Target tracking method, apparatus and device

Abstract

The application provides a target tracking method, device and equipment, the method comprising: in the case that a target is detected by a radar, based on current motion information of the target at a current time, predicting prediction motion information of the target at a preset number of target time moments after the current time; based on the current motion information and each prediction motion information, determining whether a camera device can track the target; in the case that it is determined that the camera device cannot track the target, controlling a target mirror in a reflection module to rotate to reflect the target; controlling the camera device to track the target reflected in the target mirror. The application can reduce the missing shot rate and missing shot time length of the target, and realize real-time and reliable target tracking.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to a target tracking method, apparatus, and device. Background Technology

[0002] As an important branch of computer vision, target tracking technology has been widely used in many fields such as military reconnaissance, intelligent surveillance, autonomous driving, and human-computer interaction.

[0003] The radar-ball camera linkage system is a combination device that integrates radar and a PTZ camera. After acquiring the trajectory of a moving target through radar signals, the PTZ camera rotates to a specified angle, thereby enabling tracking and monitoring of the moving target.

[0004] However, in the existing technology, due to factors such as the mechanical parameters of the PTZ camera, the location of the target, or the high speed of the target movement, the PTZ camera may not rotate in time, resulting in the target being missed and the target tracking failing. Summary of the Invention

[0005] This invention provides a target tracking method, apparatus, and device to address the shortcomings of existing technologies where target tracking fails due to missed target capture, thereby achieving real-time and reliable target tracking.

[0006] This invention provides a target tracking method, comprising:

[0007] When a target is detected by radar, based on the target's current motion information at the current moment, predict the target's motion information for a preset number of target moments after the current moment.

[0008] Based on the current motion information and each of the predicted motion information, it is determined whether the camera device can track the target;

[0009] If it is determined that the camera device cannot track the target, the target reflector in the reflection module is controlled to rotate in order to reflect the target.

[0010] The camera device is controlled to track the target reflected in the target mirror.

[0011] According to a target tracking method provided by the present invention, the current motion information includes the current position and the current motion direction, and the predicted motion information includes the predicted position and the predicted motion direction;

[0012] The step of determining whether the camera device can track the target based on the current motion information and each of the predicted motion information includes:

[0013] For each predicted position, determine the time it takes for the camera device to rotate from the current position to the predicted position based on the current direction of motion and the predicted direction of motion corresponding to the predicted position;

[0014] Based on the duration of each event, it is determined whether the camera device can track the target.

[0015] According to a target tracking method provided by the present invention, determining whether the camera device can track the target based on each of the specified durations includes:

[0016] For each of the stated durations, determine whether the duration is greater than the difference between the target time corresponding to the duration and the current time;

[0017] If all the stated durations are greater than the corresponding differences, it is determined that the camera device is unable to track the target;

[0018] If, among all the stated durations, there exists a target duration less than or equal to the corresponding difference, and the focal length of the camera device at the target time corresponding to the target duration is not within the preset focal length range, then it is determined that the camera device cannot track the target.

[0019] According to a target tracking method provided by the present invention, the reflection module includes at least one reflector;

[0020] The control of the target reflector in the reflection module to rotate includes:

[0021] Based on the current position in the current motion information, determine the current reflection compensation angle of each of the reflectors at the current moment;

[0022] For each target time, based on the predicted position in the predicted motion information of the target time, the target reflection compensation angle corresponding to each of the reflectors at the target time is determined;

[0023] Based on the current reflection compensation angle and the target reflection compensation angle corresponding to each of the reflectors, the target reflector is determined from at least one of the reflectors, and the rotation angle of the target reflector at the target moment is determined;

[0024] The target reflector is controlled to rotate according to the stated rotation angle.

[0025] According to a target tracking method provided by the present invention, determining the target reflector from at least one of the reflectors based on the current reflection compensation angle corresponding to each of the reflectors and the target reflection compensation angle, and determining the rotation angle of the target reflector at the target moment, includes:

[0026] For each of the aforementioned reflectors, determine the angle difference between the current reflection compensation angle and the target reflection compensation angle corresponding to the reflector;

[0027] Based on the target time, the current time, and the angle differences, the target reflector is determined from at least one of the reflectors;

[0028] The angle difference corresponding to the target reflector is determined as the rotation angle.

[0029] According to a target tracking method provided by the present invention, the method further includes:

[0030] Based on the current motion information, determine the current angle between the target's current motion direction and the optical axis direction of the camera device;

[0031] For each target time, based on the predicted motion information corresponding to the target time, the predicted angle between the predicted motion direction of the target and the optical axis direction of the camera device is determined;

[0032] Based on the current angle and each of the predicted angles, when it is determined that the angle between the target's direction of motion and the optical axis of the camera device gradually decreases, and there exists a predicted angle at the first target moment that is less than or equal to a first preset angle, the camera device is controlled to rotate in order to track the target.

[0033] According to a target tracking method provided by the present invention, the method further includes:

[0034] Determine the change in the included angle between two adjacent time points;

[0035] The camera is controlled to rotate to track the target if the angle change is greater than the second preset angle. The second preset angle is determined based on the duration between two adjacent moments and the rotational angular velocity of the target reflector.

[0036] According to a target tracking method provided by the present invention, the method further includes:

[0037] If the intersection of the optical axis of the camera device and the target reflector is located at the edge of the mirror area of ​​the target reflector, the change information of the target's motion direction is determined based on the predicted motion direction in each of the predicted motion information.

[0038] If the change information indicates that the target's direction of motion remains unchanged, or if the change information indicates that the target's direction of motion has a changing trend, and the time when the intersection point enters the target area is greater than a preset time, a new target reflector is determined and rotated.

[0039] If the change information indicates that the target's direction of motion has changed, or if the change information indicates that the target's direction of motion has a changing trend, and the intersection point does not enter the target area or the time when the intersection point enters the target area is less than or equal to the preset time, then the rotation angle of the target reflector is updated, and the target reflector rotates according to the updated rotation angle.

[0040] When the change information indicates that the target's motion direction oscillates, a set of candidate reflectors is obtained. Based on the probability corresponding to the predicted motion information of each target moment, a new target reflector is selected from the set of candidate reflectors for rotation. The set of candidate reflectors includes the target reflector and at least one reflector located on each side of the target reflector.

