A target tracking method, device, electronic device, storage medium and program

Abstract

Embodiments of the present application disclose a target tracking method and device, electronic equipment, storage medium and program, wherein the method comprises: generating 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; 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 area associated with the tracking plan path; and performing real-time dynamic adjustment on the tracking plan path according to a safety compliance detection result of the tracking plan path. The technical solution of the embodiments of the present application can realize safety compliance auxiliary calculation of the target tracking process, thereby improving the safety, compliance and success rate of task execution of the target tracking process.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of data processing and target tracking, and in particular to a target tracking method and device, electronic equipment, storage medium and program. BACKGROUND

[0002] Target tracking technology is widely used in many technical fields, mainly including but not limited to military reconnaissance, autonomous driving, security monitoring, marine tracking, flight tracking and unmanned aerial vehicle applications, etc. For example, in marine tracking, ships usually use sea pursuit tactics to track targets when performing ocean law enforcement tasks to maintain sea safety, so as to forcibly intercept target ships.

[0003] In the process of implementing the present application, the inventors found that in the field of target tracking, only the planning and adjustment of the tracking trajectory are often focused on, and the problems of driving safety, task completion and compliance of law enforcement are ignored when pursuing the target. In the process of target tracking, most of the safety factors of the pursuit process need to be judged by the experience of the command personnel, which requires high personnel quality and is difficult. SUMMARY

[0004] Embodiments of the present application provide a target tracking method, device, electronic equipment, storage medium and program, which can realize safety and compliance auxiliary calculation in the target tracking process, thereby improving the safety, compliance and success rate of task execution in the target tracking process.

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

[0006] generating 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;

[0007] performing safety and compliance detection on the tracking plan path according to a safety and compliance detection reference object associated with the tracking plan path, wherein the safety and compliance detection reference object includes 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;

[0008] performing real-time dynamic adjustment on the tracking plan path according to a safety and compliance detection result of the tracking plan path.

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

[0010] 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;

[0011] a tracking plan path detection module, configured to perform safety compliance detection on 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, obstacles in the tracking plan path, and restricted jurisdictions associated with the tracking plan path;

[0012] a tracking plan path adjustment module, configured to perform real-time dynamic adjustment on the tracking plan path according to a safety compliance detection result of the tracking plan path.

[0013] According to another aspect of the present application, an electronic device is provided, which comprises:

[0014] at least one processor; and

[0015] a memory connected to the at least one processor in communication; wherein,

[0016] the memory stores a computer program executable 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 perform the target tracking method according to any one of the embodiments of the present application.

[0017] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to perform the target tracking method according to any one of the embodiments of the present application when executed by the processor.

[0018] According to another aspect of the present application, a computer program product is also provided, which comprises a computer program for implementing the target tracking method according to any one of the embodiments of the present application when executed by a processor.

[0019] The embodiments of the present application generate a tracking plan path of a target tracked object tracked by a target tracked object according to driving information of the target tracked object and the target tracked object, perform safety compliance detection on the tracking plan path according to safety compliance detection reference objects associated with the tracking plan path, such as the target tracked object, obstacles in the tracking plan path, and restricted jurisdictions associated with the tracking plan path, and then perform real-time dynamic adjustment on the tracking plan path according to a safety compliance detection result of the tracking plan path, thereby solving the problem that the existing target tracking process ignores the automatic safety compliance auxiliary detection process, enabling safety compliance auxiliary calculation of the target tracking process, and thus improving the safety, compliance, and success rate of task execution of the target tracking process.

[0020] It is to be understood that the embodiments described herein are merely exemplary of the application and that a person skilled in the art can devise other embodiments without departing from the scope of the present application. It is also to be understood that not all of the features and aspects of the present application are necessarily included in every embodiment of the application. It is also to be understood that not all of the features and aspects of the embodiments described herein are necessary to practice the application. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0022] Figure 1 is a flow chart of a target tracking method provided by the first embodiment of the present application;

[0023] Figure 2 is a flow chart of a target tracking method provided by the second embodiment of the present application;

[0024] Figure 3 is a schematic diagram of a dynamic security buffer area provided by the second embodiment of the present application;

[0025] Figure 4 is a schematic diagram of a target tracking device provided by the third embodiment of the present application;

[0026] Figure 5 is a structural schematic diagram of an electronic device provided by the fourth embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the technical personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort should be within the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and the above-described accompanying drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to such a process, method, product, or apparatus.

[0029] Embodiment one

[0030] Figure 1 is a flowchart of a target tracking method provided by the first embodiment of the present application. The present embodiment can be applicable to the case of performing safety compliance detection on a tracking path when a target tracking object tracks a target tracked object. The method can be executed by a target tracking device, which can be implemented in software and / or hardware, and can generally be integrated in an electronic device, which can be a terminal device or a server device, as long as it can execute the target tracking method. The specific type of the electronic device is not limited in the present application. Correspondingly, as shown in Figure 1 the method includes the following operations:

[0031] S110, generating a 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.

[0032] The target tracking object can be an object currently performing a target tracking task, and the target tracked object can be an object tracked by the target tracking object. The tracking plan path can be a driving path intended by the target tracking object when tracking the target tracked object.

