Target vehicle dynamic tracking method based on multiple aircrafts

Abstract

The invention discloses a target vehicle dynamic tracking method based on multiple aircrafts, and the method comprises the steps: setting a multi-aircraft group, and enabling all aircrafts in the multi-aircraft group to have electronic fences; an inner-surrounding aircraft is determined, and a middle-surrounding aircraft is determined based on the collision sequence of the inner-surrounding aircraft electronic fence and other aircraft electronic fences; and the middle-surrounding aircraft obtains a predicted driving track of the target vehicle based on the motion parameters of the target vehicle, selects peripheral aircrafts based on the predicted driving track, and dynamically tracks the target vehicle by the peripheral aircrafts. The problem that vehicles in a monitoring area cannot be continuously monitored due to the fact that the monitoring area is vacuum when a plurality of common aircrafts are dispatched to fly along with a target vehicle in the prior art is solved. According to the invention, under the condition of ensuring continuous, stable and dynamic tracking of the target vehicle, the computing resource consumption of a single aircraft is reduced based on reasonable task planning of the aircraft.

Description

Technical Field

[0001] The present application belongs to the field of aircraft control, and more specifically, to a target vehicle dynamic tracking method based on multiple aircrafts. Background Art

[0002] Aircraft have been invented to play a better role in many fields, especially unmanned aerial vehicles and aircraft group technology, which have been widely used in road monitoring, urban space monitoring, target vehicle tracking, etc. In the current dynamic tracking of target vehicles, one aircraft is mainly used to track the target vehicle. In urban space, it is easy to lose the tracking target due to the obstruction of buildings. Even if multiple aircraft are used for tracking, multiple aircraft are used to accompany the target vehicle, which requires a lot of resources to track the same target vehicle. In addition, due to the call for multiple aircraft to accompany the flight, there will be an "observation vacuum" problem in multiple aircraft, that is, there is no aircraft for continuous monitoring in a certain area, and it is easy to lose potential target vehicles.

[0003] Therefore, for those skilled in the art, how to better invest resources in target vehicles based on multiple aircraft and how to achieve continuous target vehicle monitoring and dynamic tracking in urban space are technical problems that need to be solved urgently. Summary of the invention

[0004] The purpose of the present application is to provide a target vehicle dynamic tracking method based on multiple aircraft, which ensures that multiple aircraft can achieve quality dynamic tracking of other target vehicles on the basis of ensuring continuous dynamic tracking of the target vehicle.

[0005] The present application discloses a method for dynamic tracking of target vehicles of multiple aircrafts, comprising:

[0006] Setting a multi-aircraft group, wherein all aircraft in the multi-aircraft group have an electronic fence, and the aircraft is located at the center of the electronic fence;

[0007] Acquiring target vehicle motion parameters and target vehicle information based on a single aircraft in the multi-aircraft group, and sharing the target vehicle motion parameters and target vehicle information within the multi-aircraft group, wherein the single aircraft is an inner aircraft;

[0008] The inner aircraft follows the target vehicle and obtains a collision order between the inner aircraft electronic fence and non-inner aircraft electronic fences in the multi-aircraft group;

[0009] Based on the collision order between the inner-circumference aircraft electronic fence and the non-inner-circumference aircraft electronic fence, the non-inner-circumference aircraft that first collides with the inner-circumference aircraft electronic fence is obtained to obtain the middle-circumference aircraft;

[0010] Based on the target vehicle motion parameters, the intermediate aircraft predicts the target vehicle's driving trajectory to obtain a predicted driving trajectory of the target vehicle;

[0011] The central aircraft shares the predicted driving trajectory of the target vehicle and the target vehicle information within the multi-aircraft group to obtain a shared target vehicle information package;

[0012] Based on the shared target vehicle information package, peripheral aircraft are selected, and the peripheral aircraft are evenly arranged along the driving track of the target vehicle to dynamically track the target vehicle.

[0013] Optionally, the acquiring the target vehicle motion parameters and the target vehicle information based on a single aircraft in the multi-aircraft group, and sharing the target vehicle motion parameters and the target vehicle information within the multi-aircraft group, wherein the single aircraft is an inner aircraft, comprises:

[0014] The single aircraft obtains the target vehicle motion parameter of the target vehicle, obtains the target vehicle whose target vehicle motion parameter is higher than the target vehicle motion parameter threshold, and the single aircraft is transformed into the inner surrounding aircraft;

[0015] The inner aircraft collects the target vehicle information, sets the target vehicle motion parameters and the target vehicle information into the same data packet, and obtains a target vehicle information packet;

[0016] The target vehicle information package is synchronized within the multi-aircraft group based on a communication network within the multi-aircraft group.

[0017] Optionally, the inner-circle aircraft follows the target vehicle to fly, and obtains a collision order between the inner-circle aircraft electronic fence and non-inner-circle aircraft electronic fences in the multi-aircraft group, including:

[0018] The inner aircraft monitors the driving track of the target vehicle and flies according to the driving track of the target vehicle on the ground;

[0019] The inner-circuit aircraft monitors the collision between the electronic fence of the inner-circuit aircraft and the electronic fence of the non-inner-circuit aircraft in real time, and if the electronic fence of the inner-circuit aircraft collides with the electronic fence of the non-inner-circuit aircraft, records the non-inner-circuit aircraft that has the electronic fence collision relationship;

[0020] The electronic fence collision order of the inner-fence aircraft and the non-inner-fence aircraft is recorded, and the information of the non-inner-fence aircraft corresponding to the electronic fence collision order is recorded.

[0021] Optionally, the step of obtaining the non-inner aircraft that first collides with the inner aircraft electronic fence based on the collision order between the inner aircraft electronic fence and the non-inner aircraft electronic fence to obtain the middle aircraft includes:

[0022] Obtaining and recording the collision sequence between the inner-circuit aircraft electronic fence and the non-inner-circuit aircraft electronic fence;

[0023] The non-inner-fence aircraft that first collides with the inner-fence aircraft electronic fence is set as the middle-fence aircraft.

[0024] Optionally, the predicting the driving trajectory of the target vehicle by the intermediate aircraft based on the motion parameters of the target vehicle to obtain the predicted driving trajectory of the target vehicle includes:

[0025] Based on the target vehicle motion parameters, an initial motion data set of the target vehicle is obtained, and the initial motion data set of the target vehicle is:

[0026] F 0＝ [x0,y0,θ0,v0,a0],

[0027] Wherein, f0 represents the initial motion data set of the target vehicle, x0 represents the horizontal coordinate of the ground coordinate system where the target vehicle is located, y0 represents the vertical coordinate of the ground coordinate system where the target vehicle is located, θ0 represents the angle between the target vehicle direction and the road direction, v0 represents the initial velocity of the target vehicle, and a0 represents the initial acceleration of the target vehicle;

[0028] Obtain the road condition information of the target vehicle and construct a road condition data set, which is:

[0029] F r =[C, L],

[0030] Among them, F r represents the road condition data set, C represents the congestion in front of the target vehicle, and L represents the distance between the target vehicle and the intersection in front of the target vehicle;

[0031] Set the target vehicle's position update time interval to obtain the interval time Δt;

[0032] Based on the initial motion data set of the target vehicle and the road condition data set, the position of the target vehicle is predicted to obtain the predicted position of the target vehicle. The position prediction equation of the target vehicle is:

[0033]

[0034] Among them, x k+1The horizontal coordinate of the ground coordinate system representing the position of the target vehicle at the (k+1)th time period is calculated by superimposing the initial motion data set, y k+1 The ordinate of the ground coordinate system representing the position of the target vehicle in the (k+1)th time period is calculated by superimposing the initial motion data set, x k The horizontal coordinate of the ground coordinate system representing the position of the target vehicle at the kth time period is calculated by superimposing the initial motion data set, y k The vertical coordinate of the ground coordinate system representing the position of the target vehicle at the kth time period is calculated by superimposing the initial motion data set, v k represents the speed of the target vehicle in the kth time period, which is calculated by superimposing the initial motion data set, θ k represents the angle between the target vehicle direction and the road direction at the kth time period, which is calculated by superimposing the initial motion data set, a k represents the acceleration of the target vehicle at the kth time period, which is calculated by superimposing the initial motion data set, and Δt represents the time interval;

[0035] Position particles are set on the road in front of the target vehicle, and the predicted driving trajectory of the target vehicle is obtained based on the predicted position of the target vehicle.

[0036] Optionally, setting a position particle on the road ahead of the target vehicle and obtaining a predicted driving trajectory of the target vehicle based on the predicted position of the target vehicle includes:

[0037] Position particles are evenly arranged on the road ahead of the target vehicle, and coordinates of the position particles in the ground coordinate system are obtained;

[0038] Based on the position of the target vehicle in the (k+1)th time period, the position particle arrival probability of the target vehicle is obtained. The determination equation of the position particle arrival probability of the target vehicle is:

[0039]

[0040] Among them, z k represents the predicted coordinates of the target vehicle at the (k+2)th time period, z x，k+2 represents the predicted horizontal coordinate of the target vehicle at the (k+2)th time period, z y，k+2 represents the predicted ordinate of the target vehicle at the (k+2)th time period, σ represents the standard deviation of the measurement noise, and p(z k |x k+1 ) represents the probability of particle arrival at the target vehicle’s position;

[0041] The arrival probabilities of the target vehicle's position particles are sorted, and particles whose arrival probabilities of the target vehicle's position particles are not less than a preset probability are connected to obtain a predicted driving trajectory of the target vehicle.

