CN106228835B - A kind of parking stall Parking judgment method and system - Google Patents
A kind of parking stall Parking judgment method and system Download PDFInfo
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- CN106228835B CN106228835B CN201610566390.8A CN201610566390A CN106228835B CN 106228835 B CN106228835 B CN 106228835B CN 201610566390 A CN201610566390 A CN 201610566390A CN 106228835 B CN106228835 B CN 106228835B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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Abstract
The present invention provides a kind of parking stall Parking judgment methods, comprising: by obtaining the trace information of moving vehicle, whether has moving vehicle into position or position trend prejudges out；By the characteristic point quantity of moving target in all parking stalls of acquisition, whether has moving target into position or position trend prejudges out；The regional location of the moving vehicle obtained when prejudging first time has the region being overlapped with the regional location for all moving targets that second of anticipation obtains, and for the first time be judged in advance be, second of anticipation of the corresponding moving target in overlapping region is also for when being, judge that overlapping region whether there is vehicle at this time again, when there are vehicle, indicate that vehicle has into position or position trend out.Finally again by the method for geomagnetism detecting, judge whether vehicle is completed into position or complete out position.The information of vehicles arrived according to anticipation results acquisition is uploaded and saved again, it is ensured that the information of vehicles saved in vehicle management system is effective.
Description
Technical field
The present invention relates to intelligent transportation field more particularly to a kind of parking stall Parking judgment methods and system.
Background technique
Currently, video technique has been widely used for the regions such as parking lot, urban road and highway, vehicle letter is carried out
The crawl and identification of breath.During being managed to road parking place, vehicle management system is also required to using video technique
The license board information of vehicle is acquired, to realize the management to road parking place.
But after vehicle stops completely into parking stall, the license board information of vehicle is blocked completely, can not be obtained by camera
The license board information of vehicle.It needs when vehicle does not stop into parking stall or not leaving parking stall completely completely, automatic identification vehicle
Information, therefore, it is necessary to be prejudged to whether vehicle has into trend, after anticipation to vehicle has into trend, acquisition vehicle
Information, if but just collected information of vehicles is uploaded in vehicle management system save at this time, it is possible to because certain
Reason, vehicle fails to complete just to have left into position or vehicle does not go out position rear vehicle completely and stopped go back to parking stall again, can thus make
It is invalid at collected information of vehicles.
Summary of the invention
In view of this, solving anticipation in the prior art the present invention provides a kind of parking stall Parking judgment method and arriving
After vehicle has position or out position trend, the problem of collecting invalid information of vehicles, this method comprises:
The present invention provides the following technical scheme that
The invention discloses a kind of methods of parking stall Parking judgement, which comprises
Obtain motion profile of the moving vehicle in predetermined areas；
When the motion profile shows that the moving vehicle has rolled the parking stall line pre-seted, the moving vehicle is determined
The first area position being currently located；And judge the first current movement tendency of the moving vehicle；
Preset background modeling algorithm is called, the feature of moving target in each parking stall in the predetermined areas is obtained
The target area position that moving target is presently in point quantity and each parking stall；
According to the characteristic point quantity of moving target in each parking stall, judge that the preset movement of moving target becomes in each parking stall
Gesture；
There is the region being overlapped with the first area position when there are the target area positions of moving target in each parking stall,
And the movement tendency of moving target corresponding with the target area position that the first area position coincides and described first is transported
When the direction of motion of dynamic trend is identical, judge in the region being overlapped with the presence or absence of vehicle；
When there are vehicle, the vehicle is expressed as target vehicle, and shows the target vehicle there are preset fortune
Dynamic trend, wherein the preset movement tendency includes into trend and out position trend；
After detecting that the target vehicle has preset movement tendency, told target vehicle is detected by geomagnetism detecting device
Whether target parking stall is driven out to completely into target parking stall or completely, and the target parking stall is to move described in the overlapping region
Parking stall where target.
The above method, it is preferred that the motion profile for obtaining moving vehicle in predetermined areas, comprising:
Obtain the video frame information in the predetermined areas；
The video frame information is parsed, obtains the texture information of moving vehicle within the scope of the moving region, and according to institute
Texture information is stated to track the moving vehicle；
The tracking result for analyzing the moving vehicle obtains the motion profile of the moving vehicle.