[0033] For example, the target tracking object and the target tracked object can be vehicles, ships, aircraft, and drones, as long as they can perform a target tracking task. The specific type of the target tracking object and the target tracked object is not limited in the present application. Optionally, the target tracking object and the target tracked object can be the same device, such as a ship or a vehicle. Alternatively, the target tracking object and the target tracked object can also be different devices, such as a drone as the target tracking object and a vehicle as the target tracked object, and the present application does not limit this.

[0034] When the target tracking object performs the tracking task to track the target tracked object, the target tracking object can acquire the driving information of the object in real time, and can also acquire the driving information of the target tracked object in real time through radar detection or other means. Correspondingly, the target tracking object can generate the predicted driving path of the target tracked object when tracking, as the tracking plan path, according to the comprehensive calculation of the driving information of the two objects acquired in real time.

[0035] In a specific example, when the target tracking object and the target tracked object are both ships, the target tracking object can acquire the longitude (Lon) and latitude (Lat) and other information of the target tracked object in real time through an electronic chart system, so as to obtain the real-time driving information of the target tracked object. In order to improve the accuracy of information display on the screen, the longitude and latitude of each position point can be converted to screen coordinates (x1, y1)......(xn, yn) according to the longitude and latitude conversion screen coordinate formula. Optionally, the longitude and latitude of the position point can be converted to screen coordinates according to the Mercator projection positive transformation method The specific calculation formula is as follows:

[0036]

[0037]

[0038]

[0039] is the original longitude, is the standard latitude, is the natural logarithm, is 3.14159265358979323846. K is the radius of the reference parallel.

[0040] ​​In the process of tracking task performed by the target tracking object, the driving information of the target tracked object can be recorded in real time for display, safety judgment, and later task review. In a specific example, a ship tracking scenario is used as an example to illustrate that the target tracking object can maintain two data tables for the target tracked object, i.e., a probability information table and a detailed location point table. Optionally, the probability information table can be used to record the approximate information of the target tracked object, which can include, but is not limited to, a serial number, a target ID, a start time, an end time, and a note information, etc. 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 start time is string, the data type of the end time is string, and the data type of the note information is string. The detailed location point table can be used to record the detailed description information of the target tracked object, which can include, but is not limited to, a serial number, a target ID, a longitude, a latitude, a speed, and a heading, etc. 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-precision float double, the data type of the latitude is double-precision float double, the data type of the speed is double-precision float double, and the data type of the heading is double-precision float double.

[0041] Optionally, in order to further improve the efficiency of human-computer interaction, the tracking attribute of the target tracked object can be configured in the screen of the target tracking object. That is, if a recognized target is determined to be the target tracked object, the personalized attribute information of the target tracked object can be displayed on the display screen. The attribute information of the recognized target displayed on the screen can include, but is not limited to, a background picture, a display style, a color, and a note information, etc. For example, in a ship tracking scenario, a user can click a target ship to be tracked on an electronic chart for tracking the ship with a mouse, and an edit dialog box can be popped up to set the personalized attribute information of the target ship based on the dialog box, such as inputting a text note, selecting a new background picture for displaying the tracked target ship, etc. After the personalized attribute information of the target ship is confirmed and set, in the next update of the target display, if a recognized target is determined to be the target tracked object, the personalized background picture, display style, color, and note information, etc. of the target tracked object can be displayed on the display screen. If a recognized target is determined not to be the target tracked object, the target can be displayed on the display screen with a normal target background picture. The electronic chart Figure 1 Generally, the sensor of the navigation system is interconnected, which can obtain the longitude, latitude, heading, speed, and time information of the target tracking object in real time, and can also obtain the longitude, latitude, speed, and heading information of the target tracked object in real time.

[0042] Optionally, a connection line between the target tracking object and the target tracked object can be displayed in the display screen of the target tracking object, and the bearing and distance between the target tracking object and the target tracked object are calculated and displayed on the connection line to clearly display the current situation information. For example, when drawing the connection line, the longitude and latitude of the target tracking object are converted into screen coordinates, the longitude and latitude of the target tracked object are converted into screen coordinates, and a corresponding graphic drawing function is used to draw the connection line between the two according to the screen coordinates of the two. The calculation formula of the bearing and distance is as follows:

[0043] Suppose the longitude and latitude of the target tracking object are , and the longitude and latitude of the target tracked object are , where is the longitude, is the latitude, the bearing and the horizontal distance are calculated as follows:

[0044] The horizontal bearing between the target tracking object and the target tracked object is calculated according to the following formula:

[0045]

[0046] The horizontal distance between the target tracking object and the target tracked object is calculated according to the following formula:

[0047]

[0048] where the radius of the earth is .

[0049] S120, according to the safety compliance detection reference object associated with the tracking plan path, safety compliance detection is performed on the tracking plan path; wherein the safety compliance detection reference object includes at least one of the target tracked object, the obstacle in the tracking plan path and the restricted jurisdiction area associated with the tracking plan path.

[0050] wherein the safety compliance detection reference object can be an object referred to when performing safety compliance detection on the tracking plan path.

[0051] When the target tracking object executes the tracking task according to the tracking plan path, the target tracking object can also perform real-time safety detection and compliance detection on the tracking plan path according to the safety compliance detection reference object associated with the tracking plan path. Among them, the safety detection mainly focuses on detecting the safety of the tracking plan path driving, and the compliance detection mainly focuses on detecting the compliance of the tracking plan path driving. Optionally, the safety compliance detection can be performed on the tracking plan path according to the driving situation of the target tracked object, the obstacles that may be involved in the tracking plan path, and the restricted jurisdiction area associated with the tracking plan path.