[0042] Optionally, the surrounding aircraft shares the predicted driving trajectory of the target vehicle and the target vehicle information within the multi-aircraft group to obtain shared target vehicle information, including:

[0043] The mid-surrounding aircraft sets the predicted driving trajectory of the target vehicle and the target vehicle information into a target vehicle information data packet;

[0044] The central aircraft sends the target vehicle information data packet based on the communication network within the multi-aircraft group, and the target vehicle information data packet is converted into shared target vehicle information.

[0045] Optionally, the selecting of peripheral aircraft based on the shared target vehicle information package, wherein the peripheral aircraft are evenly arranged along the driving track of the target vehicle to dynamically track the target vehicle, includes:

[0046] The non-central aircraft in the multi-aircraft group obtains the predicted driving trajectory of the target vehicle based on the shared target vehicle information package;

[0047] Based on the predicted driving trajectory of the target vehicle, randomly acquiring coordinate points in the predicted driving trajectory of the target vehicle to obtain trajectory distribution points;

[0048] Taking the trajectory distribution point as the center of the circle and setting the radius, a selection range of the peripheral aircraft is obtained;

[0049] Obtaining the distance between the non-central aircraft in the multi-aircraft group and the trajectory distribution points, if the projection distance between the non-central aircraft in the multi-aircraft group and the trajectory distribution points on the same horizontal plane is not greater than the selection range radius of the peripheral aircraft, then setting the non-central aircraft as the peripheral aircraft;

[0050] The peripheral aircraft are evenly arranged along the driving track of the target vehicle and hover at the arranged positions, and different peripheral aircraft dynamically track the target vehicle respectively.

[0051] Optionally, the obtaining of the distance between the non-central aircraft in the multi-aircraft group and the trajectory distribution points, if the projection distance between the non-central aircraft in the multi-aircraft group and the trajectory distribution points on the same horizontal plane is not greater than the selection range radius of the peripheral aircraft, then setting the non-central aircraft as the peripheral aircraft includes:

[0052] Obtaining the distance between the non-mid-surrounding aircraft and the trajectory distribution point to obtain a to-be-determined distance;

[0053] Obtaining the height difference between the non-mid-surrounding aircraft and the trajectory distribution point to obtain a pending height;

[0054] Based on the to-be-determined distance and the to-be-determined height, the projection distance between the non-central aircraft and the trajectory distribution points on the same horizontal plane is obtained and compared with the selection range radius of the peripheral aircraft.

[0055] Optionally, the peripheral aircraft are evenly arranged along the driving track of the target vehicle and hover at the arranged positions, and different peripheral aircraft dynamically track the target vehicle respectively, including:

[0056] The distances between the peripheral aircraft and the target vehicle are obtained and sorted to obtain a peripheral aircraft sequence, and the peripheral aircraft sequence is obtained:

[0057] [h1, h2, h3, ···, h n ]

[0058] Among them, h1~h n represents the number of the peripheral aircraft, and h1 has the smallest distance from the target vehicle, h n The distance from the target vehicle is the largest, and so on;

[0059] Based on the predicted driving trajectory of the target vehicle, obtaining the road where the target vehicle is located;

[0060] The peripheral aircraft are evenly distributed on the road where the target vehicle is located, and the electronic fences of adjacent peripheral aircraft are tangent;

[0061] The peripheral aircraft obtains the target vehicle information based on the shared target vehicle information package, and dynamically tracks the target vehicle based on the target vehicle information.

[0062] The beneficial effects of this application are:

[0063] 1. The aircraft mission planning in a multi-aircraft group is clear and reasonable. In the technical solution of this application, the aircraft are divided into inner aircraft, middle aircraft and outer aircraft, different aircraft are set as different types, and different aircraft complete different tasks. Through reasonable mission planning, it is ensured that different aircraft complete different tasks according to actual needs, and the reasonable arrangement of dynamic tracking tasks is guaranteed.

[0064] 2. Reduce resource consumption in the execution of the target vehicle dynamic tracking task. In the technical solution of this application, for the dynamic tracking of the target vehicle, the target vehicle is first determined based on the inner aircraft, and then the target vehicle information is not released based on the target aircraft, and the target aircraft is not tracked in flight, but the aircraft is selected from the multi-aircraft group for tracking, the total number of aircraft involved in the tracking is reduced, and the aircraft does not need to calculate its own trajectory based on the target vehicle's trajectory, thereby fully reducing resource consumption.

[0065] 3. Sustainable execution of target vehicle tracking tasks and multi-task parallelism. In the technical solution of the present application, there is no long-term type arrangement for the aircraft in the multi-aircraft group. That is to say, in each target vehicle dynamic tracking task, the inner, middle and outer aircraft are temporarily determined, and each aircraft participates in other target vehicle monitoring tasks after completing the corresponding task and no longer continues to perform the task. The aircraft that exits the current task can immediately perform other tasks, realizing the sustainable execution of tasks, and the multi-aircraft group can perform multiple tasks at the same time, realizing multi-task parallelism.

[0066] 4. Avoiding monitoring vacuum zones during mission execution. In the technical solution of this application, the technical solution adopted is that after confirming the target vehicle, the peripheral aircraft hovers on the predicted trajectory of the target vehicle, and then different peripheral aircraft continuously track the target vehicle on the driving trajectory of the target vehicle, without the need for multiple aircraft to perform tracking flights, thereby effectively avoiding monitoring vacuum zones during the execution of the tracking mission. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific implementation methods, they are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the drawings:

[0068] Figure 1 A flow chart of a target vehicle dynamic tracking method based on multiple aircraft provided in an embodiment of the present application;

[0069] Figure 2 A schematic diagram of an overhead view of an aircraft configuration method within a multi-aircraft group provided in an embodiment of the present application;

[0070] Figure 3A topological diagram of a multi-aircraft group provided in an embodiment of the present application;

[0071] Figure 4 A schematic diagram of a target vehicle dynamic tracking result based on multiple aircraft provided in an embodiment of the present application. DETAILED DESCRIPTION

[0072] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In addition, in the embodiments of the present invention, "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0073] In the dynamic tracking of target vehicles with multiple aircraft, the commonly used method is that when an aircraft finds the target vehicle, the aircraft synchronizes the target vehicle information in the entire multi-aircraft group, and then allows the aircraft within a certain range around the aircraft to participate in the tracking process of the target vehicle, and all of the aircraft perform tracking flights according to the driving line of the target vehicle, thereby achieving continuous tracking of the target vehicle. In this technical solution, it is equivalent to calling multiple aircraft from the multi-aircraft group for tracking flights. During the flight of these aircraft, a monitoring vacuum range for the target vehicle on the road will be generated in the multi-aircraft group. When other target vehicles that need to be monitored drive into the monitoring vacuum range, the target vehicles that need to be monitored cannot actually be monitored in time. In addition, the aircraft participating in the monitoring of the target vehicle is also prone to being blocked by buildings, causing the aircraft to lose the target, resulting in a decrease in the dynamic tracking stability of the target vehicle, and it is difficult to ensure the dynamic tracking quality. The purpose of this application is to solve the common problems existing in the current dynamic tracking of target vehicles with multiple aircraft. Based on this, a dynamic tracking method for target vehicles based on multiple aircraft is proposed.

[0074] From the perspective of the overall technical solution of the present application, the target vehicle is first identified based on the inner aircraft, and then the target vehicle information is sent to the middle aircraft. The middle aircraft predicts the target vehicle's driving trajectory, and the inner aircraft temporarily tracks the target vehicle. The middle aircraft synchronizes the tracking information within the multi-aircraft group, and the outer aircraft are screened based on this. The outer aircraft hover directly on the driving trajectory based on the predicted target vehicle's driving trajectory. On the one hand, before the target vehicle drives to the corresponding position in the trajectory, the outer aircraft can prepare for dynamic tracking of the target vehicle to avoid missing tracking information. On the other hand, through task decomposition, it is ensured that a single aircraft performs less tasks, and task decomposition is performed to save resource consumption. On this basis, the occlusion effect of buildings is fully reduced and monitoring vacuum areas are avoided.

