Video relay tracking method and platform based on trajectory positioning

Abstract

Disclosed in the present invention are a video relay tracking method and platform based on trajectory positioning. In the method, on the basis of existing traffic support equipment and facility conditions, a road section on which a target vehicle is traveling is calculated in real time on the basis of positioning data of the target vehicle, and on the basis of information of the road section on which the target vehicle is traveling, relay tracking playing is automatically performed on an intersection monitoring video corresponding to an intersection that the target vehicle has left, an intersection monitoring video corresponding to an intersection that the target vehicle is about to arrive at and an intersection monitoring video corresponding to the next intersection of the intersection that the target vehicle is about to arrive at, so as to achieve the objective of performing real-time monitoring on key pieces of information such as the target vehicle and traffic road conditions during task execution. The present technical solution can be applied to various tasks, such as supporting traffic police department duties, which require the tracking and monitoring of a target vehicle, and solves the problems in the prior art of high requirements of video tracking for service personnel and a poor playing effect of an intersection video monitoring device.

Description

A video relay tracking method and platform based on trajectory localization Technical Field

[0001] This invention belongs to the field of intelligent transportation technology, specifically a video relay tracking method and platform based on trajectory positioning. Background Technology

[0002] Target vehicle video tracking is typically used for traffic management during large events, prioritizing emergency vehicles (such as fire trucks and ambulances), and guiding convoys for VIPs. With socio-economic development and continuous road construction, the number of cars owned by residents is increasing, making traffic conditions increasingly complex. Under these circumstances, ensuring traffic safety during mission execution presents a significant challenge to traffic police departments' mission support work.

[0003] Currently, there are two main methods for tracking target vehicles. One is the traditional manual tracking method, where personnel use a video surveillance platform to manually switch between cameras near the target vehicle in real time, monitoring information such as the vehicle's movement and traffic conditions along its route. The other, the existing automatic tracking method, is mainly based on the target vehicle's location, playing nearby video surveillance footage. Current target vehicle tracking methods mainly have the following problems:

[0004] Manual tracking places high demands on personnel, who need to be familiar with the task routes and the installation of camera equipment along the routes. Otherwise, it is easy to lose track of the convoy. Furthermore, when multiple tasks are executed concurrently, a designated video surveillance operator needs to be assigned to each task, which places high demands on the manpower of the traffic police department.

[0005] The existing automatic tracking method retrieves and plays video surveillance footage that is close to the target vehicle. However, video surveillance equipment that is close to the target vehicle has certain limitations in tracking the target vehicle, and it is difficult to retrieve the optimal video surveillance equipment for tracking and playback in real time and accurately.

[0006] Due to factors such as equipment failure and network latency, traditional video relay methods for roadside traffic video surveillance equipment often suffer from problems such as video playback failure or untimely screen switching during actual use, which greatly affects the effectiveness of the target vehicle tracking platform. Summary of the Invention

[0007] The purpose of this invention is to address the problems existing in the prior art by providing a video relay tracking method based on trajectory positioning. This method automatically retrieves and plays video surveillance footage of the target vehicle after it has left an intersection, is about to arrive at an intersection, and is about to arrive at the next intersection (hereinafter collectively referred to as "next intersection"), based on the real-time positioning data of the target vehicle. This achieves the purpose of automatically tracking and monitoring key information such as the target vehicle and traffic conditions during the vehicle tracking task execution process. Simultaneously, a video relay tracking platform based on trajectory positioning is provided. This platform automates the entire process of tasks such as logistical support without human intervention, reducing the workload of support personnel and improving the quality and effectiveness of task execution.

[0008] The technical solution to achieve the objective of this invention is as follows: On one hand, a video relay tracking method based on trajectory localization is provided, the method comprising the following steps:

[0009] Step 1: Select and configure video surveillance equipment at intersections along the mission route that can observe the target vehicle and traffic conditions from the best perspective.

[0010] Step 2: Identify the target vehicle for the tracking task, configure a positioning device for the target vehicle, and ensure that the positioning device can send positioning data to the central video relay tracking platform in real time;

[0011] Step 3: When the tracking task starts, based on the real-time location of the target vehicle and the configuration information of the video surveillance equipment at the intersections along the task route, the following process is executed to achieve relay tracking and playback of the video:

[0012] Step 3-1: Obtain the target vehicle location data corresponding to the tracking task;

[0013] Step 3-2: Based on the positioning data of the target vehicle and the coordinate information of the starting and ending points of each section of the mission route, determine the current route of the target vehicle.

[0014] Step 3-3: Based on the road segment information of the target vehicle's current travel, select several video surveillance devices at intersections from the task configuration information as video relay playback devices for the tracking task, and play the video on a display page according to the set playback strategy.

