CN101976512B - System and method for automatically responding vehicle position in underground parking garage - Google Patents
System and method for automatically responding vehicle position in underground parking garage Download PDFInfo
- Publication number
- CN101976512B CN101976512B CN 201010501388 CN201010501388A CN101976512B CN 101976512 B CN101976512 B CN 101976512B CN 201010501388 CN201010501388 CN 201010501388 CN 201010501388 A CN201010501388 A CN 201010501388A CN 101976512 B CN101976512 B CN 101976512B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- image
- gprs
- character
- mobile phone
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention relates to system and method for automatically responding a vehicle position in an underground parking garage in the technical field of control in the automotive engineering. The system comprises an image sensor, a signal processor, a vehicle GPRS terminator, a GPRS mobile phone and a GPRS wireless network. The method comprises the steps of: initially setting a system preconception: initializing the vehicle GPRS terminator and the mobile phone and completing point-to-point communication setting of communication addresses and data information convention; sending a command for inquiring the vehicle position to the vehicle GPRS terminator by the GPRS mobile phone for requiring for replying the information of a parking position of the vehicle; receiving the command by the vehicle GPRS and settling the information of the vehicle position; and sending character information and images of the vehicle to the GPRS mobile phone by the GPRS terminator. A vehicle owner can find the vehicle most similar to the position information of the vehicle according to the received images and the message, which solves the problems caused by difficult finding and incapability of finding the vehicle because the vehicle owner does not look out the parking position of the vehicle, thus the vehicle owner is free from worry and convenient for travelling.
Description
Technical field
What the present invention relates to is the System and method in the control technology field in a kind of automobile engineering, and specifically a kind of underground parking vehicle location auto back is answered System and method for.
Background technology
Along with the successively appearance in large parking lot and underground stereo parking lot, often because the car owner looks for car to (or not adding memory) needs cost of forgetting of parking spot many times, bring inconvenience, even have influence on afterwards the mood of driving.For example: in the underground parking lot of Beijing Capital International Airport this type of event occurs and happen occasionally; And for example: the parking lot in large-scale sales field, the car owner from the sales field out after owing to be not careful in advance the stand of oneself vehicle, the result has spent the considerable time, carries out the thing of " one by one investigation " in very on a large scale, and is also much.Especially the underground parking is difficult to the applying GPS location technology so that the storing cycle position determine to exist larger technical difficulty.The method that the present invention adopts image recognition, feature extraction to combine with GPRS can be answered the storing cycle position by auto back, therefore can allow the car owner seek own storing cycle position and extremely save worry, makes things convenient for.
Find by prior art documents, " basic model of the automatic Position Fixing Navigation System of vehicle and the technical matters " of Xu Aigong, Liu Jingnan (" mapping circular " fourth phase in 1996) sketched the basic model of the automatic Position Fixing Navigation System of vehicle, the emphasis to requirement and the technical matters of system, and introduced raising vehicle location precision and improved GPS and located successional ancillary method.But this technology only can be applicable to location and the navigation of surface car, and the vehicle location problem in underground parking lot is felt simply helpless.
Find by prior art documents again, " the GPS Kinematic Positioning Techniques And is in the application of the automatic Position Fixing Navigation System of vehicle " of Hou Jinglin, Feng Liqing, Zhang Xiaodan (" Three Jins mapping " the 2nd phase in 1997) introduced on the basis that GPS dynamically locates in real time, process by gps data, electronic chart shows that the flight path position of moving vehicle reaches the purpose of command scheduling.The content of main research comprises four parts, i.e. data communication, the processing of kinematic GPS positioning data, origin coordinate system transform and electronic cartography.But this technology also only can be applicable to location and the navigation of surface car, can't use equally the vehicle location problem in underground parking lot.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, provide a kind of underground parking vehicle location auto back to answer System and method for.Also be unlikely to because the car owner looks for car to (or not adding memory) needs many times of cost of forgetting of parking spot even the invention solves in large-scale, multi-layer underground sky parking, even can't seek the inconvenience that causes.
The present invention is achieved by the following technical solutions:
The present invention relates to underground parking vehicle location auto back and answer system, comprising: imageing sensor, signal processor, vehicle-mounted GPRS terminal organ, GPRS mobile phone and GPRS wireless network.Wherein, the output interface of imageing sensor is connected with the image signal input interface of signal processor by vision cable, and the RS232 serial line interface of signal processor is connected with the RS232 serial line interface of vehicle-mounted GPRS terminal organ, and the signal that carries out between the two is mutual; Realize that by the GPRS wireless network signal is mutual between vehicle-mounted GPRS terminal organ and the GPRS mobile phone.