[0052] S130, real-time dynamic adjustment is performed on the tracking plan path according to the safety compliance detection result of the tracking plan path.

[0053] Correspondingly, after obtaining the multi-dimensional safety compliance detection result performed on the tracking plan path, the current tracking plan path can be dynamically adjusted in real time according to the safety compliance detection result to timely eliminate the risk compliance problems that the target tracking object may encounter in the tracking process.

[0054] For example, if the safety compliance detection is performed according to the driving situation of the target tracked object, it is found that the target tracking object and the target tracked object have a probability of collision, then the tracking plan path can be dynamically adjusted in real time according to the predicted collision situation to avoid the target tracking object from colliding with the target tracked object, and ensure the safety of the target tracking object driving. If the safety compliance detection is performed according to the obstacles that may be involved in the tracking plan path, it is found that the target tracking object and the obstacles involved in the tracking plan path have a probability of collision, then the tracking plan path can be dynamically adjusted in real time according to the predicted collision situation with the obstacles to avoid the target tracking object from colliding with the obstacles, and ensure the safety of the target tracking object driving. If the safety compliance detection is performed according to the restricted jurisdiction area associated with the tracking plan path, it is found that the target tracking object has a probability of driving into the restricted jurisdiction area, then the tracking plan path can be dynamically adjusted in real time according to the predicted situation of possibly driving into the restricted jurisdiction area to avoid the target tracking object from driving into the restricted jurisdiction area, and ensure the compliance of the target tracking object driving.

[0055] The embodiment of the present application solves the problem that the existing target tracking process ignores the automatic safety compliance auxiliary detection process, can realize safety compliance auxiliary calculation of the target tracking process, and thus improves the safety, compliance and success rate of task execution of the target tracking process.

[0056] Embodiment two

[0057] Figure 2 is a flowchart of a target tracking method provided by the second embodiment of the present application. The present embodiment is based on the above-mentioned embodiments and is embodied in detail. In the present embodiment, various specific optional implementation manners of generating the tracking plan path and performing safety compliance detection on the tracking plan path are given. Correspondingly, as shown in Figure 2 , the method of the present embodiment can include:

[0058] S210, calculating end point information of the tracking plan path according to current position information and occupation position parameter information of the target tracked object.

[0059] Wherein, the position refers to the relative target space position dynamically determined according to the attack and defense demand in the tactical layout or technical system. The occupation position parameter can be a parameter referred to by the target tracking object when occupying the position, which can include but is not limited to the direction and distance of the target tracked object and other related parameters.

[0060] In the present embodiment of the present application, the end point information of the tracking plan path can be calculated with reference to the position of the target tracked object and the occupation position target. For example, assuming that the latitude and longitude of the target tracked object are , the occupation position parameter is the direction of the target tracking object to the target tracked object and the distance , then the longitude and latitude of the end point of the tracking plan path can be obtained. The calculation process is as follows:

[0061] The longitude and latitude of the two-dimensional positive cross point are calculated, and the equatorial radius is , then:

[0062]

[0063]

[0064]

[0065]

[0066] wherein, represents the latitude (radian representation) of the end point of the tracking plan path, represents the latitude (radian representation) of the target tracked object, PI represents π, and the value can be 3.14159265358979323846, represents the longitude (radian representation) of the end point of the tracking plan path, represents the longitude (radian representation) of the target tracked object.

[0067] S220, generating the tracking plan path according to the current position information of the target tracked object and the end point information of the tracking plan path.

[0068] Correspondingly, the latitude and longitude of the target tracked object can be converted into screen coordinates, the latitude and longitude of the end point of the tracking plan path can be converted into screen coordinates, a connection line between the position point of the target tracked object and the end point of the tracking plan path can be drawn using a graphics drawing function, so as to generate a tracking plan path that is dynamically changed directly in the display screen. By comparing the real-time driving route of the target tracked object and the tracking plan path, whether the target tracked object deviates from the route can be observed intuitively.

[0069] S230, performing safety compliance detection on the tracking plan path according to a safety compliance detection reference object associated with the tracking plan path.

[0070] The safety compliance detection reference object includes 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.

[0071] S240, performing real-time dynamic adjustment on the tracking plan path according to the safety compliance detection result of the tracking plan path.

[0072] In an optional embodiment of the present application, if the safety compliance detection reference object includes 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 can include: 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 driving information of the target tracked object; and generating safety prompt information of driving line conflict in a case where it is determined that the first driving line geometry and the second driving line geometry exist intersection probability.

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

[0074] To avoid the interference of the target tracked object throwing debris on the tracking task in the pursuit process, the tracking planned path should not pursue along the driving path of the target tracked object, and thus it is necessary to detect whether the tracking planned path overlaps the driving path of the target tracked object.

[0075] Specifically, a drawing tool can be used to create the first driving line geometry corresponding to the tracking planned path according to the screen coordinates of the tracking planned path in the display screen, and a drawing tool can be used to create the second driving line geometry corresponding to the driving path of the target tracked object according to the coordinates of the driving information of the target tracked object mapped to the display screen. Optionally, the first driving line geometry and the second driving line geometry can be curves or polylines, as long as they can accurately reflect the route information of both, and the embodiments of the present application do not limit the specific types of the first driving line geometry and the second driving line geometry. Further, since the first driving line geometry and the second driving line geometry are dynamically changed in real time, the intersection probability of the first driving line geometry and the second driving line geometry can be analyzed in real time and dynamically, and in the case where the first driving line geometry and the second driving line geometry exist intersection probability, the safety prompt information of the driving line conflict can be generated.