[0015] Step 3-4: Repeat steps 3-1 to 3-3. When the road section traveled by the target vehicle changes, automatically switch the video surveillance equipment.

[0016] Step 4: Once the target vehicle tracking task is completed, the process ends.

[0017] Furthermore, in step 1, the user selects and configures one or more video surveillance devices for each intersection on the task route, and sets a polling playback strategy for the video surveillance devices at each intersection.

[0018] Further, step 3-2, which involves determining the current route of the target vehicle based on its location data and the coordinates of the starting and ending points of each section of the mission route, specifically includes:

[0019] (1) Based on the positioning data of the target vehicle and the coordinate information of the starting point and ending point of each section of the task route, determine the candidate set of the target vehicle's driving route. If the candidate set is not empty, execute (2); otherwise, jump to (4).

[0020] (2) Based on the candidate set of target vehicle travel segments, calculate the effective projection distance from the target vehicle location to each segment on the task route;

[0021] (3) The road segment corresponding to the minimum effective projection distance is the road segment where the target vehicle is currently traveling, and the method ends;

[0022] (4) The target vehicle is not currently on the task line. At this time, calculate the Euclidean distance from the target vehicle to the start and end points of the task line respectively. If the distance from the target vehicle to the start point of the task line is less than the distance from the target vehicle to the end point of the task line, mark the current tracking task as pending execution; otherwise, mark it as pending termination.

[0023] Furthermore, the effective projected distance from the target vehicle location to each segment of the task route is calculated using the following formula:

[0024]

[0025] In the formula, For target vehicle locations to section of road The effective projection distance, For target vehicle locations to section of road The projection distance, The candidate set of road segments for the target vehicle is defined as follows: if the distance from the target vehicle's location to both endpoints of a road segment is less than or equal to the length of that road segment, then that road segment belongs to the candidate set of road segments for the target vehicle. .

[0026] Furthermore, in step 3-3, if the target vehicle is on the mission route, the starting point of the current target vehicle's travel segment, the ending point of the travel segment, and the ending point of the road segment starting from the ending point of the travel segment are selected as the intersections where the target vehicle has left, the intersections it is about to arrive at, and the next intersections where it is about to arrive at. The video surveillance equipment bound to the above three intersections is used as the video relay playback device for the tracking mission.

[0027] Furthermore, in step 3-3, if the target vehicle is not on the task route and the tracking task is in the pending state, then the video surveillance equipment corresponding to the first three intersections on the task route is selected as the video relay tracking equipment for playback. If the tracking task is in the pending end state, then the video surveillance equipment corresponding to the last three intersections on the task route is selected as the video relay tracking equipment for playback.

[0028] Furthermore, in step 3-3, if multiple video surveillance devices are selected and bound to a certain intersection point on the task route, and a carousel strategy is configured, then the video surveillance devices bound to that intersection point will be polled and played in a carousel according to their priority and the configured carousel strategy.

[0029] Furthermore, in step 3-3, a video fault detection mechanism is introduced. Before playing the intersection video surveillance, it is first checked whether the corresponding video surveillance device can pull the stream normally. If the video stream is pushed abnormally, it is determined that the video surveillance device has malfunctioned, the playback of the intersection video surveillance is automatically canceled, and other configured or default videos are selected for playback.

[0030] Furthermore, in steps 3-4, when the target vehicle's route changes and the corresponding intersection video surveillance is switched to play, one or more video surveillance devices at intersections where the target vehicle will arrive in the future are preloaded.

[0031] On the other hand, a video relay tracking platform based on trajectory positioning is provided, the video relay tracking platform including: a task video relay tracking configuration module, a positioning data receiving and pushing module, a video relay tracking calculation implementation module, a roadside video device calling and playback module, and a task video relay tracking display module;

[0032] The task video relay tracking configuration module is used to select and configure video surveillance equipment information for each intersection on the task route, including video surveillance equipment number, device playback priority number and device rotation duration.

[0033] The positioning data receiving and pushing module is used to receive positioning data sent by the positioning device installed on the target vehicle, and push the target vehicle positioning data to the traffic police command center's intranet task video relay tracking platform through wireless transmission and network security boundaries.

[0034] The video relay tracking calculation implementation module is used to determine the current road segment of the target vehicle based on the target vehicle positioning data and the coordinate information of the intersection points on the task route, and push the starting point, ending point, and intersection information of the current road segment of the target vehicle and the end point of the road segment starting from the ending point to the task video relay tracking display module.

[0035] The roadside video device calls the playback module, which connects to the roadside video device through a streaming media service, receives requests from the task video relay tracking platform to play videos, and retrieves and plays the monitoring data from the roadside video device by video number.

