CN107886726A - Road occupying/parking behavior detection method and device - Google Patents
Road occupying/parking behavior detection method and device Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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Abstract
The invention provides a kind of road occupying/parking behavior detection method and device, it is related to traffic control field.The road occupying/parking behavior detection method and device pass through multiple relative distance parameters between receiving the vehicle and the range sensor that range sensor gathers；Then distance parameter array is built according in the presetting multiple relative distance parameters that are collected in the cycle studied and judged；Multiple relative distance parameters that last judging distance parameter array includes whether in the range of presetting distance threshold and distance parameter array standard deviation whether in the range of presetting standard deviation threshold method；If it is, the prompt message of generation road occupying/parking behavior.The rate of failing to report of the road occupying/parking behavior detection method and device, rate of false alarm are very low, and the Detection results under night low-illumination environment or under the special weather and low visibility such as sleet haze are unaffected with precision, Consumer's Experience is good, meets detection demand of the highway operation administrative department for road occupying/parking behavior.
Description
Technical field
The present invention relates to traffic control field, in particular to a kind of road occupying/parking behavior detection method and device.
Background technology
Occur in highway or tunnel or the Parking that occurs or not by regulation lanes to the normal pass of highway with
Traffic safety has a significant impact, highway because its closing, vehicle flowrate is big, speed is high the characteristics of, the event such as parking is for height
The influence of fast highway more highlights.Occur or the reason for Parking occur a lot, common are curb parking, working vehicle
Because of parking that operation needs, parking etc. caused by parking, Traffic Collision accident caused by vehicle trouble.These Parkings one
Aspect can have a strong impact on the traffic capacity of road, cause by section vehicle low running speed even heavy congestion；On the other hand make
It must knock into the back, the risk of the even a chain of secondary severe and great casualty to knock into the back is great increases, especially bad at night or sleet mist etc.
When under weather condition, such as the chain of rings under the conditions of dense fog of common occurrence chases after accident and just belongs to such a situation.
In the prior art, the transport condition detection on highway mainly using Highways ' CCTV CCTV cameras based on
The event detection technology of video, but such event detection technology rate of failing to report, rate of false alarm are higher, and in night low-illumination environment
Under or the special weather and low visibility such as sleet haze under effect it is very undesirable, poor user experience, highway can not be met
Detection demand of the operating administration for Parking.
Therefore, it is necessary to a kind of technical scheme of the transport condition of more economic, effective, easy highway is proposed,
And round-the-clock highway Parking detection demand is disclosure satisfy that, have important practical significance, by tracking transport condition, be easy to
Highway operation management unit makes the intervening measure of traffic control in time, avoids or reduce street accidents risks and traffic congestion.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of road occupying/parking behavior detection method and device, with
Improve the problem of above-mentioned.
In a first aspect, a kind of road occupying/parking behavior detection method, the road occupying/parking behavior detection method includes：
Receive multiple relative distance parameters between the vehicle of range sensor collection and the range sensor；
Distance parameter array is built according in the presetting multiple relative distance parameters that are collected in the cycle studied and judged；
Whether multiple relative distance parameters that judging distance parameter array includes are in the range of presetting distance threshold
And whether the standard deviation of distance parameter array is in the range of presetting standard deviation threshold method；
If multiple relative distance parameters that the distance parameter array includes in the range of presetting distance threshold and
When the standard deviation of distance parameter array is in the range of presetting standard deviation threshold method, the prompt message of road occupying/parking behavior is generated.
