optional embodiment of the present invention, the target tracking system stores information and update flag bits of the historical fused targets; the update flag bits of the historical fused targets are used to indicate whether the information of the historical fused targets has been updated; the device includes:

[0167] The module is used to update the information of the target's historical fused targets using the information of the current target;

[0168] The modification module is used to indicate that the information of the target historical fusion target has been updated by modifying the value of the update flag bit of the target historical fusion target.

[0169] In an optional embodiment of the present invention, the historical fusion target is determined based on information of historical targets historically collected by the sensors; the information of the historical fusion target includes at least one of the following: category information, location information, velocity information of the historical fusion target, and the number of the first sensor that collected the information of the historical target.

[0170] In an optional embodiment of the present invention, the information of the current target includes at least one of the current target's category information, location information, and speed information; the probability determination module includes:

[0171] The first judgment submodule is used to determine, for any historical fusion target, whether the relationship between the historical fusion target and the current target satisfies a preset category condition based on the category information of the historical fusion target and the category information of the current target;

[0172] The second judgment submodule is used to determine whether the relationship between the historical fusion target and the current target satisfies a preset distance condition based on the location information of the historical fusion target and the location information of the current target.

[0173] The third judgment submodule is used to determine whether the relationship between the historical fusion target and the current target satisfies a preset speed condition based on the speed information of the historical fusion target and the speed information of the current target.

[0174] The fourth judgment submodule is used to determine whether the historical fusion target meets the preset update conditions based on the update flag bit of the historical fusion target;

[0175] The acquisition submodule is used to acquire the number of the second sensor that has collected information about the current target;

[0176] The fifth judgment submodule is used to determine, based on the number of the first sensor and the number of the second sensor, whether the relationship between the historical fusion target and the current target meets the preset numbering conditions.

[0177] In an optional embodiment of the present invention, the probability determination module includes:

[0178] The confirmation submodule is used to confirm the possibility that the current target and the historical fusion target are the same target if at least one of the preset category condition, the preset distance condition, the preset speed condition, the preset update condition, and the preset number condition is satisfied for any of the historical fusion targets.

[0179] In an optional embodiment of the present invention, the target history fusion target determination module includes:

[0180] The calculation submodule is used to calculate the Mahalanobis distance between the current target and any of the historical fused targets;

[0181] As a submodule, it is used to, for any of the historical fusion targets, if the Mahalanobis distance between the current target and the historical fusion target is less than a preset threshold, then the historical fusion target is taken as a historical fusion target to be processed.

[0182] The determination submodule is used to determine the target historical fusion target that is the same as the current target among the at least one target historical fusion targets to be processed, based on the Mahalanobis distance value between the current target and at least one of the target historical fusion targets to be processed.

[0183] In an optional embodiment of the present invention, the probability determination module includes:

[0184] The prediction submodule is used to predict the information of any of the historical fusion targets at the current time.

[0185] The sixth judgment submodule is used to determine, based on the information of the current target and the information of the historical fused target at the current time, whether there is a possibility that the current target and the historical fused target are the same target.

[0186] Reference Figure 6 The diagram shows a structural block diagram of another target tracking device provided in an embodiment of the present invention.

[0187] The target tracking device may specifically include a data receiving module, a spatiotemporal synchronization module, an association matching module, a data updating module, and a data sending module. The data receiving module receives data from newly detected current targets and existing historical fused target data from various sensors, serving as input to the spatiotemporal synchronization module. The spatiotemporal synchronization module mainly comprises a time synchronization submodule and a spatial synchronization submodule. The time synchronization submodule predicts the information of any historical fused target at the current time, and then, based on the information of the current target and the historical fused target at the current time, determines whether the current target and the historical fused target are the same target. Since different sensors may detect the same target at different times, the time synchronization submodule can synchronize the information of the current target detected by different sensors to the same time point; since different sensors may be located in different positions, the spatial synchronization submodule can transform the position information of the current target detected by different sensors into the same coordinate system. The association matching module mainly uses Mahalanobis distance or target numbering techniques to achieve optimal matching between historical fused targets and current targets detected by sensors, identifying the current target that is the same as the historical fused target. The data updating module updates the motion state and attribute information of the historical fused target based on the information of the current target that is the same as the historical fused target. The data sending module is used to send the updated historical fusion targets and related information to downstream modules, including decision-making modules.

[0188] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0189] In addition, embodiments of the present invention also provide an electronic device, such as... Figure 7 As shown, it includes a processor 701, a communication interface 702, a memory 703, and a communication bus 704, wherein the processor 701, the communication interface 702, and the memory 703 communicate with each other through the communication bus 704.

[0190] Memory 703 is used to store computer programs;

[0191] When processor 701 executes a program stored in memory 703, it performs the following steps:

[0192] Receive information about the current target in the current image frame currently acquired by the sensor;

[0193] Based on the information of the current target, determine whether there is a possibility that the current target and any preset historical fusion target are the same target;

[0194] If there is a possibility that the current target and any of the historical fusion targets are the same target, then based on the Mahalanobis distance between the current target and any of the historical fusion targets, determine the target historical fusion target that is the same target as the current target among the historical fusion targets.

