Target tracking method and device, electronic equipment, storage medium and program

Abstract

The embodiment of the invention discloses a target tracking method and device, electronic equipment, a storage medium and a program, and the method comprises the steps: generating a tracking plan path for a target tracking object to track a target tracked object according to the driving information of the target tracking object and the target tracked object; performing safety compliance detection on the tracking plan path according to a safety compliance detection reference object associated with the tracking plan path; wherein the security compliance detection reference object comprises at least one of the target tracked object, an obstacle in the tracking plan path and a restricted jurisdiction area associated with the tracking plan path; and dynamically adjusting the tracking plan path in real time according to the safety compliance detection result of the tracking plan path. According to the technical scheme provided by the embodiment of the invention, the safety compliance auxiliary calculation of the target tracking process can be realized, so that the safety and compliance of the target tracking process and the success rate of task execution are improved.

Description

Technical Field

[0001] The present invention relates to the fields of data processing and target tracking technology, and in particular to a target tracking method, apparatus, electronic device, storage medium and program. Background Technology

[0002] Target tracking technology is widely used in various technical fields, including but not limited to military reconnaissance, autonomous driving, security monitoring, maritime tracking, flight tracking, and drone applications. For example, taking maritime tracking as an example, when vessels are carrying out maritime law enforcement missions to maintain maritime security, they typically employ maritime pursuit tactics to track targets and forcibly intercept them.

[0003] In the process of developing this invention, the inventors discovered that current target tracking technologies often focus solely on planning and adjusting tracking trajectories, neglecting the need to comprehensively consider factors such as driving safety, mission completion, and law enforcement compliance during target pursuit. Furthermore, target tracking largely relies on the experience of commanding personnel to assess safety factors during the pursuit, demanding high levels of expertise and presenting significant challenges. Summary of the Invention

[0004] This invention provides a target tracking method, apparatus, electronic device, storage medium, and program that can achieve secure and compliant auxiliary calculations in the target tracking process, thereby improving the security, compliance, and success rate of task execution in the target tracking process.

[0005] According to one aspect of the present invention, a target tracking method is provided, comprising:

[0006] Generate a tracking plan path for the target object to track the target object based on the driving information of the target object and the target being tracked;

[0007] The tracking plan path is subjected to security compliance testing based on the security compliance testing reference objects associated with the tracking plan path; wherein, the security compliance testing reference objects include at least one of the target being tracked, obstacles in the tracking plan path, and restricted jurisdiction areas associated with the tracking plan path;

[0008] The tracking plan path is dynamically adjusted in real time based on the security compliance test results.

[0009] According to another aspect of the present invention, a target tracking device is provided, comprising:

[0010] The tracking plan path generation module is used to generate a tracking plan path for the target tracking object to track the target tracked object based on the driving information of the target tracking object and the target tracked object;

[0011] The tracking plan path detection module is used to perform security compliance detection on the tracking plan path based on the security compliance detection reference object associated with the tracking plan path; wherein, the security compliance detection reference object includes at least one of the target being tracked, obstacles in the tracking plan path, and restricted jurisdiction areas associated with the tracking plan path;

[0012] The tracking plan path adjustment module is used to dynamically adjust the tracking plan path in real time based on the security compliance detection results of the tracking plan path.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] 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 target tracking method according to any embodiment of the present invention.

[0017] 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 target tracking method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer program product is also provided, comprising a computer program that, when executed by a processor, implements the target tracking method described in any embodiment of the present invention.

[0019] This invention generates a tracking plan path for the target tracking object to track the target tracked object based on the driving information of the target tracking object and the target being tracked object. It then performs safety and compliance checks on the tracking plan path based on safety and compliance detection reference objects such as the target being tracked object associated with the tracking plan path, obstacles in the tracking plan path, and restricted jurisdiction areas associated with the tracking plan path. Furthermore, it dynamically adjusts the tracking plan path in real time based on the safety and compliance detection results. This solves the problem of existing target tracking processes neglecting automated safety and compliance auxiliary detection processes, enabling safety and compliance auxiliary calculations in the target tracking process, thereby improving the safety, compliance, and task execution success rate of the target tracking process.

[0020] 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

[0021] 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.

[0022] Figure 1 This is a flowchart of a target tracking method provided in Embodiment 1 of the present invention;

[0023] Figure 2 This is a flowchart of a target tracking method provided in Embodiment 2 of the present invention;

[0024] Figure 3 This is a schematic diagram of a dynamic safety buffer area provided in Embodiment 2 of the present invention;

[0025] Figure 4 This is a schematic diagram of a target tracking device provided in Embodiment 3 of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0027] 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. 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.

[0028] 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 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.

[0029] Example 1

[0030] Figure 1 This is a flowchart of a target tracking method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where security and compliance checks are performed on the tracking path when tracking a target object. The method can be executed by a target tracking device, which can be implemented in software and / or hardware, and is generally integrated into an electronic device. This electronic device can be a terminal device or a server device, as long as it can execute the target tracking method. The present invention does not limit the specific type of electronic device. Correspondingly, as... Figure 1 As shown, the method includes the following operations:

[0031] S110. Generate a tracking plan path for the target tracking object to track the target tracked object based on the driving information of the target tracking object and the target tracked object.

[0032] The target being tracked can be the object currently performing the target tracking task, and the target being tracked can be the object being tracked by the target being tracked. The tracking plan path can be the expected travel path that the target being tracked plans to take when tracking the target being tracked.

[0033] For example, the target being tracked and the target being tracked can be vehicles, ships, aircraft, drones, etc., as long as they can perform target tracking tasks. This embodiment of the invention does not limit the specific types of the target being tracked and the target being tracked. Optionally, the target being tracked and the target being tracked can be the same device, such as both being ships or vehicles. Alternatively, the target being tracked and the target being tracked can also be different devices, such as the target being tracked being a drone and the target being tracked being a vehicle. This embodiment of the invention does not limit this.

[0034] When a target object performs a tracking task to track a target object, it can obtain its own driving information in real time, or it can obtain the target object's driving information in real time through radar detection or other means. Accordingly, the target object can perform comprehensive calculations based on the real-time driving information from both sources to generate a predicted driving path for tracking the target object, which serves as the planned tracking path.