Second aspect, the embodiment of the present invention additionally provide a kind of road occupying/parking behavior detection means, the road occupying/parking
Behavioral value device includes：
Multiple range sensors of road unilateral or bilateral are arranged at intervals at, each range sensor is labeled with
Label information, each range sensor are used to the relative distance parameter between collection vehicle and the range sensor；
Timing module, the temporal information of relative distance parameter is received for recording；
Control module, communicated to connect with the timing module, each range sensor；For according to it is described it is relative away from
Label information from parameter, the temporal information and each range sensor generates road occupying/parking behavior information
Compared with prior art, road occupying provided by the invention/parking behavior detection method and device, passed by receiving distance
Multiple relative distance parameters between the vehicle and the range sensor of sensor collection；Then foundation studies and judges week in presetting
The multiple relative distance parameters structure distance parameter array collected in phase；Multiple phases that last judging distance parameter array includes
Pair pitch parameters whether in the range of presetting distance threshold and distance parameter array standard deviation whether presetting
In the range of standard deviation threshold method；If it is, the prompt message of generation road occupying/parking behavior.The road occupying/parking behavior detection method with
The rate of failing to report of device, rate of false alarm are very low, and under night low-illumination environment or the special weather such as sleet haze and low energy are shown in
Detection results under degree are unaffected with precision, and Consumer's Experience is good, meets highway operation administrative department for accounting for
The detection demand of road/parking behavior.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.The present invention implementation being generally described and illustrated herein in the accompanying drawings
The component of example can be configured to arrange and design with a variety of.Therefore, the reality of the invention to providing in the accompanying drawings below
The detailed description for applying example is not intended to limit the scope of claimed invention, but is merely representative of the selected implementation of the present invention
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
Every other embodiment, belongs to the scope of protection of the invention.
Fig. 1 is the flow chart of road occupying provided in an embodiment of the present invention/parking behavior detection method；
Fig. 2 is the whole of range sensor provided in an embodiment of the present invention and highway (range sensor is located at the side of highway)
Body structure chart；
Fig. 3 is range sensor provided in an embodiment of the present invention and highway (range sensor is located at the opposite side of highway)
Overall structure figure；
Fig. 4 is the functional unit schematic diagram of road occupying provided in an embodiment of the present invention/parking behavior detection means.
Icon：201- range sensors；401- information receiving units；402- array construction units；403- judging units；
404- prompt message generation units；405- traveling lane determining units.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
Road occupying/parking behavior the detection method and device that the embodiment of the present invention proposes, are detected applied to road occupying vehicular behavior
Equipment, wherein, road occupying vehicular behavior detection device includes control module, range sensor 201 and power supply module, control module
Electrically connect or communicate to connect with range sensor 201 and power supply module respectively.In the present embodiment, the detection of road occupying vehicular behavior is set
It is standby to be applied to road occupying behavioral value system, wherein, road occupying behavioral value system includes multiple road occupying vehicular behavior detection devices, and
Bearing of trend of the range sensor 201 of multiple road occupying vehicular behavior detection devices along highway is arranged at intervals.Of course, as another
A kind of outer embodiment, can also be by multiple along the spaced background service of range sensor 201 and one of highway bearing of trend
Device communicates to connect.Wherein, control module includes processor, and processor is probably a kind of IC chip, has signal
Disposal ability.Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit,
Abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP),
Application specific integrated circuit (ASIC), ready-made programmable gate array (FPGA) either other PLDs, discrete gate or crystalline substance
Body pipe logical device, discrete hardware components.Can realize or perform disclosed each method in the embodiment of the present invention, step and
Logic diagram.General processor can be microprocessor or the processor can also be any conventional processor etc..
Referring to Fig. 1, the embodiments of the invention provide a kind of road occupying/parking behavior detection method, the road occupying/parking row
Include for detection method：
Step S101：Receive multiple relative between vehicle and the range sensor 201 that range sensor 201 gathers
Distance parameter.
In particular it is required that explanation, if road is multiple tracks, as shown in Figure 2 and Figure 3, by multiple range sensors
201 are arranged at the same side of road, if there is two and the above vehicle parallel running when, away from range sensor 201
The vehicle of side by parallel occlusion by range sensor 201 due to can not be detected, therefore, now multiple Distance-sensings
Device 201 is preferably by the bilateral for being arranged at road, and multiple range sensors 201 are staggered.Specifically, multiple Distance-sensings
Device 201 be mountable to highway median strip and/or curb edge and/or tunnel wall, it is necessary to explanation, if road is
During multiple tracks, multiple range sensors 201 can also be arranged on to the top in each track (for example, on each track
The guideboard or overline bridge or indicator lamp or crossbeam of side), it is remote when can avoid the vehicle parallel running if there is two and the above
The vehicle of the side of range sensor 201 by parallel occlusion by range sensor 201 due to can not be detected.In addition,
In the present embodiment, range sensor 201 can select contactless based on safe laser or infrared ligh-ranging or tellurometer survey etc.