[0036] The task video relay tracking and display module includes: a tracking task list, which displays the tracking tasks configured in the platform, and allows users to start and stop tasks by clicking; a map page, which displays the real-time location of each intersection and the target vehicle in the tracking task based on the map; and three video monitoring playback windows, which are used to play the configured video monitoring equipment corresponding to the target vehicle when it has left the intersection, is about to arrive at the intersection, and is at the next intersection.

[0037] Compared with the prior art, the present invention has the following significant advantages:

[0038] Based on past experience in video surveillance tracking during tracking operations, selecting the corresponding video surveillance devices at the intersections where the target vehicle has left, is about to arrive at, and is at the next intersection as the main entities for relay tracking during the task execution process can maximize the acquisition of information such as the target vehicle's movement status and traffic conditions on the route, effectively ensuring the execution efficiency of the tracking task.

[0039] Based on the target vehicle's location data, the program automatically switches and plays the corresponding intersection video surveillance, solving the problem of manually switching video surveillance during the previous tracking task execution process, relieving the pressure on the business operation personnel, and reducing the manpower input of the traffic police department.

[0040] The driving segment matching, video carousel, video fault detection, and video preloading methods introduced in this invention can be effectively applied to target vehicle tracking scenarios in complex environments such as traffic task support, providing high execution quality for target vehicle tracking tasks in a low-cost and lightweight manner.

[0041] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0042] Figure 1 is a schematic diagram of the structure of the video relay tracking platform of the present invention in one embodiment.

[0043] Figure 2a is a flowchart of the video relay tracking method of the present invention in one embodiment.

[0044] Figure 2b is a flowchart illustrating the specific implementation process of the video relay tracking method of the present invention in one embodiment.

[0045] Figure 2c is a flowchart illustrating the implementation process of the video relay tracking method of the present invention in determining the driving route based on the target vehicle positioning data in one embodiment.

[0046] Figure 3a is a schematic diagram of the task path in one embodiment.

[0047] Figure 3b is a schematic diagram of determining the driving route based on the target vehicle's location in one embodiment.

[0048] Figure 3c is a schematic diagram of a specific location of the target vehicle in one embodiment.

[0049] Figure 4a is a schematic diagram of a video relay tracking playback page in one embodiment.

[0050] Figure 4b is a schematic diagram of the video relay tracking switching playback page in one embodiment. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] In one embodiment, referring to Figures 2a, 2b, and 2c, a video relay tracking method based on trajectory localization is provided, the method comprising the following steps:

[0053] S1, select and configure video surveillance equipment at intersections along the mission route that can observe target vehicles and traffic conditions from the best perspective.

[0054] S2, identify the target vehicle for the tracking task, configure positioning equipment for the target vehicle, and the positioning equipment can send positioning data to the central video relay tracking platform in real time;

[0055] S3, when the tracking task starts, based on the real-time location of the target vehicle and the configuration information of the video surveillance equipment at the intersections along the task route, the following process is executed to achieve relay tracking and playback of the video:

[0056] S301, Obtain the target vehicle location data corresponding to the tracking task;

[0057] S302, Based on the positioning data of the target vehicle and the coordinate information of the starting and ending points of each section of the mission route, determine the current route of the target vehicle.

[0058] S303, based on the road segment information of the target vehicle currently traveling, select several video surveillance devices at intersections from the task configuration information as video relay playback devices for the tracking task, and play the video on a display page according to the set playback strategy;

[0059] S304, repeat S301 to S303, and automatically switch video surveillance equipment when the road section traveled by the target vehicle changes;

[0060] S4, the process ends when the target vehicle tracking task is completed.

[0061] Furthermore, in one embodiment, in S1, one or more video surveillance devices capable of observing target vehicles and traffic conditions from the best perspective are selected and bound to intersections on the task route, and a polling playback strategy is set for the video surveillance devices at each intersection. When configuring multiple video surveillance devices for a certain intersection, the configured multiple video surveillance devices can be prioritized, and it can be set whether to poll multiple video surveillance devices. When setting polling for video surveillance devices, the playback duration of each video surveillance device can be set.

[0062] Furthermore, in one embodiment, step S302, which involves determining the current route of the target vehicle based on its positioning data and the coordinates of the starting and ending points of each segment along the mission route, specifically includes:

[0063] (1) Based on the positioning data of the target vehicle and the coordinate information of the starting point and ending point of each section of the task route, determine the candidate set of the target vehicle's driving route. If the candidate set is not empty, execute (2); otherwise, jump to (4).