[0035] In a specific example, when both the target being tracked and the target being tracked are vessels, the target being tracked can obtain the longitude (Lon) and latitude (Lat) of the target being tracked in real time through an electronic chart system, thus obtaining the real-time navigation information of the target being tracked. To improve the accuracy of the information displayed on the screen, the latitude and longitude of each location point can be converted to screen coordinates (x1, y1)...(xn, yn) using the formula for converting latitude and longitude to screen coordinates. Optionally, the latitude and longitude of the location points can be converted using a Mercator projection forward transformation. Convert to screen coordinates The specific calculation formula is as follows:

[0036]

[0037]

[0038]

[0039] in, The origin longitude, Standard latitude, It is the natural logarithm. It is 3.14159265358979323846. K is the radius of the reference latitude circle.

[0040] During the tracking process, the tracking object can record the target's movement information in real time for display, safety assessment, and post-mission review. In a specific example, taking a ship tracking scenario, the tracking object can maintain two data tables: a probability information table and a detailed location table. Optionally, the probability information table can record general information about the target, such as, but not limited to, sequence number, target ID, start time, end time, and remarks. The sequence number is an integer (int), the target ID is an unsigned integer (uint), the start time is a string, the end time is a string, and the remarks are also a string. The detailed location table can record detailed information about the target, such as, but not limited to, sequence number, target ID, longitude, latitude, speed, and heading. Among them, the data type of the serial number is integer (int), the data type of the target ID is unsigned integer (uint), the data type of the longitude is double (double), the data type of the latitude is double (double), the data type of the speed is double (double), and the data type of the heading is double (double).

[0041] Optionally, to further improve human-computer interaction efficiency, tracking attributes can be configured on the target object's screen. That is, if a identified target is determined to be the target being tracked, its personalized attribute information can be displayed on the screen. The attribute information displayed on the screen can include, but is not limited to, background images, display styles, colors, and notes. For example, in a ship tracking scenario, a user can click on the target ship to be tracked on the electronic nautical chart. An editing dialog box will pop up, allowing the user to set personalized attribute information for the target ship, such as entering text notes or selecting a new background image for displaying the target ship. After the personalized attribute information is confirmed, during the next target display update, if a identified target is determined to be the target being tracked, its personalized background image, display style, color, and notes can be displayed on the screen. If a identified target is not determined to be the target being tracked, it can be displayed on the screen using a standard target background image. The electronic nautical chart... Figure 1 It is generally interconnected with the sensors of the navigation system, and can obtain the longitude, latitude, heading, speed and time information of the target object in real time, as well as the longitude, latitude, speed and heading information of the target being tracked in real time.

[0042] Optionally, the line connecting the tracking object and the tracked object can be displayed on the target tracking object's screen. Simultaneously, information such as the orientation and distance between the tracking and tracked objects can be calculated and displayed visually on the line to clearly show the current situation. For example, when drawing the line, the latitude and longitude of both the tracking and tracked objects can be converted to screen coordinates. The corresponding graphics drawing functions can then be used to draw the connecting line based on these screen coordinates. The formulas for calculating orientation and distance are as follows:

[0043] Assuming the latitude and longitude of the target object being tracked are The latitude and longitude of the target being tracked are ,in, Longitude If it is latitude, then it is azimuth. and horizontal distance The calculation process is as follows:

[0044] The horizontal orientation between the target being tracked and the target being tracked is calculated using the following formula:

[0045]

[0046] The horizontal distance between the target being tracked and the target being tracked is calculated using the following formula:

[0047]

[0048] Among them, Earth's radius .

[0049] S120. Perform security compliance detection on the tracking plan path according to the security compliance detection reference object associated with the tracking plan path; wherein, the security compliance detection reference object includes at least one of the target being tracked, obstacles in the tracking plan path, and restricted jurisdiction areas associated with the tracking plan path.

[0050] Among them, the security compliance testing reference object can be the object used to refer to when conducting security compliance testing on the tracking plan path.

[0051] While the target being tracked is executing tracking tasks according to the planned tracking path, the target can also perform real-time safety and compliance checks on the planned tracking path based on the associated safety and compliance reference objects. The safety check primarily focuses on the safety of the journey along the planned tracking path, while the compliance check primarily focuses on the compliance of the journey along the planned tracking path. Optionally, safety and compliance checks can be performed on the planned tracking path based on factors such as the target's driving behavior, potential obstacles along the planned tracking path, and the restricted jurisdiction areas associated with the planned tracking path.

[0052] S130. Adjust the tracking plan path dynamically in real time based on the security compliance detection results of the tracking plan path.

[0053] Correspondingly, after obtaining the multi-dimensional security and compliance test results of the tracking plan path, the current tracking plan path can be dynamically adjusted in real time based on the security and compliance test results, so as to eliminate the risk and compliance issues that the target tracking object may encounter during the tracking process.

[0054] For example, if a safety compliance check based on the driving behavior of the tracked object reveals a probability of collision between the tracked object and the tracked object, the tracking plan path can be dynamically adjusted in real time based on the predicted collision scenario to ensure the tracked object avoids collision and guarantees the safety of its driving. Similarly, if a safety compliance check based on potential obstacles along the tracking plan path reveals a probability of collision between the tracked object and an obstacle, the tracking plan path can be dynamically adjusted in real time based on the predicted collision scenario to ensure the tracked object avoids collision and guarantees its safety. Furthermore, if a safety compliance check based on a restricted jurisdiction area associated with the tracking plan path reveals a probability of the tracked object entering a restricted jurisdiction area, the tracking plan path can be dynamically adjusted in real time based on the predicted possibility of entering the restricted jurisdiction area to ensure the tracked object avoids entering the restricted jurisdiction area and guarantees the compliance of its driving.

[0055] This invention generates a tracking plan path for the target tracking object to track the target tracked object based on the driving information of the target tracking object and the target being tracked object. It then performs safety and compliance checks on the tracking plan path based on safety and compliance detection reference objects such as the target being tracked object associated with the tracking plan path, obstacles in the tracking plan path, and restricted jurisdiction areas associated with the tracking plan path. Furthermore, it dynamically adjusts the tracking plan path in real time based on the safety and compliance detection results. This solves the problem of existing target tracking processes neglecting automated safety and compliance auxiliary detection processes, enabling safety and compliance auxiliary calculations in the target tracking process, thereby improving the safety, compliance, and task execution success rate of the target tracking process.