[0041] The present invention also provides a target tracking device, comprising:

[0042] The prediction module is used to predict the motion information of the target at a preset number of target moments after the current moment, based on the target's current motion information at the current moment, when the target is detected by radar.

[0043] The determining module is used to determine whether the camera device can track the target based on the current motion information and each of the predicted motion information;

[0044] The control module is used to control the target reflector in the reflection module to rotate so as to reflect the target when it is determined that the camera device cannot track the target;

[0045] The control module is also used to control the camera device to track the target reflected in the target reflector.

[0046] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the target tracking method as described above.

[0047] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the target tracking method as described above.

[0048] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the target tracking method as described above.

[0049] The target tracking method, apparatus, and device provided by this invention, when a target is detected by radar, predicts the target's motion information for a preset number of target moments after the current moment based on the target's current motion information. Based on the current motion information and each predicted motion information, it determines whether the camera device can track the target. When it is determined that the camera device cannot track the target, it controls the target reflector in the reflection module to rotate to reflect the target, and controls the camera device to track the target reflected in the target reflector. Since the target can be reflected by the target reflector when the camera device itself cannot track the target, and the camera device can track the target reflected in the target reflector, the missed target rate and missed target duration can be reduced, achieving real-time and reliable target tracking and effectively improving the security of the monitored area. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of the security system provided in an embodiment of the present invention;

[0052] Figure 2 A schematic diagram of a reflection module provided in an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram illustrating the working state transition of a reflector provided in an embodiment of the present invention;

[0054] Figure 4 A flowchart illustrating the target tracking method provided in an embodiment of the present invention;

[0055] Figure 5 A coordinate diagram provided for an embodiment of the present invention;

[0056] Figure 6 A schematic diagram of the target area provided in an embodiment of the present invention;

[0057] Figure 7 This is a schematic diagram of the target tracking device provided in an embodiment of the present invention;

[0058] Figure 8 A schematic diagram of the physical structure of an electronic device is provided. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0060] In existing technologies, target tracking can be achieved through a radar-ball camera linkage system. This system includes radar and a PTZ camera. Radar is a device that uses electromagnetic waves to detect targets and is capable of operating 24 / 7. It illuminates the target with electromagnetic waves and receives the echo, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance (radial velocity), azimuth, and altitude. The PTZ camera, with its pan-tilt-zoom (PTZ) mechanism and other mechanical structures, is a wide-range surveillance camera capable of omnidirectional movement and zoom / pan / tilt / zoom (PTZ) control, providing both panoramic and detailed information of the monitored scene.

[0061] When tracking targets using a radar-based PTZ camera system, radar signals can be used to detect the target's position, speed, and azimuth angle. After acquiring the target's trajectory based on the radar signals, the PTZ camera is rotated to a specified angle to track and monitor the moving target. However, in practical applications, there may be instances where the target is in the PTZ camera's blind spot or moves at high speed, resulting in missed shots and target tracking failure.

[0062] In view of the above problems, this invention proposes a target tracking method. In this method, when a target is detected by radar, the subsequent predicted motion information of the target can be determined based on the target's current motion information at the current moment. When it is determined that the camera device cannot track the target based on the target's current motion information and the predicted motion information of the target at each moment, the target reflector in the reflection module can be used to control the rotation of the target reflector to reflect the target, thereby controlling the camera device to track the target reflected in the target reflector. This can reduce the target's missed capture rate and achieve real-time and reliable target tracking.

[0063] The following is combined Figures 1 to 6 The target tracking method provided in the embodiments of the present invention will be described. Figure 1 This is a schematic diagram of the security system provided in an embodiment of the present invention, such as... Figure 1As shown, the security system includes a control module, a radar-ball linkage module, and a reflection module. The control module acquires radar signals and predicts target motion information based on these signals. Additionally, the control module determines whether to activate the reflection module based on the predicted motion information. When activation is required, the control module controls the rotation of the target reflector in the PTZ camera and / or the reflection module, as well as the zoom of the PTZ camera's lens, to achieve continuous target tracking.

[0064] The radar-ball linkage module includes radar and a PTZ camera. The radar is used to provide motion information of targets within the monitoring area, such as position, speed and direction of movement, while the PTZ camera is used to capture real-time images of the targets for real-time tracking.

[0065] The reflective module is installed with the PTZ camera via mechanical connectors. It compensates for the camera's viewing angle by reflecting light, allowing targets outside the camera's field of view to enter the camera's frame, thus enabling the tracking of moving targets. Figure 2 This is a schematic diagram of the reflection module provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the reflection module consists of multiple independent reflectors. The number of reflectors is not limited in this embodiment; for example, it may include three reflectors: D1, D2, and D3. Each reflector can receive a control signal from the control module and rotate around its own axis to a specified angle based on the control signal.

[0066] Figure 3 This is a schematic diagram of the working state transition of the reflector provided in an embodiment of the present invention, as shown below. Figure 3 As shown, when the reflector receives a control signal for release, it will control the mirror to rotate clockwise or counterclockwise around its own axis to enter the working state. In this way, through the principle of light reflection, targets outside the PTZ camera's field of view can enter the camera's frame. When the reflector receives a control signal for retraction, it will control the mirror to rotate in the opposite direction around its own axis to enter the non-working state.

[0067] Figure 4 This is a flowchart illustrating the target tracking method provided in an embodiment of the present invention. This embodiment can be applied to target tracking in any scenario, especially in scenarios where target tracking is performed through the linkage of radar and PTZ cameras. The executing entity of this method can be an electronic device such as a smart camera, computer, server, server cluster, or specially designed target tracking equipment, or it can be a target tracking device installed in such electronic device. This target tracking device can be implemented through software, hardware, or a combination of both. Figure 1 As shown, the target tracking method includes:

[0068] Step 401: If a target is detected by radar, predict the target's motion information at a preset number of target times after the current time based on the target's current motion information at the current time.

[0069] In this step, the radar can be a millimeter-wave radar or other type of radar, as long as it can detect the target's motion information. When the radar detects a target within the monitored area at the current moment, it will send the target's current motion information to the electronic equipment, that is... Figure 1 The control module within the system. The monitoring area can be understood as the area where target tracking is required. Current motion information can include the target's current position, current speed, and current direction of motion.