The range sensor 201 of range measurement principle, the minimum hard surface width for being no less than one direction of traffic of highway of its detecting distance.
Specifically, for the highway of integral subgrade, detecting distance is usually that central strip takes hardened verge outward flange width to, for dividing
From the highway of formula roadbed, detecting distance is usually left shoulder outward flange to the outer peripheral width of right wing shoulder.
Step S102：Distance parameter is built according in the presetting multiple relative distance parameters that are collected in the cycle studied and judged
Array.
The cycle T of studying and judging is more than or equal to 3s, and the default value for studying and judging cycle T is 4s, and of course, studying and judging cycle T can be according to
Adjusted according to actual conditions；Receiving the frequency f of the relative distance parameter, (i.e. range sensor 201 gathers relative distance parameter
Frequency) it is more than or equal to 5HZ, frequency f default value is 8HZ, and of course, frequency f can adjust according to actual conditions, the present embodiment
In, in order to strengthen the reliability of final test result, by T × f >=30.When vehicle passes through a range sensor 201,
Study and judge in cycle T repeatedly continuously to be detected by range sensor 201, what range sensor 201 can arrive continuous probe
Relative distance parameter is transmitted to control module, and now control module will study and judge the multiple relative distance parameter structures collected in the cycle
Build distance parameter array.
Step S103：Multiple relative distance parameters that judging distance parameter array includes whether presetting apart from threshold
In the range of value and distance parameter array standard deviation whether in the range of presetting standard deviation threshold method.
Specifically, step S103 includes：
Step S1031：Multiple relative distance parameters that distance parameter array is included carry out size order.
Step S1032：Extract maximum；
Step S1033：Judge maximum whether in presetting distance threshold scope；If it is, perform step
S1034。
Parking, which whether occurs, in measure road at least needs following two conditions：First, pass through judging distance one by one
Whether multiple relative distance parameters that parameter array includes are in the range of presetting distance threshold or by distance parameter number
Whether multiple relative distance parameters that group includes carry out size order, and extract maximum, then judge maximum presetting
Multiple relative distance parameters for including so as to judging distance parameter array of distance threshold scope whether in presetting distance
In threshold range, so that it is determined that the barrier detected (in the present embodiment, is judged) on road driveway using the latter,
Rather than the trees of highway side, building etc. barrier, so as to eliminate the barrier of highway one side beyond vehicle.
Step S1034：Extraction is in one group of distance parameter data in the range of the first distance threshold together with the maximum.
Because range sensor 201 is during relative distance parameter is gathered, in fact it could happen that the parallel situation of two cars
Or situation about overtaking other vehicles, therefore the range data collected may differ greatly, it is therefore desirable to in different distance threshold value model
One group of range data in enclosing is extracted respectively carries out discriminatory analysis again.
Step S1035：Judge one group of distance parameter data whether in the range of presetting standard deviation threshold method；If
It is then to perform step S104, if it is not, then performing step S105.
Second, judge whether vehicle is kept in motion, due between each position of vehicle body and range sensor 201
Certain difference be present in distance, thus between multiple relative distance parameters for including of distance parameter array be not it is definitely identical, because
Whether this can be with the standard deviation of the multiple relative distance parameters included of distance parameter array in presetting standard deviation threshold method model
In enclosing, to judge whether vehicle is kept in motion.In the present embodiment, standard deviation threshold method scope is 0.50 >=STD >=0.20,
STD is standard deviation, default value desirable 0.25, of course, refers specifically to that adjustment can be optimized according to actual conditions.Need what is illustrated
It is after judgement, then to extract second group of range data in the range of Second Threshold, repeat and perform above-mentioned step,
Until terminating.