[0056] Example 2

[0057] Figure 2 This is a flowchart of a target tracking method provided in Embodiment 2 of the present invention. This embodiment is based on the above embodiment and is further specified. In this embodiment, various specific optional implementation methods for generating a tracking plan path and performing security and compliance checks on the tracking plan path are given. Accordingly, as... Figure 2 As shown, the method in this embodiment may include:

[0058] S210. Calculate the endpoint information of the tracking plan path based on the current location information and occupied position parameter information of the target being tracked.

[0059] In this context, "position" refers to the relative spatial location of a target, dynamically determined based on offensive and defensive requirements within a tactical layout or technical system. Position occupation parameters can be parameters referenced when a target is being tracked to occupy a position, such as, but not limited to, the target's orientation and distance.

[0060] In this embodiment of the invention, the endpoint information of the tracking plan path can be calculated with reference to the location of the target object being tracked and the occupied position of the target. For example, assuming the latitude and longitude of the target object being tracked are... The position parameter is the distance between the target being tracked and the target being tracked. and distance Then the longitude of the endpoint of the tracking plan path can be obtained. and latitude The calculation process is as follows:

[0061] Calculate the longitude of a two-dimensional axle point latitude The equatorial radius is ,but:

[0062]

[0063]

[0064]

[0065]

[0066] in, The latitude (in radians) of the endpoint of the tracking plan path. This represents the latitude (in radians) of the target being tracked. PI represents π, and its value can be 3.14159265358979323846. Indicates the longitude (in radians) of the endpoint of the tracking plan path. Indicates the longitude (in radians) of the target object being tracked.

[0067] S220. Generate the tracking plan path based on the current location information of the target object and the endpoint information of the tracking plan path.

[0068] Accordingly, the latitude and longitude of the target object can be converted to screen coordinates, as can the latitude and longitude of the endpoint of the tracking plan path. Graphics drawing functions are then used to draw the connecting line between the target object's location and the endpoint of the tracking plan path, thus generating a dynamically changing tracking plan path that is directly displayed on the screen. By comparing the target object's real-time route with the tracking plan path, it is possible to visually observe whether the target object has deviated from the flight path.

[0069] S230. Perform security compliance checks on the tracking plan path based on the security compliance detection reference object associated with the tracking plan path.

[0070] The security compliance detection reference objects include at least one of the target being tracked, obstacles in the tracking plan path, and restricted jurisdiction areas associated with the tracking plan path.

[0071] S240. Adjust the tracking plan path dynamically in real time based on the security compliance detection results of the tracking plan path.

[0072] In an optional embodiment of the present invention, if the safety compliance detection reference object includes the target being tracked, then performing safety compliance detection on the tracking plan path based on the safety compliance detection reference object associated with the tracking plan path may include: generating a first driving line geometry corresponding to the tracking plan path; generating a second driving line geometry of the target being tracked based on the driving information of the target being tracked; and generating a driving line conflict safety warning message if it is determined that the first driving line geometry and the second driving line geometry have an intersection probability.

[0073] The first driving line geometry can be the geometry corresponding to the planned tracking path. The second driving line geometry can be the geometry corresponding to the target object's current driving path and the predicted driving path.

[0074] To avoid the target being tracked throwing debris that could interfere with the tracking mission, the planned tracking path should not follow the target's travel path. Therefore, it is necessary to check whether the planned tracking path overlaps with the target's travel path.

[0075] Specifically, a first driving line geometry corresponding to the tracking plan path can be created using drawing tools based on the screen coordinates of the tracking plan path on the display screen. Simultaneously, a second driving line geometry corresponding to the target object's driving path can be created using drawing tools mapped to the target object's driving information on the display screen. Optionally, the first and second driving line geometries can be curves or polylines, as long as they accurately reflect the route information. This embodiment of the invention does not limit the specific graphic types of the first and second driving line geometries. Furthermore, since the first and second driving line geometries change dynamically in real time, the intersection probability of the first and second driving line geometries can be analyzed dynamically in real time. If an intersection probability is determined, a safety warning message indicating a potential driving line conflict is generated.

[0076] Correspondingly, after generating a safety warning message about a driving lane conflict, the tracking plan path can be adjusted in real time based on the driving lane conflict warning message, so that the geometry of the first driving lane corresponding to the tracking plan path does not intersect with the geometry of the second driving lane of the target being tracked, thereby ensuring the driving safety of the target being tracked in real time.

[0077] Optionally, to further improve the reliability of safety detection, if it is determined that the first and second driving line geometries have a probability of intersecting, the intersection probability information of the first and second driving line geometries can be displayed and updated in real time on the display screen based on the real-time dynamic changes of the first and second driving line geometries. If the intersection probability is high, the tracking plan path needs to be adjusted promptly; if the intersection probability is low, the intersection probability can be observed after a period of driving time. If the intersection probability continues to decrease, the tracking plan path can be temporarily not adjusted or adjusted after a delay.

[0078] In an optional embodiment of the present invention, if the safety compliance detection reference object includes obstacles in the tracking plan path, then performing safety compliance detection on the tracking plan path based on the safety compliance detection reference object associated with the tracking plan path may include: querying obstacles within the range associated with the tracking plan path based on the dynamic start and end point location information of the tracking plan path, and generating obstacle geometry of the obstacles; generating a dynamic safety buffer zone of the tracking plan path based on the dynamic start and end point location information of the tracking plan path and the driving safety distance; and generating obstacle conflict safety warning information if it is determined that the dynamic safety buffer zone of the tracking plan path includes the obstacle geometry.

[0079] The dynamic start and end point location information refers to the dynamically changing start and end point information. The obstacle geometry can be the geometry corresponding to the obstacle itself. The dynamic safety buffer zone can be the area extended according to the route of the tracking plan.