[0070] After acquiring the current motion information, the control module predicts the target's motion information for a preset number of target moments after the current moment, based on the current motion information and historical motion information corresponding to multiple historical moments prior to the current moment. The historical motion information includes the target's historical position, historical velocity, and historical direction at the corresponding historical moment. The predicted motion information includes the target's predicted position, predicted velocity, and predicted direction at the corresponding target moment. Furthermore, the duration corresponding to the current moment and the preset number of target moments can be understood as the time required after which the PTZ camera will rotate before the target is captured on the camera screen; that is, after this duration, the target can be captured without the aid of a reflection module.

[0071] Specifically, suppose that at the current moment, radar i detects a target within the monitored area, and the current motion information of the detected target is as follows: The historical motion information of the m historical moments preceding the current moment i is O. before,m =[O i-m O i-m+1 ,…,O i-1 By accumulating the rate of change of the target's historical velocity, historical position, and historical direction of motion over the past m historical moments, as well as the rate of change of its current velocity, current position, and current direction of motion, and by decomposing and synthesizing the velocity, the predicted motion information O of the target at n time points after the current time i can be estimated. after,n =[O i+1 O i+2 ,…,O i+n ], where n represents the time interval [i, i+n], after the camera device rotates itself, the target can be captured by the image of the camera device.

[0072] Step 402: Based on the current motion information and each predicted motion information, determine whether the camera device can track the target.

[0073] In this step, after determining the predicted motion information of the target at a preset number of target times, it is possible to determine whether the camera device can continue to capture the target at the current time and at the preset number of target times, or whether the image quality of the captured target meets the preset requirements, based on the current motion information and the predicted motion information at each target time. This determines whether the camera device can continue to track the target.

[0074] The camera equipment can be, for example, a PTZ camera or other equipment that can rotate to capture and track the target.

[0075] Step 403: If it is determined that the camera device cannot track the target, control the target reflector in the reflection module to rotate in order to reflect the target.

[0076] In this step, if it is determined that the camera device can no longer track the target, it means that based on the target's current motion information and the predicted motion information for a preset number of target moments, it is predicted that the camera device will not be able to directly capture or photograph the target within the next preset number of target moments. Therefore, the target reflector in the reflection module needs to be activated for angle compensation. Specifically, the control module sends a control signal to the target reflector, which includes a rotation direction and a rotation angle. The target reflector rotates based on the rotation direction and angle. Since the rotation angle can be determined based on the target's predicted motion information, the target reflector reflects the target during its movement, meaning the target can be photographed through the target reflector.

[0077] Step 404: Control the camera equipment to track the target reflected in the target mirror.

[0078] In this step, while the control module controls the target reflector in the reflection module to rotate, it will simultaneously control the camera device to photograph the target reflector. Since the target reflector reflects the target, the camera device will also capture the target reflected in the target reflector when photographing it, thereby achieving real-time tracking of the target.

[0079] The target tracking method provided in this invention, when a target is detected by radar, predicts the target's motion information for a preset number of target moments after the current moment based on the target's current motion information. Based on the current motion information and each predicted motion information, it determines whether the camera device can track the target. When it is determined that the camera device cannot track the target, it controls the target reflector in the reflection module to rotate to reflect the target, and then controls the camera device to track the target reflected in the reflector. Since the target can be reflected by the target reflector when the camera device itself cannot track the target, and the camera device can track the target reflected in the reflector, the missed target rate and missed target duration can be reduced, achieving real-time and reliable target tracking and effectively improving the security of the monitored area.

[0080] For example, based on the above embodiments, the current motion information includes the current position and the current direction of motion, and the predicted motion information includes the predicted position and the predicted direction of motion. When determining whether the camera device can track the target based on the current motion information and each predicted motion information, the time taken for the camera device to rotate from the current position to the predicted position based on the predicted direction of motion corresponding to the current position and the predicted position can be determined for each predicted position. Based on each time, it can be determined whether the camera device can track the target.

[0081] It should be noted that the control module can determine whether the target is within the inherent blind zone ρ of the camera device based on the target's current position and a preset number of predicted positions. If the target is within the inherent blind zone ρ, it can be directly determined that the camera device cannot track the target. Here, the inherent blind zone ρ represents the angle that the camera device cannot rotate to due to its mechanical structure.

[0082] If the target is not within the inherent blind zone ρ of the camera equipment, the time taken for the camera to rotate from its current position to each predicted position can be further considered to determine whether the camera can track the target in real time. Specifically, since the camera's rotation direction and angle may differ depending on the target's direction of motion, the rotation time will also vary. Therefore, for each predicted position, the camera's rotation angular velocity ω can be used to determine whether it can track the target in real time, based on the target's current direction of motion and the predicted direction of motion corresponding to that position. c Determine the time required for the camera to rotate from its current position facing the target to the predicted position. Where ω c ∈[ω c,min ,ω c,max ],ω c,min ω represents the minimum rotational angular velocity. c,max This indicates the maximum rotational angular velocity.

[0083] After determining each duration, the duration can be compared with the time it takes for the target to move from its current position to the predicted position, thereby determining whether the camera equipment can track the target.

[0084] In this embodiment, it can be quickly determined whether the camera can continuously track the target based on the time it takes for the camera to rotate from its current position to each predicted position.

[0085] For example, when determining whether a camera can track a target based on each duration, it can be done by determining whether each duration is greater than the difference between the target time corresponding to that duration and the current time. If each duration is greater than the corresponding difference, it is determined that the camera cannot track the target. If there is a target duration less than or equal to the corresponding difference in all durations, and the focal length of the camera at the target time corresponding to the target duration is not within the preset focal length range, it is determined that the camera cannot track the target.

[0086] Specifically, based on the target's current direction of motion and the predicted direction of motion corresponding to the predicted position, combined with the rotational angular velocity ω of the camera device... c The time taken for the camera lens to rotate from the target's current position to each predicted position is determined as T = [T i+1 ,T i+2 ,…,T i+n ].