Step S104：Generate the prompt message of road occupying/parking behavior.
In the present embodiment, the prompt message of road occupying/parking behavior can be sent to a monitoring backstage or intelligent terminal, so that
Traffic control personnel arrive scene and handled in time.
Step S105：Generate the prompt message passed through without vehicle.
In addition, the road occupying/parking behavior detection method can also include：
Step S106：The current driving of vehicle is determined according to the distance threshold scope residing for the multiple relative distance parameter
Lane information.
Wherein, step S106 does not have sequencing with step S104, step S105.
Specifically, as shown in Figure 2 and Figure 3, if step S105 can include the distance threshold of the multiple relative distance parameter
Scope is Sn>L>Sn-1When, it is determined that vehicle is in n-th of track, if the distance threshold scope of the multiple relative distance parameter is
Sn-1>L>Sn-2When, it is determined that vehicle is in (n-1)th track, if the distance threshold scope of the multiple relative distance parameter is L<
S1When, it is determined that vehicle in the 1st track, wherein, L is relative distance parameter, Sn=Lr-Lv, Sn-1=Lr-Lv-Ld, Sn-2=
Lr-Lv-2Ld, S1=Lr-Lv- (n-1) Ld, Lr are the threshold of the pre-stored body widths of highway section width, the Lv being pre-stored
Value, Ld are the width of traveling lane.It may determine which track vehicle specifically stops at by above-mentioned mode.
It should be noted that the present embodiment control module can receive the positional information that each range sensor 201 marks,
And when sending the prompt message of road occupying/parking behavior, the positional information that the prompt message with road occupying/parking behavior is associated is sent out
Deliver to a monitor terminal.
Referring to Fig. 4, the embodiment of the present invention additionally provides a kind of road occupying/parking behavior detection means, it is necessary to illustrate,
The road occupying that the embodiment of the present invention is provided/parking behavior detection means, its general principle and caused technique effect and above-mentioned reality
It is identical to apply example, to briefly describe, the present embodiment part does not refer to part, refers to corresponding contents in the above embodiments.It is described
Road occupying/parking behavior detection means includes information receiving unit 401, array construction unit 402, judging unit 403, prompt message
Generation unit 404 and traveling lane determining unit 405.
Information receiving unit 401 is used to receive between vehicle and the range sensor 201 that range sensor 201 gathers
Multiple relative distance parameters.
It is to be appreciated that step S101 can be performed using information receiving unit 401.
Specifically, in particular it is required that explanation, if road is multiple tracks, as shown in Figure 2 and Figure 3, by it is multiple away from
From the same side that sensor 201 is arranged at road, if there is two and the above vehicle parallel running when, away from Distance-sensing
The vehicle of the side of device 201 is therefore, now multiple due to can not be detected by parallel occlusion by range sensor 201
Range sensor 201 is preferably by the bilateral for being arranged at road, and multiple range sensors 201 are staggered.Specifically, it is multiple
Range sensor 201 be mountable to highway median strip and/or curb edge and/or tunnel wall, it is necessary to explanation,
If road is multiple tracks, multiple range sensors 201 can also be arranged on to the top in each track (for example, positioned at every
Guideboard or overline bridge or indicator lamp or crossbeam above individual track), the vehicle parallel-by-bit if there is two and the above can be avoided
When sailing, the vehicle of the side away from range sensor 201 by parallel occlusion by range sensor 201 due to can not be detected
Arrive.
Array construction unit 402 according in presetting for studying and judging the multiple relative distance parameter structures collected in the cycle
Build distance parameter array.
It is to be appreciated that step S102 can be performed using array construction unit 402.
Wherein, the cycle T of studying and judging is more than or equal to 3s, and the frequency f for receiving the relative distance parameter is more than or equal to 5HZ,
And T × f >=30.