[0080] During the tracking of a target object, obstacles around the planned tracking path can affect driving safety. Therefore, it is necessary to detect associated obstacles along the tracked target's planned path. Obstacle detection can begin by querying obstacles within the associated range of the planned tracking path based on its dynamic start and end point location information. For example, images, videos, or radar detection data captured during the journey can be used to query obstacles within the associated range. Simultaneously, obstacle geometry is generated based on the specific characteristics of each obstacle. Specifically, if the obstacle is small, its geometry can be represented by points. If the obstacle is large, its geometry can be represented by its external geometric contour.

[0081] Simultaneously, as the target object travels along the planned tracking path, a dynamic safety buffer zone can be generated based on the dynamic start and end point locations and safe travel distance of the planned tracking path. The dynamic safety buffer zone characterizes the safe area for the target object during its travel. Traveling within the dynamic safety buffer zone ensures the target object's safety. Correspondingly, the real-time detected obstacle information and the assignment of the dynamic safety buffer zone are analyzed. If it is determined that the dynamic safety buffer zone of the planned tracking path includes obstacle geometry, it indicates that the target object may collide with the detected obstacle while traveling along the current planned tracking path. In this case, a safety warning message regarding obstacle collision can be generated.

[0082] Correspondingly, after generating safety warning information about obstacle conflicts, the tracking plan path can be adjusted in real time based on the safety warning information about obstacle conflicts, so that the dynamic safety buffer area corresponding to the tracking plan path does not contain any detectable obstacles, thereby ensuring the driving safety of the target object being tracked in real time.

[0083] Optionally, to further improve the reliability of safety detection, the assignment of dynamic safety buffer zones and obstacle geometry can be displayed and updated in real time on the screen. If the obstacle geometry appears continuously within the dynamic safety buffer zone for a period of time while the obstacle is close, the tracking plan path needs to be adjusted promptly. If the obstacle geometry gradually moves away from the dynamic safety buffer zone as the travel progresses, the tracking plan path can be left unchanged or adjusted after a delay.

[0084] In a specific example, taking ship tracking as an application scenario, let's assume the starting latitude and longitude of the tracking plan path, i.e., the latitude and longitude of the ship itself, is... and The latitude and longitude of the destination of the tracking plan path are and Then, the starting and ending points of the tracking plan path can be dynamically changed based on their latitude and longitude range. and Search for obstructions to navigation. Assuming the obstruction is a point feature, the target tracking object can be found in the nautical chart data. and Obstacle information within a latitude and longitude range is obtained, including the longitude, latitude, name, and attributes of the obstructions, resulting in a navigation obstacle query. The navigation obstacle query results can be represented as follows: ..., Here, obj1 represents the first obstruction found, Lon_obj_1 represents the longitude coordinate of the first obstruction, and Lat_obj_1 represents the latitude coordinate of the first obstruction. objn represents the nth obstruction found, Lon_obj_n represents the longitude coordinate of the nth obstruction, and Lat_obj_n represents the latitude coordinate of the nth obstruction.

[0085] Since not all obstructions found may affect the navigation safety of the target being tracked, it is necessary to further determine whether the distance between the obstruction and the planned tracking path is less than the safe distance D. The specific determination method is as follows: a dynamic safety buffer zone for the planned tracking path is generated based on the dynamic start and end point location information of the planned tracking path and the safe driving distance D. Figure 3 This is a schematic diagram of a dynamic safety buffer area provided in Embodiment 2 of the present invention. In a specific example, such as Figure 3As shown, the dynamic safety buffer area can include four corner points, i.e. , , and Assuming The latitude and longitude are: , ; The latitude and longitude are: , ; The latitude and longitude are: , ; The latitude and longitude are: , The latitude and longitude coordinates of the target being tracked are: The calculation process for the coordinates of the four corner points of the dynamic safety buffer zone is as follows:

[0086] First, calculate the heading H of the tracking plan path:

[0087]

[0088] The starting point of the point-to-point tracking plan path (i.e., the latitude and longitude of the target object) The orientation of ) is The distance d1 is: Given the starting point and location of the planned tracking path. And the distance d1 can be calculated using the formula for calculating the endpoint of the tracking plan path, as described above. longitude and latitude .

[0089] The starting point of the point-to-point tracking plan path (i.e., the latitude and longitude of the target object) The orientation of ) is The distance d2 is: Given the starting point and location of the planned tracking path. And the distance d2 can be calculated using the formula for calculating the endpoint of the tracking plan path, as described above. longitude and latitude .

[0090] The orientation of the endpoint of the point-to-point tracking plan path is... The distance d3 is: The latitude and longitude of the destination of the tracking plan are known. and ,position And the distance d3 can be calculated using the formula for calculating the endpoint of the tracking plan path, as described above. longitude and latitude .

[0091] The orientation of the endpoint of the point-to-point tracking plan path is... The distance d4 is: The latitude and longitude of the destination of the tracking plan are known. and ,position And the distance d4 can be calculated using the formula for calculating the endpoint of the tracking plan path, as described above. longitude and latitude .

[0092] Accordingly, the calculation yields , , and After obtaining the latitude and longitude, convert them to screen coordinates. Then, using drawing tools, create a map on the display screen based on the screen coordinates of the four corner points of the tracking plan path. Figure 3 The dynamic safety buffer zone for the tracing plan path is shown. (Reference) Figure 3 The starting point is the beginning of the tracking path, which is also the location of the target object. The ending point is the end of the tracking path. The line connecting the starting point and the ending point forms the tracking path. , , and The area formed by the four corner points is a dynamic safety buffer zone.

[0093] Furthermore, the queried obstacles can be identified. ... The latitude and longitude coordinates are converted to screen coordinates. Using drawing tools, obstacle geometry is created based on the obstacle's screen coordinates and shape. Simultaneously, the drawing tools' provided graphic inclusion judgment function can be used to check whether the dynamic safety buffer zone of the tracking plan path contains obstruction points. If the dynamic safety buffer zone of the tracking plan path contains obstruction points, a prompt can be given indicating the obstruction's type and location, suggesting a modification to the current tracking plan path. Because the target being tracked is in motion, the tracking plan path should also be dynamically replanned in real time.