[0087] By traversing T, we can determine the current T we are traversing. j Whether it is greater than the difference between the target time j and the current time i, after traversing T, if all durations satisfy the above condition, that is, all are greater than the corresponding difference, it means that at all n predicted positions, the current rotational angular velocity ω of the camera device is greater than the target time j. c Under certain conditions, the camera's rotation speed cannot keep up with the target's movement speed. In other words, the camera will be unable to capture an image of the target on its own, thus confirming that the camera cannot track the target.

[0088] If, among all the durations, there exists a target duration that is less than or equal to the corresponding difference, that is... This indicates that at time j∈[i,i+n], the angle captured by the camera can cover the target. Since tracking the target via the camera also requires certain image quality, such as the target's height occupying 2 / 3 of the image height and the image sharpness exceeding a preset sharpness, this is to capture detailed and panoramic information of the target based on the captured image. To capture images that meet the monitoring image quality requirements, the camera's focal length also has certain requirements. Therefore, it is necessary to combine the camera's focal length d to calculate the focal length D = [d...] at each target time to capture images that meet the monitoring image quality requirements. i ,d i+1 ,…,d i+n ].

[0089] When the target duration T j When ≤ji, it is also necessary to further determine the camera equipment's performance during the target duration T. j The focal length d at the target time j j Is it within the preset focal length range? [d] min ,d max ], where d j d represents the focal length of the camera at the target time when it captures an image that meets the quality requirements of the surveillance footage. min d represents the minimum focal length. max This represents the maximum focal length. When the focal length d... j ∈[d min ,d max When ], it means that at the target time j, after the camera equipment has rotated and zoomed, it can acquire a target that meets the monitoring quality. If d j Not belonging to [d] min ,d max When the target time j is reached, it indicates that after the camera device performs rotation and zoom operations, it is unable to acquire a target that meets the monitoring quality requirements. At this time, it can be determined that the camera device is unable to track the target normally.

[0090] In this embodiment, if all durations are greater than the corresponding difference, it can be easily and quickly determined that the camera device cannot track the target. If there is a target duration that is less than or equal to the corresponding difference, it can be further determined whether the camera device can track the target by combining whether the focal length at the target time corresponding to the target duration is within the preset focal length range. Since the accuracy of the determination result is improved by determining whether the camera device can track the target normally from multiple dimensions, the accuracy of the determination result is improved.

[0091] For example, based on the above embodiments, the reflection module includes at least one reflector. When controlling the target reflector in the reflection module to rotate, the current reflection compensation angle of each reflector at the current moment can be determined based on the current position in the current motion information. For each target moment, after determining the target reflection compensation angle of each reflector at the target moment based on the predicted position in the predicted motion information of the target moment, the target reflector is determined from at least one reflector based on the current reflection compensation angle and the target reflection compensation angle of each reflector, and the rotation angle of the target reflector at the target moment is determined, thereby controlling the target reflector to rotate according to the rotation angle.

[0092] Specifically, if the reflection module includes one reflector, that reflector is directly designated as the target reflector. If the reflection module includes at least two reflectors, then the target reflector that best meets the angle compensation needs to be determined from among the at least two reflectors. Assume the set of reflectors in the reflection module is R = [R1[α1,β1],R2[α2,β2],…,R… k [α k ,β k ]], where k represents that the reflecting module consists of k independent reflecting mirrors, α j β j This represents the pitch and yaw angles of the j-th reflector based on the initial position of the camera device. The reflection module can achieve angle compensation of the camera device through the pitch and yaw angles.

[0093] The control module can calculate the current reflection compensation angle C of each reflector at the current time i based on the current position in the current motion information. i =[α c,i ,β c,i ], α c,i ,β c,i Let represent the pitch and yaw angles of reflector c at time i, based on the initial position of the camera device. For each reflector, the target reflection compensation angle c = [[α] at each target time can also be calculated based on the predicted position from the predicted motion information of each target time. c,i+1 ,β c,i+1 ],[α c,i+2 ,β c,i+2 ],…,[α c,i+n ,β c,i+n ]).

[0094] For each target time, based on the current reflection compensation angle of each reflector at the current time and the target reflection compensation angle at the target time, the most suitable target reflector can be determined from at least one reflector, and the rotation angle of the target reflector can be further determined, thereby controlling the target reflector to rotate according to the rotation angle to perform angle compensation for the camera equipment.

[0095] In this embodiment, a target reflector can be determined from at least one reflector based on the current reflection compensation angle and the target reflection compensation angle corresponding to each reflector, and the target reflector can be controlled to rotate according to the rotation angle. This allows the camera device to capture the target through the rotated target reflector after the target reflector performs angle compensation on the camera device, thus achieving uninterrupted target tracking.

[0096] For example, based on the above embodiments, when determining the target reflector from at least one reflector based on the current reflection compensation angle and the target reflection compensation angle corresponding to each reflector, and determining the rotation angle of the target reflector at the target time, it can be done by determining the angle difference between the current reflection compensation angle and the target reflection compensation angle corresponding to each reflector, and determining the target reflector from at least one reflector based on the target time, the current time, and the angle differences, and determining the angle difference corresponding to the target reflector as the rotation angle.

[0097] Specifically, by traversing the set of reflectors R, for each traversed reflector, the current reflection compensation angle C corresponding to each reflector is determined for each target time. i The target reflection compensation angle C corresponding to the target time j j The angle difference, for a certain target time j, can determine the angle difference corresponding to each reflection angle, thus forming the angle difference set D.

[0098] By traversing the set of angle differences D, based on the target time l, the current time i, and each angle difference in the set of angle differences D, we can proceed according to the formula... Determine the rotation evaluation parameters for each mirror. Where k1 represents the weight of the angle change, k2 represents the weight of the time duration, and the magnitudes of k1 and k2 indicate which indicator parameter is more important in the current monitoring area, Δα σ,l and Δβ σ,l This represents the angle difference between the current reflection compensation angle corresponding to mirror σ and the target reflection compensation angle corresponding to the target time l. This is after determining the rotation evaluation parameters for each mirror. Then, the rotation evaluation parameters can be applied to all the reflectors. The smallest reflector is identified as the target reflector. It should be understood that this target reflector is the one with the smallest rotation angle and the shortest rotation time.