The above method, it is preferred that the characteristic point quantity according to moving target in each parking stall judges in each parking stall
The preset movement tendency of moving target, comprising:
Judge whether the quantity of the moving target characteristic point is greater than preset first threshold；
When being greater than the first threshold, indicate that the movement tendency of the moving target is into trend；
Judge whether the quantity of the moving target characteristic point is greater than preset second threshold；
When being greater than the second threshold, indicate that the movement tendency of the moving target is position trend；And described
One threshold value is less than the second threshold.
The above method, it is preferred that it is described after detecting that the target vehicle has preset movement tendency, it is examined by earth magnetism
It surveys device and detects whether the target vehicle is driven out to target parking stall completely into target parking stall or completely, the target parking stall is institute
State the region where moving target described in overlapping region, comprising:
After geomagnetism detecting device detects that the target vehicle enters target parking stall, the target vehicle is obtained in the mesh
Mark the berthing time of parking stall；
When the berthing time is greater than preset third threshold value, indicate vehicle completely into target parking stall；
After geomagnetism detecting device detects that the target vehicle is driven out to target parking stall, obtains the target vehicle and leave the mesh
Mark the time of parking stall；
When the time that the target vehicle leaves the target parking stall being greater than preset four threshold value, the target is indicated
Vehicle is driven out to the target parking stall completely.
The above method, it is preferred that before the first current movement tendency of the judgement moving vehicle further include:
When the moving vehicle has rolled the parking stall line pre-seted, judge that the parking stall line pre-seted rolled is
The no non-pedestrian side in parking stall；
If indicating the moving vehicle, there are the first movement tendencies in non-pedestrian side.
The invention also discloses a kind of parking stall Parkings to judge system, the system comprises:
First acquisition unit, for obtaining motion profile of the moving vehicle in predetermined areas；
Determining and the first judging unit, for showing that the moving vehicle has rolled the vehicle pre-seted when the motion profile
When bit line, the first area position that the moving vehicle is currently located is determined；And judge the first current fortune of the moving vehicle
Dynamic trend；
Second acquisition unit obtains each vehicle in the predetermined areas for calling preset background modeling algorithm
The target area position that is presently in of moving target in the characteristic point quantity of moving target and each parking stall in position；
Second judgment unit judges to transport in each parking stall for the characteristic point quantity according to moving target in each parking stall
The preset movement tendency of moving-target；
Third judging unit, for when there are the target area positions of moving target and the first area in each parking stall
There are the region of coincidence, and the movement of moving target corresponding with the target area position that the first area position coincides in position
When trend is identical as the direction of motion of first movement tendency, judge in the region being overlapped with the presence or absence of vehicle；
First indicates unit, for the vehicle being expressed as target vehicle, and indicate the target when there are vehicle
Vehicle is there are preset movement tendency, wherein the preset movement tendency includes into trend and out position trend；
Detection unit, for being examined by geomagnetism detecting device after detecting that the target vehicle has preset movement tendency
Survey whether the target vehicle is driven out to target parking stall completely into target parking stall or completely, the target parking stall is the coincidence
Parking stall where moving target described in region.
Above system, it is preferred that the first acquisition unit includes:
First obtains subelement, for obtaining the video frame information in the predetermined areas；
It tracks subelement and obtains the line of moving vehicle within the scope of the moving region for parsing the video frame information
Information is managed, and the moving vehicle is tracked according to the texture information；
It determines subelement, for analyzing the tracking result of the moving vehicle, obtains the motion profile of the moving vehicle.
Above system, it is preferred that the second judgment unit includes:
First judgment sub-unit, for judging whether the quantity of the moving target characteristic point is greater than preset first threshold
Value；
First indicates subelement, for indicating that the movement tendency of the moving target is when being greater than the first threshold
Enter trend；
Second judgment sub-unit, for judging whether the quantity of the moving target characteristic point is greater than preset second threshold
Value；
Second indicates subelement, for indicating that the movement tendency of the moving target is when being greater than the second threshold
Position trend out；And the first threshold is less than the second threshold.