Described imageing sensor, namely video camera (or claiming camera) is implemented the collection to scene image.With regard to solid state image sensor, the current three major types type that mainly contains: ccd image sensor (Charge Coupled Device is called for short CCD) claims again charge-coupled image sensor; Cmos image sensor (Complementary Metal-oxidesemiconductor is called for short CMOS) claims again SSPD (Self Scanned Photodiode Array is called for short SSPA); CID charge injection device (Charge Injection Device is called for short CID).The three all is photosensitive semiconductor devices, namely utilizes the sensitization dipole semiconductor to carry out the conversion of light and electricity.Vehicle-mounted imageing sensor is commonly used pinhole cameras, the minisize pick-up head that namely is made of cmos image sensor.The photosensitive unit of cmos image sensor and storage unit are photodiodes, the electric charge reading out structure is digital shift register, by controlling one group of multi-way switch, sequentially the electric charge on each photosensitive unit being taken out and delivers on the public video output cable (or claiming the video output bus).
Described imageing sensor is arranged at the upper edge of vehicle front windshield, perhaps is arranged at the upper edge of vehicle rear seat windscreen, and perhaps both have both at the same time, and is used for the scene image at collection vehicle the place ahead or rear.
Described signal processor comprises: image signal input interface, analog-to-digital conversion module, computing decision-making module, digital signal output interface.Wherein: the input end of image signal input interface is connected with the imageing sensor output interface, and the output terminal of image signal input interface is connected with the input end of analog-to-digital conversion module, and the output port of analog-to-digital conversion module is connected with the input port of computing decision-making module; The output port of computing decision-making module is connected with the input port of digital signal output interface.
Described vehicle-mounted GPRS terminal organ namely is fit to be installed on the GPRS terminal organ in the automobile instrument case, is commonly called as to be the vehicle-mounted GPRS terminal organ.GPRS (General Packet Radio Service) is the abbreviation of " GPRS (General Packet Radio Service) ", is a kind of wireless, packet-switched technology based on gsm system, provides end to end, the wireless IP of wide area connects.The form transmission data that the GPRS high-speed data is processed with " grouping " arrives the user on hand.Although GPRS is the transitional technology that develops to 3G (Third Generation) Moblie as existing GSM network, it all has significant advantage in many aspects.The sharpest edges of GPRS are: the transmission speed of present GSM mobile radio communication is per second 9.6K byte, and the GPRS receiver reaches the transmission speed of 56Kbps, also has to reach 115Kbps (this speed is the twice of 56Kmodem ideal rate commonly used).
The GPRS main body of communicating by letter comprises: transmit/receive antenna, GPRS serving GPRS support node, GPRS backbone network, gateway support node, the Internet, road network monitoring central server.GPRS introduces two new network nodes on original digital wireless communication network GSM basis: GPRS serving GPRS support node and gateway support node, GPRS serving GPRS support node and single-chip microcomputer are in same hierarchy level, and the storage unit of following the tracks of single-chip microcomputer realizes security function and Access Control, and be connected to base station system by frame relay, gateway support node is supported the intercommunication with external packet-switched networks, and is communicated with via GPRS backbone network and GPRS serving GPRS support node.The GPRS terminal obtains data by interface from client, GPRS integrated data after the processing sends to the GSM base station, integrated data is after the encapsulation of GPRS serving GPRS support node, support that by GPRS backbone network and gateway contact communicates, gateway support node is processed accordingly to integrated data, re-send to the purpose network, such as Internet or network X.25.If integrated data is to send to another GPRS terminal, then generally data are sent to the GPRS serving GPRS support node by the GPRS backbone network, send to the GPRS terminal through transmit/receive antenna again, the GPRS communication system of GPRS communication main body and each GPRS terminal complete.
Described GPRS mobile phone, namely the GPRS terminal organ is a kind of, follow under the GPRS communication protocol wireless packet data of realizing mobile phone and vehicle-mounted GPRS terminal organ alternately.The GPRS mobile phone can directly receive data and the image that the vehicle-mounted GPRS terminal organ sends out, and also can the data that oneself represent instruction be sent on the vehicle-mounted GPRS terminal organ by dialing.
The invention still further relates to underground parking vehicle location auto back induction method, comprise that step is as follows:
Step 1, system's setting
At first, the vehicle-mounted GPRS terminal organ must obtain IP address and corresponding termination number mandate thereof by mobile communication carrier, the user manual that provides according to GPRS terminal organ manufacturer and GPRS mobile phone operators again carries out initialization to vehicle-mounted GPRS terminal organ and mobile phone, comprise: the network dial of system, ppp negotiation, TCP connects the initialization that waits operation, finish simultaneously point-to-point communication mailing address and data message agreement are set, as: the GPRS sending short message by mobile phone is comprised of 8 characters, front 6 numerals are password, the 7th character is reply content, the 8th for character be return address.