[0064] (2) Based on the candidate set of target vehicle travel segments, calculate the effective projection distance from the target vehicle location to each segment on the task route;

[0065] (3) The road segment corresponding to the minimum effective projection distance is the road segment where the target vehicle is currently traveling, and the method ends;

[0066] (4) The target vehicle is not currently on the task line. At this time, calculate the Euclidean distance from the target vehicle to the start and end points of the task line respectively. If the distance from the target vehicle to the start point of the task line is less than the distance from the target vehicle to the end point of the task line, mark the current tracking task as pending execution; otherwise, mark it as pending termination.

[0067] Furthermore, in one embodiment, the calculation formula for the effective projected distance from the target vehicle location to each segment of the task route is as follows:

[0068]

[0069] In the formula, For target vehicle locations to section of road The effective projection distance, For target vehicle locations to section of road The projection distance, The candidate set of road segments for the target vehicle is defined as follows: if the distance from the target vehicle's location to both endpoints of a road segment is less than or equal to the length of that road segment, then that road segment belongs to the candidate set of road segments for the target vehicle. .

[0070] Here, the candidate set of the target vehicle's travel route The determination method is as follows: for the road segments on the mission route Its starting point is The destination is ,if and Then the road section Belongs to candidate set Otherwise, the road section Not part of the candidate set ,in, For target vehicle point to section of road The starting point distance, For target vehicle point to section of road The End distance, For road section The length.

[0071] Furthermore, in one embodiment, in S303, if the target vehicle is on the task route, the starting point of the current target vehicle's travel segment, the ending point of the travel segment, and the ending point of the road segment starting from the ending point of the travel segment are selected as the intersections where the target vehicle has left, the intersections it is about to arrive at, and the next intersections where it is about to arrive at. The video surveillance equipment bound to the above three intersections is used as the video relay playback device for the tracking task.

[0072] Furthermore, in one embodiment, in S303, if the target vehicle is not on the task route and the tracking task is in a pending state, then the video surveillance equipment corresponding to the first three intersections on the task route is selected as the video relay tracking device for playback; if the tracking task is in a pending end state, then the video surveillance equipment corresponding to the last three intersections on the task route is selected as the video relay tracking device for playback.

[0073] Furthermore, in one embodiment, in S303, if multiple video surveillance devices are selected and bound to a certain intersection point on the task route and a carousel strategy is configured, then the video surveillance devices bound to the intersection point are polled and played in turn according to the priority and the configured carousel strategy.

[0074] Furthermore, in one embodiment, in S303, a video fault detection mechanism is introduced. Before playing the intersection video surveillance video, it first checks whether the corresponding video surveillance device can stream the video normally. If the video stream is abnormally pushed, it is determined that the video surveillance device has malfunctioned, and the playback of the intersection video surveillance is automatically canceled, and other configured or default videos are selected for playback. This approach can improve the execution effect of the tracking task.

[0075] Furthermore, in one embodiment, in S304, when the target vehicle's travel route changes and the corresponding intersection video surveillance is switched to play, one or more video surveillance devices at intersections where the target vehicle will arrive in the future can be pre-loaded. This effectively reduces the waiting time for video surveillance playback during subsequent switching and loading, thus improving the performance of the tracking task.

[0076] In one embodiment, referring to Figure 1, a video relay tracking platform based on trajectory positioning is provided, including a task video relay tracking configuration module, a positioning data receiving and pushing module, a video relay tracking calculation implementation module, a roadside video device calling and playback module, and a task video relay tracking display module.

[0077] The task video relay tracking configuration module is used to select and configure information such as video surveillance device number, device playback priority number, and device rotation duration for each intersection on the task route.

[0078] The positioning data receiving and pushing module is used to receive positioning data sent by the positioning device installed on the target vehicle, and push the target vehicle positioning data to the traffic police command center's intranet task video relay tracking platform through wireless transmission and network security boundaries.

[0079] The video relay tracking calculation module is used to determine the current road segment of the target vehicle based on the target vehicle's positioning data and the coordinate information of the intersection points on the task route. It then pushes the starting point, ending point, and intersection information of the current road segment of the target vehicle, as well as the intersection information of the road segment starting from the ending point, to the task video relay tracking display module. The intersection information mainly includes: intersection number, video surveillance device number bound to the intersection, priority playback order of the video surveillance device, and rotation duration.

[0080] The roadside video device calls the playback module, which is connected to the roadside video device through a streaming media service. It can receive requests from the task video relay tracking platform to play videos and retrieve the monitoring data from the roadside video device by video number.

[0081] The task video relay tracking and display module mainly includes: a tracking task list, which displays the tracking tasks configured in the platform, and allows users to start and close tasks by clicking; a map page, which displays the real-time location of each intersection and the target vehicle in the tracking task based on the map; and three video monitoring playback windows, which are used to play the configured video monitoring equipment corresponding to the target vehicle when it has left the intersection, is about to arrive at the intersection, and is at the next intersection.