[0195] If, based on the Mahalanobis distance value, a preset number of the current target and the target historical fusion target in the current image frames are determined to be the same target, a corresponding target number is assigned to the target historical fusion target;

[0196] If there is a possibility that the current target and the target historical fusion target corresponding to the target number are the same target, then the current target and the target historical fusion target corresponding to the target number are determined to be the same target.

[0197] In an optional embodiment of the present invention, the target tracking system stores information and update flags of the historical fusion targets; the update flags of the historical fusion targets are used to indicate whether the information of the historical fusion targets has been updated; the step of determining the target historical fusion target that is the same target as the current target among any of the historical fusion targets includes:

[0198] The information of the target's historical fusion targets is updated using the information of the current target;

[0199] Modifying the value of the update flag of the target historical fusion target indicates that the information of the target historical fusion target has been updated.

[0200] In an optional embodiment of the present invention, the historical fusion target is determined based on information of historical targets historically collected by the sensors; the information of the historical fusion target includes at least one of the following: category information, location information, velocity information of the historical fusion target, and the number of the first sensor that collected the information of the historical target.

[0201] In an optional embodiment of the present invention, the information of the current target includes at least one of the current target's category information, location information, and speed information; the step of determining, based on the information of the current target, whether there is a possibility that the current target and any preset historical fusion target are the same target includes:

[0202] For any of the historical fusion targets, based on the category information of the historical fusion targets and the category information of the current target, it is determined whether the relationship between the historical fusion targets and the current target satisfies a preset category condition;

[0203] Based on the location information of the historical fused target and the location information of the current target, determine whether the relationship between the historical fused target and the current target satisfies a preset distance condition;

[0204] Based on the speed information of the historical fused target and the speed information of the current target, determine whether the relationship between the historical fused target and the current target satisfies a preset speed condition;

[0205] Based on the update flag of the historical fusion target, determine whether the historical fusion target meets the preset update conditions;

[0206] The number of the second sensor that has collected information about the current target is obtained;

[0207] Based on the number of the first sensor and the number of the second sensor, determine whether the relationship between the historical fusion target and the current target meets the preset numbering conditions.

[0208] In an optional embodiment of the present invention, the step of determining whether there is a possibility that the current target and any preset historical fusion target are the same target based on the information of the current target includes:

[0209] For any of the aforementioned historical fusion targets, if at least one of the preset category condition, the preset distance condition, the preset speed condition, the preset update condition, and the preset number condition is satisfied, then it is confirmed that the current target and the historical fusion target may be the same target.

[0210] In an optional embodiment of the present invention, the step of determining a target historical fusion target that is the same as the current target among the historical fusion targets based on the Mahalanobis distance value between the current target and any of the historical fusion targets includes:

[0211] Calculate the Mahalanobis distance between the current target and any of the historical fused targets;

[0212] For any of the historical fusion targets, if the Mahalanobis distance between the current target and the historical fusion target is less than a preset threshold, then the historical fusion target is regarded as a historical fusion target to be processed.

[0213] Based on the Mahalanobis distance between the current target and at least one of the historical fusion targets to be processed, a target historical fusion target that is the same as the current target is determined among the at least one historical fusion target to be processed.

[0214] In an optional embodiment of the present invention, the step of determining whether there is a possibility that the current target and any preset historical fusion target are the same target based on the information of the current target includes:

[0215] For any of the aforementioned historical fusion targets, predict the information of the historical fusion target at the current time;

[0216] Based on the information of the current target and the information of the historical fused target at the current time, determine whether there is a possibility that the current target and the historical fused target are the same target.

[0217] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0218] The communication interface is used for communication between the aforementioned terminal and other devices.

[0219] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0220] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0221] like Figure 8As shown, in another embodiment of the present invention, a computer-readable storage medium 801 is also provided, which stores instructions that, when executed on a computer, cause the computer to perform a target tracking method as described in the above embodiments.

[0222] In another embodiment of the present invention, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute a target tracking method described in the above embodiments.

[0223] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0224] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0225] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0226] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A target tracking method, characterized in that, Applied to a target tracking system, the target tracking system being communicatively connected to at least one sensor, the method includes: Receive information about the current target in the current image frame currently acquired by the sensor; the sensor includes at least one of a forward-looking camera, a lidar, a front radar, and a corner radar; Based on the information of the current target, determine whether there is a possibility that the current target and any preset historical fusion target are the same target; If there is a possibility that the current target and any of the historical fusion targets are the same target, then based on the Mahalanobis distance between the current target and any of the historical fusion targets, determine the target historical fusion target that is the same target as the current target among the historical fusion targets. If, based on the Mahalanobis distance value, it is determined that the current target and the target historical fusion target in a consecutive preset number of current image frames are the same target, a corresponding target number is assigned to the target historical fusion target; If there is a possibility that the current target and the target historical fusion target corresponding to the target number are the same target, then the current target and the target historical fusion target corresponding to the target number are determined to be the same target; wherein, the target number is used for matching and association, and when the next frame sensor target appears, if there is a possibility that it is the same target as the target historical fusion target, association matching is performed, and Mahalanobis distance calculation is no longer performed.

