A vehicle tracking method, device, system and storage medium

Abstract

The application discloses a vehicle tracking method, device, system and storage medium, comprising: determining a vehicle set in any area range of a tunnel and a position set of positions where the vehicles are located in real time; taking any two positions in the position set as a position combination, for each position combination, respectively acquiring a sensing vibration signal of a vibration optical fiber sensor corresponding to each position in the position combination; taking two positions in the position combination corresponding to each two vehicles in the vehicle set as a combination mode, respectively determining an ideal vibration signal of the vibration optical fiber sensor corresponding to each position in the position combination under each combination mode; calculating the similarity of the sensing vibration signal of each position in the position combination and the corresponding ideal vibration signal; determining the position of each vehicle in the vehicle set from the position set according to the similarity, so as to track each vehicle in the vehicle set based on the position. The scheme can realize accurate tracking of vehicles in the tunnel.

Description

Technical Field

[0001] This invention relates to the field of vehicle tracking technology, and in particular to a vehicle tracking method, device, system, and storage medium. Background Technology

[0002] Traffic accidents frequently occur when vehicles are traveling in tunnels due to the dim lighting inside. Therefore, tracking the trajectory of vehicles in tunnels is crucial.

[0003] In related technologies, vehicle tracking within tunnels is primarily based on video data collected by monitoring equipment. Specifically, radar deployed within the tunnel measures vehicle speed, and the timing of a vehicle's appearance at the next monitoring equipment deployment node is predicted based on this speed. Video data collected by the next monitoring equipment deployment node is then pre-selected to enable continuous vehicle tracking.

[0004] However, due to the dim lighting inside the tunnel, the monitoring equipment produces dim images, making it difficult to accurately analyze vehicles at a distance, which can easily lead to vehicles being lost. Furthermore, when vehicles change speed inside the tunnel, the timing of their appearance at the next monitoring equipment deployment node can be inaccurate, resulting in tracking failures. Summary of the Invention

[0005] This invention provides a vehicle tracking method, device, system, and storage medium, which can achieve accurate tracking of vehicles in tunnels and avoid the phenomenon of vehicle tracking loss.

[0006] According to one aspect of the present invention, a vehicle tracking method is provided, the method comprising:

[0007] The vehicle set and the location set of each vehicle within any area of ​​the tunnel can be determined in real time; wherein the vehicle set contains at least two vehicles, the location set contains at least two locations, and the number of vehicles in the vehicle set is the same as the number of locations in the location set.

[0008] Take any two positions in the set of positions as a position combination, and for each position combination, obtain the sensing vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination;

[0009] Using the two positions in the location combination that correspond one-to-one between every two vehicles in the vehicle set as a combination method, the ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the location combination is determined for each combination method.

[0010] Calculate the similarity between the sensed vibration signal and the corresponding ideal vibration signal at each position in the position combination;

[0011] The location of each vehicle in the vehicle set is determined from the location set based on the similarity, so that each vehicle in the vehicle set can be tracked based on the location.

[0012] According to another aspect of the present invention, a vehicle tracking device is provided, comprising:

[0013] The set determination module is used to determine in real time the set of vehicles and the set of locations of vehicles within any area of ​​the tunnel; wherein the set of vehicles contains at least two vehicles, the set of locations contains at least two locations, and the number of vehicles in the set of vehicles is the same as the number of locations in the set of locations.

[0014] The vibration signal acquisition module is used to acquire the vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination, taking any two positions in the position set as a position combination;

[0015] The ideal vibration signal determination module is used to determine the ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination under each combination method, taking the two positions of each pair of vehicles in the vehicle set as a combination method;

[0016] A similarity calculation module is used to calculate the similarity between the sensed vibration signal at each position in the position combination and the corresponding ideal vibration signal;

[0017] A vehicle tracking module is used to determine the position of each vehicle in the vehicle set from the location set based on the similarity, so as to track each vehicle in the vehicle set based on the position.

[0018] According to another aspect of the present invention, a vehicle tracking system is provided, the vehicle tracking system comprising:

[0019] At least one processor; and

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle tracking method according to any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle tracking method according to any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a processor, implements the vehicle tracking method according to any embodiment of the present invention.

[0024] The vehicle tracking scheme of this invention determines in real time the set of vehicles and the set of vehicle locations within any area of ​​a tunnel. The set of vehicles contains at least two vehicles, and the set of locations contains at least two locations. The number of vehicles in the set of vehicles is the same as the number of locations in the set of locations. Any two locations in the set of locations are considered as a location combination. For each location combination, the vibration signal sensed by the fiber optic sensor corresponding to each location in the location combination is acquired. Using a one-to-one correspondence between every two vehicles in the set and the two locations in the location combination as a combination method, the ideal vibration signal of the fiber optic sensor corresponding to each location in the location combination is determined for each combination method. The similarity between the sensed vibration signal and the corresponding ideal vibration signal of each location in the location combination is calculated. Based on the similarity, the location of each vehicle in the set of vehicles is determined from the set of locations, and each vehicle in the set of vehicles is tracked based on its location. Through the technical solution provided by this invention, when multiple vehicles are present in a tunnel, the location information of each vehicle can be accurately determined by the sensed vibration signals of the fiber optic sensors deployed in the tunnel, achieving precise tracking of vehicles in the tunnel and effectively avoiding the phenomenon of lost vehicle tracking.