[0099] In addition, the angle differences Δα and Δβ corresponding to the target reflector can be determined as the rotation angle of the target reflector. In this way, the target reflector can rotate based on the rotation angle, and after rotation, it can correctly compensate the camera equipment for the angle, thereby improving the timeliness of the camera equipment in capturing the target.

[0100] In this embodiment, since the target reflector can be determined from at least one reflector based on the target time, the current time, and the angle difference of each reflector, the determined target reflector takes into account both the rotation angle and the rotation time. This not only reduces the rotation loss of the target reflector, but also enables the target reflector to rotate to the designated position in a timely and rapid manner, thereby improving the timeliness of the camera device when tracking the target through the target reflector.

[0101] Furthermore, after the target reflector rotates, the target within the monitored area may continue to move. During this continuous movement, the following two situations may occur: 1) After the target accelerates, the angle compensation of the target reflector may not meet the target's image quality or timing requirements. That is, after angle compensation using the target reflector, the image quality may not meet the preset requirements, or the target may not be captured by the target reflector at all. 2) It is desired that at some later moment, the camera equipment can directly capture the real-time image of the target without the aid of the target reflector.

[0102] To achieve the above two scenarios, the rotation of the camera equipment can be used as a linkage. When controlling the camera equipment to rotate, the following three conditions must be met: 1) Minimize the switching of the currently active target reflector to avoid potential target loss during reflector switching; 2) Maintain the same direction of camera rotation and keep the rotation angle as small as possible to reduce mechanical wear; 3) Minimize the time interval between monitoring the target through the target reflector and directly monitoring the target through the camera equipment to improve direct monitoring capabilities.

[0103] Based on this, the current angle between the target's current motion direction and the optical axis of the camera can be determined based on the current motion information. For each target moment, the predicted angle between the target's predicted motion direction and the optical axis of the camera can be determined based on the predicted motion information corresponding to the target moment. Based on the current angle and each predicted angle, when the angle between the target's motion direction and the optical axis of the camera gradually decreases and there exists a predicted angle corresponding to the first target moment that is less than or equal to a first preset angle, the camera can be controlled to rotate to track the target.

[0104] Specifically, Figure 5 This is a coordinate diagram provided for an embodiment of the present invention, such as... Figure 5As shown, a coordinate system within the monitoring area can be established using the direction of the central axis of the camera lens as the initial direction. The central axis of the camera lens is taken as the y-axis. At this point, both the radar and the camera are at the origin of the coordinate system. It should be understood that the central axis of the camera lens can also be understood as the optical axis direction of the camera, meaning the y-axis direction is the optical axis direction.

[0105] Within the aforementioned coordinate system, the current angle γ between the target's current direction of motion and the optical axis of the camera device can be determined based on the current motion information. i Additionally, for each target time point, the predicted motion information O can be used... after,n Determine the predicted angle between the target's predicted motion direction at the target time and the optical axis direction of the camera equipment, wherein the current angle and all predicted angles form an angle sequence γ = [γ]. i ,γ i+1 ,…,γ i+n ].

[0106] If, based on the angles in the aforementioned angle sequence, the value of γ decreases, meaning the angle between the target's direction of motion and the optical axis of the camera gradually decreases, it indicates that the target has a tendency to move into the camera's visible area. Furthermore, if the above conditions are met, and there exists a predicted angle γ corresponding to a certain first target time j... j Less than or equal to the first preset angle γ Δ This indicates that the camera itself can capture the target at this time. Therefore, the camera will be rotated to track the target by capturing the image of the target itself.

[0107] It should be noted that if the camera can capture the target after rotation and the captured image meets the preset image quality, the target reflector can be retracted. That is, the target reflector will no longer reflect the target, and the camera will no longer use the target reflector for target tracking.

[0108] In this embodiment, when the angle between the target's direction of motion and the optical axis of the camera gradually decreases, and when the predicted angle corresponding to the first target moment is less than or equal to the first preset angle, the camera can be controlled to rotate so as to directly capture and track the target, making the target tracking result more accurate.

[0109] For example, based on the above embodiments, the change in the included angle corresponding to two adjacent moments can also be determined, and each change in included angle can be traversed. If the change in included angle currently traversed is greater than a second preset angle, the camera device can be controlled to rotate in order to track the target. The second preset angle is determined based on the duration between two adjacent moments and the rotational angular velocity of the target reflector.

[0110] Specifically, after determining the current angle at the current moment and the predicted angles at subsequent preset target moments, the set of angle changes between any two adjacent moments, Δγ = [γ...], can be determined. i+1 -γ i ,γ i+2 -γ i+1 ,…,γ i+n -γ i+N-1 By iterating through each angle change in the set Δγ, the angle change in the currently iterated angle change Δγ is... J Greater than the second preset angle This indicates that within the time range from the current time *i* to the target time *i+n*, there exists a situation where the rotation of the target reflector cannot keep up with the target's movement. In this case, it is necessary to control the camera to rotate. By rotating the camera, the situation where the target reflector cannot keep up with the target's movement when rotating alone can be compensated for, or the camera can directly capture the target to achieve target tracking. Here, *t* represents the duration between two adjacent time points, and *t* is related to the radar's scanning frequency. This represents the angular velocity of the target reflector.

[0111] In this embodiment, when the change in a certain angle is greater than the second preset angle, it indicates that the target may be moving too fast and the rotation of the target reflector cannot keep up with the target's movement. At this time, the camera device can be controlled to rotate. By rotating the camera device, the situation where the target reflector cannot keep up with the target's movement when rotating alone can be compensated. Alternatively, the rotation of the camera device can be used to directly track the target, reducing the probability of losing the target and improving the reliability of target tracking.

[0112] Furthermore, based on the above embodiments, when the reflection module includes only one reflector, that reflector is also the currently active target reflector. In this case, while controlling the camera device to rotate, the rotation angle of the target reflector can also be calculated, and the target reflector can be controlled to rotate according to the rotation angle. By controlling the camera device and the target reflector to rotate simultaneously, the target's missed capture rate can be reduced, and the reliability and real-time performance of target tracking can be improved.