Whether judging unit 403 is used for multiple relative distance parameters for including of judging distance parameter array presetting
In the range of distance threshold and distance parameter array standard deviation whether in the range of presetting standard deviation threshold method.
It is to be appreciated that step S103 can be performed using judging unit 403.
If prompt message generation unit 404 is used for multiple relative distance parameters for including of the distance parameter array pre-
In the range of the distance threshold of setting and distance parameter array standard deviation in the range of presetting standard deviation threshold method when, generation accounts for
The prompt message of road/parking behavior.
It is to be appreciated that step S104 can be performed using prompt message generation unit 404.
If the distance threshold scope that prompt message generation unit 404 is additionally operable to the multiple relative distance parameter is L>Sn
When, generate the prompt message that no vehicle passes through.
It is to be appreciated that step S105 can be performed using prompt message generation unit 404.
Wherein, the judging unit can include：
Sort subelement, and multiple relative distance parameters for distance parameter array to be included carry out size order.
It is to be appreciated that sequence subelement can perform step S1031.
Data extract subelement, for extracting maximum.
It is to be appreciated that data extraction subelement can perform step S1032.
Detection sub-unit, for judging maximum whether in presetting distance threshold scope.
It is to be appreciated that detection sub-unit can perform step S1033.
If the data extraction subelement is additionally operable to maximum whether in presetting distance threshold scope, described in extraction
Maximum is in one group of relative distance data in the range of the first distance threshold together.
It is to be appreciated that data extraction subelement can perform step S1034.
Whether the detection sub-unit is additionally operable to judge the standard deviation of one group of relative distance data of extraction presetting
In the range of standard deviation threshold method.
It is to be appreciated that detection sub-unit can perform step S1035.
If the standard deviation for one group of relative distance data that the prompt message generation unit is used to extract is in presetting mark
When in accurate poor threshold range, then the prompt message of road occupying/parking behavior is generated.
Traveling lane determining unit 405 is used to determine according to the distance threshold scope residing for the multiple relative distance parameter
The current driving lane information of vehicle.
It is to be appreciated that step S106 can be performed using traveling lane determining unit 405.
Specifically, if the traveling lane determining unit 405 is used for the distance threshold model of the multiple relative distance parameter
Enclose for Sn>L>Sn-1When, it is determined that vehicle is in n-th of lanes, if the distance threshold scope of the multiple relative distance parameter
For Sn-1>L>Sn-2When, it is determined that vehicle is in (n-1)th lanes, if the distance threshold model of the multiple relative distance parameter
Enclose for L<During s1, it is determined that vehicle in the 1st lanes, wherein, L is relative distance parameter, Sn=Lr-Lv, Sn-1=Lr-
Lv-Ld, Sn-2=Lr-Lv-2Ld, S1=Lr-Lv- (n-1) Ld, Lr are the pre-stored cars of highway section width, the Lv being pre-stored
The threshold value of body width, Ld are the width of traveling lane.
In summary, road occupying provided by the invention/parking behavior detection method and device, are adopted by receiving range sensor
Multiple relative distance parameters between the vehicle of collection and the range sensor；Then foundation is adopted in presetting studying and judging in the cycle
The multiple relative distance parameters structure distance parameter array collected；Multiple relative distances that last judging distance parameter array includes
Parameter whether in the range of presetting distance threshold and distance parameter array standard deviation whether in presetting standard deviation
In threshold range；If it is, the prompt message of generation road occupying/parking behavior.The road occupying/parking behavior detection method and device
Rate of failing to report, rate of false alarm are very low, and under night low-illumination environment or under the special weather and low visibility such as sleet haze
Detection results are unaffected with precision, and Consumer's Experience is good, meet highway operation administrative department for road occupying/parking
The detection demand of behavior.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, can also pass through
Other modes are realized.Device embodiment described above is only schematical, for example, flow chart and block diagram in accompanying drawing
Show the device of multiple embodiments according to the present invention, method and computer program product architectural framework in the cards,
Function and operation.At this point, each square frame in flow chart or block diagram can represent the one of a module, program segment or code
Part, a part for the module, program segment or code include one or more and are used to realize holding for defined logic function
Row instruction.It should also be noted that at some as in the implementation replaced, the function that is marked in square frame can also with different from
The order marked in accompanying drawing occurs.For example, two continuous square frames can essentially perform substantially in parallel, they are sometimes
It can perform in the opposite order, this is depending on involved function.It is it is also noted that every in block diagram and/or flow chart
The combination of individual square frame and block diagram and/or the square frame in flow chart, function or the special base of action as defined in performing can be used
Realize, or can be realized with the combination of specialized hardware and computer instruction in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.Need
Illustrate, herein, such as first and second or the like relational terms be used merely to by an entity or operation with
Another entity or operation make a distinction, and not necessarily require or imply between these entities or operation any this reality be present
The relation or order on border.Moreover, term " comprising ", "comprising" or its any other variant are intended to the bag of nonexcludability
Contain, so that process, method, article or equipment including a series of elements not only include those key elements, but also including
The other element being not expressly set out, or also include for this process, method, article or the intrinsic key element of equipment.