[0025] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a flowchart of a vehicle tracking method provided in Embodiment 1 of the present invention;

[0028] Figure 2 This is a schematic diagram showing the distribution of vibration fiber optic sensors and monitoring equipment in a tunnel, provided by an embodiment of the present invention.

[0029] Figure 3 This is a flowchart of a vehicle tracking method provided in Embodiment 2 of the present invention;

[0030] Figure 4a This is a schematic diagram illustrating the distribution of a combination of positions according to an embodiment of the present invention;

[0031] Figure 4b This is a schematic diagram showing the distribution of vibration signals sensed by two fiber optic vibration sensors at different distances from the vehicle, provided as an embodiment of the present invention.

[0032] Figure 4c This is a schematic diagram illustrating the distribution of a combination of positions according to an embodiment of the present invention;

[0033] Figure 4d This is a schematic diagram illustrating the distribution of a combination of positions according to an embodiment of the present invention;

[0034] Figure 5a This is a schematic diagram of the vehicle distribution before vehicle 1 changes lanes, provided in an embodiment of the present invention.

[0035] Figure 5b This is a schematic diagram of the vehicle distribution after vehicle 1 changes lanes to lane 2, provided in an embodiment of the present invention.

[0036] Figure 5c This is a schematic diagram of the vehicle distribution after vehicle 1 overtakes vehicle 2 and then changes lanes to lane 1, provided in an embodiment of the present invention.

[0037] Figure 6 This is a schematic diagram of the structure of a vehicle tracking device according to Embodiment 3 of the present invention;

[0038] Figure 7 This is a schematic diagram of the structure of a vehicle tracking system that implements the vehicle tracking method of this invention. Detailed Implementation

[0039] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0040] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0041] Example 1

[0042] Figure 1 The flowchart illustrates a vehicle tracking method according to Embodiment 1 of the present invention. This embodiment is applicable to tracking vehicles within tunnels. The method can be executed by a vehicle tracking device, which can be implemented in hardware and / or software and configured within a vehicle tracking system. Figure 1 As shown, the method includes:

[0043] S110. In real time, determine the set of vehicles and the set of locations of vehicles within any area of ​​the tunnel; wherein the set of vehicles contains at least two vehicles, the set of locations contains at least two locations, and the number of vehicles in the set of vehicles is the same as the number of locations in the set of locations.

[0044] In this embodiment of the invention, the vehicle tracking system may include vibration fiber optic sensors and monitoring equipment deployed within a tunnel. For example, Figure 2This is a schematic diagram illustrating the distribution of a vibration fiber optic sensor and monitoring equipment within a tunnel, as provided in an embodiment of the present invention. When a vehicle passes through the tunnel, it causes vibrations in the tunnel floor. These vibrations propagate through the floor to the vibration fiber optic sensor, causing a change in the optical signal within the fiber optic cable. This change results in an optical signal modulated by the vibration signal. After reflection by the sensing unit, the optical signal travels through the fiber optic cable to a photodetector, where it is converted into an electrical signal and then demodulated to obtain the vibration signal sensed by the vibration fiber optic sensor. By analyzing the vibration signal, parameters such as the number, speed, type, and direction of travel of the vehicles can be determined. The monitoring equipment deployed within the tunnel can monitor the vehicles within the tunnel, acquiring information such as the number, type, speed, and images of the vehicles through video data. In this embodiment of the invention, the set of vehicles and the set of vehicle locations within any area of ​​the tunnel can be determined using the vibration signals sensed in real time by the vibration fiber optic sensor deployed within the tunnel and the video data captured by the monitoring equipment. The set of vehicles can be understood as the set of all vehicles currently located within any area of ​​the tunnel, and the set of locations can be understood as the set of all positions of vehicles currently existing within any area of ​​the tunnel. The vehicle set contains at least two vehicles, the location set contains at least two locations, and the number of vehicles in the vehicle set is the same as the number of locations in the location set.

[0045] S120. Take any two positions in the set of positions as a position combination, and for each position combination, obtain the sensing vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination.

[0046] In this embodiment of the invention, any two locations in the location set are divided into a location combination. For example, if the location set includes location A, location B, location C, and location D, then the location set can be divided into location combination (A, B) and location combination (C, D), or it can be divided into location combination (A, C) and location combination (A, D), or it can be divided into location combination (A, D) and location combination (B, C). It should be noted that any two locations in the location set can be arbitrarily divided, and the division method is not limited. For each location combination, the sensed vibration signal of the vibration fiber optic sensor corresponding to each location in the location combination is obtained. Multiple vibration fiber optic sensors are densely deployed in the tunnel. Each vibration fiber optic sensor can sense the vibration signal caused by vehicle vibration within a preset range in the tunnel. However, the closer the vibration fiber optic sensor is to the vehicle, the stronger the vibration signal sensed by the vibration fiber optic sensor. Therefore, the vibration fiber optic sensor closest to each location in the location combination can be used as the vibration fiber optic sensor corresponding to that location, and the sensed vibration signal of the vibration fiber optic sensor corresponding to that location can be obtained. It is understandable that the sensed vibration signal is the actual vibration signal sensed by the vibration fiber optic sensor corresponding to each position in the position combination.