[0113] When the reflection module includes at least two reflectors, there may also be a situation where the target reflector R is currently active. x [α x ,β xThe pre-linkage of the reflector is performed. For example, when the intersection of the optical axis of the camera device and the target reflector is located at the edge of the mirror area of ​​the target reflector, the change information of the target's motion direction is determined based on the predicted motion direction in each predicted motion information. If the change information indicates that the target's motion direction remains unchanged, or if the change information indicates that the target's motion direction has a changing trend, and the time when the intersection enters the target area is greater than a preset time, a new target reflector is determined for rotation. If the change information indicates that the target's motion direction changes, or if the change information indicates that the target's motion direction has a changing trend, and the intersection does not enter the target area or the time when the intersection enters the target area is less than or equal to a preset time, the rotation angle of the target reflector is updated, and rotation is performed according to the updated rotation angle. If the change information indicates that the target's motion direction oscillates, a candidate reflector set is obtained. Based on the probability corresponding to the predicted motion information at each target time, a new target reflector is selected from the candidate reflector set for rotation. The candidate reflector set includes the target reflector and at least one reflector located on each side of the target reflector.

[0114] Specifically, Figure 6 This is a schematic diagram of the target area provided in an embodiment of the present invention, such as... Figure 6 As shown, the target area is located at the edge of the mirror area of ​​the target reflector. The target area includes a linked reflector activation area and a reflector switching area. The linked reflector activation area is an annular area with a width of d1 surrounding the mirror area of ​​the target reflector, and the reflector switching area is an annular area with a width of d2 surrounding the linked reflector activation area, where d1>d2. The width and height of the linked reflector activation area and the reflector switching area can be set according to actual conditions or experience.

[0115] Furthermore, it is possible to base it on the target reflector R x The width and height are calculated to determine the position of the optical axis of the camera equipment at the intersection of the target reflector and / or the camera equipment during rotation. When this intersection point enters the target area, that is, when it enters the target area... Figure 6 When the target is in the activated or switched region of the linked reflector, the change in the target's motion direction can be determined based on the predicted motion direction in each predicted motion information. Optionally, assuming the current time is i, O can be selected. after,n O in i+1 and O i+2 The predicted motion direction is one of the two predicted motion information, and the change information of the target's motion direction is determined. The change information indicates whether the target changes direction during subsequent motion.

[0116] When the changing information characterizes the target's direction of motion as unchanged, it indicates that the target continues to move along the initial direction. In this case, it can be based on O after,n Calculate the target time j when the optical axis of the camera enters the target area at the intersection point of the target reflector, for example, when the intersection point enters... Figure 6 The target time j in the mirror switching region, from O after,n Obtain the predicted motion information O at target time j j And according to the currently active target reflector R x The rotation direction (clockwise or counterclockwise) is used to sequentially obtain the next reflector R. y As a new target reflector, and based on predicted motion information O j Determine the new target mirror R y The target reflection compensation angle is determined, and the new target reflector R is determined. y The angle difference between the current reflection compensation angle and the target reflection compensation angle is used as the new target reflector R. y The rotation angle is adjusted to control the new target reflector R. y By rotating according to the determined rotation angle, the mirrors can be linked together, thus enabling timely switching of mirrors and reducing the rate of missed shots of the target.

[0117] When the change information indicates a trend of change in the target's direction of motion, it means the target is still moving in its current direction, but the velocity in that direction is decreasing while the velocity in other directions is increasing. In this case, it can be based on O... after,n Calculate the target time j when the optical axis of the camera enters the target area at the intersection point of the target reflector, for example, when the intersection point enters... Figure 6 The target time j is within the mirror switching region. If, as the target moves, it is determined that the target has not entered the target region at target time j, it indicates that the target may begin moving in the opposite direction. In this case, a new target mirror will not be determined; instead, the predicted motion information O based on target time j will be used. j It updates the rotation angle of the currently active target reflector and controls the target reflector to rotate according to the updated rotation angle. Since there is no switching between reflectors, target tracking can be more timely.

[0118] When it is determined that the target enters the target region at the target time j, and the target time j is less than the preset duration n, it indicates that O after,n The predicted motion information also includes turning. In this case, a new target reflector will not be determined, but rather the predicted motion information O based on the target at time j will be used. jThis update updates the rotation angle of the currently active target reflector and controls the target reflector to rotate according to the updated rotation angle. The preset duration n represents the time interval [i, i+n] during which the target can be captured by the camera's image after the camera rotates.

[0119] When it is determined that the target entered the target area at target time j, and target time j is greater than the preset duration n, it will start from O after,n Obtain the predicted motion information O at target time j j And according to the currently active target reflector R x The rotation direction (clockwise or counterclockwise) is used to sequentially obtain the next reflector R. y As a new target reflector, and based on predicted motion information O j Determine the new target reflector R y The target reflection compensation angle is determined, and the new target reflector R is determined. y The angle difference between the current reflection compensation angle and the target reflection compensation angle is used as the new target reflector R. y The rotation angle is adjusted to control the new target reflector R. y By rotating according to the determined rotation angle, the mirrors can be linked together, thus enabling timely switching of mirrors and reducing the rate of missed shots of the target.

[0120] When the direction of motion of the target changes, the new target reflector will not be determined. Instead, the predicted motion information O based on the target at time j will be used. j It updates the rotation angle of the currently active target reflector and controls the target reflector to rotate according to the updated rotation angle. Since switching between reflectors is no longer required, target tracking can be more timely.

[0121] When the direction of motion of the target, which is characterized by changing information, undergoes oscillatory changes, if the currently active target reflector is R... x Then obtain the target reflector R respectively. x Two * k mirrors on each side, meaning k mirrors are acquired on each side, and the target mirror R... x Together with the 2*k mirrors on both sides, they form a candidate mirror set.

[0122] Furthermore, when determining the predicted motion information for each target time, the probability P corresponding to the predicted motion information for each target time can also be determined. after,n =[P i+1 ,P i+2 ,…,P i+n ], where the probability corresponding to the target time j is Let the velocity be based on the target time j. The range of motion area, f(O) i+1 ) for predicting motion information O j The range of motion.

[0123] Based on the probability corresponding to the predicted motion information at each target time, a preset number of predicted motion information with the highest probability value are determined. Based on the preset number of predicted motion information with the highest probability value, a new target reflector is selected from the candidate reflector set in the manner described in the previous embodiment, and the rotation angle of the new target reflector is determined and rotated. In this way, it can be pre-rotated to the corresponding angle value, wait for the target to appear and be tracked.