[0082] Specific limitations regarding the trajectory-based video relay tracking platform can be found in the limitations of the trajectory-based video relay tracking method described above, and will not be repeated here. Each module in the aforementioned trajectory-based video relay tracking platform can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0083] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements:

[0084] S1, select and configure video surveillance equipment at intersections along the mission route that can observe target vehicles and traffic conditions from the best perspective.

[0085] S2, identify the target vehicle for the tracking task, configure positioning equipment for the target vehicle, and the positioning equipment can send positioning data to the central video relay tracking platform in real time;

[0086] S3, when the tracking task starts, based on the real-time location of the target vehicle and the configuration information of the video surveillance equipment at the intersections along the task route, the following process is executed to achieve relay tracking and playback of the video:

[0087] S301, Obtain the target vehicle location data corresponding to the tracking task;

[0088] S302, Based on the positioning data of the target vehicle and the coordinate information of the starting and ending points of each section of the mission route, determine the current route of the target vehicle.

[0089] S303, based on the road segment information of the target vehicle currently traveling, select several video surveillance devices at intersections from the task configuration information as video relay playback devices for the tracking task, and play the video on a display page according to the set playback strategy;

[0090] S304, repeat S301 to S303, and automatically switch video surveillance equipment when the road section traveled by the target vehicle changes;

[0091] S4, the process ends when the target vehicle tracking task is completed.

[0092] For specific limitations on each step, please refer to the limitations of the trajectory-based video relay tracking method mentioned above, which will not be repeated here.

[0093] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program being implemented when executed by a processor:

[0094] S1, select and configure video surveillance equipment at intersections along the mission route that can observe target vehicles and traffic conditions from the best perspective.

[0095] S2, identify the target vehicle for the tracking task, configure positioning equipment for the target vehicle, and the positioning equipment can send positioning data to the central video relay tracking platform in real time;

[0096] S3, when the tracking task starts, based on the real-time location of the target vehicle and the configuration information of the video surveillance equipment at the intersections along the task route, the following process is executed to achieve relay tracking and playback of the video:

[0097] S301, Obtain the target vehicle location data corresponding to the tracking task;

[0098] S302, Based on the positioning data of the target vehicle and the coordinate information of the starting and ending points of each section of the mission route, determine the current route of the target vehicle.

[0099] S303, based on the road segment information of the target vehicle currently traveling, select several video surveillance devices at intersections from the task configuration information as video relay playback devices for the tracking task, and play the video on a display page according to the set playback strategy;

[0100] S304, repeat S301 to S303, and automatically switch video surveillance equipment when the road section traveled by the target vehicle changes;

[0101] S4, the process ends when the target vehicle tracking task is completed.

[0102] For specific limitations on each step, please refer to the limitations of the trajectory-based video relay tracking method mentioned above, which will not be repeated here.

[0103] As a specific example, the invention will be further described and verified in detail in one embodiment.

[0104] In S1, one or more video surveillance devices that can observe target vehicles and traffic conditions from the best perspective are selected and bound to intersections along the task route. When binding multiple video surveillance devices to an intersection, a playback sequence number can be set for each video surveillance device, starting from 1 and incrementing, with lower sequence numbers playing first. It is also possible to configure whether to rotate the bound video surveillance devices. If rotation is enabled, a playback duration must be set for each video surveillance device; otherwise, the default playback duration is used. If rotation is not set, the highest priority video surveillance device at that intersection will be played by default during the tracking task. When other video surveillance devices at the same intersection need to be played, manual switching is required, which improves the platform's flexibility in practical applications.

[0105] Figure 3a shows a task route with 5 road segments and a schematic diagram of the camera distribution. Figure 3b is a simplified diagram of the corresponding task route. For ease of explanation, based on the task route information and camera distribution in Figure 3a, the configuration of the intersection camera selection and binding information on the task route is as follows:

[0106] Three video surveillance devices are bound to intersection R1, and a carousel is set up as shown in Table 1:

[0107] Table 1. Binding Information of R1 Video Devices at the Intersection

[0108] Serial Number | Video Surveillance Equipment Priority | Serial Number | Participation in Carousel | Carousel Duration | 1 | C1 | 2 | Yes | 5 seconds | 2 | C2 | 1 | Yes | 10 seconds | 3 | C3 | 3 | No | -

[0109] Two video surveillance devices are bound to intersection R2, and they are set not to rotate, as shown in Table 2:

[0110] Table 2. Intersection R2 Video Device Binding Information

[0111] Serial Number | Video Surveillance Equipment Priority | Serial Number | Participation in Carousel | Carousel Duration | 4C42 | Yes | - | 5C51 | Yes | -

[0112] R3 at the intersection Bind one video surveillance device and configure it as shown in Table 3:

[0113] Table 3. Intersection R3 Video Device Binding Information

[0114] Serial Number | Video Surveillance Equipment | Priority | Serial Number | Whether to Participate in Carousel | Carousel Duration | 6C6---

[0115] R4 at the intersection Bind two video surveillance devices and configure them as shown in Table 4:

[0116] Table 4. Intersection R4 Video Device Binding Information

[0117] Serial Number | Video Surveillance Equipment Priority | Serial Number | Participation in Carousel | Carousel Duration | 7C71 | Yes | 10S | 8C82 | Yes | 5S | 9C93 | Yes | 5S

[0118] intersection R 5 Bind one video surveillance device and configure it as shown in Table 5:

[0119] Table 5. Intersection R5 Video Device Binding Information

[0120] Serial Number | Video Surveillance Equipment | Priority | Serial Number | Whether to Participate in Carousel | Carousel Duration | 10C 10 ---

[0121] R6 at the intersection Bind 3 video surveillance devices, and configure them as shown in Table 6:

[0122] Table 6. Intersection R6 Video Device Binding Information

[0123] Serial Number | Video Surveillance Equipment | Priority | Serial Number | Whether to Participate in Carousel | Carousel Duration | 11C 11 1 is 10S12C 12 2 is 5S

[0124] In Figure 3b For the target vehicle configured in the mission route shown in Figure 3a, the video relay tracking process in S3 is implemented as follows:

[0125] S301, Obtain the target vehicle corresponding to the task. The positioning data is obtained by the positioning device installed on the target vehicle through navigation satellites such as Beidou to acquire latitude and longitude coordinates, and then transmitted to the traffic police command center's intranet platform through wireless networks such as 4G and 5G networks and network security boundaries.

[0126] S302, based on the positioning data of the target vehicle and the coordinate information of the starting and ending points of each segment on the mission route, determine the current route of the target vehicle, as shown in Figure 2c. The specific method flow is as follows:

[0127] First, based on the location data of the target vehicle and the coordinates of the starting and ending points of each segment on the mission route, a candidate set of route segments for the target vehicle is determined. For each segment on the mission route... Its starting point is The destination is ,if and Then the road section Belongs to candidate set Otherwise, the road section Not part of the candidate set For ease of explanation, the length of each segment on the task route in Figure 3b is set as shown in Table 7:

[0128] Table 7 Length of each segment on the mission route

[0129] Serial Number | Section Length | 1R1R2 | 3km | 2R2R3 | 2.8km | 3R3R4 | 1.8km | 4R4R5 | 2.5km | 5R5R6 | 2km

[0130] The distances from the target vehicle to each intersection on the mission route are set as shown in Table 8:

[0131] Table 8. Distances from target vehicle locations to intersections along the mission route

[0132] Line segment lengths: 1 PR 12.7km 2 PR 20.8km 3 PR 32km 4 PR 44.2km 5 PR 55.2km 6 PR 67km

[0133] Combining the distances set in Tables 7 and 8, because and Therefore, the road section Belongs to candidate set For road sections ,because Therefore, the road section Not part of the anthology By applying similar judgments to other distances in Figure 3b, it can be determined that the candidate set of road segments for the target vehicle at the time shown in Figure 3b is... for: ;

[0134] Then, the effective projected distance from the target vehicle to each road segment on the mission route is calculated, and the effective projected distances from the target vehicle to each road segment are compared to obtain the minimum effective projected distance. The road segment where the projection point corresponding to the minimum effective projected distance is located is the road segment currently being traveled by the target vehicle. In Figure 3b, because the road segment... , and None of them belong to the candidate set ,so, Points and road sections , and The effective projection distance is , Points and road sections Effective projection distance less than Points and road sections The effective projection distance, therefore, the road segment where the target vehicle is currently traveling is... .

[0135] In step S302 of the above embodiment, the projected distance from the target vehicle location to the road segment is calculated by first calculating the projected coordinates of the target vehicle location on the road segment, and then calculating the Euclidean distance between the target vehicle location and the projected coordinates. This Euclidean distance is the projected distance from the target vehicle location to the road segment. Let the road segment... The starting coordinates are The endpoint coordinates are Target vehicle location On the road section upper projection point The formula for calculating coordinates is as follows:

[0136] ,

[0137] Target vehicle point Segment and projection point The formula for calculating the Euclidean distance between them is as follows:

[0138]

[0139] In step S302 of the above embodiment, if the candidate set of the target vehicle's travel route is empty, it is necessary to further determine the status of the tracking task, as shown in Figure 3c. When the target vehicle is in P s Or P e At the location indicated, the candidate set of road segments for the target vehicle is empty. and These are the starting and ending points of the mission route, because... Therefore, when the target vehicle is at P s At the location indicated by the point, the tracking task execution status is in the pending state; because Therefore, the target vehicle is at P. e At the location indicated by the point, the tracking task execution status is pending completion.