Above system, it is preferred that the detection unit includes:
Second obtains subelement, for obtaining after geomagnetism detecting device detects that the target vehicle enters target parking stall
Berthing time of the target vehicle in the target parking stall；
Third indicate subelement, for when the berthing time be greater than preset third threshold value when, indicate vehicle completely into
Enter target parking stall；
Third obtains subelement, after detecting that the target vehicle is driven out to target parking stall for geomagnetism detecting device, obtains institute
State the time that target vehicle leaves the target parking stall；
4th indicates subelement, and the time for leaving the target parking stall when the target vehicle is greater than the preset 4th
When threshold value, indicate that the target vehicle is driven out to the target parking stall completely.
Above system, it is preferred that further include:
4th judging unit, for judging the institute rolled when the moving vehicle has rolled the parking stall line pre-seted
State the parking stall line that pre-sets whether parking stall non-pedestrian side；
Second indicates unit, if in non-pedestrian side, indicating the moving vehicle, there are the first movement tendencies.
The present invention provides a kind of parking stall Parking judgment methods, comprising: by obtaining the trace information of moving vehicle,
Whether have moving vehicle into position or position trend prejudges out；By the method for background modeling, obtains in parking stall and move mesh
Whether target characteristic point quantity, have into position moving target according to this feature information or position trend prejudges out；Work as track
Detect the region position of the regional location and all moving targets obtained by background modeling method where obtained moving vehicle
There are overlapping region in setting, and the result of track detection anticipation is to have into position or position trend and overlapping region is corresponding out
The moving target anticipation of target area have into position or out position trend when, judge with the presence or absence of vehicle in the overlapping region, if
Have in the presence of, then it represents that the vehicle into position or position trend out；Finally again by the method for geomagnetism detecting, judge whether vehicle is completed
Enter position or completes out position.It is to be checked to measure after vehicle completes position, then will have in anticipation into position or when position trend out collects
Information of vehicles upload and save, it is ensured that the information of vehicles saved in vehicle management system is effective.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
A kind of flow chart of the embodiment of the method 1 of parking stall Parking judgement of Fig. 1 the application；
A kind of another method flow diagram of parking stall Parking judgment method of Fig. 2 the application；
A kind of another method flow diagram of parking stall Parking judgment method of Fig. 3 the application；
A kind of another method flow diagram of parking stall Parking judgment method of Fig. 4 the application；
A kind of parking stall Parking of Fig. 5 the application judges the structural schematic diagram of system embodiment 1；
A kind of parking stall Parking of Fig. 6 the application judges the structural schematic diagram of system embodiment 2.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
With reference to Fig. 1, a kind of flow chart of parking stall Parking judgment method embodiment 1 of the application is shown, may include
Following steps:
Step S101: motion profile of the moving vehicle in predetermined areas is obtained；
In the present invention, vehicle management system can obtain the video frame information for being managed region in real time first, and analysis obtains
Video frame information, the region position where moving object in the region and moving object is obtained using moving target parser
It sets, the regional location where vehicle is detected further according to wagon detector, fusional movement target analysis algorithm and wagon detector obtain
To as a result, obtaining the moving vehicle in the region.Feature extraction is carried out to the moving vehicle, extracts the texture of moving vehicle
Information tracks the vehicle of movement, analyzes tracking result according to the texture information of moving vehicle, storage movement
Position of the vehicle in each frame image, and then obtain the motion profile of moving vehicle.
Step S102: when the motion profile shows that the moving vehicle has rolled the parking stall line pre-seted, institute is determined
State the first area position that moving vehicle is currently located；And judge the first current movement tendency of the moving vehicle；
In the present invention, the motion profile of moving vehicle is analyzed, when moving vehicle has rolled parking stall line, obtains this
When moving vehicle where regional location, be expressed as first area position, and judge the parking stall line rolled whether in parking stall
Non-pedestrian side, if in non-pedestrian side, showing that moving vehicle has into trend or position trend out, by entering position and go out at this time
Position trend is expressed as first and enters trend and first going out position trend, and judges that moving vehicle is first to enter position also trend at this time
Be first go out position trend.