[0076] Correspondingly, after the safety prompt information of the driving line conflict is generated, the tracking planned path can be adjusted in real time according to the safety prompt information of the driving line conflict, so that the first driving line geometry corresponding to the tracking planned path does not intersect with the second driving line geometry of the target tracked object, to ensure the driving safety of the target tracked object in real time.

[0077] Optionally, to further improve the reliability of safety detection, in the case where the first driving line geometry and the second driving line geometry exist intersection probability, the intersection probability information of the first driving line geometry and the second driving line geometry can be displayed and updated in real time according to the real-time dynamic change of the first driving line geometry and the second driving line geometry in the display screen. If the intersection probability is large, the tracking planned path needs to be adjusted in time; if the intersection probability is small, the intersection probability after a period of driving time can be observed first, and if the intersection probability continues to decrease, the tracking planned path can be temporarily not adjusted or adjusted with a time delay.

[0078] In an optional embodiment of the present application, if the safety compliance detection reference object includes an obstacle in the tracking plan path, safety compliance detection of the tracking plan path according to the safety compliance detection reference object associated with the tracking plan path can include: 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; in the case of determining that the dynamic safety buffer area range of the tracking plan path includes the obstacle geometry, generating safety prompt information of obstacle conflict.

[0079] Wherein, the dynamic start and end point position information is the dynamic changed start and end point information. The obstacle geometry can be the geometry corresponding to the obstacle. The dynamic safety buffer area can be an area range extended according to the route of the tracking plan path.

[0080] During the travel of the target tracking object, the safety of driving will also be affected if there are obstacles around the tracking plan path, so it is necessary to detect the associated obstacles on the tracking plan path of the target tracking object. When detecting the obstacles, the obstacles within the range associated with the tracking plan path can be queried according to the dynamic start and end point position information of the tracking plan path. For example, the obstacles within the range associated with the tracking plan path can be queried through images, videos or radar detection data taken during driving. At the same time, the obstacle geometry corresponding to the obstacle is generated according to the specific situation of the obstacle. Specifically, if the volume of the obstacle is small, the obstacle geometry can be represented by a point. If the volume of the obstacle is large, the obstacle geometry can be represented by the external geometric contour of the obstacle.

[0081] At the same time, during the travel of the target tracking object according to the tracking plan path, a dynamic safety buffer area of the tracking plan path can also be generated according to the dynamic start and end point position information of the tracking plan path and the driving safety distance. The dynamic safety buffer area is used to represent the safety area of the target tracking object during travel. The target tracking object can travel within the dynamic safety buffer area to ensure its safety. Accordingly, the attribution of the real-time detected obstacle information and the dynamic safety buffer area is analyzed. If it is determined that the dynamic safety buffer area range of the tracking plan path includes the obstacle geometry, it indicates that the target tracking object may collide with the detected obstacle during travel according to the current tracking plan path. At this time, safety prompt information of obstacle conflict can be generated.

[0082] Correspondingly, after the safety prompt information of the obstacle conflict is generated, the tracking plan path can be adjusted in real time according to the safety prompt information of the obstacle conflict, so that the dynamic safety buffer area corresponding to the tracking plan path does not include any detectable obstacle, to ensure the driving safety of the target tracking object in real time.

[0083] Optionally, in order to further improve the reliability of safety detection, the attribution of the dynamic safety buffer area and the obstacle geometry can also be displayed and updated in real time in the display screen. If the distance to the obstacle is relatively close and the obstacle geometry appears in the dynamic safety buffer area for a continuous period of time, the tracking plan path needs to be adjusted in time; if the distance to the obstacle is relatively far and the obstacle geometry presents a trend of gradually leaving the dynamic safety buffer area along with the travel process, the tracking plan path can be temporarily selected not to be adjusted or delayed to be adjusted.

[0084] In a specific example, taking the application scenario of tracking a ship as an example, assuming that the starting point longitude and latitude of the tracking plan path, i.e., the longitude and latitude of the ship, are and , and the ending point longitude and latitude of the tracking plan path are and , the dynamic starting and ending points of the tracking plan path can be queried according to the longitude and latitude range and . Assuming that the obstacle is a point element, the target tracking object can query the obstacle information in the longitude and latitude range and from the chart data, obtain the longitude, latitude, name and attribute of the obstacle, and obtain the obstacle query result. The obstacle query result can be represented as: ..., . Wherein, obj1 represents the first queried obstacle, Lon_obj_1 represents the longitude coordinate of the first obstacle, and Lat_obj_1 represents the latitude coordinate of the first obstacle. Objn represents the nth queried obstacle, Lon_obj_n represents the longitude coordinate of the nth obstacle, and Lat_obj_n represents the latitude coordinate of the nth obstacle.