[0124] In this embodiment, a new target reflector can be selected from the candidate reflector set based on the probability corresponding to the predicted motion information at each target time, thereby improving the accuracy of the determined new target reflector.

[0125] The target tracking device provided by the present invention is described below. The target tracking device described below and the target tracking method described above can be referred to in correspondence.

[0126] Figure 7 This is a schematic diagram of the target tracking device provided in an embodiment of the present invention, with reference to... Figure 7 As shown, the target tracking device 700 includes:

[0127] The prediction module 701 is used to predict the motion information of the target at a preset number of target times after the current time, based on the current motion information of the target at the current time when the target is detected by radar.

[0128] The determining module 702 is used to determine whether the camera device can track the target based on the current motion information and each of the predicted motion information;

[0129] The control module 703 is used to control the target reflector in the reflection module to rotate so as to reflect the target when it is determined that the camera device cannot track the target;

[0130] The control module 703 is also used to control the camera device to track the target reflected in the target reflector.

[0131] In one example embodiment, the current motion information includes the current position and the current direction of motion, and the predicted motion information includes the predicted position and the predicted direction of motion;

[0132] Module 702 is specifically used for:

[0133] For each predicted position, determine the time it takes for the camera device to rotate from the current position to the predicted position based on the current direction of motion and the predicted direction of motion corresponding to the predicted position;

[0134] Based on the duration of each event, it is determined whether the camera device can track the target.

[0135] In one example embodiment, the determining module 702 is specifically used for:

[0136] For each of the stated durations, determine whether the duration is greater than the difference between the target time corresponding to the duration and the current time;

[0137] If all the stated durations are greater than the corresponding differences, it is determined that the camera device is unable to track the target;

[0138] If, among all the stated durations, there exists a target duration less than or equal to the corresponding difference, and the focal length of the camera device at the target time corresponding to the target duration is not within the preset focal length range, then it is determined that the camera device cannot track the target.

[0139] In one example embodiment, the reflection module includes at least one reflector;

[0140] The control module 703 is specifically used for:

[0141] Based on the current position in the current motion information, determine the current reflection compensation angle of each of the reflectors at the current moment;

[0142] For each target time, based on the predicted position in the predicted motion information of the target time, the target reflection compensation angle corresponding to each of the reflectors at the target time is determined;

[0143] Based on the current reflection compensation angle and the target reflection compensation angle corresponding to each of the reflectors, the target reflector is determined from at least one of the reflectors, and the rotation angle of the target reflector at the target moment is determined;

[0144] The target reflector is controlled to rotate according to the stated rotation angle.

[0145] In one example embodiment, the determining module 702 is further configured to:

[0146] For each of the aforementioned reflectors, determine the angle difference between the current reflection compensation angle and the target reflection compensation angle corresponding to the reflector;

[0147] Based on the target time, the current time, and the angle differences, the target reflector is determined from at least one of the reflectors;

[0148] The angle difference corresponding to the target reflector is determined as the rotation angle.

[0149] In one example embodiment, the determining module 702 is further configured to determine, based on the current motion information, the current angle between the current motion direction of the target and the current angle between the optical axis direction of the camera device;

[0150] The determining module 702 is further configured to, for each of the target times, determine the predicted angle between the predicted motion direction of the target and the optical axis direction of the camera device based on the predicted motion information corresponding to the target time;

[0151] The control module 703 is further configured to control the camera device to rotate in order to track the target, based on the current angle and each of the predicted angles, when it is determined that the angle between the target's movement direction and the optical axis direction of the camera device gradually decreases and there exists a predicted angle at a first target moment that is less than or equal to a first preset angle.

[0152] In one example embodiment, the determining module 702 is further configured to determine the change in the included angle between two adjacent time points;

[0153] The control module 703 is also used to traverse each of the angle changes, and when the angle change currently being traversed is greater than a second preset angle, control the camera device to rotate in order to track the target. The second preset angle is determined based on the duration between two adjacent moments and the rotational angular velocity of the target reflector.

[0154] In one example embodiment, the apparatus further includes an update module and a selection module, wherein:

[0155] The determining module 702 is further configured to, when determining that the intersection of the optical axis of the camera device and the target reflector is located in the edge region of the mirror area of ​​the target reflector, determine the change information of the target's motion direction based on the predicted motion direction in each of the predicted motion information;

[0156] The determining module 702 is further configured to, when the change information indicates that the target's direction of motion remains unchanged, or when the change information indicates that the target's direction of motion has a changing trend, and the time when the intersection point enters the target area is greater than a preset time, re-determine a new target reflector for rotation;

[0157] The update module is used to update the rotation angle of the target reflector and rotate according to the updated rotation angle when the change information indicates that the target's motion direction has changed, or when the change information indicates that the target's motion direction has a changing trend, and the intersection point has not entered the target area or the time when the intersection point enters the target area is less than or equal to the preset time.

[0158] The selection module is used to obtain a set of candidate reflectors when the change information indicates that the motion direction of the target has oscillated and changed, and to select a new target reflector from the set of candidate reflectors for rotation based on the probability corresponding to the predicted motion information of each target moment. The set of candidate reflectors includes the target reflector and at least one reflector located on each side of the target reflector.

[0159] The apparatus of this embodiment can be used to execute the method of any embodiment in the target tracking method side embodiment. Its specific implementation process and technical effects are similar to those in the target tracking method side embodiment. For details, please refer to the detailed description in the target tracking method side embodiment, which will not be repeated here.

[0160] Figure 8 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 8 As shown, the electronic device may include a processor 810, a communications interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute a target tracking method. This method includes: when a target is detected by radar, predicting the target's motion information for a preset number of target moments after the current moment based on the target's current motion information; determining whether a camera device can track the target based on the current motion information and each of the predicted motion information; if it is determined that the camera device cannot track the target, controlling a target reflector in a reflection module to rotate to reflect the target; and controlling the camera device to track the target reflected in the target reflector.