Step S103: preset background modeling algorithm is called, obtains in the predetermined areas and is moved in each parking stall
The target area position that moving target is presently in clarification of objective point quantity and each parking stall；
In the present invention, there is corresponding position in each parking stall in the video frame, first configures, obtains to the parking stall in video
Take the location information of each parking stall.Background modeling is carried out to the scene in video frame, so that foreground information is obtained, the foreground information
For all moving targets in parking stall in monitoring area, moving target is the object that all are moved, and can be the people of movement
Or vehicle of movement etc., then obtain the characteristic point quantity of all moving targets.Also, it is carried out when to the scene in video frame
After background modeling obtains the moving target in parking stall, the target area position of all moving targets is obtained, target area is expressed as
Position.Wherein, characteristic point can be pixel.
Step S104: according to the characteristic point quantity of moving target in each parking stall, judge that moving target is pre- in each parking stall
If movement tendency；
In the present invention, when the quantity of the moving target characteristic point of acquisition is more than threshold value M, show at this time moving target have into
Position trend, is expressed as second and enters trend；When the quantity of the moving target characteristic point of acquisition has been more than threshold value N, show at this time
Moving target has position trend out, is expressed as second and goes out position trend；And the area of vehicle when going out position due to vehicle in parking stall
Be greater than into when vehicle area, therefore threshold value N be greater than threshold value M.
Step S105: when there are the target area positions of moving target and the first area position weight in each parking stall
The region of conjunction, and the movement tendency of moving target corresponding with the target area position that the first area position coincides and institute
State the first movement tendency the direction of motion it is identical when, judge in the region being overlapped with the presence or absence of vehicle；
Step S106: when there are vehicle, being expressed as target vehicle for the vehicle, and shows that the target vehicle exists
Preset movement tendency, wherein the preset movement tendency includes into trend and out position trend；
In the present invention, step 101- step 102 is expressed as motion profile detection method, by step 103- step 104 table
It is shown as method for detecting parking stalls, the first area position of the moving vehicle obtained by motion profile detection method is examined with parking stall
The target area position of all moving targets that survey method obtains is matched, when existing in each target area position and described the
The region that one regional location can be overlapped, and motion profile detection method has determined that first enters trend, and parking stall measure method is true
Make with the corresponding moving target in target area that first area position is overlapped have second enter trend when, further according to vehicle detection
It whether there is vehicle in the region that device judgement is overlapped.Or same above method, motion profile detection method have determined that first goes out
Position trend, parking stall measure method determined second go out position trend when, further according to wagon detector judge coincidence region in whether
There are vehicles.
In the present invention, when, there are when vehicle, the vehicle being expressed as target vehicle in the region of coincidence, shows sport(s) car
There is trend or position trend out.
Step S107: after detecting that the target vehicle has preset movement tendency, institute is detected by geomagnetism detecting device
State whether target vehicle is driven out to target parking stall completely into target parking stall or completely, the target parking stall is the overlapping region
Described in parking stall where moving target.
In the present invention, after judging that target vehicle has into trend, the target vehicle is detected by geomagnetism detecting device
Whether completely into parking stall；After judging that target vehicle has position trend out, the target carriage is detected by geomagnetism detecting device
Whether parking stall is left completely.
In the present invention, motion profile detection method and method for detecting parking stalls carry out simultaneously.
In the present invention, by being prejudged three times to whether the vehicle in monitoring area has into trend, if pre- three times
It is sentencing as a result, indicate vehicle have into position perhaps out position trend when mean that vehicle has into position or position trend out, vehicle at this time
Management system can acquire the information of vehicle, when determining that vehicle has into position or after position trend out, recycle geomagnetism detecting
Whether method confirmation vehicle is completed into position after perhaps the only fully validated vehicle in position has entered position or out position out, just upload vehicle
The information of vehicles of position.It solves in the prior art, only by prejudging to vehicle, and preserves asking for invalid information of vehicles
Topic.
With reference to Fig. 2, for a kind of another method flow diagram of vehicle parking event judgment method of the present invention, comprising:
The motion profile that moving vehicle is obtained in predetermined areas, comprising:
Step S201: the video frame information in the predetermined areas is obtained；
Step S202: parsing the video frame information, obtains the texture information of moving vehicle within the scope of the moving region,
And the moving vehicle is tracked according to the texture information；
Step S203: analyzing the tracking result of the moving vehicle, obtains the motion profile of the moving vehicle.