[0075] The technical solution of this application will be described in detail below. Figure 1 The flowchart of a target vehicle tracking method based on multiple aircraft in winter provided in an embodiment of the present application includes:

[0076] S110, setting a multi-aircraft group, wherein all aircraft in the multi-aircraft group have an electronic fence, and the aircraft is located at the center of the electronic fence;

[0077] S120, acquiring target vehicle motion parameters and target vehicle information based on a single aircraft in the multi-aircraft group, and sharing the target vehicle motion parameters and target vehicle information within the multi-aircraft group, wherein the single aircraft is an inner aircraft;

[0078] S130, the inner aircraft follows the target vehicle and obtains a collision order between the inner aircraft electronic fence and non-inner aircraft electronic fences in the multi-aircraft group;

[0079] S140, based on the collision order between the inner-circle aircraft electronic fence and the non-inner-circle aircraft electronic fence, obtaining the non-inner-circle aircraft that first collides with the inner-circle aircraft electronic fence, and obtaining the middle-circle aircraft;

[0080] S150, based on the target vehicle motion parameters, the intermediate aircraft predicts the target vehicle's driving trajectory to obtain a predicted driving trajectory of the target vehicle;

[0081] S160, the surrounding aircraft shares the predicted driving trajectory of the target vehicle and the target vehicle information within the multi-aircraft group to obtain a shared target vehicle information package;

[0082] S170. Based on the shared target vehicle information package, peripheral aircraft are selected, and the peripheral aircraft are evenly arranged along the driving track of the target vehicle to dynamically track the target vehicle.

[0083] The purpose of the above steps is to set the tasks and types of aircraft in the entire multi-aircraft group to complete different tasks respectively, reduce resource consumption during dynamic tracking of the target vehicle, avoid the problem of monitoring vacuum area during dynamic tracking of the target vehicle, and fully ensure the dynamic tracking stability of the target vehicle.

[0084] For the above different steps, the specific technical solutions are explained as follows.

[0085] Among them, it is necessary to set up an electronic fence for each aircraft in a multi-aircraft group. In the current aircraft research field, the technology of aircraft forming electronic fences is mature. The principle is: based on technical methods such as range scanning, radar scanning, spatial coordinate system determination, and aircraft high-precision information detection range confirmation, the outermost edge of such an area is determined as the outermost edge of the electronic fence. In the technical solution of this application, there is no restriction on the specific technical solution of the electronic fence. It only needs to be able to build an electronic fence, and the aircraft is located at the center of the electronic fence.

[0086] It also includes the step of setting up multiple aircraft groups. The purpose of this step is to set up a large number of aircraft in the monitored urban space, especially for road space, to screen target vehicles when the aircraft are deployed.

[0087] The arrangement of the aircraft in the aircraft group is uniformly configured in the entire monitored area, and in order to relatively reduce the number of aircraft and realize subsequent technical solutions, the arrangement spacing of the aircraft can be larger.

[0088] In some embodiments, the number of aircrafts to be deployed is adjusted according to the target vehicle density on the road. The higher the target vehicle density, the more aircrafts are deployed. Figure 2 As shown, it is a schematic diagram of an overhead view of an aircraft configuration method within a multi-aircraft group provided in an embodiment of the present application, wherein H1 to H10 are aircraft, and the dotted circle outside the aircraft is the electronic fence of the aircraft.

[0089] In some embodiments, the aircraft is arranged to hover along specific routes of various roads to perform target vehicle tracking.

[0090] In some embodiments, all aircraft in a multi-aircraft group are equipped with a backup aircraft. After the position of the aircraft changes, the position of the backup aircraft remains unchanged, and the backup aircraft plays the role of an aircraft. For example, an aircraft is A, and its backup aircraft is a. Aircraft A becomes an inner aircraft in the mission system and is temporarily tracked, while backup aircraft a remains in its original position. At this time, a is transformed into A, and when the original aircraft A completes the mission and returns, it becomes backup aircraft a. By using this method, aircraft A can continuously participate in multiple missions at its position. Of course, this arrangement mode can also be applied to inner and outer aircraft.

[0091] After completing the task of arranging the aircraft group, it is necessary to confirm the target vehicle, as described in step S120, specifically:

[0092] S121. The single aircraft obtains target vehicle motion parameters of the target vehicle, obtains a target vehicle whose target vehicle motion parameters are higher than a target vehicle motion parameter threshold, and the single aircraft is transformed into the inner aircraft.

[0093] The purpose of this step is to have one of the aircraft in the already constructed multi-aircraft group monitor and analyze the motion parameters of the target vehicles in the monitored area, and find the target vehicles that need to be dynamically tracked. At the same time, the aircraft that has obtained the results is transformed into an inner aircraft to better perform subsequent tasks.

[0094] Among them, the aircraft tracks and detects the motion parameters of the target vehicle in its monitored area. With the current development of drones, the tracking of the motion parameters of the target vehicle has become relatively mature. Radar speed measurement, image shooting and other technical solutions can be used to identify the motion parameters of the target vehicle. This application does not limit the specific technical means used.

[0095] Among them, the motion parameter detection of the target vehicle includes but is not limited to lane change, speed detection, modification analysis, etc., and is compared with the set threshold. If the target vehicle is found to have violated the regulations, the target vehicle is confirmed as the target vehicle.

[0096] The aircraft is set to perform continuous detection on a certain set area and perform independent target vehicle motion parameter scans on all target vehicles in the area to confirm the target vehicles.

[0097] In some embodiments, the aircraft is configured to simultaneously track and detect multiple target vehicles, and analyze motion parameters of these target vehicles respectively to determine the target vehicle.

[0098] In some embodiments, since the target vehicle in a certain target area is monitored by multiple aircraft, the aircraft monitoring the area jointly analyze the operating parameters of the target vehicle.

[0099] In some embodiments, the electronic fences of some aircraft are in an intersecting or tangent state. When a target vehicle enters the electronic fence area of ​​another aircraft from the electronic fence area of ​​one aircraft, the aircraft exchange information, and the preceding aircraft no longer monitors the target vehicle, and the succeeding aircraft continues to perform the monitoring task of the target vehicle, thereby realizing the transfer of tracking task of the target vehicle.

[0100] When the aircraft finds the target vehicle, the aircraft is transformed from an ordinary aircraft to an inner aircraft through an identification number within the entire multi-aircraft group.

[0101] In some embodiments, if two or more aircraft detect the target vehicle at the same time, the aircraft that acquires the target vehicle last is transformed into the inner aircraft. For example, a target vehicle is the target vehicle, and its driving sequence points on the road are 1-3-4-6. The aircraft in the area where each sequence point is located are B, C, and D, where B includes sequence points 1 and 3, C includes sequence points 3 and 4, and D includes sequence points 3, 4, and 6. If B, C, and D acquire the target vehicle at the same time, the aircraft that is transformed into the inner aircraft is aircraft D.

[0102] After confirming the target vehicle, in order to facilitate the subsequent aircraft to identify the target vehicle, it is necessary to track it based on the target vehicle's information. Specifically:

[0103] S122. The inner aircraft collects the target vehicle information, sets the target vehicle motion parameters and the target vehicle information into the same data packet to obtain a target vehicle information packet.

[0104] Among them, for the motion parameters of the target vehicle, the inner aircraft obtains the basic information of the target vehicle, including the color of the bird's-eye view, the model of the target vehicle, the bird's-eye view size of the target vehicle, the license plate number that can be detected during the tracking flight, etc., and packages all this information into data packets to obtain data packets.

[0105] The operating parameters of the target vehicle are also packaged at the same time, and the data is applied to the subsequent calculation of the predicted trajectory of the target vehicle.

[0106] In some embodiments, the inner aircraft continuously collects the operating parameters of the target vehicle and synchronously records such operating parameters in a data packet. That is, the inner aircraft integrates all motion parameters generated during the operation of the target vehicle into the data packet, thereby using such motion data to predict the driving trajectory of the target vehicle.

[0107] After obtaining the data packet, it is also necessary to provide convenient data support for other aircraft, specifically:

[0108] S123. Synchronize the target vehicle information package within the multi-aircraft group based on the communication network within the multi-aircraft group.

[0109] Among them, all aircraft in the multi-aircraft group carry communication devices. After the inner aircraft obtains the information of the target vehicle, the collected target vehicle information is synchronously packaged in the entire multi-aircraft group, so that the information synchronization of the target vehicle is achieved in the multi-aircraft group.

[0110] In some embodiments, aircraft within a multi-aircraft group communicate with a ground control system. For a generated data packet, the ground control system then synchronously sends the information in the data packet to non-inner aircraft within the entire multi-aircraft group, thereby achieving information synchronization.

[0111] In some embodiments, the inner-circle aircraft collects the operating parameters of the target vehicle in real time. After the inner-circle aircraft synchronizes the target vehicle information within the multi-aircraft group, it also continuously synchronizes the motion parameters of the target vehicle, thereby better predicting the driving trajectory of the target vehicle.

[0112] In some embodiments, the inner aircraft will continuously send the motion parameters of the target vehicle to the ground control system, and the ground control system will predict the driving trajectory of the target vehicle, and then synchronize the information to the entire multi-aircraft group. It should be noted that in this way, the ground control system fully plays the role of the middle aircraft.