Described mailing address, i.e. the cell-phone number that the data of vehicle-mounted GPRS terminal organ transmission need to arrive.
Step 2, GPRS mobile phone send the enquiring vehicle position instruction to the vehicle-mounted GPRS terminal organ
The car owner sends the in advance inquiry note of agreement by the GPRS mobile phone to the vehicle-mounted GPRS terminal organ, require to reply oneself storing cycle positional information, as: " 334586IM ", wherein, front 6 bit digital represent password, the 7th character representation " vehicle current environment view and information characteristics thereof are replied in request ", the arrival address of the 8th character representation return information is " mobile phone of current transmission request ", that is car owner's mobile phone.
Step 3, vehicle-mounted GPRS terminal organ are accepted instruction and vehicle position information are put in order
In case the vehicle-mounted GPRS terminal organ namely sends the finish message instruction to signal processor after confirming that password is correct, and is specifically as follows step by step:
(1) the forward and backward side's of collection vehicle scene image
Utilization is arranged on the vehicle front windshield along or is arranged at the pinhole cameras on edge on the vehicle rear seat windscreen, and the forward and backward side's of vehicle scene image is gathered.
Described scene image comprises: the ground image on the parking space and the forward and backward side's of vehicle thereof scene image.
(2) image pre-service
The image pre-service, the image that namely pinhole cameras is collected strengthens and filtering.The purpose of figure image intensifying is to improve the visual effect of image, is convenient to artificial or machine to observation, analysis and the processing of image.
Described figure image intensifying is divided into spatial domain enhancing and frequency field and strengthens two kinds of methods.The former directly processes each pixel of image; The latter processes the spectrum component of image behind Fourier transform, and then obtains required image by inverse fourier transform.
Described filtering then has dividing of two kinds of low pass and high passes.Low pass can make image obtain smoothly, and high pass can make image obtain sharpening.For the present invention, should carry out high-pass filtering through the image after strengthening processes in order to obtain sharpening image.
(3) image feature information extracts
Image feature information extracts, and according to the scene image that collects, its edge is detected, and seeks subsequently unique point, determines the coordinate of unique point on image.
(4) image is implemented perspective transform
Perspective transform is a kind of popularization of affined transformation, one width of cloth oblique view can be looked like to convert to " the front elevation picture " being convenient to observe by perspective transform, is called again " perspective transform is extended to whole piece image ".Concrete grammar is, begins until till the pixel in the lower right corner from the pixel in the upper left corner, and all pixels are converted thereof into pixel coordinate image after the perspective transform according to the perspective transform formula one by one.
(5) recognition data and symbol
According to parking lot frequently-used data and symbol features, with " 1,2; 3 ..., 9; 0 " with 26 English capitalization standard characters be that template is sought the tab character in the scene image that pinhole cameras collects, determine the residing Minimum Area of character and it intercepted out.
(6) coloured image is converted to gray level image
No matter whether original image is colored, is converted into without exception gray level image.
(7) gray level image is carried out binary conversion treatment
Adopt maximum variance between clusters that image is carried out binary conversion treatment.
(8) binary image is arranged rectangular coordinate system
Binary image is set up two dimensional image oxy plane coordinate system, and wherein, take x as horizontal ordinate, y is ordinate, origin o is in the lower left corner of image.
(9) transverse cuts is carried out in the outer symbol zone of binary image
Binary image to y axial projection, is got one section length that is defined as the character transverse cuts of projection width's maximum, and by this length image is carried out transverse cuts, remove the outer symbol zone.
(10) binary image after the transverse cuts is vertically cut
Image after the transverse cuts to x axial projection, is utilized the gap between the numeral, each character is vertically cut, therefore finally respectively each Character segmentation is got off.
(11) character that is cut is filled
Each character that cuts down is filled, so that all character pictures are the image of 11 * 17 pixel sizes.
(12) unify each character picture of convergent-divergent
Each character picture after the cutting is carried out respectively unified convergent-divergent process, to eliminate its horizontal departure.That is, for fear of character because departing from the vertical direction of camera, or the horizontal departure of bringing because of side-looking, each character picture is carried out convergent-divergent to be processed, be normalized to the standard size of 16 * 32 sizes, and will be wherein gray scale be that 0 zone is defined as background, gray scale is that 1 zone is defined as character.