[0094] When performing tasks such as pursuit and interception, the target being tracked must quickly occupy a favorable position and reach the predetermined location. Since both the target and the tracked object are mostly moving at high speeds during pursuit, their positions and speeds change. If either the tracked object or the target changes its movement information, the latest positional information needs to be calculated and updated synchronously. This invention can utilize real-time acquired positional and speed information of the target and the tracked object. Only the orientation and distance to the tracked object need to be set once to automatically calculate the positional information in real time. Specifically, the process of automatically calculating the positional information in real time based on the input information is as follows:

[0095] set up The speed at which the target object is being tracked. The direction of travel of the target being tracked. The positional speed of the target tracking object. The placeholder direction of the target object, and the current position of the target object. The azimuth distance is The coordinates are Target location of the target object. The azimuth distance is The coordinates are . and Not for the same point, and The relative heading is This also serves as a placeholder direction. Therefore, input: , , , and It can automatically calculate and output the placeholder heading. And the time T required to maneuver to the designated position. The automatically calculated heading for the designated position can be displayed in real time on the target tracking object's display screen. The time T required for maneuvering to the designated position is used to assist users in making decisions.

[0096] In an optional embodiment of the present invention, if the safety compliance detection reference object includes the restricted jurisdiction area associated with the tracking plan path, then performing safety compliance detection on the tracking plan path based on the safety compliance detection reference object associated with the tracking plan path may include: obtaining the regional location information of the restricted jurisdiction area associated with the tracking plan path, and calculating the restricted jurisdiction geometry of the restricted jurisdiction area associated with the tracking plan path based on the regional location information of the restricted jurisdiction area associated with the tracking plan path; generating a predicted tracking path corresponding to the tracking plan path based on the current driving information of the target tracking object; and generating a security warning message for jurisdictional conflict if it is determined that the predicted tracking path and the restricted jurisdiction geometry have an intersection probability.

[0097] The restricted jurisdiction geometry can be a geometry defined by the outer contour of the restricted jurisdiction area. The predicted tracking path can be a path dynamically predicted in real time based on the current driving information of the target object.

[0098] In many driving scenarios, geographical areas often have designated restricted jurisdiction zones. When tracking a target, the vehicle must not exceed these restricted jurisdiction zones to ensure compliant driving. For example, when pursuing a vessel at sea, one must not cross the jurisdictional waters of another country or region, and it is strictly forbidden to enter waters within designated boundaries or the nautical miles of islands under the actual control of another country. When tracking in the air, one must not enter designated airspace areas where flight rights are not granted. When tracking on roads, one must not enter designated road areas where driving rights are not granted.

[0099] During the tracking process, the location information of restricted jurisdiction areas associated with the tracking plan path can be obtained in real time through various data sources. For example, when the target is a vessel, a thematic database of restricted jurisdiction areas can be pre-built, and nearby jurisdiction areas can be overlaid on the electronic nautical chart of the target. This provides a clear and intuitive view of the positional relationship between the target and the predicted tracking path line and boundaries of the territorial sea baseline. Thematic data such as territorial sea baselines and natural boundaries are typically line or area data, composed of a set of latitude and longitude coordinates, names, and types. Optionally, for ease of retrieval, the thematic database can maintain the thematic data of restricted jurisdiction areas by constructing two types of structured tables: a general information table and a detailed location point table. The general information table of the thematic database can store simplified attribute information such as the restricted jurisdiction area's serial number ID (data type int), name (data type string), type (line, area) (data type uint), remarks (data type string), and number of points (data type uint). The detailed location table in the thematic database can store detailed attribute information such as the sequence number (data type int), sequence ID (data type uint), point sequence number (data type int), longitude (data type double), and latitude (data type double) of the restricted jurisdiction area. Furthermore, the latitude and longitude coordinates of the territorial sea baseline, boundary line, and areal boundary line of the restricted jurisdiction area can be converted into screen coordinates. Using drawing tools, polygonal or polyline geometric figures corresponding to the restricted jurisdiction area can be created and displayed based on the screen coordinates, visually demonstrating the relative position of the vessel to the territorial sea baseline and boundaries of the restricted jurisdiction area. For example, when the target being tracked is a vehicle, information on the restricted jurisdiction area included in the current navigation interface can be obtained in real time through an electronic map.

[0100] Accordingly, after obtaining the regional location information of the restricted jurisdiction area associated with the tracking plan path, the outline of the restricted jurisdiction area associated with the tracking plan path can be calculated based on the regional location information of the restricted jurisdiction area, serving as the restricted jurisdiction geometry. Simultaneously, a predicted tracking path corresponding to the planned tracking path can be generated based on the current driving information such as the position and direction of the target object and associated occupied positions. It is understood that the predicted tracking path may be the same as the planned tracking path, intersect with it, or may not intersect with the target object. After calculating the predicted tracking path, the relative position information between the predicted tracking path and the restricted jurisdiction geometry can be determined in real time. If it is determined that there is a probability of intersection between the predicted tracking path and the restricted jurisdiction geometry, a security alert message regarding a jurisdictional conflict can be generated.

[0101] Correspondingly, after generating a security alert message about a jurisdictional conflict, the tracking plan path can be adjusted in real time based on the security alert message to ensure that the tracking plan path does not reach the restricted jurisdictional area, thereby ensuring the compliance of the target object's movement in real time.

[0102] Optionally, to further improve the reliability of compliance testing, the intersection probability of the dynamic tracking plan path and the restricted jurisdiction geometry corresponding to the restricted jurisdiction area can be displayed and updated in real time on the screen. If the intersection probability is high, the tracking plan path needs to be adjusted promptly; if the intersection probability is low, it is advisable to observe the intersection probability of the tracking plan path and the restricted jurisdiction geometry corresponding to the restricted jurisdiction area for a period of time. If the intersection probability continues to decrease, it is advisable to temporarily not adjust the tracking plan path or delay the adjustment of the tracking plan path.

[0103] In an optional embodiment of the present invention, generating the predicted tracking path corresponding to the tracking plan path based on the current driving information of the target tracking object may include: generating predicted driving position point information of the target tracking object for a consecutive set time interval based on the current driving information of the target tracking object; and connecting the predicted driving position points of the target tracking object for a consecutive set time interval with the current position of the target tracking object as the starting point to obtain the predicted tracking path corresponding to the tracking plan path.