[0085] Since the queried obstacles may not all affect the navigation safety of the target tracking object, it is further necessary to judge whether the distance from the obstacle to the tracking plan path is less than the safety distance D. The specific judgment method is as follows: the dynamic safety buffer area of the tracking plan path is generated according to the dynamic starting and ending point position information of the tracking plan path and the driving safety distance D. Figure 3 is a schematic diagram of a dynamic safety buffer area provided by the second embodiment of the present application. In a specific example, 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 distance d3, can be calculated by referring to the formula for calculating the end point of the tracking plan path above the longitude and latitude of point .

[0091] The azimuth of point relative to the end point of the tracking plan path is , and the distance d4 is: . Given the longitude and latitude of the end point of the tracking plan path, the azimuth and distance d4, the longitude and latitude of point can be calculated by referring to the formula for calculating the end point of the tracking plan path above

[0092] . and , the longitude and latitude of the four corner points of the tracking plan path are converted into screen coordinates, and a dynamic safety buffer area of the tracking plan path is created in the display screen according to the screen coordinates of the four corner points of the tracking plan path using a drawing tool, as shown in Figure 3 . Referring to Figure 3 , the starting point is the starting point of the tracking plan path, which is also the position point of the target tracking object. The end point is the end point of the tracking plan path. The line between the starting point and the end point is the tracking plan path, , , and the four corner points constitute a dynamic safety buffer area.

[0093] Further, the longitude and latitude coordinates of the navigation-obstructing object ... can be converted into screen coordinates, and an obstacle geometry is created according to the screen coordinates of the obstacle and the shape of the obstacle using a drawing tool. At the same time, the drawing tool provides a graphic inclusion judgment function, which can be used to judge one by one whether the dynamic safety buffer area of the tracking plan path contains the navigation-obstructing object point. If the dynamic safety buffer area of the tracking plan path contains the navigation-obstructing object point, the navigation-obstructing object information type and position information can be prompted, prompting the modification of the current tracking plan path. Since the target tracking object is in a state of motion, the tracking plan path should also be dynamically re-planned in real time.

[0094] In the execution of the pursuit interception and other tasks, the target tracking object needs to quickly occupy a favorable position and reach the predetermined location. Since in the pursuit, the target tracking object and the target tracked object are mostly high-speed motion, the position and speed are changed, once the target tracked object or the target tracking object changes the driving information, the latest occupation position information needs to be calculated and updated synchronously. The embodiment of the present application can use the real-time acquired position and speed information of the target tracking object and the target tracked object, only needs to set the position and distance of the target tracked object once, and can realize the real-time calculation of the automatic occupation position. Specifically, the process of automatically calculating the occupation position information result according to the input information in real time is as follows:

[0095] Let be the driving speed of the target tracked object, be the driving direction of the target tracked object, be the occupation speed of the target tracking object, be the occupation direction of the target tracking object, the current position of the target tracking object be the position distance of , the coordinate is . The target position of the target tracking object be the position distance of , the coordinate is . and are not the same point, and are the relative heading of , and also the occupation direction. Then input: , , , and , the occupation heading and the time T required to maneuver to the occupation position can be automatically calculated. The automatically calculated occupation heading and the time T required to maneuver to the occupation position can be displayed in real time on the display screen of the target tracking object to assist the user in making decisions.

[0096] In an optional embodiment of the present application, if the safety compliance detection reference object includes a restricted jurisdiction area associated with the tracking plan path, safety compliance detection of the tracking plan path according to the safety compliance detection reference object associated with the tracking plan path can include: obtaining area position information of the restricted jurisdiction area associated with the tracking plan path, and calculating a restricted jurisdiction geometric figure of the restricted jurisdiction area associated with the tracking plan path according to the area position information of the restricted jurisdiction area associated with the tracking plan path; generating a predicted tracking path corresponding to the tracking plan path according to the current driving information of the target tracking object; and generating safety prompt information of jurisdiction area conflict in a case where it is determined that the predicted tracking path and the restricted jurisdiction geometric figure exist intersection probability.

[0097] The restricted jurisdiction geometric figure can be a geometric figure determined according to the outer contour of the restricted jurisdiction area. The predicted tracking path can be a path dynamically predicted in real time according to the current driving information of the target tracking object.

[0098] In many driving scenarios, many geographical areas will set restricted jurisdiction areas. In the process of executing a tracking task by the target tracking object, the restricted jurisdiction areas should not be exceeded to ensure compliance driving. For example, when chasing a ship at sea, the jurisdictional sea area of other countries or regions should not be exceeded, and it is strictly forbidden to enter the sea area within the range of islands set by a demarcation line or actually controlled by other countries, etc. When tracking in the air, the restricted jurisdiction air area without flight permission should not be entered. When tracking on the road, the restricted jurisdiction road area without driving permission should not be entered, etc.