(13) character recognition
According to the similarity value of each character picture and template image, realize the character recognition to the parking stall sign.Wherein, the similarity value adopts template matching method, and concrete formula is:
Wherein, S
kBe k template and current character Image similarity value, I, J are respectively the pixel SerComm of character with high; F (i, j), P
k(i, j) is respectively character pixels and template pixel; K is k piece template, k=1, and 2 ..., m, m are the template sum, get m=36.
Work as S
l＞S
0And
Then detect character and be identified as l template; Wherein, S
0Be similarity threshold, S
kBe k template and current character Image similarity value, 1≤k≤m, m are total number of modules, S
lFor presetting in the template maximum similarity value with the current character image.
Step 4, GPRS terminal organ send character information and image to the GPRS mobile phone
According to signal processor to the view recognition result, export recognition result to the vehicle-mounted GPRS terminal organ, the vehicle-mounted GPRS terminal organ adopts short message mode to send character data to car owner's GPRS mobile phone immediately, and the front/rear scene image of the current stand of vehicle is sent through the overcompression backward GPRS mobile phone of packing.
Described signal processor comprises the view recognition result: the forward and backward side's scene image of vehicle that collects through identifying computing character data drawn, that have Guide and pinhole cameras.
The present invention is as long as inquire data by dialing to one group of vehicle-mounted GPRS terminal organ with the GPRS mobile phone, the characteristic that the vehicle-mounted GPRS terminal organ will in time collect signal processor according to imageing sensor image identifies, mailing address and mode by prior agreement, the mode that is SMS is recycled on this GPRS mobile phone, the storing cycle positional information that the car owner who has this GPRS mobile phone just can provide according to the vehicle-mounted GPRS terminal organ successfully finds oneself vehicle location.
Certainly must be pointed out, above-mentioned recognition result obviously is ground contiguous parking stall, the vehicle dead ahead sign that vehicle gathers automatically, be not the parking stall that vehicle itself is parked, but the most near the tick lables of being sought vehicle, therefore can make the car owner find easily the nearest place of vehicle.
Description of drawings
Fig. 1 is system architecture synoptic diagram of the present invention;
Fig. 2 is that pinhole cameras of the present invention arranges synoptic diagram on vehicle;
Fig. 3 is parking stall of the present invention sign illustration;
Fig. 4 is parking stall of the present invention sign edge detection graph;
Fig. 5 is sign perspective transform figure in parking stall of the present invention;
Fig. 6 is the present invention's zone sectional drawing and binary picture thereof;
Wherein, (a) be regional colored sectional drawing; (b) be regional sectional drawing gray-scale map; (c) be regional sectional drawing binary picture;
Fig. 7 is the sectional drawing coordinate setting of the present invention zone, y axial projection and transverse cuts figure;
Wherein, (a) for regional sectional drawing oxy plane coordinate system synoptic diagram is set; (b) be the figure of y axial projection; (c) be transverse cuts figure;
Fig. 8 is the x axial projection of image after the transverse cuts of the present invention and vertical cutting drawing of character;
Wherein, (a) be the x axial projection of image after the transverse cuts; (b) be vertical cutting result of character.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment
As shown in Figure 1, present embodiment relates to underground parking vehicle location auto back and answers system, comprising: imageing sensor 1, signal processor 2, vehicle-mounted GPRS terminal organ 3, GPRS mobile phone 4 and GPRS wireless network 5.Wherein, the output interface of imageing sensor 1 is connected by the image signal input interface of vision cable with signal processor 2, the RS232 serial line interface of signal processor 2 is connected with the RS232 serial line interface of vehicle-mounted GPRS terminal organ 3, and the signal that carries out between the two is mutual; GPRS wireless network 5 realizes that signal is mutual between vehicle-mounted GPRS terminal organ 3 and the GPRS mobile phone 4.
As shown in Figure 2, described imageing sensor 1 is arranged at the upper edge of vehicle front windshield, perhaps is arranged at the upper edge of vehicle rear seat windscreen, and perhaps both have both at the same time, and are used for the scene image at collection vehicle the place ahead or rear.
Present embodiment is as long as inquire data by dialing to 3 one groups of vehicle-mounted GPRS terminal organs with GPRS mobile phone 4, the characteristic that vehicle-mounted GPRS terminal organ 3 will in time collect signal processor 2 according to imageing sensor 1 image identifies, mailing address and mode by prior agreement are recycled on this GPRS mobile phone, the storing cycle positional information that the car owner who has this GPRS mobile phone 4 just can provide according to vehicle-mounted GPRS terminal organ 3 successfully finds oneself vehicle location.
The characteristic that described image identifies means parking stall sign image or other characteristics etc.
The mailing address of described prior agreement and mode, the signal answering mobile phone number that self-explanatory characters arrange first, what refer to here is exactly car owner's GPRS mobile phone 4 numbers.