[0140] S303, based on the current road segment of the target vehicle, play the video corresponding to the intersection on the page. In Figure 3b, the road segment of the target vehicle is... At this point, it is necessary to obtain the configuration information from the video surveillance points along the task route. , as well as The video surveillance equipment at the three intersections will play the video. Figure 4a is a schematic diagram of the task video relay tracking page, corresponding to the target vehicle and task route information shown in Figure 3b. The first video window on the page will play the video in a loop. Video of the intersection , , The second video window will play in a loop. Video of the intersection , The third video window will continue playing. Video of the intersection The video polling playback mechanism is determined by configuration information. For example, in the first video playback window, because... Priority is 1. Priority is 2. It does not participate in polling playback; therefore, it will play first in the first video playback window. The video is 10 seconds long, then it continues playing. The video is 5 seconds long, and then the two videos above are played repeatedly in a loop. The video playback can be manually selected by the user. When the user manually participates in the video playback, the polling playback mechanism of the video playback window stops.

[0141] In step S303 of the above embodiment, if the target vehicle tracking task is in a pending or completed state, the video window plays the video corresponding to the first three or last three intersections on the task route. As shown in Figure 3c, if the target vehicle is at P... s The point indicated will be the location where the video window plays the intersection. , as well as The video surveillance equipment corresponds to the three intersections; if the target vehicle is at P e The point indicated will be the location where the video window plays the intersection. , as well as Video surveillance equipment corresponding to the three intersections.

[0142] In step S303 of the above embodiment, the video fault detection mechanism is implemented, for example, at an intersection. It is configured with two videos, which are played in a loop. , During video recording, pre-screening can be performed. , Is the video stream normal? If one of the videos, for example... If the video stream fails to load, the second window can automatically continue playing. This method can improve the performance of tracking tasks.

[0143] In step S303 of the above embodiment, the preloading mechanism is as shown in Figure 4a, when playing the intersection... , as well as When dealing with corresponding videos, intersections can be preloaded in advance. Corresponding video , , This way, when the target vehicle enters the road section At that time, it can load quickly. , , Video from three monitoring devices improves the effectiveness of tracking tasks.

[0144] S304, when the road segment traveled by the target vehicle changes, the video automatically switches between the starting point, ending point, and the ending point of the road segment (starting from the ending point) of the latest road segment, as shown in Figure 4b. When the target vehicle travels to... When the traffic segment is viewed, the platform page automatically switches to the playback intersection. , as well as The corresponding video surveillance equipment.

[0145] S4, the process ends when the target vehicle tracking task is completed.

[0146] This technical solution can be applied to various tasks requiring the tracking and monitoring of target vehicles, such as traffic police duty support, and solves the problems of high requirements for business personnel and poor playback effect of intersection video surveillance equipment in existing technologies.

[0147] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention without departing from its spirit and scope should be included within the protection scope of the present invention.

Claims

1. A video relay tracking method based on trajectory localization, characterized in that, The method includes the following steps: Step 1: Select and configure video surveillance equipment at intersections along the mission route that can observe the target vehicle and traffic conditions from the best perspective. Step 2: Identify the target vehicle for the tracking task, configure a positioning device for the target vehicle, and ensure that the positioning device can send positioning data to the central video relay tracking platform in real time; Step 3: When the tracking task starts, based on the real-time location of the target vehicle and the configuration information of the video surveillance equipment at the intersections along the task route, execute the following steps 3-1 to 3-4 to achieve relay tracking and playback of the video: Step 3-1: Obtain the target vehicle location data corresponding to the tracking task; Step 3-2: Based on the positioning data of the target vehicle and the coordinate information of the starting and ending points of each section of the mission route, determine the current route of the target vehicle. Step 3-3: Based on the road segment information of the target vehicle's current travel, select several video surveillance devices at intersections from the task configuration information as video relay playback devices for the tracking task, and play the video on a display page according to the set playback strategy. Step 3-4: Repeat steps 3-1 to 3-3. When the road section traveled by the target vehicle changes, automatically switch the video surveillance equipment. Step 4: Once the target vehicle tracking task is completed, the process ends.

2. The video relay tracking method based on trajectory localization according to claim 1, characterized in that, In step 1, the user selects and configures one or more video surveillance devices for each intersection on the task route, and sets a polling playback strategy for the video surveillance devices at each intersection.

