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Time-space four-dimensional motion target localization is a fundamental and challenging task in the field of intelligent driving, and an important part of achieving the upgrade in existing target localization technologies. In order to solve the problem of the lack of localization of moving targets in a spatio-temporal four-dimensional environment in the existing spatio-temporal data model, this paper proposes an optical imaging model in the four-dimensional time-space system and a mathematical model of the object-image point mapping relationship in the four-dimensional time-space system based on the central perspective projection model, combined with the one-dimensional "time" and three-dimensional "space". After adding the temporal dimension, the imaging system parameters are extended. In order to solve the nonlinear mapping problem of complex systems, this paper proposes to construct a time-space four-dimensional object-image mapping relationship model based on a BP artificial neural network and demonstrates the feasibility of the joint time-space four-dimensional imaging model theory. In addition, indoor time-space four-dimensional localization prediction experiments verify the performance of the model in this paper. The maximum relative error rates of the predicted motion depth values, time values, and velocity values of this localization method compared with the real values do not exceed 0.23%, 2.03%, and 1.51%, respectively [ABSTRACT FROM AUTHOR]