Present embodiment also relates to underground parking vehicle location auto back induction method, comprises that step is as follows:
Step 1, system's setting
At first, vehicle-mounted GPRS terminal organ 3 must obtain IP address and corresponding termination number mandate thereof by mobile communication carrier, the user manual that provides according to GPRS terminal organ 3 manufacturers and GPRS mobile phone 4 operators again carries out initialization to vehicle-mounted GPRS terminal organ 3 and mobile phone 4, comprise: the network dial of system, ppp negotiation, TCP connects the initialization that waits operation, finish simultaneously point-to-point communication mailing address and data message agreement are set: GPRS mobile phone 4 sends note and is comprised of 8 characters, front 6 numerals are password, the 7th character is reply content, the 8th for character be return address; Represent such as " 334586IM ": legal identity car owner's password is 334586, and request is replied car owner's mobile phone with vehicle current environment view and information characteristics thereof.
Step 2, GPRS mobile phone send the enquiring vehicle position instruction to the vehicle-mounted GPRS terminal organ
The car owner sends the in advance inquiry note of agreement by GPRS mobile phone 4 to vehicle-mounted GPRS terminal organ 3: " 334586IM " requires to reply oneself storing cycle positional information.
Step 3, vehicle-mounted GPRS terminal organ are accepted instruction and vehicle position information are put in order
After in case vehicle-mounted GPRS terminal organ 3 confirms that password is correct, namely send the finish message instruction to signal processor 2, specifically as follows step by step:
(1) the forward and backward side's of collection vehicle scene image
As shown in Figure 2, utilize the pinhole cameras collection vehicle the place ahead scene image that is arranged at edge on the vehicle front windshield.
(2) image pre-service
As shown in Figure 3, the image that pinhole cameras is collected strengthens and high-pass filtering.
(3) image feature information extracts
As shown in Figure 4, according to the scene image that collects, its edge is detected, seek subsequently unique point, determine the coordinate of unique point on image, automatically detect from markings edge, parking stall and definite four angle point (x
i, y
i), i=1,2,3,4.
(4) image is implemented perspective transform
In the coordinates of targets after the image perspective transform of drafting, get equally four points, its coordinate be respectively (x '
i, y '
i), i=1,2,3,4, utilize the homogeneous coordinate transformation equation
Obtain having an X-rayed matrix
In each parameter value;
Utilize the perspective matrix with each the pixel (x on the image
Ij, y
Ij) be converted in the target-based coordinate system after the perspective transform (x '
Ij, y '
Ij), namely
Wherein: i=1,2 ..., m, j=1,2 ..., n, m are the pixel columns, n is the pixel line number, obtains thus the digital picture that is conducive to identify.
Therefore as shown in Figure 5, overcome the distortion of the image feature information that the stravismus because of imageing sensor causes.
(5) recognition data and symbol
According to parking lot frequently-used data and symbol features, with " 1; 2; 3; ..., 9,0 " and 26 English capitalization standard characters be that template is sought the tab character in the scene image that pinhole cameras collects, determine the residing Minimum Area of character and it is intercepted out, shown in Fig. 6 (a).
(6) coloured image is converted to gray level image
Coloured image shown in Fig. 6 (a) is converted to gray level image, shown in Fig. 6 (b).
(7) gray level image is carried out binary conversion treatment
Shown in Fig. 6 (c), adopt maximum variance between clusters that image is carried out binary conversion treatment, concrete formula is:
Image after the gray scale processing is carried out binary conversion treatment, image is divided into target and background two parts; In (formula four), dst
IjBe the pixel of binary image, src
IjPixel for gray level image; Threshold is the threshold value of setting.
(8) binary image is arranged rectangular coordinate system
Shown in Fig. 7 (a), the binary image shown in Fig. 6 (c) is set up two dimensional image oxy plane coordinate system, wherein, take x as horizontal ordinate, y is ordinate, origin o is in the lower left corner of image.
(9) transverse cuts is carried out in the outer symbol zone of binary image
Shown in Fig. 7 (b), binary image to y axial projection, is got one section length that is defined as the character transverse cuts of projection width's maximum, and by this length image is carried out transverse cuts, remove the outer symbol zone, shown in Fig. 7 (c).
(10) binary image after the transverse cuts is vertically cut
Image is to x axial projection, shown in Fig. 8 (a) after will the transverse cuts shown in Fig. 7 (c); Vertically cut each character in gap between the recycling numeral, therefore finally respectively each Character segmentation is got off, shown in Fig. 8 (b).
(11) character that is cut is filled
Each character that cuts down is filled, so that all character pictures are the image of 11 * 17 pixel sizes.