[0104] The time interval can be configured according to actual needs, for example, it can be configured in minutes. This embodiment of the invention does not limit the specific value of the time interval. The predicted driving location can be the predicted location of the target object according to the corresponding set time interval.

[0105] In a specific example, taking a ship tracking scenario, the target object can be selected as a restricted jurisdiction area based on its relative position displayed on a nautical chart. In response to this restricted jurisdiction area trigger, the system queries the thematic database to obtain the latitude and longitude coordinates of all locations along the boundary line to be calculated. , ...... .in, This represents the longitude and latitude of the nth location point of the boundary line to be calculated. Simultaneously, based on the location information of the boundary line to be calculated, a geometric figure of the corresponding curve or polyline can be generated to obtain the restricted jurisdiction geometry. Furthermore, based on the target being tracked, i.e., the current position of the vessel within the current tracking plan path... The system calculates the latitude and longitude of current travel information such as current speed (SOG) and heading (COG) at 1-minute intervals, continuously calculating the latitude and longitude of points at these intervals (1 minute, 2 minutes, 3 minutes, etc.) to predict travel location information, up to a maximum of 30 minutes in advance. For each predicted travel location, the system connects the current location of the target object to the predicted travel location points at multiple consecutive time intervals to obtain the predicted tracking path. After each predicted travel location is calculated, the system dynamically updates the predicted tracking path based on the calculated predicted travel location and the target object's current location, and simultaneously checks the probability of intersection between the predicted tracking path and the restricted jurisdiction geometry. If, during the prediction of travel location information within 30 minutes, the predicted tracking path crosses or intersects with the restricted jurisdiction geometry, an alarm for jurisdictional conflict is issued, and the calculation stops, or a personalized safety warning for jurisdictional conflict is issued based on the calculated intersection probability.

[0106] For example, suppose the longitude of each predicted driving location of the target tracking object is represented as P_1 latitude and longitude. ...P_n latitude and longitude Given the current location, latitude, longitude, bearing (heading), and distance (speed × time) of the target object, the latitude and longitude of each predicted travel location of the target object can be calculated using the same method described above for calculating the latitude and longitude of another point. After calculating the latitude and longitude of each predicted travel location of the target object, the latitude and longitude of all locations along the boundary line to be calculated are then... , ...... The coordinates are converted to screen coordinates. Using drawing tools, a polyline geometry of the boundary line to be calculated is created based on the screen coordinates of all points on the boundary line. Simultaneously, the target object, i.e., the current position of the ship, is tracked. Convert latitude and longitude coordinates to screen coordinates, and set the predicted driving position point P_n of the target object to latitude and longitude. The coordinates are converted to screen coordinates, and a linear geometry of the predicted driving position is created using drawing tools based on these screen coordinates. Furthermore, a geometry intersection function is used to determine the relative position of the boundary line geometry to be calculated and the linear geometry of the predicted point. If they intersect, an alarm is issued and the calculation stops. Drawing the linear geometry of the predicted point using graphing functions allows for visual observation of whether the predicted tracking path crosses restricted jurisdiction areas.

[0107] Understandably, there should not be a significant deviation between the predicted tracking path and the planned tracking path. However, if a significant deviation is detected, a real-time alert indicating a serious deviation can be generated for the user's reference.

[0108] In an optional embodiment of the present invention, if the security compliance detection reference object includes the restricted jurisdiction associated with the tracking plan path, then performing security compliance detection on the tracking plan path based on the security compliance detection reference object associated with the tracking plan path may include: calculating the closest point from the tracking plan path to the restricted jurisdiction in real time; and calculating the shortest distance between the closest point from the tracking plan path to the restricted jurisdiction and the restricted jurisdiction in real time. If it is determined that the shortest distance between the closest point from the tracking plan path to the restricted jurisdiction and the restricted jurisdiction is less than a preset safety distance of the restricted jurisdiction, a security alert message regarding a jurisdictional conflict is generated.

[0109] The target safe distance is the safe distance that ensures driving safety and compliance.

[0110] Optionally, when checking the compliance of the tracking plan route, the shortest point from the tracking plan route to the restricted jurisdiction can be calculated in real time from the perspective of the tracking plan route itself. Since the tracking plan route changes dynamically, the shortest point from the tracking plan route to the restricted jurisdiction may also change accordingly. Furthermore, the shortest distance between the shortest point from the tracking plan route to the restricted jurisdiction and the restricted jurisdiction can be calculated in real time based on the calculated shortest point. To ensure driving safety and compliance, the shortest distance between the shortest point from the tracking plan route to the restricted jurisdiction and the restricted jurisdiction must be greater than the target safety distance applicable to the restricted jurisdiction. If it is determined that the shortest distance between the shortest point from the tracking plan route to the restricted jurisdiction and the restricted jurisdiction is less than the target safety distance of the restricted jurisdiction, it indicates that the target being tracked has a probability of contacting or entering the restricted jurisdiction. In this case, a safety warning message regarding a jurisdictional conflict can be generated.

[0111] It should be noted that different restricted jurisdiction geometry will result in different preset safety distance values. For example, if the restricted jurisdiction geometry is complex with a chaotic structural outline, such as a complex polygon with continuous large angle changes, the preset safety distance may be larger. Conversely, if the restricted jurisdiction geometry is simple with a relatively flat structural outline, such as a straight line, circle, or broken line, the preset safety distance may be smaller. Furthermore, different driving parameters of the target object, such as its speed and relative orientation or distance from the restricted jurisdiction, will also affect the target safety distance configured for that area. Therefore, after determining the restricted jurisdiction geometry, a comprehensive analysis can be performed on the restricted jurisdiction geometry and the target object's current driving parameters, among other influencing factors. This allows for the dynamic determination of the preset safety distance suitable for the restricted pipeline area based on the combined influence of these factors.