In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including the key element
Process, method, other identical element also be present in article or equipment.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, is then not required in subsequent accompanying drawing
It is further defined and explained.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
Claims (12)
1. a kind of road occupying/parking behavior detection method, it is characterised in that the road occupying/parking behavior detection method includes：
Receive multiple relative distance parameters between the vehicle of range sensor collection and the range sensor；
Distance parameter array is built according in the presetting multiple relative distance parameters that are collected in the cycle studied and judged；
Multiple relative distance parameters that judging distance parameter array includes whether in the range of presetting distance threshold and away from
Whether the standard deviation of the multiple relative distance parameters included from parameter array is within the scope of presetting standard deviation threshold method；
If it is, the prompt message of generation road occupying/parking behavior.
2. road occupying according to claim 1/parking behavior detection method, it is characterised in that the judging distance parameter number
Whether multiple relative distance parameters that group includes are in the range of presetting distance threshold and that distance parameter array includes is more
The standard deviation of individual relative distance parameter whether within the scope of presetting standard deviation threshold method in presetting standard deviation threshold method model
Enclose, if it is, the step of prompt message of generation road occupying/parking behavior includes：
Multiple relative distance parameters that distance parameter array is included carry out size order, and extract maximum, judge maximum
Whether in presetting distance threshold scope, it is in together if it is, extracting the maximum in the range of the first distance threshold
One group of relative distance data, judge the standard deviation of one group of relative distance data of extraction whether in presetting standard deviation threshold method model
In enclosing, if it is, the prompt message of generation road occupying/parking behavior.
3. road occupying according to claim 1/parking behavior detection method, it is characterised in that the road occupying/parking behavior inspection
Survey method also includes：
The current driving lane information of vehicle is determined according to the distance threshold scope residing for the multiple relative distance parameter.
4. road occupying according to claim 3/parking behavior detection method, it is characterised in that if the multiple relative distance
The distance threshold scope of parameter is Sn>L>Sn-1When, it is determined that vehicle is in n-th of lanes, if the multiple relative distance is joined
Several distance threshold scopes is Sn-1>L>Sn-2When, it is determined that vehicle is in (n-1)th lanes, if the multiple relative distance
The distance threshold scope of parameter is L<During s1, it is determined that vehicle in the 1st lanes, wherein, L is relative distance parameter, Sn
=Lr-Lv, Sn-1=Lr-Lv-Ld, Sn-2=Lr-Lv-2Ld, S1=Lr-Lv- (n-1) Ld, Lr are that pre-stored highway section is wide
The threshold value of degree, Lv pre-stored body width, Ld are the width of traveling lane.
5. road occupying according to claim 1/parking behavior detection method, it is characterised in that it is described study and judge cycle T be more than etc.
It is more than or equal to 5Hz, and T × f >=30 in 3s, the frequency f for receiving the relative distance parameter.