(12) unify each character picture of convergent-divergent
Each character picture after the cutting is carried out respectively unified convergent-divergent process, to eliminate its horizontal departure.That is, for fear of character because departing from the vertical direction of camera, or the horizontal departure of bringing because of side-looking, each character picture is carried out convergent-divergent to be processed, be normalized to the standard size of 16 * 32 sizes, and will be wherein gray scale be that 0 zone is defined as background, gray scale is that 1 zone is defined as character.
(13) character recognition
Calculate the similarity value of each character picture and template image by (formula one), realization is to the character recognition of parking stall sign, and each character picture shown in Fig. 8 (b) is confirmed to be " A285 " with 0～9 and 26 English capitalization template recognition result respectively.
Step 4, GPRS terminal organ send character information and image to the GPRS mobile phone
According to 2 pairs of view recognition results of signal processor, export recognition result to vehicle-mounted GPRS terminal organ 3, vehicle-mounted GPRS terminal organ 3 adopts short message mode to send character datas " A285 " to car owner's GPRS mobile phone 4 immediately, and the front/rear scene image of the current stand of vehicle is sent through the overcompression backward GPRS mobile phone 4 of packing.
The car owner of present embodiment can find vehicle near the parking space information of oneself vehicle according to what the image of receiving and note provided, solved the parking lot in large-scale sales field, owing to be not careful the stand of oneself vehicle in advance, the result runs into and looks for car difficulty even can't seek the inconvenience problem that causes, and therefore can allow the car owner go on a journey extremely to save worry and makes things convenient for.
Claims (7)
1. a underground parking vehicle location auto back is answered system, it is characterized in that, comprise: imageing sensor, signal processor, vehicle-mounted GPRS terminal organ, GPRS mobile phone and GPRS wireless network, the output interface of imageing sensor is connected with the image signal input interface of signal processor by vision cable, the serial line interface of signal processor is connected with the serial line interface of vehicle-mounted GPRS terminal organ, the signal that carries out between the two is mutual, realizes that by the GPRS wireless network signal is mutual between vehicle-mounted GPRS terminal organ and the GPRS mobile phone:
Wherein, imageing sensor is arranged at the upper edge of vehicle front windshield, perhaps is arranged at the upper edge of vehicle rear seat windscreen, and perhaps both have both at the same time, and is used for the scene image at collection vehicle the place ahead or rear.
2. answer system according to the described underground parking of claim l vehicle location auto back, it is characterized in that, described signal processor, comprise: image signal input interface, analog-to-digital conversion module, computing decision-making module, digital signal output interface, wherein: the input end of image signal input interface is connected with the imageing sensor output interface, the output terminal of image signal input interface is connected with the input end of analog-to-digital conversion module, and the output port of analog-to-digital conversion module is connected with the input port of computing decision-making module; The output port of computing decision-making module is connected with the input port of digital signal output interface.
3. a underground parking vehicle location auto back induction method that adopts the described system of claim 1 is characterized in that, comprising:
Step 1, system's anticipation initialization setting: vehicle-mounted GPRS terminal organ and mobile phone are carried out initialization and finish point-to-point communication mailing address and data message agreement are set;
Step 2, GPRS mobile phone send the enquiring vehicle position instruction to the vehicle-mounted GPRS terminal organ;
Step 3, vehicle-mounted GPRS terminal organ are accepted instruction and vehicle position information are put in order;
Step 4, GPRS terminal organ send character information and image to the GPRS mobile phone.
4. underground parking according to claim 3 vehicle location auto back induction method, it is characterized in that, system's anticipation initialization setting described in the step 1, refer to: at first, the vehicle-mounted GPRS terminal organ must obtain IP address and corresponding termination number mandate thereof by mobile communication carrier, the user manual that provides according to GPRS terminal organ manufacturer and GPRS mobile phone operators again carries out initialization to vehicle-mounted GPRS terminal organ and mobile phone, comprise: the network dial of system, ppp negotiation, the initialization of TCP connection operation is finished simultaneously point-to-point communication mailing address and data message agreement is set.
5. underground parking according to claim 3 vehicle location auto back induction method, it is characterized in that, instruction described in the step 2 requires to reply oneself storing cycle positional information for the car owner sends the in advance inquiry note of agreement by the GPRS mobile phone to the vehicle-mounted GPRS terminal organ.