[0112] The aforementioned technical solution implements a human-computer interaction design for target tracking, allowing modification of the target's appearance and addition of annotations, and real-time display of personalized information about the tracked object. This provides clear situational information and supports target tracking decision-making. Simultaneously, during target tracking, a tracking plan path is automatically established by comprehensively considering mission objectives and driving safety. This path undergoes safety compliance checks based on multi-dimensional safety compliance reference objects, and the tracking plan path is dynamically adjusted in real-time based on the results, ensuring safety during target tracking. To facilitate compliance-assisted calculations for target tracking, a specialized database adapting to restricted jurisdiction areas can be constructed and overlaid on the target tracking object's display screen. Real-time calculation of cross-constraint information between the tracking plan path and restricted jurisdiction areas further supports decision-making during target tracking. In summary, by performing auxiliary calculations on the driving safety and compliance of the target tracking process, relevant reference data can be calculated in real time, providing assistance and data support for decision-making in the target tracking process, improving the accuracy of calculations, and thus improving the driving safety and compliance of the target tracking process. Under the premise of ensuring the driving safety and compliance of the target tracking process, the success rate of target tracking task execution can be increased.

[0113] It should be noted that all information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this disclosure are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data comply with the relevant laws, regulations and standards of the relevant regions.

[0114] It should be noted that any arrangement or combination of the technical features in the above embodiments also falls within the protection scope of this invention.

[0115] Example 3

[0116] Figure 4 This is a schematic diagram of a target tracking device provided in Embodiment 3 of the present invention, as shown below. Figure 4 As shown, the device includes: a tracking plan path generation module 410, a tracking plan path detection module 420, and a tracking plan path adjustment module 430, wherein:

[0117] The tracking plan path generation module 410 is used to generate a tracking plan path for the target tracking object to track the target tracked object based on the driving information of the target tracking object and the target tracked object;

[0118] The tracking plan path detection module 420 is used to perform security compliance detection on the tracking plan path based on the security compliance detection reference object associated with the tracking plan path; wherein, the security compliance detection reference object includes at least one of the target being tracked, obstacles in the tracking plan path, and restricted jurisdiction areas associated with the tracking plan path;

[0119] The tracking plan path adjustment module 430 is used to dynamically adjust the tracking plan path in real time based on the security compliance detection results of the tracking plan path.

[0120] This invention generates a tracking plan path for the target tracking object to track the target tracked object based on the driving information of the target tracking object and the target being tracked object. It then performs safety and compliance checks on the tracking plan path based on safety and compliance detection reference objects such as the target being tracked object associated with the tracking plan path, obstacles in the tracking plan path, and restricted jurisdiction areas associated with the tracking plan path. Furthermore, it dynamically adjusts the tracking plan path in real time based on the safety and compliance detection results. This solves the problem of existing target tracking processes neglecting automated safety and compliance auxiliary detection processes, enabling safety and compliance auxiliary calculations in the target tracking process, thereby improving the safety, compliance, and task execution success rate of the target tracking process.

[0121] Optionally, the tracking plan path generation module 410 is further configured to: calculate the endpoint information of the tracking plan path based on the current location information and occupied position parameter information of the target being tracked; and generate the tracking plan path based on the current location information of the target being tracked and the endpoint information of the tracking plan path.

[0122] Optionally, if the safety compliance detection reference object includes the target being tracked, the tracking plan path detection module 420 is further configured to: generate a first driving line geometry corresponding to the tracking plan path; generate a second driving line geometry of the target being tracked based on the driving information of the target being tracked; and generate a driving line conflict safety warning message if it is determined that the first driving line geometry and the second driving line geometry have an intersection probability.

[0123] Optionally, if the safety compliance detection reference object includes obstacles in the tracking plan path, the tracking plan path detection module 420 is further configured to: query obstacles within the associated range of the tracking plan path based on the dynamic start and end point location information of the tracking plan path, and generate obstacle geometry of the obstacles; generate a dynamic safety buffer zone of the tracking plan path based on the dynamic start and end point location information of the tracking plan path and the driving safety distance; and generate obstacle conflict safety warning information if it is determined that the dynamic safety buffer zone of the tracking plan path includes the obstacle geometry.

[0124] Optionally, if the safety compliance detection reference object includes the restricted jurisdiction area associated with the tracking plan path, the tracking plan path detection module 420 is further configured to: obtain the regional location information of the restricted jurisdiction area associated with the tracking plan path, and calculate the restricted jurisdiction geometry of the restricted jurisdiction area associated with the tracking plan path based on the regional location information of the restricted jurisdiction area associated with the tracking plan path; generate a predicted tracking path corresponding to the tracking plan path based on the current driving information of the target tracking object; and generate a security warning message for jurisdiction area conflict if it is determined that the predicted tracking path and the restricted jurisdiction geometry have an intersection probability.

[0125] Optionally, the tracking plan path detection module 420 is further configured to: generate predicted driving position point information of the target tracking object for a continuous multiple set time intervals based on the current driving information of the target tracking object; and connect the predicted driving position points of the target tracking object for a continuous multiple set time intervals sequentially with the current position of the target tracking object as the starting point to obtain the predicted tracking path corresponding to the tracking plan path.

[0126] Optionally, if the security compliance detection reference object includes the restricted jurisdiction associated with the tracking plan path, the tracking plan path detection module 420 is further configured to: calculate in real time the closest point from the tracking plan path to the restricted jurisdiction; and calculate in real time the shortest distance between the closest point from the tracking plan path to the restricted jurisdiction and the restricted jurisdiction. If it is determined that the shortest distance between the closest point from the tracking plan path to the restricted jurisdiction and the restricted jurisdiction is less than the target safety distance of the restricted jurisdiction, a security alert message regarding a jurisdictional conflict is generated.

[0127] The target tracking device described above can execute the target tracking method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the target tracking method provided in any embodiment of the present invention.

[0128] Since the target tracking device described above is an apparatus capable of executing the target tracking method in the embodiments of the present invention, those skilled in the art can understand the specific implementation and various variations of the target tracking device in this embodiment based on the target tracking method described in the embodiments of the present invention. Therefore, how the target tracking device implements the target tracking method in the embodiments of the present invention will not be described in detail here. Any apparatus used by those skilled in the art to implement the target tracking method in the embodiments of the present invention falls within the scope of protection of this application.

[0129] Example 4

[0130] Figure 5 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device 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 electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., 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.

[0131] like Figure 5As shown, the electronic device 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 program 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 electronic device 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.

[0132] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0133] 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 target tracking methods.