[0113] The above steps S121 to S123 are used to determine the inner aircraft within the entire multi-aircraft group through aircraft mission planning, and obtain the motion information of the target vehicle by the inner aircraft, laying the foundation for the subsequent target vehicle driving trajectory prediction work. At the same time, information is synchronized within the multi-aircraft group, so that the outer aircraft can be determined in advance, which also lays the foundation for the route planning of the outer aircraft.

[0114] After the inner aircraft is determined, it is necessary to set constraints, determine the work content of the inner aircraft, and analyze the interaction between the inner aircraft and other aircraft, as described in S130, specifically:

[0115] S131. The inner aircraft monitors the driving trajectory of the target vehicle and flies according to the driving trajectory of the target vehicle on the ground.

[0116] The inner aircraft tracks the target vehicle based on the target vehicle information it has already obtained, thereby achieving tracking flight.

[0117] In some embodiments, the inner aircraft always flies directly above the target vehicle, thereby ensuring that the target vehicle's driving trajectory is basically not blocked by buildings in the space, improving the anti-lost performance of the inner aircraft. However, this method is prone to target identification confusion when there are two similar target vehicles, resulting in reduced tracking accuracy.

[0118] In some embodiments, the projection of the inner aircraft on the horizontal plane is located behind the target vehicle, so as to ensure that the inner aircraft can continuously identify the license plate number of the target vehicle and track the target vehicle with the license plate number as the target. However, in this method, since the inner aircraft is actually located behind the target vehicle, it is easy to be blocked by buildings when the target vehicle turns, drives to the underground space, or even flies normally in the urban space, resulting in the loss of the tracking target of the inner aircraft, which reduces the tracking stability.

[0119] When the inner aircraft monitors the target vehicle's driving trajectory and flies along the target vehicle's driving trajectory, it has two functions: one is to avoid the target vehicle from being lost, and the other is to obtain more motion parameters of the target vehicle. After the target vehicle is determined, it is necessary to ensure that the inner aircraft can carry out the subsequent release of the dynamic tracking mission, specifically:

[0120] S132. The inner-fence aircraft monitors the collision between the electronic fence of the inner-fence aircraft and the electronic fence of the non-inner-fence aircraft in real time. If the electronic fence of the inner-fence aircraft collides with the electronic fence of the non-inner-fence aircraft, the non-inner-fence aircraft with which the electronic fence collides is recorded.

[0121] Among them, while the inner-circle aircraft is tracking the target vehicle, other aircraft are operating according to the set work tasks and analyzing the electronic fence collisions between aircraft. The inner-circle aircraft records all aircraft that have a collision relationship with its electronic fence, and records all aircraft that have a collision relationship with the electronic fence.

[0122] In some embodiments, the inner-circumference aircraft only records the electronic fence collision of aircraft that are not in motion. The purpose of this embodiment is that, because there may be two or more inner-circumference aircraft that are coupled in time and space, if the motion state of the aircraft is not identified, the inner-circumference aircraft may lose the task content. That is, for example, in the opposite lane, two aircraft respectively identify the target vehicle in the opposite lane, the two aircraft are in opposite motion, and the electronic fence collides. If one of the aircraft is to be converted into a middle-circumference aircraft based on the inventive concept of this application, one of the aircraft will inevitably lose the work task.

[0123] In some embodiments, only the electronic fence collision situations between inner-circuit aircraft and aircraft in a stationary state are analyzed, and aircraft that have such electronic fence collision relationships are recorded.

[0124] The purpose of the above steps is to determine other aircraft that have monitoring space interaction with the inner-fenced aircraft based on the collision relationship of the electronic fence, so as to avoid the problem of missing monitoring information in the monitoring area when only analyzing the relative position relationship of the aircraft.

[0125] In order to better screen the middle-range aircraft, it is also necessary to record and store the electronic fence collision relationship between the inner-range aircraft and other aircraft, and then select the aircraft from them.

[0126] S133. Record the electronic fence collision order of the inner-fence aircraft and the non-inner-fence aircraft, and record the information of the non-inner-fence aircraft corresponding to the electronic fence collision order.

[0127] Among them, the collision order of the electronic fences is recorded, and based on the collision order, the non-inner fence aircraft that have a collision relationship with the electronic fence are determined. That is to say, there is only one inner fence aircraft, and as long as the electronic fences of all other aircraft have a collision relationship with the electronic fence of the inner fence aircraft, the information of other non-inner fence aircraft has been included.

[0128] In some embodiments, for the same target vehicle, no less than two inner-circle aircraft are dispatched simultaneously, and the inner-circle aircraft respectively record the aircraft that have an electronic fence collision relationship with its electronic fence, and record the information of the electronic fence that has a collision relationship.

[0129] In some embodiments, if the electronic fence of an inner-circuit aircraft fails to collide with the electronic fence of another aircraft within a certain period of time during flight, the inner-circuit aircraft directly selects the aircraft closest to it on its flight path and determines that there is an electronic fence collision relationship between the two aircraft. It should be noted that the closest aircraft in this process refers to an aircraft in a stationary state, and other aircraft that are also in flight operation cannot be determined to have an electronic fence collision relationship.

[0130] The purpose of this step is to record the collision sequence and determine the aircraft that need to be put into the dynamic tracking task in the future according to the established aircraft screening rules, thus laying the foundation for the screening of the surrounding aircraft.

[0131] After the inner-circle aircraft and the aircraft that have an electronic fence collision relationship with the inner-circle aircraft electronic fence are determined, the middle-circle aircraft needs to be selected. As described in step S140, it specifically includes:

[0132] S141. Obtain and record the collision order between the inner-fence aircraft electronic fence and the non-inner-fence aircraft electronic fence.

[0133] Among them, the aircraft that has the first electronic fence collision relationship with the inner-circle aircraft electronic fence is selected as the middle-circle aircraft. At this time, the inner-circle aircraft still performs the tracking task of the target vehicle, and the middle-circle aircraft temporarily detaches from the target vehicle monitoring task in the area and is only responsible for the decomposition of the task.

[0134] In some embodiments, if the first aircraft that has an electronic fence collision relationship detects a target vehicle on the road that needs to be dynamically tracked within a preset time period, the aircraft is not suitable for the task of a mid-fence aircraft, but the next aircraft in sequence will be used as a mid-fence aircraft.

[0135] In some embodiments, the middle-circle aircraft is implemented by a ground control system, that is, the target vehicle information obtained by the inner-circle aircraft is sent to the ground control system, and the ground control system sends the target vehicle motion information, target vehicle information, etc. to other aircraft. The inner-circle aircraft does not need to determine the collision between its electronic fence and the electronic fence of other aircraft.

[0136] After determining other aircraft that have a collision relationship with the inner-circle aircraft electronic fence and other aircraft electronic fences, determine the middle-circle aircraft, specifically:

[0137] S142: Set the non-inner-fence aircraft that first collides with the inner-fence aircraft electronic fence as the middle-fence aircraft.

[0138] Among them, the mid-range aircraft is realized by directly changing the mission type or temporary number of the aircraft in the multi-aircraft group, making this type of aircraft a mid-range aircraft in the entire multi-aircraft group.

[0139] The purpose of this step is to set the aircraft that has the first electronic fence collision relationship with the inner-circle aircraft electronic fence as the middle-circle aircraft. On the one hand, the middle-circle aircraft can be determined according to specific requirements. On the other hand, when the first aircraft that has an electronic fence collision relationship is set as the middle-circle aircraft, it can ensure that the middle-circle aircraft has more time to complete data analysis and calculation, and perform the screening, determination and prediction of the outer aircraft and analysis of the target vehicle's driving trajectory, so as to ensure that the dynamic tracking task of the target vehicle for the entire multi-aircraft group is effectively allocated.

[0140] Since one of the functions of the mid-range aircraft is to predict the driving trajectory of the target vehicle, it is necessary to determine a prediction method for the driving trajectory of the target vehicle, as described in step S150, which specifically includes:

[0141] S151. Based on the target vehicle motion parameters, an initial motion data set of the target vehicle is obtained. The initial motion data set of the target vehicle is:

[0142] F 0＝ [x0,y0,θ0,v0,a0],

[0143] Among them, f0 represents the initial motion data group of the target vehicle, x0 represents the horizontal coordinate of the ground coordinate system where the target vehicle is located, y0 represents the vertical coordinate of the ground coordinate system where the target vehicle is located, θ0 represents the angle between the direction of the target vehicle and the direction of the road, v0 represents the initial velocity of the target vehicle, and a0 represents the initial acceleration of the target vehicle.

[0144] Among them, all data in the initial motion data group of the target vehicle obtained by the middle-circle aircraft come from the inner-circle aircraft. The reason for obtaining the initial motion data group is that in the prediction of the target vehicle's driving trajectory, it is necessary to calculate all subsequent driving trajectory data based on the initial motion data group to obtain the predicted trajectory.