6. underground parking according to claim 3 vehicle location auto back induction method is characterized in that, in case after the vehicle-mounted GPRS terminal organ confirms that password is correct in described step 3, namely send the finish message instruction to signal processor, specifically as follows step by step:
(1) the forward and backward side's of collection vehicle scene image utilizes the pinhole cameras be arranged at the upper edge of vehicle front windshield or be arranged at the upper edge of vehicle rear seat windscreen, and the forward and backward side's of vehicle scene image is gathered;
(2) image pre-service, the image that pinhole cameras is collected strengthens and filtering;
(3) image feature information extracts, and according to the scene image that collects, its edge is detected, and seeks subsequently unique point, determines the coordinate of unique point on image;
(4) image is implemented perspective transform, one width of cloth oblique view can be looked like to convert to the whole piece image of being convenient to observe by perspective transform, concrete grammar is: begin until till the pixel in the lower right corner from the pixel in the upper left corner, all pixels are converted thereof into pixel coordinate image after the perspective transform according to the perspective transform formula one by one;
(5) recognition data and symbol, according to parking lot frequently-used data and symbol features, with " l; 2; 3 ..., 9; 0 " with 26 English capitalization standard characters be that template is sought the tab character in the scene image that pinhole cameras collects, determine the residing Minimum Area of character and it intercepted out;
(6) coloured image is converted to gray level image, no matter whether original image is colored, is converted into without exception gray level image;
(7) gray level image is carried out binary conversion treatment, adopt maximum variance between clusters that image is carried out binary conversion treatment;
(8) binary image is arranged rectangular coordinate system, binary image is set up two dimensional image oxy plane coordinate system, wherein, take x as horizontal ordinate, y is ordinate, origin o is in the lower left corner of image;
(9) transverse cuts is carried out in the outer symbol zone of binary image, binary image to y axial projection, is got one section length that is defined as the character transverse cuts of projection width's maximum, and by this length image is carried out transverse cuts, remove the outer symbol zone;
(10) binary image after the transverse cuts is vertically cut, the image after the transverse cuts to x axial projection, is utilized the gap between the numeral, each character is vertically cut, therefore finally respectively each Character segmentation is got off;
(11) character that is cut is filled, each character that cuts down is filled, so that all character pictures are the image of 11 * l7 pixel size;
(12) unify each character picture of convergent-divergent, each character picture after the cutting is carried out respectively unified convergent-divergent process, to eliminate its horizontal departure.That is, for fear of character because departing from the vertical direction of camera, or the horizontal departure of bringing because of side-looking, each character picture is carried out convergent-divergent to be processed, be normalized to the standard size of 16 * 32 sizes, and will be wherein gray scale be that 0 zone is defined as background, gray scale is that the zone of l is defined as character;
(13) according to the similarity value of each character picture and template image, realize the character recognition to the parking stall sign,
Wherein, the similarity value adopts template matching method, and concrete formula is
Wherein, S
kBe k template and current character Image similarity value, I, J are respectively the pixel SerComm of character with high; F (i, j), P
k(i, j) is respectively character pixels and template pixel; K is k piece template, k=l, and 2 ..., m, m are the template sum, get m=36;
Work as S
l ＞S
0And
Then detect character and be identified as
lIndividual template; Wherein, S
0Be similarity threshold, S
kBe k template and current character Image similarity value, 1≤k≤m, m are total number of modules, S
l For presetting in the template maximum similarity value with the current character image.
7. underground parking according to claim 3 vehicle location auto back induction method, it is characterized in that, character information described in the step 4 and image are to the view recognition result according to signal processor, export recognition result to the vehicle-mounted GPRS terminal organ, the vehicle-mounted GPRS terminal organ adopts short message mode to send character data to car owner's GPRS mobile phone immediately, and the front/rear scene image of the current stand of vehicle is sent through the overcompression backward GPRS mobile phone of packing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010501388 CN101976512B (en) | 2010-10-11 | 2010-10-11 | System and method for automatically responding vehicle position in underground parking garage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010501388 CN101976512B (en) | 2010-10-11 | 2010-10-11 | System and method for automatically responding vehicle position in underground parking garage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101976512A CN101976512A (en) | 2011-02-16 |
| CN101976512B true CN101976512B (en) | 2013-03-27 |
Family
ID=43576392