[0099] In the process of the target tracking object performing the tracking task, the area position information of the restricted jurisdiction area associated with the tracking plan path can be obtained in real time through various data sources. For example, when the target tracking object is a ship, a special database of the restricted jurisdiction area can be constructed in advance, and the display jurisdiction area near the target tracking object can be superimposed and displayed on the electronic chart of the target tracking object, so that the position relationship between the target tracking object, the baseline of the territorial sea, the predicted tracking path line, and the boundary can be displayed intuitively and clearly. The special data of the baseline of the territorial sea and the natural boundary are usually line or surface data, which can be composed of a set of longitude and latitude coordinates, name, type, and the like. Optionally, for easy retrieval, the special database can maintain the special data of the restricted jurisdiction area by constructing two types of structure tables, i.e., a general information table and a detailed location point table. The general information table of the special database can store the serial number ID (data type: int) of the restricted jurisdiction area, the name (data type: string), the type (line, surface) (data type: uint), the note information (data type: string), and the number of points (data type: uint) and the like. The detailed location point table of the special database can store the serial number (data type: int), the serial number ID (data type: uint), the point serial number (data type: int), the longitude (data type: double), and the latitude (data type: double) and the like. Further, the longitude and latitude point coordinates of the baseline of the territorial sea, the boundary line, and the surface boundary line of the restricted jurisdiction area can be converted into screen coordinates, and a drawing tool can be used to create and display the polygon or polyline geometry corresponding to the restricted jurisdiction area according to the screen coordinates, so as to intuitively display the relative position relationship between the ship position and the baseline of the territorial sea and the boundary of the restricted jurisdiction area. For example, when the target tracking object is a vehicle, the information of the restricted jurisdiction area included in the current navigation interface can be obtained in real time through the electronic map.

[0100] Correspondingly, after obtaining the area position 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 according to the area position information of the restricted jurisdiction area associated with the tracking plan path, as the restricted jurisdiction geometry. Meanwhile, the predicted tracking path corresponding to the tracking plan path can be generated according to the position, direction, and associated occupation position information and the like of the target tracking object. It can be understood that the predicted tracking path can be the same as or intersect with the tracking plan path, or can not intersect with the target tracking object. After the predicted tracking path is calculated, the relative position information between the predicted tracking path and the restricted jurisdiction geometry can be judged in real time. If it is determined that the predicted tracking path and the restricted jurisdiction geometry exist intersection probability, the safety prompt information of the jurisdiction area conflict can be generated.

[0101] Correspondingly, after generating the jurisdiction conflict safety prompt information, the tracking plan path can be adjusted in real time according to the jurisdiction conflict safety prompt information, so that the tracking plan path does not reach the restricted jurisdiction area, to ensure the compliance of the target tracking object in real time.

[0102] Optionally, in order to further improve the reliability of compliance detection, the intersection probability of the dynamic tracking plan path and the restriction jurisdiction geometry corresponding to the restriction jurisdiction area can also be displayed and updated in real time in the display screen. If the intersection probability is large, the tracking plan path needs to be adjusted in time; if the intersection probability is small, the intersection probability of the tracking plan path and the restriction jurisdiction geometry corresponding to the restriction jurisdiction area can be observed for a period of time, and if the intersection probability continues to decrease, the tracking plan path can be temporarily adjusted or delayed.

[0103] In an optional embodiment of the present application, the generating the predicted tracking path corresponding to the tracking plan path according to the current driving information of the target tracking object can include: generating predicted driving position point information of the target tracking object in a plurality of set time intervals in succession according to the current driving information of the target tracking object; and connecting the predicted driving position points of the target tracking object in a plurality of set time intervals in succession to obtain the predicted tracking path corresponding to the tracking plan path, with the current position of the target tracking object as the starting point.

[0104] Wherein, the set time interval can be configured according to actual needs, for example, it can be configured in units of minutes, and the specific value of the set time interval is not limited in the embodiments of the present application. The predicted driving position point can be the position point predicted for the target tracking object according to the corresponding set time interval.

[0105] In a specific example, taking a ship tracking scenario as an example, the target tracking object can trigger a selected boundary line to be calculated as a restricted jurisdiction area according to the relative position relationship displayed on the chart. The system responds to the triggering operation of the restricted jurisdiction area to query the thematic database, and can obtain all the position points of the boundary line to be calculated in longitude and latitude, which are: . Wherein, represents the longitude and latitude of the nth position point of the boundary line to be calculated. At the same time, the geometry of the curve or polyline corresponding to the boundary line can be generated according to the position point information of the boundary line to be calculated to obtain the restriction jurisdiction geometry. Further, according to the current position of the target tracking object, i.e. the current position of the ship on the current tracking plan path ​, current sailing information such as current speed sog and heading cog, at intervals of 1 minute, the latitude and longitude information of the position points of the continuous multiple set time intervals is calculated one by one as the predicted driving position point information, and the predicted driving position point information after 30 minutes is calculated at most. Each predicted driving position point information can be obtained, and the current position of the target tracking object can be taken as the starting point, and the continuous multiple set time interval predicted driving position points of the target tracking object can be connected in turn, so that the predicted tracking path corresponding to the current tracking plan path is obtained. Each predicted driving position point information can be calculated, and the predicted tracking path can be dynamically updated according to the calculated predicted driving position point information and the current position point of the target tracking object, and the predicted tracking path is updated synchronously, and whether the predicted tracking path and the restricted jurisdictional geometric figure exist intersection probability is judged. If it is found that the predicted tracking path has crossed or intersected with the restricted jurisdictional geometric figure in the process of predicting the driving position point information within 30 minutes, an alarm prompt of the jurisdictional area conflict is given, and the calculation is stopped or personalized safety prompt information of the jurisdictional area conflict is given according to the size of the intersection probability.