6. road occupying according to claim 1/parking behavior detection device, it is characterised in that the extension side along road
To spaced multiple range sensors be located at road the same side or the bearing of trend along road it is spaced more
Individual range sensor is located at the both sides of road, and is staggered between the multiple range sensor or the multiple Distance-sensing
Device is located in the top in each track that road includes.
7. a kind of road occupying/parking behavior detection means, it is characterised in that the road occupying/parking behavior detection means includes：
Information receiving unit, for receive between the vehicle of range sensor collection and the range sensor it is multiple it is relative away from
From parameter；
Array construction unit, for building distance according in the presetting multiple relative distance parameters collected in the cycle of studying and judging
Parameter array；
Judging unit, the multiple relative distance parameters included for judging distance parameter array whether presetting apart from threshold
In the range of value and distance parameter array standard deviation whether in the range of presetting standard deviation threshold method；
Prompt message generation unit, if the multiple relative distance parameters included for the distance parameter array are presetting
In the range of distance threshold and multiple relative distance parameters that distance parameter array includes standard deviation in presetting standard deviation threshold
When in the range of value, the prompt message of road occupying/parking behavior is generated.
8. road occupying according to claim 7/parking behavior detection means, it is characterised in that the judging unit includes：
Sort subelement, and multiple relative distance parameters for distance parameter array to be included carry out size order；
Data extract subelement, for extracting maximum；
Detection sub-unit, for judging maximum whether in presetting distance threshold scope；
If the data extraction subelement is additionally operable to maximum whether in presetting distance threshold scope, the maximum is extracted
Value is in one group of relative distance data in the range of the first distance threshold together；
Whether the detection sub-unit is additionally operable to judge the standard deviation of one group of relative distance data of extraction in presetting standard
In poor threshold range；
If the standard deviation for one group of relative distance data that the prompt message generation unit is used to extract is in presetting standard deviation
When in threshold range, then the prompt message of road occupying/parking behavior is generated.
9. road occupying according to claim 7/parking behavior detection means, it is characterised in that the road occupying/parking behavior inspection
Surveying device also includes：
Traveling lane determining unit, for determining vehicle according to the distance threshold scope residing for the multiple relative distance parameter
Current driving lane information.
10. road occupying according to claim 9/parking behavior detection means, it is characterised in that the traveling lane determines single
If the distance threshold scope that member is used for the multiple relative distance parameter is Sn>L>Sn-1When, it is determined that vehicle is in n-th of track
Traveling, if the distance threshold scope of the multiple relative distance parameter is Sn-1>L>Sn-2When, it is determined that vehicle is in (n-1)th car
Road travels, if the distance threshold scope of the multiple relative distance parameter is L<s1When, it is determined that vehicle is in the 1st track row
Sail, wherein, L is relative distance parameter, Sn=Lr-Lv, Sn-1=Lr-Lv-Ld, Sn-2=Lr-Lv-2Ld, S1=Lr-Lv- (n-1)
Ld, Lr are the threshold value of the pre-stored body widths of highway section width, the Lv being pre-stored, and Ld is the width of traveling lane.
11. road occupying according to claim 7/parking behavior detection means, it is characterised in that the cycle T of studying and judging is more than
It is more than or equal to 5Hz, and T × f >=30 equal to 3s, the frequency f for receiving the relative distance parameter.
12. road occupying according to claim 7/parking behavior detection device, it is characterised in that the extension side along road
To spaced multiple range sensors be located at road the same side or the bearing of trend along road it is spaced more
Individual range sensor is located at the both sides of road, and is staggered between the multiple range sensor or the multiple Distance-sensing
Device is located in the top in each track that road includes.
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| CN201710547622.XA CN107134148A (en) | 2017-07-06 | 2017-07-06 | Road occupation for parking behavioral value method and apparatus |
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| CN207571884U (en) * | 2017-07-06 | 2018-07-03 | 杭州盛棠信息科技有限公司 | Road occupying/parking behavior detection device and system |
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| CN107886726B (en) | 2024-02-23 |
| CN207571884U (en) | 2018-07-03 |
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