2. The method according to claim 1, characterized in that, The target tracking system stores information and update flags of the historical fused targets; the update flags of the historical fused targets are used to indicate whether the information of the historical fused targets has been updated. The step of determining a target historical fusion target that is the same as the current target among any of the historical fusion targets includes: The information of the target's historical fusion targets is updated using the information of the current target; Modifying the value of the update flag of the target historical fusion target indicates that the information of the target historical fusion target has been updated.

3. The method according to claim 2, characterized in that, The historical fusion target is determined based on information about historical targets collected by the sensors in the past; the information about the historical fusion target includes at least one of the following: the category information, location information, velocity information of the historical fusion target, and the number of the first sensor that collected the information about the historical target.

4. The method according to claim 3, characterized in that, The information of the current target includes at least one of the current target's category information, location information, and speed information; the step of determining, based on the information of the current target, whether there is a possibility that the current target and any preset historical fusion target are the same target includes: For any of the historical fusion targets, based on the category information of the historical fusion targets and the category information of the current target, it is determined whether the relationship between the historical fusion targets and the current target satisfies a preset category condition; Based on the location information of the historical fused target and the location information of the current target, determine whether the relationship between the historical fused target and the current target satisfies a preset distance condition; Based on the speed information of the historical fusion target and the speed information of the current target, determine whether the relationship between the historical fusion target and the current target satisfies a preset speed condition; Based on the update flag of the historical fusion target, determine whether the historical fusion target meets the preset update conditions; The number of the second sensor that has collected information about the current target is obtained; Based on the number of the first sensor and the number of the second sensor, determine whether the relationship between the historical fusion target and the current target meets the preset numbering conditions.

5. The method according to claim 4, characterized in that, The step of determining, based on the information of the current target, whether there is a possibility that the current target and any preset historical fusion target are the same target includes: For any of the aforementioned historical fusion targets, if at least one of the preset category condition, the preset distance condition, the preset speed condition, the preset update condition, and the preset number condition is satisfied, then it is confirmed that the current target and the historical fusion target may be the same target.

6. The method according to claim 1, characterized in that, The step of determining, based on the Mahalanobis distance between the current target and any of the historical fusion targets, a target historical fusion target that is the same as the current target includes: Calculate the Mahalanobis distance between the current target and any of the historical fused targets; For any of the historical fusion targets, if the Mahalanobis distance between the current target and the historical fusion target is less than a preset threshold, then the historical fusion target is regarded as a historical fusion target to be processed. Based on the Mahalanobis distance between the current target and at least one of the historical fusion targets to be processed, a target historical fusion target that is the same as the current target is determined among the at least one historical fusion target to be processed.

7. The method according to claim 1, characterized in that, The step of determining, based on the information of the current target, whether there is a possibility that the current target and any preset historical fusion target are the same target includes: For any of the aforementioned historical fusion targets, predict the information of the historical fusion target at the current time; Based on the information of the current target and the information of the historical fused target at the current time, determine whether there is a possibility that the current target and the historical fused target are the same target.

8. A target tracking device, characterized in that, Applied to a target tracking system, the target tracking system being communicatively connected to at least one sensor, the device includes: An information receiving module is used to receive information about the current target in the current image frame currently acquired by the sensor; the sensor includes at least one of a forward-looking camera, a lidar, a front radar, and a corner radar; The probability determination module is used to determine, based on the information of the current target, whether there is a possibility that the current target and any preset historical fusion target are the same target; The target historical fusion target determination module is used to determine the target historical fusion target that is the same as the current target among any of the historical fusion targets if there is a possibility that the current target and any of the historical fusion targets are the same target. The allocation module is used to assign a corresponding target number to the target historical fusion target when, based on the Mahalanobis distance value, it is determined that the current target and the target historical fusion target in a consecutive preset number of current image frames are the same target; The determination module is used to determine that the current target and the target historical fusion target corresponding to the target number are the same target if there is a possibility that the current target and the target historical fusion target corresponding to the target number are the same target; wherein, the target number is used for matching and association, and when the next frame sensor target appears, if there is a possibility that it is the same target as the target historical fusion target, the association matching is performed, and Mahalanobis distance calculation is no longer performed.

9. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; The memory is used to store computer programs; When the processor executes a program stored in the memory, it implements the method as described in any one of claims 1-7.

10. One or more computer-readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method as described in any one of claims 1-7.

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