[0106] For example, assuming that the longitude of each predicted driving position point of the target tracking object is represented as P_1 longitude and latitude , ……P_n longitude and latitude . Knowing the latitude and longitude, direction (heading) and distance (speed x time) of the current position point of the target tracking object, the latitude and longitude of each predicted driving position point of the target tracking object can be calculated by referring to the calculation method of calculating another point latitude and longitude. After calculating the latitude and longitude of each predicted driving position point of the target tracking object, the latitude and longitude of all position points of the boundary line to be calculated , …… The coordinates of all position points of the boundary line to be calculated are converted into screen coordinates, and a boundary line polyline geometric figure to be calculated is created by using a drawing tool according to the screen coordinates of all position points of the boundary line to be calculated. At the same time, the current position latitude and longitude point coordinates of the target tracking object, i.e. the ship, are converted into screen coordinates, the predicted driving position point P_n longitude and latitude coordinates of the target tracking object are converted into screen coordinates, and a predicted driving position point straight line geometric figure is created by using a drawing tool according to the screen coordinates. Further, the relative position of the boundary line polyline geometric figure to be calculated and the predicted point straight line geometric figure is judged by using a graphic intersection judgment function. If the two intersect, an alarm prompt is given, and the calculation is stopped. The predicted point straight line geometric figure can be drawn by using a graphic drawing function, so that whether the predicted tracking path crosses the restricted jurisdictional area can be observed intuitively.

[0107] It can be understood that there should be no large deviation between the predicted tracking path and the tracking plan path. When it is determined that there is a large deviation between the predicted tracking path and the tracking plan path, a prompt information that the predicted tracking path deviates from the tracking plan path can also be generated in real time for the user to refer to.

[0108] In an optional embodiment of the present application, if the safety compliance detection reference object includes a restricted jurisdiction area associated with the tracking plan path, the safety compliance detection on the tracking plan path according to the safety compliance detection reference object associated with the tracking plan path can include: calculating in real time a nearest point of the tracking plan path to the restricted jurisdiction area; and calculating in real time a shortest distance between the nearest point of the tracking plan path to the restricted jurisdiction area and the restricted jurisdiction area. In a case where it is determined that the shortest distance between the nearest point of the tracking plan path to the restricted jurisdiction area and the restricted jurisdiction area is less than a preset safety distance of the restricted jurisdiction area, safety prompt information of jurisdiction conflict is generated.

[0109] The target safety distance is a safety distance that guarantees driving safety and compliance.

[0110] Optionally, when the driving compliance of the tracking plan path is checked, the nearest point of the tracking plan path to the restricted jurisdiction area can also be calculated in real time from the perspective of the tracking plan path itself. Since the tracking plan path is dynamically changed, the nearest point of the tracking plan path to the restricted jurisdiction area can also be changed. Further, the shortest distance between the nearest point of the tracking plan path to the restricted jurisdiction area and the restricted jurisdiction area can be calculated in real time according to the nearest point of the tracking plan path to the restricted jurisdiction area calculated in real time. In order to guarantee the safety and compliance of driving, it is necessary to ensure that the shortest distance between the nearest point of the tracking plan path to the restricted jurisdiction area and the restricted jurisdiction area is greater than a target safety distance of the restricted jurisdiction area. If it is determined that the shortest distance between the nearest point of the tracking plan path to the restricted jurisdiction area and the restricted jurisdiction area is less than the target safety distance of the restricted jurisdiction area, it indicates that the target tracking object has a probability of contacting or driving into the restricted jurisdiction area, and at this time, safety prompt information of jurisdiction conflict can be generated.

[0111] It should be noted that if the limit jurisdiction geometry of the limit jurisdiction area is different, the value of the preset safety distance corresponding to the configuration thereof can also be different. For example, if the limit jurisdiction geometry of the limit jurisdiction area is relatively complex, the structural contour transformation is relatively chaotic, such as a complex polygon with a large continuous angle change, the value of the preset safety distance corresponding to the configuration thereof can be larger. If the limit jurisdiction geometry of the limit jurisdiction area is relatively simple, the structural contour transformation is relatively flat, such as a straight line, a circle, or a polyline, etc., the value of the preset safety distance corresponding to the configuration thereof can be smaller. At the same time, if the driving parameters of the target tracking object are different, such as the speed of driving and the relative position or relative distance between the target tracking object and the limit jurisdiction area, the target safety distance configured for the limit jurisdiction area can also be different. Therefore, after determining the limit jurisdiction geometry of the limit jurisdiction area, the limit jurisdiction geometry of the limit jurisdiction area and the current driving parameters of the target tracking object and other related influencing factors can be comprehensively analyzed, so that the preset safety distance adapted to the limit jurisdiction area is dynamically determined according to the limit jurisdiction geometry of the limit jurisdiction area and the current driving parameters of the target tracking object and other related influencing factors.

[0112] The above technical solution realizes human-computer interaction design during target tracking, modifies the target style and adds notes for the target tracked object, and displays the personalized display information of the target tracked object in real time, so that clear situation information can be displayed to support target tracking decision. At the same time, during the target tracking process, the tracking plan path is automatically established by comprehensively considering the task purpose and driving safety, and the safety compliance detection reference object associated with the tracking plan path is considered for safety compliance detection of the tracking plan path, and then the tracking plan path is dynamically adjusted in real time according to the safety compliance detection result of the tracking plan path, thereby providing safety protection for the target tracking process. In order to realize the auxiliary calculation design of target tracking compliance, a limit jurisdiction area adaptive special database can be constructed, which is superimposed and displayed on the display screen of the target tracking object, and the intersection constraint information between the tracking plan path and the limit jurisdiction area is calculated in real time, thereby providing data support for the decision of the target tracking process. In summary, by assisting in the calculation of driving safety and driving compliance during the target tracking process, the relevant reference data can be calculated in real time to provide assistance and data support for the decision of the target tracking process, improve the correctness of the calculation, and thereby improve the driving safety and compliance of the target tracking process, and improve the success rate of the target tracking task execution under the premise of ensuring the driving safety and compliance of the target tracking process.