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010501388 Active CN101976512B (en) | 2010-10-11 | 2010-10-11 | System and method for automatically responding vehicle position in underground parking garage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101976512B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103632562A (en) * | 2012-08-20 | 2014-03-12 | 能晶科技股份有限公司 | A vehicle searching system and a method thereof |
| CN103216130B (en) * | 2013-04-24 | 2015-02-25 | 无锡市崇安区科技创业服务中心 | Underground garage parking space with projection marks |
| CN103473949B (en) * | 2013-09-24 | 2015-07-01 | 张忠义 | Parking lot parking locating method enabling vehicle to be reversely sought and combined with vehicle-mounted machine |
| CN104809771A (en) * | 2015-04-30 | 2015-07-29 | 上海天奕达电子科技有限公司 | Vehicle searching method and system |
| CN105513404A (en) * | 2016-01-12 | 2016-04-20 | 深圳市凯立德科技股份有限公司 | Method and device assisting in finding automobiles, automobile data recorder and user equipment |
| CN106097769A (en) * | 2016-08-22 | 2016-11-09 | 成都众易通科技有限公司 | Intelligent parking service system |
| CN106205197A (en) * | 2016-08-22 | 2016-12-07 | 成都众易通科技有限公司 | Based on the automation integrated service system stopped |
| CN106599886B (en) * | 2016-11-07 | 2020-07-28 | 纵目科技（上海）股份有限公司 | Mobile device, storage number identification method and system, and character identification method |
| CN110766972A (en) * | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | Vehicle searching method, device and system and server |
| CN113822930B (en) * | 2020-06-19 | 2024-02-09 | 黑芝麻智能科技(重庆)有限公司 | System and method for locating objects in a parking lot with high accuracy |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1489119A (en) * | 2002-10-07 | 2004-04-14 | 卡迪克株式会社 | Parking lot management system and parking lot management method |
| CN1522427A (en) * | 2001-06-30 | 2004-08-18 | �ʼҷ����ֵ�������˾ | Smart parking advisor |
| WO2008060016A1 (en) * | 2006-11-13 | 2008-05-22 | Samsung Sds Co., Ltd. | Parking place confirmation system and method thereof |
| CN101326557A (en) * | 2005-12-06 | 2008-12-17 | 金基昌 | System for parking management |
-
2010
- 2010-10-11 CN CN 201010501388 patent/CN101976512B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1522427A (en) * | 2001-06-30 | 2004-08-18 | �ʼҷ����ֵ�������˾ | Smart parking advisor |
| CN1489119A (en) * | 2002-10-07 | 2004-04-14 | 卡迪克株式会社 | Parking lot management system and parking lot management method |
| CN101326557A (en) * | 2005-12-06 | 2008-12-17 | 金基昌 | System for parking management |
| WO2008060016A1 (en) * | 2006-11-13 | 2008-05-22 | Samsung Sds Co., Ltd. | Parking place confirmation system and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101976512A (en) | 2011-02-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101976512B (en) | System and method for automatically responding vehicle position in underground parking garage | |
| CN112184818B (en) | Vision-based vehicle positioning method and parking lot management system applying same | |
| CN109614889B (en) | Object detection method, related device and computer storage medium | |
| CN104867324B (en) | The method and relevant apparatus of passenger loading are identified in the service of calling a taxi | |
| CN116723392A (en) | Image processing method and image processing system | |
| CN107862899A (en) | Reverse car seeking method, device, computer installation and computer-readable recording medium | |
| CN108764042B (en) | Abnormal road condition information identification method and device and terminal equipment | |
| WO2022110106A1 (en) | Code scanning method and apparatus | |
| CN109005498A (en) | Vehicle retainer and guider | |
| CN105183444A (en) | Providing Vehicle Owner's Manual Information Using Object Recognition In A Mobile Device | |
| CN107221151A (en) | Order driver based on image recognition recognizes the method and device of passenger | |
| CN105046944A (en) | Bus passenger flow data acquisition method based on mobile phone MAC address scanning | |
| CN102426801A (en) | Automatic parking lot berth management method and system based on visual analysis | |
| CN110556022A (en) | Parking lot parking space indication method and device based on artificial intelligence and electronic equipment | |
| CN104331824A (en) | Transaction system and method of bus real-time position data | |
| CN111435538A (en) | Positioning method, positioning system, and computer-readable storage medium | |
| CN109325409B (en) | Passing vehicle fake plate inspection platform | |
| CN109963144A (en) | A kind of vehicle-mounted identifying system based on AR-HUD | |
| JPWO2018150685A1 (en) | Image processing apparatus, image processing method, and program | |
| CN110398255A (en) | Localization method, device and vehicle | |
| CN115115611B (en) | Vehicle damage identification method and device, electronic equipment and storage medium | |
| CN114155497A (en) | Object identification method and device and storage medium | |
| CN115376347A (en) | Intelligent driving area controller and vehicle control method | |
| CN109948618A (en) | A kind of terminal, the system and method for remote Car license recognition | |
| CN112446898A (en) | Positioning method, device, equipment, system and storage medium based on vehicle-road cooperation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170105 Address after: 223001 science and Technology Industrial Park, Jiangsu, Huaian science and technology road, No. 18 Patentee after: North Jiangsu Institute of Shanghai Jiao Tong University Address before: 200240 Dongchuan Road, Shanghai, No. 800, No. Patentee before: Shanghai Jiaotong Univ. |