[0145] In some embodiments, the inner aircraft tracks the operating parameters of the target vehicle. The initial motion data group generated at this time uses the first motion data group obtained as the parameter data group, and the data obtained in subsequent tracking are incorporated into the data group system, thereby obtaining multiple data groups.

[0146] In some embodiments, after the middle aircraft is acquired, the inner aircraft can exit the subsequent execution process of the task, and the middle aircraft will perform the dynamic tracking task of the target vehicle. At this time, the inner aircraft becomes one of the candidates for the outer aircraft.

[0147] The purpose of this step is to build a data foundation for the subsequent target vehicle driving trajectory prediction work by acquiring the initial motion data group of the target vehicle, thereby realizing the prediction of the target vehicle driving trajectory.

[0148] After obtaining the initial motion data set of the target vehicle, the target vehicle's driving trajectory can be predicted based on the target vehicle's motion data in theory, and the peripheral aircraft can be arranged to arrive at the dynamic tracking position in advance based on the prediction results. However, for most target vehicles, the driver is likely to make temporary adjustments based on road conditions. Therefore, it is also necessary to analyze this type of information that can cause the driver to temporarily change the driving route planning, specifically:

[0149] S152, obtaining the road condition information of the target vehicle, and constructing a road condition data group, wherein the road condition data group is:

[0150] F r =[C, L],

[0151] Among them, F r represents a road condition data group, C represents the congestion in front of the target vehicle, and L represents the distance between the target vehicle and the intersection in front of the target vehicle.

[0152] Among them, the road condition of the road where the current target vehicle is located is identified based on the inner aircraft, and then a road condition data group is constructed based on the information in the road condition information. Considering that the main factors that can cause the driver to change the target vehicle's driving route are the road congestion and the distance between the current target vehicle and the road fork, the present application uses these two parameters as the road condition data group of the companion information.

[0153] In some embodiments, other parameters are introduced based on specific measurement driving route prediction requirements, such as: the number of fork intersections, the road where the target vehicle is located, the frequency or number of lane changes of the target vehicle, etc.

[0154] Considering that the target vehicle's driving data is updated in the aircraft during its driving process, it is also necessary to set the time nodes for data update and data collection. Specifically:

[0155] S153, setting a time interval for updating the position of the target vehicle to obtain an interval time Δt.

[0156] The interval time is set according to the data acquisition time interval requirement set in the method disclosed in this application.

[0157] In some embodiments, the execution system of the entire dynamic method makes its own settings, such as determining the traffic light countdown time on the road where the target vehicle is located and setting it. When the light is red, the motion data of the target vehicle will no longer be acquired during the red light time period to save control resource consumption during the data acquisition process.

[0158] After obtaining the target vehicle's motion parameter data set and road condition data set, the target vehicle's driving trajectory can be predicted in theory. Considering that the target vehicle actually has two degrees of freedom in the ground plane coordinate system during operation, the present application analyzes the target vehicle's driving trajectory separately according to the lateral and longitudinal directions of the target vehicle, thereby obtaining the analytical equation group of the target vehicle's driving trajectory. Specifically:

[0159] S154, based on the initial motion data group of the target vehicle and the road condition data group, predict the position of the target vehicle to obtain the predicted position of the target vehicle, the position prediction equation of the target vehicle is:

[0160]

[0161] Among them, x k+1 The horizontal coordinate of the ground coordinate system representing the position of the target vehicle at the (k+1)th time period is calculated by superimposing the initial motion data set, y k+1 The ordinate of the ground coordinate system representing the position of the target vehicle in the (k+1)th time period is calculated by superimposing the initial motion data set, x k The horizontal coordinate of the ground coordinate system representing the position of the target vehicle at the kth time period is calculated by superimposing the initial motion data set, y k The vertical coordinate of the ground coordinate system representing the position of the target vehicle at the kth time period is calculated by superimposing the initial motion data set, v k represents the speed of the target vehicle in the kth time period, which is calculated by superimposing the initial motion data set, θ k represents the angle between the target vehicle direction and the road direction at the kth time period, which is calculated by superimposing the initial motion data set, a k represents the acceleration of the target vehicle in the kth time period, which is calculated by superimposing the initial motion data set, and Δt represents the time interval.

[0162] Among them, in the process of analyzing the lateral and longitudinal positions of the target vehicle, in addition to calculating based on the initial motion data group, it is also necessary to consider the movement weight of the target vehicle in the lateral and longitudinal directions. The movement weight needs to be determined based on the road condition information. In the technical solution of this application, the analytical equation group in the lateral and longitudinal directions is essentially:

[0163]

[0164] Among them, p h represents the lateral movement weight of the target vehicle, p l Indicates the longitudinal movement weight of the target vehicle. In actual calculation, it is necessary to determine the specific expression of these two weights. As for the target vehicle driving process, the possible movement status of the target vehicle in the lateral and longitudinal directions is determined based on the weight parameters.

[0165] Among them, on the basis of determining the analytical equation group, it is necessary to determine the weight equation, specifically:

[0166]

[0167] Among them, through the rigid weight equation group, the change weight of the lateral and longitudinal motion parameters of the target vehicle in the latter time period compared with the previous time period during driving can be determined, so as to determine the total amount of lateral and longitudinal changes and the total amount of lateral and longitudinal movement.

[0168] In some embodiments, the obtained lateral and longitudinal movement weights are set to weight thresholds, and the actual calculation results are compared with the thresholds. If the calculation results are lower than the thresholds, it is determined that there is no movement in the corresponding direction. At this time, it is only necessary to calculate according to the following equation:

[0169]

[0170] That is to say, in this embodiment, for the lateral and longitudinal movement of the target vehicle, a weight comparison needs to be performed first, and after the comparison is passed, the lateral and / or longitudinal movement is calculated. If the comparison fails, it means that the target vehicle has not moved in the corresponding direction, and the position of the next time period and the position of the previous time period in this direction remain the same. For example, if it is found that the movement weight in the heading direction fails to pass the comparison, it means that the target vehicle has only moved in the longitudinal direction and has not moved in the lateral direction between the next time period and the previous time period.

[0171] In the above steps, we actually only get the specific position of the target vehicle at the time node during the driving process. This method is essentially to determine the target position in the past and future. However, for the driving process of the target vehicle, the result obtained by this method is only the position discontinuity point, not the driving trajectory of the target vehicle. Therefore, it is necessary to predict the driving trajectory of the target vehicle based on the obtained discontinuity points. Specifically:

[0172] S155. Setting a position particle on the road ahead of the target vehicle, and obtaining a predicted driving trajectory of the target vehicle based on the predicted position of the target vehicle.

[0173] The position particles are evenly distributed in the front direction of the target vehicle's driving track, and the coordinates of the position particles in the ground coordinate system are obtained.

[0174] In the specific determination of the position particles, the position particles are evenly arranged in the forward direction of the target vehicle. The so-called forward direction refers to the frontmost direction of the target vehicle in the road where the target vehicle is located.

[0175] In some embodiments, the road where the target vehicle is located is a multi-road situation, for example, four lanes, and the target vehicle is currently in any lane. At this time, the position particles are not only evenly arranged in front of the lane where the target vehicle is currently located, but the position particles are evenly arranged in all four lanes and in front of the target vehicle to predict the driving trajectory of the target vehicle.

[0176] After completing the distribution of position particles, it is necessary to analyze the target vehicle arrival probability of each position particle during the driving process of the target vehicle, specifically:

[0177] S156, obtaining the coordinates of the position particle in the ground coordinate system;

[0178] Based on the position of the target vehicle in the (k+1)th time period, the position particle arrival probability of the target vehicle is obtained. The determination equation of the position particle arrival probability of the target vehicle is:

[0179]

[0180] Among them, z k represents the predicted coordinates of the target vehicle at the (k+2)th time period, z x，k+2 represents the predicted horizontal coordinate of the target vehicle at the (k+2)th time period, z y，k+2 represents the predicted ordinate of the target vehicle at the (k+2)th time period, σ represents the standard deviation of the measurement noise, and p(z k |x k+1) represents the probability of particle arrival at the target vehicle’s location.

[0181] Among them, for the target vehicle position coordinates (x k+1 ,y k+1 ), is determined based on the position equation. Considering that all position particles are in front of the target vehicle, the next time node needs to be confirmed during processing, and the position at the (k+2) time node is obtained. Then, based on the position information, the arrival probability of the target vehicle on the position particle is determined.

[0182] After obtaining the target vehicle's position particle arrival probability, it is necessary to select based on the target vehicle's position particle arrival probability, and determine the target vehicle's predicted driving trajectory based on the selection result. Specifically:

[0183] S157, sorting the arrival probabilities of the target vehicle's position particles, and connecting particles whose arrival probabilities of the target vehicle's position particles are not less than a preset probability, to obtain a predicted driving trajectory of the target vehicle.

[0184] The setting of the preset probability is set according to the specific requirements of the entire dynamic tracking method.

[0185] In some embodiments, during the setting process of the preset probability, the setting is performed based on the algorithm, such as calculating the mean of the arrival probabilities of the position particles, and the obtained mean is the preset probability, and the arrival probability of the position particles of the target vehicle below the preset probability is abandoned.