[0047] S130. Using the two positions in the position combination corresponding to each pair of vehicles in the vehicle set as a combination method, determine the ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination under each combination method.

[0048] In this embodiment of the invention, for each pair of vehicles in the vehicle set, a combination is defined by the two positions corresponding to the two vehicles in the position combination. The ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination is determined for each combination. For example, the vehicle set includes vehicle 1, vehicle 2, and vehicle 3. For the position combination (A, B), the combinations of each pair of vehicles in the vehicle set corresponding to positions A and B in the position combination (A, B) include: vehicle 1 at position A, vehicle 2 at position B; vehicle 1 at position B, vehicle 2 at position A; vehicle 1 at position A, vehicle 3 at position B; vehicle 1 at position B, vehicle 3 at position A; vehicle 2 at position A, vehicle 3 at position B; vehicle 3 at position B, vehicle 1 at position A. For example, for the combination of vehicle 1 at position A and vehicle 2 at position B, that is, assuming vehicle 1 is at position A and vehicle 2 is at position B, the ideal vibration signal of the vibration fiber optic sensor corresponding to position A and the ideal vibration signal of the vibration fiber optic sensor corresponding to position B are obtained respectively. It is understandable that the ideal vibration signal is the theoretical vibration signal sensed by the vibration fiber optic sensor corresponding to each position in the position combination.

[0049] S140. Calculate the similarity between the sensed vibration signal at each position in the position combination and the corresponding ideal vibration signal.

[0050] In this embodiment of the invention, the similarity between the sensed vibration signal at each position in the position combination and the corresponding ideal vibration signal is calculated for each combination. For example, for the position combination (A, B), where vehicle 1 is located at position A and vehicle 2 is located at position B, the similarity S1 between the ideal vibration signal and the sensed vibration signal at position A and the similarity S2 between the ideal vibration signal and the sensed vibration signal at position B are calculated respectively. Following this method, the similarity between position A and position B for each combination can be determined.

[0051] S150. Determine the position of each vehicle in the vehicle set from the location set based on the similarity, so as to track each vehicle in the vehicle set based on the position.

[0052] Optionally, determining the position of each vehicle in the vehicle set from the location set based on the similarity includes: for each location combination, determining the target combination with the highest similarity among all combinations corresponding to the location combination; and determining the positions of the two vehicles under the target combination based on the correspondence between vehicles and positions in the target combination. In this embodiment of the invention, for each location combination formed by dividing the location set, the target combination is determined from all combinations corresponding to the location combination, where the similarity between the two positions in the location combination is the highest. Based on the correspondence between vehicles and positions in the target combination, the vehicle located at each position in the location combination is determined. For example, for the location combination (A, B), in the combination where vehicle 2 is located at position A and vehicle 3 is located at position B, the similarity between position A and position B is the highest. Therefore, the vehicle located at position A is determined to be vehicle 2, and the vehicle located at position B is determined to be vehicle 3. Similarly, since there is a one-to-one correspondence between the locations in the location set and the vehicles in the vehicle set, the vehicle at each location in the location set can be determined using the above method, which means the location of each vehicle in the vehicle set can be accurately determined. Therefore, vehicles can be tracked based on the real-time determined location of each vehicle in the vehicle set.

[0053] The vehicle tracking method of this invention determines in real time a set of vehicles and a set of vehicle locations within any area of ​​a tunnel. The set of vehicles contains at least two vehicles, and the set of locations contains at least two locations. The number of vehicles in the set of vehicles is the same as the number of locations in the set of locations. Any two locations in the set of locations are considered as a location combination. For each location combination, the vibration signal sensed by the fiber optic sensor corresponding to each location in the location combination is acquired. Using a one-to-one correspondence between every two vehicles in the set and the two locations in the location combination as a combination method, the ideal vibration signal of the fiber optic sensor corresponding to each location in the location combination is determined for each combination method. The similarity between the sensed vibration signal and the corresponding ideal vibration signal of each location in the location combination is calculated. Based on the similarity, the location of each vehicle in the set of vehicles is determined from the set of locations, and each vehicle in the set of vehicles is tracked based on its location. Through the technical solution provided by this invention, when multiple vehicles are present in a tunnel, the location information of each vehicle can be accurately determined by the sensed vibration signal of the fiber optic sensor deployed in the tunnel, achieving precise tracking of vehicles in the tunnel and effectively avoiding the phenomenon of vehicle tracking loss.

[0054] Example 2

[0055] Figure 3 This is a flowchart of a vehicle tracking method provided in Embodiment 2 of the present invention, as follows: Figure 3 As shown, the method includes:

[0056] S310. Real-time acquisition of target vibration signals sensed by vibration fiber optic sensors deployed in the tunnel, and determination of first vehicle parameters based on the target vibration signals.