3. The video relay tracking method based on trajectory localization according to claim 1, characterized in that, Step 3-2, based on the target vehicle's location data and the coordinates of the starting and ending points of each segment of the mission route, determines the current route the target vehicle is traveling on. Specifically, this includes: (1) Based on the positioning data of the target vehicle and the coordinate information of the starting point and ending point of each section of the task route, determine the candidate set of the target vehicle's driving route. If the candidate set is not empty, execute (2); otherwise, jump to (4). (2) Based on the candidate set of target vehicle travel segments, calculate the effective projection distance from the target vehicle location to each segment on the task route; (3) The road segment corresponding to the minimum effective projection distance is the road segment where the target vehicle is currently traveling, and the method ends; (4) The target vehicle is not currently on the task line. At this time, calculate the Euclidean distance from the target vehicle to the start and end points of the task line respectively. If the distance from the target vehicle to the start point of the task line is less than the distance from the target vehicle to the end point of the task line, mark the current tracking task as pending execution; otherwise, mark it as pending termination.

4. The video relay tracking method based on trajectory localization according to claim 3, characterized in that, The formula for calculating the effective projected distance from the target vehicle location to each segment of the task route is as follows: ； In the formula, For target vehicle locations to section of road The effective projection distance, For target vehicle locations to section of road The projection distance, The candidate set of road segments for the target vehicle is defined as follows: if the distance from the target vehicle's location to both endpoints of a road segment is less than or equal to the length of that road segment, then that road segment belongs to the candidate set of road segments for the target vehicle. 。 5. The video relay tracking method based on trajectory localization according to claim 1, characterized in that, In step 3-3, if the target vehicle is on the mission route, the starting point of the current target vehicle's travel segment, the ending point of the travel segment, and the ending point of the segment starting from the ending point of the travel segment are selected as the intersections where the target vehicle has left, the intersections it is about to arrive at, and the next intersections where it is about to arrive at. The video surveillance equipment bound to the above three intersections is used as the video relay playback device for the tracking mission.

6. The video relay tracking method based on trajectory localization according to claim 3, characterized in that, In step 3-3, if the target vehicle is not on the task route and the tracking task is in the pending state, the video surveillance equipment corresponding to the first three intersections on the task route is selected as the video relay tracking equipment for playback. If the tracking task is in the pending end state, the video surveillance equipment corresponding to the last three intersections on the task route is selected as the video relay tracking equipment for playback.

7. The video relay tracking method based on trajectory localization according to claim 1, characterized in that, In step 3-3, if multiple video surveillance devices are selected and bound to a certain intersection point on the task route, and a carousel strategy is configured, then the video surveillance devices bound to that intersection point will be polled and played in turn according to their priority and the configured carousel strategy.

8. The video relay tracking method based on trajectory localization according to claim 1, characterized in that, In step 3-3, a video fault detection mechanism is introduced. Before playing the intersection video surveillance, it is first checked whether the corresponding video surveillance device can pull the stream normally. If the video stream is pushed abnormally, it is determined that the video surveillance device has malfunctioned, the playback of the intersection video surveillance is automatically canceled, and other configured or default videos are selected for playback.

9. The video relay tracking method based on trajectory localization according to claim 1, characterized in that, In steps 3-4, when the target vehicle's route changes and the corresponding intersection video surveillance is switched to play, one or more video surveillance devices at intersections where the target vehicle will arrive in the future are preloaded.

10. A video relay tracking platform based on trajectory positioning according to any one of claims 1 to 9, characterized in that, The video relay tracking platform includes: a task video relay tracking configuration module, a positioning data receiving and pushing module, a video relay tracking calculation implementation module, a roadside video device calling and playback module, and a task video relay tracking display module; The task video relay tracking configuration module is used to select and configure video surveillance equipment information for each intersection on the task route, including video surveillance equipment number, device playback priority number and device rotation duration. The positioning data receiving and pushing module is used to receive positioning data sent by the positioning device installed on the target vehicle, and push the target vehicle positioning data to the traffic police command center's intranet task video relay tracking platform through wireless transmission and network security boundaries. The video relay tracking calculation implementation module is used to determine the current road segment of the target vehicle based on the target vehicle positioning data and the coordinate information of the intersection points on the task route, and push the starting point, ending point, and intersection information of the current road segment of the target vehicle and the end point of the road segment starting from the ending point to the task video relay tracking display module. The roadside video device calls the playback module, which connects to the roadside video device through a streaming media service, receives requests from the task video relay tracking platform to play videos, and retrieves and plays the monitoring data from the roadside video device by video number. The task video relay tracking and display module includes: a tracking task list, which displays the tracking tasks configured in the platform, and allows users to start and stop tasks by clicking; a map page, which displays the real-time location of each intersection and the target vehicle in the tracking task based on the map; and three video monitoring playback windows, which are used to play the configured video monitoring equipment corresponding to the target vehicle when it has left the intersection, is about to arrive at the intersection, and is at the next intersection.

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