[0186] Among them, it is also necessary to sort the arrival probabilities of the target vehicle's position particles and connect the maximum probability values ​​that meet the requirements, which is the predicted driving trajectory of the target vehicle.

[0187] In some embodiments, the position particles in front of the target vehicle are evenly layered, that is, each row of position particles is defined as a row, the maximum probability value in each row of position particles is determined, and then the position particles corresponding to the maximum probability value in each row of position particles are connected to obtain the predicted driving trajectory of the target vehicle.

[0188] In some embodiments, after performing row-by-row decomposition and obtaining position particles classified by row, it is necessary to compare the arrival probability of the position particles of the target vehicle with the preset probability before selecting the position particles.

[0189] In some embodiments, the distribution method is determined based on the time interval, and in the specific determination, it is determined based on the average driving speed of the target vehicle, specifically, it is determined according to the product of the average driving speed and the time interval.

[0190] In the technical solution of the present application, in order to reduce the data processing pressure of each aircraft in a multi-aircraft group, the tasks of the inner aircraft, middle aircraft and outer aircraft are actually planned, among which the inner aircraft is used to screen target vehicles, the middle aircraft is used to predict the driving trajectory of the target vehicle, and the outer aircraft is used to perform specific dynamic tracking of the target vehicle. In other words, the middle aircraft plays the role of the data processing center of the entire multi-aircraft group. Therefore, this requires the middle aircraft to send the predicted driving trajectory of the target vehicle to the entire group after obtaining the predicted driving trajectory of the target vehicle, and the outer aircraft arranges the subsequent target vehicle dynamic tracking tasks based on the received data, instead of having the middle aircraft arrange the tasks.

[0191] After the target vehicle's driving trajectory is obtained, the information needs to be shared within the entire multi-aircraft group, as described in step S160. Specifically:

[0192] S161. The intermediate aircraft sets the predicted driving trajectory of the target vehicle and the target vehicle information into a target vehicle information data packet.

[0193] The middle-circle aircraft calculates the predicted driving trajectory of the target vehicle and simultaneously integrates the data obtained from the inner-circle aircraft, integrating both types of data into the same data package.

[0194] In some embodiments, the surrounding aircraft also performs real-time tracking based on the position information of the target vehicle, and updates the driving information of such new target vehicles into the data packet, so as to synchronously track the information within the entire multi-aircraft group.

[0195] In some embodiments, two data packets are created, one of which is the predicted driving trajectory of the target vehicle, and the other is the target vehicle information, including the color of the bird's-eye view, license plate number, etc. of the target vehicle.

[0196] After the target vehicle information data package is constructed, it is necessary to ensure that the data in the target vehicle information data package can be identified and used by the multi-aircraft group. Specifically:

[0197] S162. The surrounding aircraft sends the target vehicle information data packet based on the communication network within the multi-aircraft group, and the target vehicle information data packet is converted into shared target vehicle information.

[0198] Among them, since each aircraft carries a communication component, after the central aircraft constructs the target vehicle information data packet, it shares the target vehicle information data packet within the entire multi-aircraft group based on the communication component.

[0199] The purpose of the above steps is to achieve a more efficient way of transmitting information based on data packets, both from a communication perspective and from a subsequent peripheral aircraft screening perspective. At the same time, the amount of data carried in the data packets is larger, which can fully improve the efficiency of data transmission.

[0200] After the target vehicle information data packet is synchronized, it is necessary to automatically screen peripheral aircraft in the multi-aircraft group based on the target vehicle dynamic tracking method disclosed in the present application. Specifically, as described in step S170, it includes:

[0201] S171. Non-central aircraft in the multi-aircraft group obtain a predicted driving trajectory of the target vehicle based on a shared target vehicle information package.

[0202] Among them, for sharing target vehicle information, the tracking of the target vehicle should be processed from two angles, one is the target vehicle information, and the other is the predicted driving trajectory of the target vehicle. In the screening of peripheral aircraft, this application uses a multi-aircraft group to screen peripheral aircraft by itself, and ensures that the peripheral aircraft can reach a specific location for dynamic tracking. Therefore, in the screening of peripheral aircraft, it is sufficient to be based on the predicted driving trajectory data of the target vehicle.

[0203] In some embodiments, non-central aircraft in a multi-aircraft group should be able to simultaneously obtain the predicted driving trajectory and target vehicle information of the target vehicle to perform better identification and dynamic tracking of the target vehicle.

[0204] After the predicted driving trajectory of the target vehicle is determined, it is necessary to select peripheral aircraft. In the technical solution of the present application, peripheral aircraft are selected based on the range demarcation method. Therefore, it is necessary to determine the specific judgment of the demarcated range. In order to simplify the range demarcation process, the range is demarcated with a regular graphic. Specifically:

[0205] S172. Based on the predicted driving trajectory of the target vehicle, randomly obtain coordinate points in the predicted driving trajectory of the target vehicle to obtain trajectory distribution points.

[0206] The acquired coordinate points are determined based on the predicted driving trajectory of the target vehicle.

[0207] In some embodiments, the set trajectory distribution points must be within a certain range in front of the target vehicle to ensure the tracking accuracy of the target vehicle. However, it should be noted that for the defined range, the distance between the trajectory distribution points and the front of the target vehicle needs to be no less than the range radius to avoid the problem of excessive number of aircraft calls when the aircraft around the target vehicle are called as peripheral aircraft.

[0208] In some embodiments, if the target vehicle is located on a road with forks before and after it, and the road is short, the set trajectory distribution points should be located on the road section between the two forks.

[0209] After setting the trajectory distribution points, you need to define the selection range of peripheral aircraft, specifically:

[0210] S173. Taking the trajectory distribution point as the center of the circle, setting the radius to obtain the selection range of the peripheral aircraft.

[0211] Among them, the setting of the radius is set in the target vehicle dynamic tracking system.

[0212] In some embodiments, the radius is set by the target vehicle dynamic tracking system based on the surrounding environment of the target vehicle, such as obtaining the building density, traffic pressure, road distribution, etc. in the space, and then setting it based on such environmental parameters. In theory, the larger the above parameters are, the larger the radius needs to be, so that more peripheral aircraft can be included, avoiding the situation where the number of peripheral aircraft is too small to adapt to a more complex space environment, such as the loss of the target vehicle due to obstruction by buildings.

[0213] After defining the selection range of peripheral aircraft, it is necessary to determine the peripheral aircraft. In conventional thinking, it is believed that the selection range for peripheral aircraft has been defined based on the above steps, but in fact this method is not applicable in this application. The reason is: in the technical solution of this application, the selection range for peripheral aircraft defined is only a numerical value, and does not have the performance of setting an electronic fence or electronic identification zone to reduce the information processing burden of the aircraft. Therefore, it is necessary to confirm whether the aircraft is truly a peripheral aircraft after defining the range. Specifically:

[0214] S174. Obtain the distance between the non-center aircraft in the multi-aircraft group and the trajectory distribution points. If the projection distance between the non-center aircraft in the multi-aircraft group and the trajectory distribution points on the same horizontal plane is not greater than the selection range radius of the peripheral aircraft, then the non-center aircraft is set as the peripheral aircraft.

[0215] Among them, based on the specific coordinates of the trajectory distribution points, the selection range of the peripheral aircraft is obtained.

[0216] Among them, non-peripheral aircraft obtain trajectory distribution points and determine the distance between them and the trajectory distribution points through ranging.

[0217] wherein, obtaining the distance between the non-mid-surrounding aircraft and the trajectory distribution point to obtain a to-be-determined distance;

[0218] Obtaining the height difference between the non-mid-surrounding aircraft and the trajectory distribution point to obtain a pending height;

[0219] Based on the to-be-determined distance and the to-be-determined height, the projection distance between the non-central aircraft and the trajectory distribution points on the same horizontal plane is obtained and compared with the selection range radius of the peripheral aircraft.

[0220] In some embodiments, in order to eliminate the influence of buildings between the non-peripheral aircraft and the line connecting the track distribution points, the non-peripheral aircraft determines its own spatial coordinates, obtains the coordinates of the track distribution points, and calculates the projection distance between the non-peripheral aircraft and the track distribution points on the same horizontal plane based on the Pythagorean theorem. Figure 3 As shown, it is a topological diagram of a multi-aircraft group provided in an embodiment of the present application, wherein aircraft H2 is an inner aircraft in a certain mission monitoring process, H3 is a middle aircraft in the multi-aircraft group, and for aircraft H6 to H10, the outer dotted circle is the selection range of the outer aircraft. Based on this figure, it can be determined that the technical content of the present application is to only determine the distance between the aircraft and the target vehicle, and the electronic fence range of the aircraft is not considered in this process. In addition, non-inner aircraft, non-middle aircraft and non-peripheral aircraft in the multi-aircraft group will no longer participate in the mission and will be removed from the current mission system.