[0057] In this embodiment of the invention, the clocks of the synchronous monitoring device and the vibration fiber optic monitoring system are synchronized, and the effective monitoring range of the monitoring device and the monitoring position of the fiber optic system are unified to the same coordinate system. During the vehicle's passage through the tunnel, the target vibration signal sensed by the vibration fiber optic sensor deployed within the tunnel is acquired in real time, and the target vibration signal is analyzed to determine the first vehicle parameters. Optionally, the first vehicle parameters include vehicle position, vehicle weight, vehicle speed, and vehicle type. Heavier vehicles exert greater impact on the ground, therefore, they generate stronger vibration signals, i.e., larger vibration amplitudes. Conversely, lighter vehicles generate smaller vibration signals, i.e., smaller vibration amplitudes. Therefore, analyzing the vibration amplitude of the vibration signal can determine the vehicle's weight. Fast-moving vehicles generate higher-frequency vibrations, while slow-moving vehicles generate lower-frequency vibrations. Therefore, by analyzing the vibration frequency of the vibration signal, the vehicle's speed can be inferred. Furthermore, faster vehicles produce shorter and more compact vibration patterns, while slower vehicles produce longer and more dispersed patterns. Therefore, vehicle speed can be determined by analyzing the vibration patterns of the vibration signal. Different types of vehicles (such as cars, trucks, and motorcycles) produce vibration signals with different characteristics due to factors such as their structure, number of tires, and size; that is, their vibration patterns differ. Therefore, vehicle type can be determined by analyzing the characteristics of the vibration signal (or based on its vibration pattern). Additionally, the first vehicle parameter can also include relevant information such as vehicle transit time. It should be noted that the first vehicle parameter can be determined by analyzing the target vibration signal sensed by the vibration fiber optic sensor deployed in the tunnel, based on signal processing algorithms (such as Fourier transform for frequency analysis), pattern recognition technology (for vehicle type classification), and machine learning algorithms (for data training and parameter optimization). Table 1 shows the relevant data detected by the vibration fiber optic sensor.

[0058] Table 1. Relevant data detected by the vibration fiber optic sensor.

[0059]

[0060] S320. Obtain video data collected by monitoring equipment deployed in the tunnel, and determine the second vehicle parameters based on the video data.

[0061] In this embodiment of the invention, when the vehicle is within the effective monitoring range of the monitoring equipment, video data of the vehicle can be collected by the monitoring equipment. By analyzing the video data, second vehicle parameters can be determined. Optionally, the second vehicle parameters include vehicle position, vehicle speed, vehicle type, vehicle identification (such as license plate), and vehicle image. Table 2 shows the relevant data detected by the monitoring equipment:

[0062] Table 2. Relevant data detected by monitoring equipment.

[0063] CarIDC1 TimeC1 PosC1 LPC1 VC1 TypeC1 PicC1 … CarIDC2 TimeC2 PosC2 LPC2 VC2 TypeC2 PicC2 …

[0064] S330. Perform a matching operation on the first vehicle parameters and the second vehicle parameters to generate target vehicle parameters.

[0065] When a vehicle enters the tunnel, the monitoring device IPC1 deployed at the tunnel entrance can accurately analyze relevant second vehicle parameters such as the vehicle type, license plate, and speed. Similarly, when a vehicle enters the effective monitoring range of any monitoring device deployed within the tunnel, its type, speed, and image information can also be obtained through that device. By matching parameters such as vehicle position, speed, and type from the first and second vehicle parameters, target vehicle parameters are generated. This allows for the unification of vehicle images captured by the monitoring device and those sensed by the vibration fiber optic sensor, achieving data alignment. Through data alignment, the first vehicle parameters sensed by the vibration fiber optic sensor can be associated with the corresponding vehicle identifier and image.

[0066] S340. Determine the set of vehicles and the set of locations of vehicles within any area of ​​the tunnel based on the target vehicle parameters; wherein the set of vehicles contains at least two vehicles, the set of locations contains at least two locations, and the number of vehicles in the set of vehicles is the same as the number of locations in the set of locations.

[0067] By analyzing the parameters of the target vehicles, the set of vehicles and the set of vehicle locations within any area of ​​the tunnel can be determined.

[0068] S350. Take any two positions in the set of positions as a position combination, and for each position combination, obtain the sensing vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination.

[0069] In this embodiment of the invention, the relationship between the two positions in each position combination can include the following three cases:

[0070] Scenario 1 Figure 4a This is a schematic diagram illustrating the distribution of a position combination according to an embodiment of the present invention. For example... Figure 4a As shown, the two positions in the location combination have the same lateral coordinate in the tunnel, but different longitudinal coordinates. If vehicle 1 and vehicle 2 are located parallel to each other at these two positions in the tunnel, both the vibration fiber optic sensor deployed outside lane 1 (which can be called the upper vibration fiber optic sensor) and the vibration fiber optic sensor deployed outside lane 2 (which can be called the lower vibration fiber optic sensor) can detect vehicle 1 and vehicle 2. Therefore, the vibration signal sensed by the upper vibration fiber optic sensor is the sum of the vibration signals of vehicle 1 sensed by the upper vibration fiber optic sensor and the vibration signals of vehicle 2 sensed by the upper vibration fiber optic sensor, i.e.: TF1 = F 1,1 +F 1,2 Where TF1 represents the sensed vibration signal from the upper vibration fiber optic sensor, and F... 1,1 F represents the vibration signal of vehicle 1 sensed by the upper vibration fiber optic sensor. 1,2 This represents the vibration signal of vehicle 2 sensed by the upper vibration fiber optic sensor. Similarly, the vibration signal sensed by the lower vibration fiber optic sensor is the sum of the vibration signals of vehicle 1 sensed by the lower vibration fiber optic sensor and the vibration signals of vehicle 2 sensed by the lower vibration fiber optic sensor, that is: TF2 = F 2,2 +F 2,1 Where TF2 represents the sensed vibration signal from the lower vibration fiber optic sensor, and F... 2,1 F represents the vibration signal of vehicle 1 sensed by the fiber optic vibration sensor. 2,2 This represents the vibration signal of vehicle 2 sensed by the lower vibration fiber optic sensor. The vibration signal of vehicle 1 sensed by the upper vibration fiber optic sensor is stronger than the vibration signal of vehicle 2 sensed by the lower vibration fiber optic sensor; the vibration signal of vehicle 2 sensed by the lower vibration fiber optic sensor is stronger than the vibration signal of vehicle 1 sensed by the lower vibration fiber optic sensor. Furthermore, vibration signals sensed by different vibration fiber optic sensors of the same vehicle may exhibit strong similarity, but the intensity of the vibration signal varies due to the different distances between the different vibration fiber optic sensors and the vehicle. For example, Figure 4b This is a schematic diagram illustrating the distribution of vibration signals sensed by two fiber optic vibration sensors at different distances from a vehicle, provided as an embodiment of the present invention. The distance between fiber optic vibration sensor 1 and the vehicle is less than the distance between fiber optic vibration sensor 2 and the vehicle. Figure 4b As shown, the vibration signal sensed by the fiber optic vibration sensor 1, which is closer to the vehicle, is stronger than the vibration signal sensed by the fiber optic vibration sensor 2, which is farther from the vehicle. Therefore, F 2,1 The strength is less than F 1,1 The intensity of F is similar to that of F, but the feature similarity between the two is greater than the preset threshold.2,2 The strength is greater than F 1,2 The intensity of the two features is greater than the preset threshold.

[0071] Scenario 2 Figure 4c This is a schematic diagram illustrating the distribution of a position combination according to an embodiment of the present invention. For example... Figure 4c As shown, the two positions in the position combination have the same longitudinal coordinate in the tunnel, but different lateral coordinates. If vehicle 1 and vehicle 2 are located one behind the other in this position combination within the tunnel, meaning they are in the same lane (e.g., lane 1), the vibration signal sensed by the vibration fiber optic sensor (which can be called the upper vibration fiber optic sensor) deployed outside lane 1 is the strongest. Therefore, the vibration signal sensed by the upper vibration fiber optic sensor is taken as the standard. Furthermore, the rear upper vibration fiber optic sensor near vehicle 1 and the front upper vibration fiber optic sensor near vehicle 2 can both sense vehicles 1 and 2. Therefore, the vibration signal sensed by the front upper vibration fiber optic sensor is the sum of the vibration signals sensed by the front upper vibration fiber optic sensor for vehicle 1 and vehicle 2, i.e.: TF'1 = F' 1,1 +F' 1,2 Where TF'1 represents the sensed vibration signal from the front upper vibration fiber optic sensor, and F' 1,1 F' represents the vibration signal of vehicle 1 sensed by the front upper vibration fiber optic sensor. 1,2 This represents the vibration signal of vehicle 2 sensed by the front upper vibration fiber optic sensor. Similarly, the vibration signal sensed by the rear upper vibration fiber optic sensor is the sum of the vibration signals of vehicle 1 sensed by the rear upper vibration fiber optic sensor and the vibration signals of vehicle 2 sensed by the rear upper vibration fiber optic sensor, that is: TF'2 = F' 2,2 +F' 2,1 Where TF'2 represents the sensed vibration signal from the rear upper vibration fiber optic sensor, and F' 2,1 F' represents the vibration signal of vehicle 1 sensed by the rear upper vibration fiber optic sensor. 2,2 This represents the vibration signal of vehicle 2 sensed by the rear upper vibration fiber optic sensor. Wherein, the intensity of the vibration signal of vehicle 1 sensed by the rear upper vibration fiber optic sensor is stronger than the intensity of the vibration signal of vehicle 2 sensed; the intensity of the vibration signal of vehicle 2 sensed by the front upper vibration fiber optic sensor is stronger than the intensity of the vibration signal of vehicle 1 sensed. Additionally, F' 2,1 The strength is greater than F' 1,1 The intensity of F' is similar to that of F', but the feature similarity between the two is greater than the preset threshold. 2,2 The strength is less than F' 1,2 The intensity of the two features is greater than the preset threshold.

[0072] Scenario 3 Figure 4d This is a schematic diagram illustrating the distribution of a position combination according to an embodiment of the present invention. For example... Figure 4d As shown, the two positions in the location combination have different lateral and longitudinal coordinates in the tunnel. If vehicle 1 and vehicle 2 are located at the two positions in this location combination in the tunnel, then the vibration fiber optic sensor deployed outside lane 1 (which can be called the upper vibration fiber optic sensor) and the vibration fiber optic sensor deployed outside lane 2 (which can be called the lower vibration fiber optic sensor) can both detect vehicle 1 and vehicle 2.

[0073] S360. Using the two positions in the position combination corresponding to each pair of vehicles in the vehicle set as a combination method, for each combination method, based on the pre-set correspondence between vehicles and vibration signals, obtain the single vibration signal corresponding to each vehicle in the combination method.