[0161] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0162] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the target tracking method provided by the above methods. The method includes: when a target is detected by radar, predicting the predicted motion information of the target at a preset number of target times after the current time based on the current motion information of the target at the current time; determining whether a camera device can track the target based on the current motion information and each of the predicted motion information; if it is determined that the camera device cannot track the target, controlling the target reflector in the reflection module to rotate to reflect the target; and controlling the camera device to track the target reflected in the target reflector.

[0163] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the target tracking method provided by the above methods. The method includes: when a target is detected by radar, predicting the target's motion information for a preset number of target moments after the current moment based on the target's current motion information at the current moment; determining whether a camera device can track the target based on the current motion information and each of the predicted motion information; if it is determined that the camera device cannot track the target, controlling a target reflector in a reflection module to rotate to reflect the target; and controlling the camera device to track the target reflected in the target reflector.

[0164] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0165] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0166] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A target tracking method, characterized in that, include: When a target is detected by radar, based on the target's current motion information at the current moment, predict the target's motion information for a preset number of target moments after the current moment. Based on the current motion information and each of the predicted motion information, it is determined whether the camera device can track the target; If it is determined that the camera device cannot track the target, the target reflector in the reflection module is controlled to rotate in order to reflect the target. The camera device is controlled to track the target reflected in the target mirror; The current motion information includes the current position and the current direction of motion, and the predicted motion information includes the predicted position and the predicted direction of motion; The step of determining whether the camera device can track the target based on the current motion information and each of the predicted motion information includes: For each predicted position, determine the time it takes for the camera device to rotate from the current position to the predicted position based on the current direction of motion and the predicted direction of motion corresponding to the predicted position; For each of the stated durations, determine whether the duration is greater than the difference between the target time corresponding to the duration and the current time; If all the stated durations are greater than the corresponding differences, it is determined that the camera device is unable to track the target; If, among all the stated durations, there exists a target duration less than or equal to the corresponding difference, and the focal length of the camera device at the target time corresponding to the target duration is not within the preset focal length range, then it is determined that the camera device cannot track the target.

2. The target tracking method according to claim 1, characterized in that, The reflection module includes at least one reflector; The control of the target reflector in the reflection module to rotate includes: Based on the current position in the current motion information, determine the current reflection compensation angle of each of the reflectors at the current moment; For each target time, based on the predicted position in the predicted motion information of the target time, the target reflection compensation angle corresponding to each of the reflectors at the target time is determined; Based on the current reflection compensation angle and the target reflection compensation angle corresponding to each of the reflectors, the target reflector is determined from at least one of the reflectors, and the rotation angle of the target reflector at the target moment is determined; The target reflector is controlled to rotate according to the stated rotation angle.

3. The target tracking method according to claim 2, characterized in that, The step of determining the target reflector from at least one of the reflectors based on the current reflection compensation angle and the target reflection compensation angle corresponding to each of the reflectors, and determining the rotation angle of the target reflector at the target moment, includes: For each of the aforementioned reflectors, determine the angle difference between the current reflection compensation angle and the target reflection compensation angle corresponding to the reflector; Based on the target time, the current time, and the angle differences, the target reflector is determined from at least one of the reflectors; The angle difference corresponding to the target reflector is determined as the rotation angle.

4. The target tracking method according to claim 1, characterized in that, The method further includes: Based on the current motion information, determine the current angle between the target's current motion direction and the optical axis direction of the camera device; For each target time, based on the predicted motion information corresponding to the target time, the predicted angle between the predicted motion direction of the target and the optical axis direction of the camera device is determined; Based on the current angle and each of the predicted angles, when it is determined that the angle between the target's direction of motion and the optical axis of the camera device gradually decreases, and there exists a predicted angle at the first target moment that is less than or equal to a first preset angle, the camera device is controlled to rotate in order to track the target.

5. The target tracking method according to claim 4, characterized in that, The method further includes: Determine the change in the included angle between two adjacent time points; The camera is controlled to rotate to track the target if the angle change is greater than the second preset angle. The second preset angle is determined based on the duration between two adjacent moments and the rotational angular velocity of the target reflector.

6. The target tracking method according to claim 1, characterized in that, The method further includes: If the intersection of the optical axis of the camera device and the target reflector is located at the edge of the mirror area of ​​the target reflector, the change information of the target's motion direction is determined based on the predicted motion direction in each of the predicted motion information. If the change information indicates that the target's direction of motion remains unchanged, or if the change information indicates that the target's direction of motion has a changing trend, and the time when the intersection point enters the target area is greater than a preset time, a new target reflector is determined and rotated. If the change information indicates that the target's direction of motion has changed, or if the change information indicates that the target's direction of motion has a changing trend, and the intersection point does not enter the target area or the time when the intersection point enters the target area is less than or equal to the preset time, then the rotation angle of the target reflector is updated, and the target reflector rotates according to the updated rotation angle. When the change information indicates that the target's motion direction oscillates, a set of candidate reflectors is obtained. Based on the probability corresponding to the predicted motion information of each target moment, a new target reflector is selected from the set of candidate reflectors for rotation. The set of candidate reflectors includes the target reflector and at least one reflector located on each side of the target reflector.

7. A target tracking device, characterized in that, include: The prediction module is used to predict the motion information of the target at a preset number of target moments after the current moment, based on the target's current motion information at the current moment, when the target is detected by radar. The determining module is used to determine whether the camera device can track the target based on the current motion information and each of the predicted motion information; The control module is used to control the target reflector in the reflection module to rotate so as to reflect the target when it is determined that the camera device cannot track the target; The control module is also used to control the camera device to track the target reflected in the target reflector; The current motion information includes the current position and the current direction of motion, and the predicted motion information includes the predicted position and the predicted direction of motion; The determining module is specifically used to determine, for each of the predicted positions, the time it takes for the camera device to rotate from the current position to the predicted position based on the current direction of motion and the predicted direction of motion corresponding to the predicted position; For each duration, determine whether the duration is greater than the difference between the target time corresponding to the duration and the current time; if all durations are greater than the corresponding difference, determine that the camera device cannot track the target; if there is a target duration less than or equal to the corresponding difference among all durations, and the focal length of the camera device at the target time corresponding to the target duration is not within the preset focal length range, determine that the camera device cannot track the target.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the target tracking method as described in any one of claims 1 to 6.

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