[0221] After the peripheral aircraft are determined, the arrangement of the peripheral aircraft needs to be determined so that the peripheral aircraft can reach a specific position before the target vehicle reaches the corresponding path and dynamically track the target vehicle. Specifically:

[0222] S175, the peripheral aircraft are evenly arranged along the driving track of the target vehicle and hover at the arranged positions, and different peripheral aircraft dynamically track the target vehicle respectively. Specifically:

[0223] S1751. Obtain the distances between the peripheral aircraft and the target vehicle and sort them to obtain a peripheral aircraft sequence:

[0224] [h1, h2, h3, ···, h n ]

[0225] Among them, h1~h n represents the number of the peripheral aircraft, and h1 has the smallest distance from the target vehicle, h n The distance to the target vehicle is the largest, and so on.

[0226] Among them, for the peripheral aircraft that have been determined, considering that such peripheral aircraft need to be deployed in advance on the target vehicle's driving route, in order to improve the deployment efficiency, it is obvious that the target vehicle closest to the target vehicle is deployed on the predicted driving trajectory of the target vehicle, and the position closest to the target vehicle is the most reasonable. Therefore, by sorting the distances, the foundation can be laid for determining the deployment position of the peripheral aircraft.

[0227] Among them, all peripheral aircraft need to determine the distance from the target vehicle, and then on this basis, they are sorted according to the serial number, so that the distribution order of the peripheral aircraft on the predicted driving trajectory of the target vehicle is determined based on the configured serial number.

[0228] After determining the order of the peripheral aircraft, they need to be arranged for deployment. However, it should be taken into account that the predicted driving trajectory of the target vehicle is extremely random in the eyes of the aircraft's dynamic tracking system due to the driver's driving. This randomness is reflected in the fact that the multi-aircraft dynamic tracking system can only predict the target vehicle's driving trajectory within the next period of time or a certain length, but cannot predict the target vehicle's destination, nor the specific selected road to the destination, which creates difficulties for the deployment of aircraft.

[0229] In the technical solution of this application, based on practical considerations, the target vehicle must be in the road section during driving. Therefore, the deployment of peripheral aircraft is based on the deployment along the road. Specifically:

[0230] S1752. Based on the predicted driving trajectory of the target vehicle, obtain the road where the target vehicle is located.

[0231] Among them, based on the predicted driving trajectory of the target vehicle, the overlap between the predicted driving trajectory of the target vehicle and the road is determined, and then the road information where the current target vehicle is located is confirmed.

[0232] In some embodiments, it is determined whether the predicted driving trajectory of the target vehicle includes a road fork, and after confirming that the predicted driving trajectory of the target vehicle is in the fork area and selecting one of the forks, the road connected to the fork is the driving road of the target vehicle.

[0233] After the target vehicle's driving road is determined, it is necessary to arrange peripheral aircraft within the road section. Specifically:

[0234] S1753. The peripheral aircraft are evenly distributed on the road where the target vehicle is located, and the electronic fences of adjacent peripheral aircraft are tangent.

[0235] The peripheral aircraft are evenly distributed along the direction of the road, and the uniform distribution is handled by placing the electronic fences of the peripheral aircraft in a tangent state.

[0236] In some embodiments, the electronic fences of the peripheral aircraft are in an intersecting state, and the two intersection points are the edge positions of the road. Based on this method, the problem of losing tracking of the target vehicle when the target vehicle is traveling in the outer area of ​​the adjacent peripheral aircraft intersection can be avoided.

[0237] In some embodiments, a temporary channel is established between adjacent peripheral aircraft along the road direction, and when the previous peripheral aircraft determines that the target vehicle has reached the edge of its electronic fence, it sends an "exit dynamic monitoring mission" signal to the next peripheral aircraft, thereby achieving the connection of the dynamic tracking mission of the target vehicle. Obviously, the peripheral aircraft can set the signal instruction or type sent to the next peripheral aircraft more flexibly.

[0238] In some embodiments, after the peripheral aircraft completes the dynamic tracking mission for the target vehicle, it exits the dynamic tracking mission and flies back to its initial deployment position.

[0239] After determining the layout of the peripheral aircraft, it is necessary to conduct specific dynamic tracking of the target vehicle, specifically:

[0240] S1754. The peripheral aircraft obtains the target vehicle information based on the shared target vehicle information package, and dynamically tracks the target vehicle based on the target vehicle information.

[0241] Among them, the outer aircraft have already received the target vehicle information synchronized by the middle aircraft. At this time, the outer aircraft only needs to screen and confirm the target vehicle on the road based on the target vehicle information, and then perform dynamic tracking. Figure 4 FIG. 1 is a schematic diagram of a target vehicle dynamic tracking result based on multiple aircraft provided in an embodiment of the present application, wherein parallel curves represent road edge lines, such as Figure 2 The peripheral aircraft that have been obtained are evenly arranged on the road by the distance between them and the target vehicle, and the target vehicles are dynamically monitored by the aircraft H6~H10 respectively.

[0242] The beneficial effects of this application are:

[0243] 1. The aircraft mission planning in a multi-aircraft group is clear and reasonable. In the technical solution of this application, the aircraft are divided into inner aircraft, middle aircraft and outer aircraft, different aircraft are set as different types, and different aircraft complete different tasks. Through reasonable mission planning, it is ensured that different aircraft complete different tasks according to actual needs, and the reasonable arrangement of dynamic tracking tasks is guaranteed.

[0244] 2. Reduce resource consumption in the execution of the target vehicle dynamic tracking task. In the technical solution of this application, for the dynamic tracking of the target vehicle, the target vehicle is first determined based on the inner aircraft, and then the target vehicle information is not released based on the target aircraft, and the target aircraft is not tracked in flight, but the aircraft is selected from the multi-aircraft group for tracking, the total number of aircraft involved in the tracking is reduced, and the aircraft does not need to calculate its own trajectory based on the target vehicle's trajectory, thereby fully reducing resource consumption.

[0245] 3. Sustainable execution of target vehicle tracking tasks and multi-task parallelism. In the technical solution of the present application, there is no long-term type arrangement for the aircraft in the multi-aircraft group. That is to say, in each target vehicle dynamic tracking task, the inner, middle and outer aircraft are temporarily determined, and each aircraft participates in other target vehicle monitoring tasks after completing the corresponding task and no longer continues to perform the task. The aircraft that exits the current task can immediately perform other tasks, realizing the sustainable execution of tasks, and the multi-aircraft group can perform multiple tasks at the same time, realizing multi-task parallelism.

[0246] 4. Avoiding monitoring vacuum zones during mission execution. In the technical solution of this application, the technical solution adopted is that after confirming the target vehicle, the peripheral aircraft hovers on the predicted trajectory of the target vehicle, and then different peripheral aircraft continuously track the target vehicle on the driving trajectory of the target vehicle, without the need for multiple aircraft to perform tracking flights, thereby effectively avoiding monitoring vacuum zones during the execution of the tracking mission.

[0247] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to computer program instructions, and the aforementioned computer program can be stored in a non-volatile storage medium. When the computer program is executed, it executes the steps of the above method embodiments. Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a non-volatile storage medium. Based on this understanding, the technical solution of the embodiment of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a non-volatile storage medium and includes a number of instructions for enabling an electronic device (which can be a personal computer, a server, a network device, etc.) to execute all or part of the methods described in each embodiment of the present invention.

[0248] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for dynamic tracking of target vehicles of multiple aircraft, characterized in that: include: Setting a multi-aircraft group, wherein all aircraft in the multi-aircraft group have an electronic fence, and the aircraft is located at the center of the electronic fence; Acquiring target vehicle motion parameters and target vehicle information based on a single aircraft in the multi-aircraft group, and sharing the target vehicle motion parameters and target vehicle information within the multi-aircraft group, wherein the single aircraft is an inner aircraft; The inner aircraft follows the target vehicle and obtains a collision order between the inner aircraft electronic fence and non-inner aircraft electronic fences in the multi-aircraft group; Based on the collision order between the inner-circumference aircraft electronic fence and the non-inner-circumference aircraft electronic fence, the non-inner-circumference aircraft that first collides with the inner-circumference aircraft electronic fence is obtained to obtain the middle-circumference aircraft; Based on the target vehicle motion parameters, the intermediate aircraft predicts the target vehicle's driving trajectory to obtain a predicted driving trajectory of the target vehicle; The central aircraft shares the predicted driving trajectory of the target vehicle and the target vehicle information within the multi-aircraft group to obtain a shared target vehicle information package; Based on the shared target vehicle information package, peripheral aircraft are selected, and the peripheral aircraft are evenly arranged along the driving track of the target vehicle to dynamically track the target vehicle.