[0074] In this embodiment of the invention, the vibration signal database can store vibration signals of each type of vehicle passing through the tunnel alone. Therefore, the correspondence between vehicles and vibration signals can be determined from the vibration signal database, and the single vibration signal corresponding to each vehicle in the combination method can be determined according to the correspondence. Here, the single vibration signal can be understood as the ideal vibration signal when a vehicle passes through the tunnel alone. For example, if the two vehicles in the combination method are vehicle x and vehicle y, and vehicle x is at position 1 and vehicle y is at position 2, then the obtained single vibration signal of vehicle x is FVFx, and the obtained single vibration signal of vehicle y is FVFy.

[0075] S370. Based on the single vibration signal and the attenuation function corresponding to each position in the position combination, determine the ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination under the combination method.

[0076] In this embodiment of the invention, during actual measurement, the vibration signal sensed by the fiber optic vibration sensor will experience a certain degree of attenuation. The degree of attenuation varies depending on the vehicle's location. Therefore, in this embodiment, an attenuation function is obtained for each position in the position combination. This attenuation function can be determined by comparing the vibration signal sensed by the fiber optic vibration sensor with a single vibration signal. Based on the single vibration signal corresponding to each vehicle in the combination and the attenuation function corresponding to each position in the position combination, the ideal vibration signal of the fiber optic vibration sensor for each position is determined.

[0077] Optionally, based on the single vibration signal and the attenuation function corresponding to each position in the position combination, the ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination is determined. This includes: for each position in the position combination, based on the single vibration signal of each vehicle in the vehicle combination and the attenuation function corresponding to the position, determining the ideal vibration component sensed by the vibration fiber optic sensor for each vehicle in the combination, and using the sum of the ideal vibration components of each vehicle in the combination as the ideal vibration signal of the vibration fiber optic sensor corresponding to the position in the combination. For example, taking the combined position as... Figure 4a Taking the distribution shown as an example, if the combination is that vehicle x is located at position 1 and vehicle y is located at position 2, then based on the single vibration signal FVFx of vehicle x and the attenuation function at position 1, the ideal vibration component of vehicle x sensed by the upper fiber optic sensor is determined to be FVF. 1,x Based on the single vibration signal FVFy of vehicle y and the attenuation function at position 1, the ideal vibration component of vehicle y sensed by the upper fiber optic sensor is determined to be FVF. 1,y Based on the single vibration signal FVFx of vehicle x and the attenuation function at position 2, the ideal vibration component of vehicle x sensed by the lower fiber optic sensor is determined to be FVF. 2,x Based on the single vibration signal FVFy of vehicle y and the attenuation function at position 2, the ideal vibration component of vehicle y sensed by the lower fiber optic sensor is determined to be FVF. 2,y Therefore, the ideal vibration signal of the upper vibration fiber optic sensor corresponding to position 1 is FVF. 1,x +FVF 1,y The ideal vibration signal of the upper vibration fiber optic sensor corresponding to position 2 is FVF. 2,x +FVF 2,y .

[0078] S380. Calculate the similarity between the sensed vibration signal at each position in the position combination and the corresponding ideal vibration signal.

[0079] In this embodiment of the invention, the sensed vibration signal TF1 of the upper vibration fiber optic sensor corresponding to position 1 and the ideal vibration signal FVF of the upper vibration fiber optic sensor corresponding to position 1 are calculated. 1,x +FVF 1,y The similarity S1, and the sensed vibration signal TF2 of the lower vibration fiber optic sensor corresponding to position 2 and the ideal vibration signal FVF of the lower vibration fiber optic sensor corresponding to position 2. 2,x +FVF 2,y The similarity S2.

[0080] S390. Determine the position of each vehicle in the vehicle set from the location set based on the similarity, so as to track each vehicle in the vehicle set based on the position.

[0081] The vehicle tracking method of this invention can accurately determine the position information of each vehicle by sensing the vibration signal of the vibration fiber optic sensor deployed in the tunnel when there are multiple vehicles in the tunnel, thereby achieving precise tracking of vehicles in the tunnel and effectively avoiding the phenomenon of vehicle tracking loss.