In the present invention, vehicle management system can obtain the video frame information for being managed region in real time first, and analysis obtains
Video frame information, the domain position where moving object in the region and moving object is obtained using moving target parser
It sets, the regional location where vehicle is detected further according to wagon detector, fusional movement target analysis algorithm and wagon detector obtain
To as a result, obtaining the moving vehicle in the region.Feature extraction is carried out to the moving vehicle, extracts the texture of moving vehicle
Information tracks the vehicle of movement, if extracting texture information of the texture information according to moving vehicle of vehicle if not mentioning
The texture information for getting vehicle then terminates；Tracking result is analyzed, position of the moving vehicle in each frame image is stored,
And then obtain the motion profile of moving vehicle.
In the present invention, the motion profile of vehicle is obtained by tracking to moving vehicle, can accurately be obtained using this method
Get the motion profile of vehicle.
In the present invention, after getting the motion profile of moving vehicle, judge whether moving vehicle has rolled parking stall line,
When having rolled parking stall line, obtain regional location locating for moving vehicle at this time, and judge the parking stall line position rolled whether be
The non-pedestrian side of parking stall shows that moving vehicle has into position or position trend out, then judge that moving vehicle is to want if non-pedestrian side
Enter position still position out.
In the present invention, method for detecting parking stalls is first to initialize to the parking stall in video, obtains the position of each parking stall
Information.Then background modeling is carried out to the scene in video frame, to obtain foreground information, which is in monitoring area
All moving targets in parking stall, moving target are the object that all are moved, and can be the people of movement or the vehicle of movement
Etc., then obtain the characteristic point quantity of all moving targets.Also, when to the scene progress background modeling acquisition in video frame
After moving target in parking stall, the target area position of all moving targets is obtained, target area position is expressed as.Wherein, special
Sign point can be pixel.If after carrying out background modeling, obtaining less than foreground information, showing the target not moved.
When the quantity of the moving target characteristic point of acquisition is more than threshold value M, show that moving target has into trend at this time；When
When the quantity of the moving target characteristic point of acquisition is less than threshold value M, show that moving target does not enter trend.
When the quantity of the moving target characteristic point of acquisition has been more than threshold value N, show that moving target has position trend out at this time；
When the quantity of the moving target characteristic point of acquisition is less than threshold value N, show that moving target does not go out position trend at this time.
The area of vehicle when wherein going out position due to vehicle in parking stall be greater than into when vehicle area, threshold value
N is greater than threshold value M.
It is a kind of another method flow diagram of parking stall Parking judgment method of the application with reference to Fig. 3-4, comprising:
Step S301: after geomagnetism detecting device detects that the target vehicle enters target parking stall, the target carriage is obtained
The target parking stall berthing time；
Step S302: when the berthing time is greater than preset third threshold value, indicate vehicle completely into target parking stall；
Currently the result shows that when vehicle is had into trend, geomagnetism detecting device detects vehicle, works as detection for anticipation three times
To after there is vehicle to enter parking stall, the time that vehicle is stopped in parking stall is obtained, when berthing time is greater than threshold value T, indicates vehicle
Completely into parking stall.
Step S401: after geomagnetism detecting device detects that the target vehicle is driven out to target parking stall, the target vehicle is obtained
Leave the time of the target parking stall；
Step S402: when the time that the target vehicle leaves the target parking stall being greater than preset four threshold value, table
Show that the target vehicle is driven out to the target parking stall completely.
Currently anticipation result is that when moving vehicle has position trend out, geomagnetism detecting device detects vehicle, works as inspection three times
Measured after vehicle leaves parking stall, obtained the time that vehicle leaves parking stall, when exiting between when being greater than threshold value T, indicate that vehicle is complete
Parking stall is left entirely.
In the present invention, by geomagnetism detecting method, can accurately judge whether vehicle is completed into position or position out, then
To have in anticipation into position or when position trend out collected information of vehicles is uploaded and saved, it is ensured that be protected in vehicle management system
The information of vehicles deposited is effective.
In the present invention, judge that there are after vehicle for overlapping region, further includes: save vehicle enters information or out position letter
Breath.When judge vehicle drive into completely after target parking stall is perhaps left in target parking stall completely to preservation enter information or go out
Position information is updated.