2. The target vehicle dynamic tracking method based on multiple aircraft according to claim 1 is characterized in that: The acquiring of the target vehicle motion parameters and target vehicle information based on a single aircraft in the multi-aircraft group, and sharing of the target vehicle motion parameters and target vehicle information within the multi-aircraft group, wherein the single aircraft is an inner aircraft, comprises: The single aircraft obtains the target vehicle motion parameter of the target vehicle, obtains the target vehicle whose target vehicle motion parameter is higher than the target vehicle motion parameter threshold, and the single aircraft is transformed into the inner surrounding aircraft; The inner aircraft collects the target vehicle information, sets the target vehicle motion parameters and the target vehicle information into the same data packet, and obtains a target vehicle information packet; The target vehicle information package is synchronized within the multi-aircraft group based on a communication network within the multi-aircraft group.

3. The target vehicle dynamic tracking method based on multiple aircraft according to claim 1 is characterized in that: The inner-circle aircraft follows the target vehicle and obtains a collision order between the inner-circle aircraft electronic fence and the non-inner-circle aircraft electronic fences in the multi-aircraft group, including: The inner aircraft monitors the driving track of the target vehicle and flies according to the driving track of the target vehicle on the ground; The inner-circuit aircraft monitors the collision between the electronic fence of the inner-circuit aircraft and the electronic fence of the non-inner-circuit aircraft in real time, and if the electronic fence of the inner-circuit aircraft collides with the electronic fence of the non-inner-circuit aircraft, records the non-inner-circuit aircraft that has the electronic fence collision relationship; The electronic fence collision order of the inner-fence aircraft and the non-inner-fence aircraft is recorded, and the information of the non-inner-fence aircraft corresponding to the electronic fence collision order is recorded.

4. The target vehicle dynamic tracking method based on multiple aircraft according to claim 1 is characterized in that: The step of obtaining the non-inner aircraft that first collides with the inner aircraft electronic fence based on the collision order between the inner aircraft electronic fence and the non-inner aircraft electronic fence to obtain the middle aircraft includes: Obtaining and recording the collision sequence between the inner-circuit aircraft electronic fence and the non-inner-circuit aircraft electronic fence; The non-inner-fence aircraft that first collides with the inner-fence aircraft electronic fence is set as the middle-fence aircraft.

5. The target vehicle dynamic tracking method based on multiple aircraft according to claim 1 is characterized in that: The method of predicting the target vehicle's driving trajectory based on the target vehicle's motion parameters by the intermediate aircraft to obtain the predicted driving trajectory of the target vehicle includes: Based on the target vehicle motion parameters, an initial motion data set of the target vehicle is obtained, and the initial motion data set of the target vehicle is: F 0＝ [x0,y0,θ0,v0,a0], Wherein, f0 represents the initial motion data set of the target vehicle, x0 represents the horizontal coordinate of the ground coordinate system where the target vehicle is located, y0 represents the vertical coordinate of the ground coordinate system where the target vehicle is located, θ0 represents the angle between the target vehicle direction and the road direction, v0 represents the initial velocity of the target vehicle, and a0 represents the initial acceleration of the target vehicle; Obtain the road condition information of the target vehicle and construct a road condition data set, which is: F r =[C,L], Among them, F r represents the road condition data set, C represents the congestion in front of the target vehicle, and L represents the distance between the target vehicle and the intersection in front of the target vehicle; Set the target vehicle's position update time interval to obtain the interval time Δt; Based on the initial motion data set of the target vehicle and the road condition data set, the position of the target vehicle is predicted to obtain the predicted position of the target vehicle. The position prediction equation of the target vehicle is: Among them, x k+1 The horizontal coordinate of the ground coordinate system representing the position of the target vehicle at the (k+1)th time period is calculated by superimposing the initial motion data set, y k+1 The ordinate of the ground coordinate system representing the position of the target vehicle in the (k+1)th time period is calculated by superimposing the initial motion data set, x k The horizontal coordinate of the ground coordinate system representing the position of the target vehicle at the kth time period is calculated by superimposing the initial motion data set, y k The vertical coordinate of the ground coordinate system representing the position of the target vehicle at the kth time period is calculated by superimposing the initial motion data set, v k represents the speed of the target vehicle in the kth time period, which is calculated by superimposing the initial motion data set, θ k represents the angle between the target vehicle direction and the road direction at the kth time period, which is calculated by superimposing the initial motion data set, a k represents the acceleration of the target vehicle at the kth time period, which is calculated by superimposing the initial motion data set, and Δt represents the time interval; Position particles are set on the road in front of the target vehicle, and the predicted driving trajectory of the target vehicle is obtained based on the predicted position of the target vehicle.

6. The target vehicle dynamic tracking method based on multiple aircraft according to claim 5 is characterized in that: The step of setting a position particle on the road ahead of the target vehicle and obtaining a predicted driving trajectory of the target vehicle based on the predicted position of the target vehicle includes: Obtaining the coordinates of the position particle in the ground coordinate system; Based on the position of the target vehicle in the (k+1)th time period, the position particle arrival probability of the target vehicle is obtained. The determination equation of the position particle arrival probability of the target vehicle is: Among them, z k represents the predicted coordinates of the target vehicle at the (k+2)th time period, z x，k+2 represents the predicted horizontal coordinate of the target vehicle at the (k+2)th time period, z y，k+2 represents the predicted ordinate of the target vehicle at the (k+2)th time period, σ represents the standard deviation of the measurement noise, and p(z k |x k+1 ) represents the probability of particle arrival at the target vehicle’s position; The arrival probabilities of the target vehicle's position particles are sorted, and particles whose arrival probabilities of the target vehicle's position particles are not less than a preset probability are connected to obtain a predicted driving trajectory of the target vehicle.

7. The target vehicle dynamic tracking method based on multiple aircraft according to claim 1 is characterized in that: The surrounding aircraft shares the predicted driving trajectory of the target vehicle and the target vehicle information within the multi-aircraft group to obtain shared target vehicle information, including: The mid-surrounding aircraft sets the predicted driving trajectory of the target vehicle and the target vehicle information into a target vehicle information data packet; The surrounding aircraft sends the target vehicle information data packet based on the communication network within the multi-aircraft group, and the target vehicle information data packet is converted into shared target vehicle information.

8. The target vehicle dynamic tracking method based on multiple aircrafts according to claim 1, characterized in that: The method of selecting peripheral aircraft based on the shared target vehicle information package, wherein the peripheral aircraft are evenly arranged along the driving track of the target vehicle, and dynamically tracking the target vehicle includes: The non-center aircraft in the multi-aircraft group obtains the predicted driving trajectory of the target vehicle based on the shared target vehicle information package; Based on the predicted driving trajectory of the target vehicle, randomly acquiring coordinate points in the predicted driving trajectory of the target vehicle to obtain trajectory distribution points; Taking the trajectory distribution point as the center of the circle and setting the radius, a selection range of the peripheral aircraft is obtained; Obtaining the distance between the non-central aircraft in the multi-aircraft group and the trajectory distribution points, if the projection distance between the non-central aircraft in the multi-aircraft group and the trajectory distribution points on the same horizontal plane is not greater than the selection range radius of the peripheral aircraft, then setting the non-central aircraft as the peripheral aircraft; The peripheral aircraft are evenly arranged along the driving track of the target vehicle and hover at the arranged positions, and different peripheral aircraft dynamically track the target vehicle respectively.

9. The target vehicle dynamic tracking method based on multiple aircraft according to claim 8, characterized in that: The obtaining of the distance between the non-central aircraft in the multi-aircraft group and the track distribution points, if the projection distance between the non-central aircraft in the multi-aircraft group and the track distribution points on the same horizontal plane is not greater than the selection range radius of the peripheral aircraft, then setting the non-central aircraft as the peripheral aircraft, includes: Obtaining the distance between the non-mid-surrounding aircraft and the trajectory distribution point to obtain a to-be-determined distance; Obtaining the height difference between the non-mid-surrounding aircraft and the trajectory distribution point to obtain a pending height; Based on the to-be-determined distance and the to-be-determined height, the projection distance between the non-central aircraft and the trajectory distribution points on the same horizontal plane is obtained and compared with the selection range radius of the peripheral aircraft.

10. The target vehicle dynamic tracking method based on multiple aircraft according to claim 8, characterized in that: The peripheral aircraft are evenly arranged along the driving track of the target vehicle and hover at the arranged positions, and different peripheral aircraft dynamically track the target vehicle respectively, including: The distances between the peripheral aircraft and the target vehicle are obtained and sorted to obtain a peripheral aircraft sequence, and the peripheral aircraft sequence is obtained: <h2 style=";text-align:left;direction:ltr">[h1, h2, h3, ···, h<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> ] Among them, h1~h n represents the number of the peripheral aircraft, and h1 has the smallest distance from the target vehicle, h n The distance from the target vehicle is the largest, and so on; Based on the predicted driving trajectory of the target vehicle, obtaining the road where the target vehicle is located; The peripheral aircraft are evenly distributed on the road where the target vehicle is located, and the electronic fences of adjacent peripheral aircraft are tangent; The peripheral aircraft obtains the target vehicle information based on the shared target vehicle information package, and dynamically tracks the target vehicle based on the target vehicle information.

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