[0134] Optionally, the target tracking method may include: generating a tracking plan path for the target tracking object to track the target tracked object based on the driving information of the target tracking object and the target being tracked object; performing safety compliance detection on the tracking plan path based on a safety compliance detection reference object associated with the tracking plan path; wherein the safety compliance detection reference object includes at least one of the target being tracked object, obstacles in the tracking plan path, and a restricted jurisdiction area associated with the tracking plan path; and dynamically adjusting the tracking plan path in real time based on the safety compliance detection results of the tracking plan path.

[0135] In some embodiments, the target 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 mounted on electronic device 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 target tracking method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the target tracking method by any other suitable means (e.g., by means of firmware).

[0136] 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.

[0137] 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.

[0138] 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.

[0139] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; 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).

[0140] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or 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.

[0141] 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.

[0142] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0143] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. 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 disclosure should be included within the scope of protection of this disclosure.

Claims

1. A target tracking method characterized by, The method comprises the following steps: generating a tracking plan path of a target tracking object tracking a target tracked object according to the driving information of the target tracking object and the target tracked object, wherein the driving information of the target tracking object comprises current position information of the target tracking object, and the driving information of the target tracked object comprises current position information and occupation position parameter information of the target tracked object; performing safety compliance detection on the tracking plan path according to a safety compliance detection reference object associated with the tracking plan path, wherein the safety compliance detection reference object comprises at least one of the target tracked object, an obstacle in the tracking plan path, and a restricted jurisdiction region associated with the tracking plan path; performing real-time dynamic adjustment on the tracking plan path according to the safety compliance detection result of the tracking plan path; wherein the step of generating the tracking plan path of the target tracking object tracking the target tracked object according to the driving information of the target tracking object and the target tracked object comprises: calculating end point information of the tracking plan path according to the current position information and the occupation position parameter information of the target tracked object; generating the tracking plan path according to the current position information of the target tracking object and the end point information of the tracking plan path.

2. The method of claim 1, wherein, If the safety compliance detection reference object comprises the target tracked object, the step of performing safety compliance detection on the tracking plan path according to the safety compliance detection reference object associated with the tracking plan path comprises: generating a first driving line geometry corresponding to the tracking plan path; generating a second driving line geometry of the target tracked object according to the driving information of the target tracked object; generating safety prompt information of driving line conflict if it is determined that the first driving line geometry and the second driving line geometry exist intersection probability.

3. The method of claim 1, wherein, If the safety compliance detection reference object comprises the obstacle in the tracking plan path, the step of performing safety compliance detection on the tracking plan path according to the safety compliance detection reference object associated with the tracking plan path comprises: querying the obstacle within the range associated with the tracking plan path according to the dynamic start and end point position information of the tracking plan path, and generating an obstacle geometry of the obstacle; generating a dynamic safety buffer area of the tracking plan path according to the dynamic start and end point position information of the tracking plan path and the driving safety distance; generating safety prompt information of obstacle conflict if it is determined that the dynamic safety buffer area range of the tracking plan path comprises the obstacle geometry.

4. The method of claim 1, wherein, If the safety compliance detection reference object comprises the restricted jurisdiction region associated with the tracking plan path, the step of performing safety compliance detection on the tracking plan path according to the safety compliance detection reference object associated with the tracking plan path comprises: obtaining region position information of the restricted jurisdiction region associated with the tracking plan path, and calculating a restricted jurisdiction geometry of the restricted jurisdiction region associated with the tracking plan path according to the region position information of the restricted jurisdiction region associated with the tracking plan path; generate a predicted tracking path corresponding to the tracking plan path according to current driving information of the target tracking object; generate safety prompt information of jurisdictional area conflict in a case where it is determined that the predicted tracking path and the restricted jurisdictional geometry exist intersection probability.

5. The method of claim 4, wherein, The generating a predicted tracking path corresponding to the tracking plan path according to the current driving information of the target tracking object comprises: generate predicted driving position point information of a plurality of continuous set time intervals of the target tracking object according to the current driving information of the target tracking object; connect the predicted driving position points of a plurality of continuous set time intervals of the target tracking object in sequence with the current position of the target tracking object as a starting point to obtain the predicted tracking path corresponding to the tracking plan path.

6. The method of claim 1, wherein, If the safety compliance detection reference object includes the restricted jurisdictional area associated with the tracking plan path, the safety compliance detection of the tracking plan path according to the safety compliance detection reference object associated with the tracking plan path comprises: real-time calculation of the nearest point of the tracking plan path to the restricted jurisdictional area; real-time calculation of the shortest distance between the nearest point of the tracking plan path to the restricted jurisdictional area and the restricted jurisdictional area; generate safety prompt information of jurisdictional area conflict in a case where it is determined that the shortest distance between the nearest point of the tracking plan path to the restricted jurisdictional area and the restricted jurisdictional area is less than the target safety distance of the restricted jurisdictional area.

7. A target tracking device, characterized by, comprise: a tracking plan path generation module configured to generate a tracking plan path of a target tracking object tracking a target tracked object according to driving information of the target tracking object and the target tracked object; wherein the driving information of the target tracking object comprises current position information of the target tracking object; and the driving information of the target tracked object comprises current position information and occupation position parameter information of the target tracked object; a tracking plan path detection module configured to perform safety compliance detection of the tracking plan path according to safety compliance detection reference objects associated with the tracking plan path; wherein the safety compliance detection reference objects comprise at least one of the target tracked object, an obstacle in the tracking plan path, and a restricted jurisdictional area associated with the tracking plan path; a tracking plan path adjustment module configured to perform real-time dynamic adjustment of the tracking plan path according to a safety compliance detection result of the tracking plan path. The tracking plan path generation module is further configured to: calculate end point information of the tracking plan path according to the current position information and the occupation position parameter information of the target tracked object; and generate the tracking plan path according to the current position information of the target tracking object and the end point information of the tracking plan path.

8. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected in communication with the at least one processor; wherein The memory stores a computer program executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the target tracking method in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling a processor to implement the target tracking method in any one of claims 1-6 when executed.

10. A computer program product, characterised in that, The computer program / instructions are executed by a processor to implement the target tracking method in any one of claims 1-6.

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