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

[0114] It should be noted that any arrangement and combination of the technical features among the above embodiments also belong to the protection scope of the present application.

[0115] Embodiment three

[0116] Figure 4 is a schematic diagram of a target tracking device provided by the third embodiment of the present application, as shown in Figure 4 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 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.

[0118] The tracking plan path detection module 420 is configured to perform 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 includes 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.

[0119] The tracking plan path adjustment module 430 is configured to dynamically adjust the tracking plan path in real time according to a safety compliance detection result of the tracking plan path.

[0120] The embodiment of the present application generates 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, and performs safety compliance detection on the tracking plan path according to a safety compliance detection reference object associated with the tracking plan path, such as the target tracked object, an obstacle in the tracking plan path, and a restricted jurisdiction area associated with the tracking plan path, and then dynamically adjusts the tracking plan path in real time according to a safety compliance detection result of the tracking plan path, solves the problem that the existing target tracking process ignores the automatic safety compliance auxiliary detection process, can realize safety compliance auxiliary calculation of the target tracking process, and thus improves the safety, compliance and success rate of task execution of the target tracking process.

[0121] Optionally, the tracking plan path generation module 410 is further configured to: calculate end point information of the tracking plan path according to the current position information of the target tracked object and the occupation position parameter information; and generate the tracking plan path according to the current position information of the target tracked object and the end point information of the tracking plan path.

[0122] Optionally, if the safety compliance detection reference object includes the target tracked object, 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 tracked object according to driving information of the target tracked object; and generate safety prompt information of driving line conflict in a case where it is determined that the first driving line geometry and the second driving line geometry exist intersection probability.

[0123] Optionally, if the safety compliance detection reference object includes an obstacle in the tracking plan path, the tracking plan path detection module 420 is further configured to: query the obstacle in the tracking plan path associated range according to dynamic start and end point position information of the tracking plan path, and generate an obstacle geometry of the obstacle; generate 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 a driving safety distance; and generate safety prompt information of obstacle conflict in a case where it is determined that the dynamic safety buffer area of the tracking plan path range includes the obstacle geometry.

[0124] Optionally, if the safety compliance detection reference object includes a limit jurisdiction area associated with the tracking plan path, the tracking plan path detection module 420 is further configured to: obtain area position information of the limit jurisdiction area associated with the tracking plan path, and calculate a limit jurisdiction geometry of the limit jurisdiction area associated with the tracking plan path according to the area position information of the limit jurisdiction area associated with the tracking plan path; generate a predicted tracking path corresponding to the tracking plan path according to the current driving information of the target tracked object; and generate safety prompt information of jurisdiction area conflict in a case where it is determined that the predicted tracking path and the limit jurisdiction geometry exist intersection probability.

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

[0126] Optionally, if the safety compliance detection reference object includes a restricted jurisdiction area associated with the tracking plan path, the tracking plan path detection module 420 is further configured to: calculate a nearest point of the tracking plan path to the restricted jurisdiction area in real time; calculate a shortest distance between the nearest point of the tracking plan path to the restricted jurisdiction area and the restricted jurisdiction area in real time. In a case where the shortest distance between the nearest point of the tracking plan path to the restricted jurisdiction area and the restricted jurisdiction area is less than a target safety distance of the restricted jurisdiction area, a safety prompt information of jurisdiction area conflict is generated.

[0127] The target tracking device described above can execute the target tracking method provided by any embodiment of the present application, has the function modules and beneficial effects corresponding to the execution method. Technical details not described in detail in the present embodiment can be referred to the target tracking method provided by any embodiment of the present application.

[0128] Since the target tracking device described above is a device that can execute the target tracking method in the embodiments of the present application, based on the target tracking method described in the embodiments of the present application, those skilled in the art can understand the specific implementation of the target tracking device of the present embodiment and its various forms, so the target tracking device how to implement the target tracking method in the embodiments of the present application will not be introduced in detail. As long as the device used to implement the target tracking method in the embodiments of the present application is implemented by those skilled in the art, it belongs to the scope of the present application.

[0129] Embodiment Four

[0130] Figure 5 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the present application described and / or claimed in this document.

[0131] As Figure 5As shown, the electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

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

[0133] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the 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 appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the target tracking method.

[0134] Optionally, the target tracking method can include: generating, according to travel information of a target tracking object and a target tracked object, a tracking plan path of the target tracking object tracking 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 includes 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 performing real-time dynamic adjustment on the tracking plan path according to a safety compliance detection result of the tracking plan path.

[0135] In some embodiments, the object tracking method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the object tracking method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the object tracking method by other means, e.g., with the aid of firmware.

[0136] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0137] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0138] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0139] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; 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 acoustic, speech, or tactile input.

[0140] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), blockchain networks, and the Internet.

[0141] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0142] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present disclosure can be achieved, which are not limited herein.

[0143] The above detailed description does not constitute a limitation on the protection scope of the present 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 replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present 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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