[0082] In some embodiments, when there are at least two target combinations, vibration signal change information from vibration fiber optic sensors deployed in the tunnel is acquired in real time during the movement of the two vehicles under the target combination. The positions of the two vehicles under the target combination are determined in real time based on the vibration signal change information. For example, if there are at least two target combinations with the highest similarity for each position in a given position combination, it indicates that the two vehicles in the combination are of the same model, and it is impossible to determine which vehicle is located at which position in the position combination by sensing the vibration signal from the vibration fiber optic sensor. Since the alignment operation of the first vehicle parameters determined by the target vibration signal sensed by the vibration fiber optic sensor and the second vehicle parameters determined by the video data collected by the monitoring equipment has been completed at the tunnel entrance, the vibration fiber optic sensor can track the movement of vehicles entering the tunnel throughout the entire process. For two similar vehicles, CarS1 and CarS2, their positions are different. When either vehicle changes lanes, the position change of the vehicle can be determined by the vibration signal change information from the upper and lower vibration fiber optic sensors based on the lateral and longitudinal position changes of the vehicle, thereby accurately tracking the vehicle's position. For example, vehicle 1 and vehicle 2 of the same model are initially traveling in the same lane 1 of the tunnel, then vehicle 1 passes vehicle 2 through lane 2 and returns to lane 1. Figure 5a This is a schematic diagram of the vehicle distribution before vehicle 1 changes lanes, provided in an embodiment of the present invention. Figure 5b This is a schematic diagram of the vehicle distribution after vehicle 1 changes lanes to lane 2, provided in an embodiment of the present invention. Figure 5c This is a schematic diagram showing the distribution of vehicles after vehicle 1 overtakes vehicle 2 and then changes lanes back to lane 1, as provided in an embodiment of the present invention. Figure 5aAs shown, the intensity of the vibration signal sensed by the front upper vibration fiber optic sensor for vehicle 1 is less than the intensity of the vibration signal sensed by vehicle 2, while the intensity of the vibration signal sensed by the rear upper vibration fiber optic sensor for vehicle 1 is greater than the intensity of the vibration signal sensed by vehicle 2. Compared to the upper fiber optic sensor, the intensity of the vibration signals sensed by the front lower vibration fiber optic sensor and the rear lower vibration fiber optic sensor for vehicles 1 and 2 is even lower. Figure 5b As shown, after vehicle 1 changes lanes from lane 1 to lane 2, because vehicle 1 is farther from lane 1 in lane 2, the intensity of the vibration signal sensed by the upper rear vibration fiber optic sensor decreases. However, because vehicle 1 changes lanes to vehicle 2 and is closer to vehicle 2, the intensity of the vibration signal sensed by the lower rear vibration fiber optic sensor increases compared to the upper sensor. Figure 5c As shown, when vehicle 1 switches from lane 2 back to lane 1, the intensity of the vibration signal of vehicle 1 sensed by the upper front vibration fiber optic sensor increases, while the intensity of the vibration signals sensed by the lower front vibration fiber optic sensor and the lower rear vibration fiber optic sensor of vehicle 1 and vehicle 2 decreases compared to the upper vibration fiber optic sensor.

[0083] Example 3

[0084] Figure 6 This is a schematic diagram of a vehicle tracking device provided in Embodiment 3 of the present invention. Figure 6 As shown, the device includes:

[0085] The set determination module 610 is used to determine in real time the set of vehicles and the set of locations of vehicles within any area of ​​the tunnel; wherein the set of vehicles contains at least two vehicles, the set of locations contains at least two locations, and the number of vehicles in the set of vehicles is the same as the number of locations in the set of locations.

[0086] The vibration signal acquisition module 620 is used to acquire the vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination, taking any two positions in the position set as a position combination.

[0087] The ideal vibration signal determination module 630 is used to determine the ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination under each combination method, taking the two positions of each pair of vehicles in the vehicle set as a combination method.

[0088] The similarity calculation module 640 is used to calculate the similarity between the sensed vibration signal at each position in the position combination and the corresponding ideal vibration signal.

[0089] The vehicle tracking module 650 is used to determine the position of each vehicle in the vehicle set from the location set based on the similarity, so as to track each vehicle in the vehicle set based on the position.

[0090] Optionally, the ideal vibration signal determination module includes:

[0091] A single vibration signal determination unit is used to obtain the single vibration signal corresponding to each vehicle in each combination method based on a pre-set correspondence between vehicles and vibration signals.

[0092] An ideal vibration signal determination unit is used to determine, based on the single vibration signal and the attenuation function corresponding to each position in the position combination, the ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination under the combined mode.

[0093] Optionally, the ideal vibration signal determination unit is used for:

[0094] For each position in the position combination, based on the single vibration signal of each vehicle in the vehicle combination and the attenuation function corresponding to the position, the ideal vibration component of each vehicle in the combination is determined by the vibration fiber optic sensor corresponding to the position. The sum of the ideal vibration components of each vehicle in the combination is taken as the ideal vibration signal of the vibration fiber optic sensor corresponding to the position under the combination.

[0095] Optionally, the vehicle tracking module is used for:

[0096] For each position combination, determine the target combination with the highest similarity among all combinations corresponding to the position combination;

[0097] Based on the correspondence between vehicles and positions in the target combination, the positions of the two vehicles under the target combination are determined from the position combinations.

[0098] Optionally, the device further includes:

[0099] The vibration signal change information determination module is used to acquire vibration signal change information of the vibration fiber optic sensor deployed in the tunnel in real time during the driving process of the two vehicles under the target combination when there are at least two target combination methods.

[0100] The vehicle position determination module is used to determine the position of the two vehicles in the target combination mode during their travel in real time based on the vibration signal change information.

[0101] Optionally, the set determination module is used for:

[0102] The system acquires the target vibration signal sensed by the vibration fiber optic sensor deployed in the tunnel in real time, and determines the first vehicle parameters based on the target vibration signal.

[0103] Acquire video data collected by monitoring equipment deployed in the tunnel, and determine the second vehicle parameters based on the video data;

[0104] The first vehicle parameters and the second vehicle parameters are matched to generate the target vehicle parameters;

[0105] Based on the target vehicle parameters, determine the set of vehicles and the set of vehicle locations within any area of ​​the tunnel.

[0106] Optionally, the first vehicle parameters include vehicle position, vehicle weight, vehicle speed, and vehicle type; the second vehicle parameters include vehicle position, vehicle speed, vehicle type, vehicle identification, and vehicle image.

[0107] The vehicle tracking device provided in this embodiment of the invention can execute the vehicle tracking method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0108] Example 4

[0109] Figure 7 A schematic diagram of a vehicle tracking system 10, which can be used to implement embodiments of the present invention, is shown. The vehicle tracking system is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The vehicle tracking system can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0110] like Figure 7As shown, the vehicle tracking system 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the vehicle tracking system 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0111] Multiple components in the vehicle tracking system 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the vehicle tracking system 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0112] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle tracking methods.

[0113] In some embodiments, the vehicle tracking method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the vehicle tracking system 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle tracking method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle tracking method by any other suitable means (e.g., by means of firmware).

[0114] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0115] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0116] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0117] To provide user interaction, the systems and techniques described herein can be implemented on a vehicle tracking system having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the vehicle tracking system. Other types of devices can also be used to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0118] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0119] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0120] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0121] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle tracking method, characterized in that, The method includes: The vehicle set and the location set of each vehicle within any area of ​​the tunnel can be determined in real time; wherein the vehicle set contains at least two vehicles, the location set contains at least two locations, and the number of vehicles in the vehicle set is the same as the number of locations in the location set. Take any two positions in the set of positions as a position combination, and for each position combination, obtain the sensing vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination; Using the two positions in the location combination that correspond one-to-one between every two vehicles in the vehicle set as a combination method, the ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the location combination is determined for each combination method. Calculate the similarity between the sensed vibration signal and the corresponding ideal vibration signal at each position in the position combination; The location of each vehicle in the vehicle set is determined from the location set based on the similarity, so as to track each vehicle in the vehicle set based on the location; Determine the ideal vibration signal of the vibration fiber optic sensor for each position in each combination, including: For each combination method, based on the pre-defined correspondence between vehicles and vibration signals, a single vibration signal corresponding to each vehicle in the combination method is obtained respectively; Based on the single vibration signal and the attenuation function corresponding to each position in the position combination, the ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination is determined under the combination method.

2. The method according to claim 1, characterized in that, Based on the single vibration signal and the attenuation function corresponding to each position in the position combination, the ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination is determined under the combined method, including: For each position in the position combination, based on the single vibration signal of each vehicle in the vehicle combination and the attenuation function corresponding to the position, the ideal vibration component of each vehicle in the combination is determined by the vibration fiber optic sensor corresponding to the position. The sum of the ideal vibration components of each vehicle in the combination is taken as the ideal vibration signal of the vibration fiber optic sensor corresponding to the position under the combination.

3. The method according to claim 1, characterized in that, Determining the location of each vehicle in the vehicle set from the location set based on the similarity includes: For each position combination, determine the target combination with the highest similarity among all combinations corresponding to the position combination; Based on the correspondence between vehicles and positions in the target combination, the positions of the two vehicles under the target combination are determined from the position combinations.

4. The method according to claim 3, characterized in that, Also includes: When there are at least two target combinations, during the driving process of the two vehicles under the target combination, the vibration signal change information of the vibration fiber optic sensor deployed in the tunnel is acquired in real time. The positions of the two vehicles in the target combination mode are determined in real time based on the vibration signal change information.

5. The method according to claim 1, characterized in that, Real-time determination of the set of vehicles and their locations within any area of ​​the tunnel, including: The system acquires the target vibration signal sensed by the vibration fiber optic sensor deployed in the tunnel in real time, and determines the first vehicle parameters based on the target vibration signal. Acquire video data collected by monitoring equipment deployed in the tunnel, and determine the second vehicle parameters based on the video data; The first vehicle parameters and the second vehicle parameters are matched to generate the target vehicle parameters; Based on the target vehicle parameters, determine the set of vehicles and the set of vehicle locations within any area of ​​the tunnel.

6. The method according to claim 5, characterized in that, The first vehicle parameters include vehicle location, vehicle weight, vehicle speed, and vehicle type; the second vehicle parameters include vehicle location, vehicle speed, vehicle type, vehicle identification, and vehicle image.

7. A vehicle tracking device, characterized in that, include: The set determination module is used to determine in real time the set of vehicles and the set of locations of vehicles within any area of ​​the tunnel; wherein the set of vehicles contains at least two vehicles, the set of locations contains at least two locations, and the number of vehicles in the set of vehicles is the same as the number of locations in the set of locations. The vibration signal acquisition module is used to acquire the vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination, taking any two positions in the position set as a position combination; The ideal vibration signal determination module is used to determine the ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination under each combination method, taking the two positions of each pair of vehicles in the vehicle set as a combination method; A similarity calculation module is used to calculate the similarity between the sensed vibration signal at each position in the position combination and the corresponding ideal vibration signal; A vehicle tracking module is used to determine the position of each vehicle in the vehicle set from the location set based on the similarity, so as to track each vehicle in the vehicle set based on the position; The ideal vibration signal determination module includes: A single vibration signal determination unit is used to obtain the single vibration signal corresponding to each vehicle in each combination method based on a pre-set correspondence between vehicles and vibration signals. An ideal vibration signal determination unit is used to determine, based on the single vibration signal and the attenuation function corresponding to each position in the position combination, the ideal vibration signal of the vibration fiber optic sensor corresponding to each position in the position combination under the combined mode.

8. A vehicle tracking system, characterized in that, The vehicle tracking system includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the vehicle tracking method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle tracking method according to any one of claims 1-6.

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