It is corresponding with a kind of above-mentioned method that parking stall Parking judgment method embodiment 1 provides provided by the present application, it asks
With reference to Fig. 5, present invention also provides the structural schematic diagrams that a kind of parking stall Parking judges system embodiment 1, in the present embodiment
In, which includes:
First acquisition unit 501, for obtaining motion profile of the moving vehicle in predetermined areas；
Determining and the first judging unit 502, for being pre-seted when the motion profile shows that the moving vehicle has rolled
Parking stall line when, determine the first area position that the moving vehicle is currently located；And judge the moving vehicle it is current the
One movement tendency；
Second acquisition unit 503 obtains each in the predetermined areas for calling preset background modeling algorithm
The target area position that moving target is presently in the characteristic point quantity of moving target and each parking stall in parking stall；
Second judgment unit 504 judges in each parking stall for the characteristic point quantity according to moving target in each parking stall
The preset movement tendency of moving target；
Third judging unit 505, for when there are the target area positions of moving target and described first in each parking stall
Regional location has a region of coincidence, and moving target corresponding with the target area position that the first area position coincides
When movement tendency is identical as the direction of motion of first movement tendency, judge in the region being overlapped with the presence or absence of vehicle；
First indicates unit 506, for the vehicle being expressed as target vehicle, and described in expression when there are vehicle
Target vehicle is there are preset movement tendency, wherein the preset movement tendency includes into trend and out position trend；
Detection unit 507, for passing through geomagnetism detecting device after detecting that the target vehicle has preset movement tendency
Detect whether the target vehicle is driven out to target parking stall completely into target parking stall or completely, the target parking stall is described heavy
Close the parking stall where moving target described in region.
In the present invention, by should system, realize to whether the vehicle in monitoring area has into the pre- three times of trend
Sentence, if the result prejudged three times indicate vehicle have into position perhaps out position trend when mean that vehicle has into position or position becomes out
Gesture, vehicle management system can acquire the information of vehicle at this time, when determining that vehicle has into position or after position trend out, recycle
Whether the method confirmation vehicle of geomagnetism detecting completes that perhaps the only fully validated vehicle in position has entered position or out position out into position
Afterwards, the information of vehicles of parking stall is just uploaded.Solve in the prior art, only by being prejudged to vehicle, and preserve it is invalid
The problem of information of vehicles.
On the basis of Fig. 5, a kind of parking stall Parking provided by the present application judges the structural representation of system embodiment 2
Figure, as shown in fig. 6, specifically:
First acquisition unit 501 includes:
First obtains subelement 508, for obtaining the video frame information in the predetermined areas；
It tracks subelement 509 and obtains moving vehicle within the scope of the moving region for parsing the video frame information
Texture information, and the moving vehicle is tracked according to the texture information；
It determines subelement 510, for analyzing the tracking result of the moving vehicle, obtains the movement rail of the moving vehicle
Mark.
Second judgment unit 504 includes:
First judgment sub-unit 511, for judging whether the quantity of the moving target characteristic point is greater than preset first
Threshold value；
First indicates subelement 512, for indicating the movement tendency of the moving target when being greater than the first threshold
To enter trend；
Second judgment sub-unit 513, for judging whether the quantity of the moving target characteristic point is greater than preset second
Threshold value；
Second indicates subelement 514, for indicating the movement tendency of the moving target when being greater than the second threshold
To go out position trend；And the first threshold is less than the second threshold.
Detection unit 507 includes:
Second obtains subelement 515, for obtaining after geomagnetism detecting device detects that the target vehicle enters target parking stall
Take the target vehicle in the berthing time of the target parking stall；
Third indicates subelement 516, for indicating that vehicle is complete when the berthing time is greater than preset third threshold value
Into target parking stall；
Third obtains subelement 517, after detecting that the target vehicle is driven out to target parking stall for geomagnetism detecting device, obtains
The target vehicle leaves the time of the target parking stall；
4th indicates subelement 518, and the time for leaving the target parking stall when the target vehicle is greater than preset
When four threshold values, indicate that the target vehicle is driven out to the target parking stall completely.
The system further include:
4th judging unit, for judging the institute rolled when the moving vehicle has rolled the parking stall line pre-seted
State the parking stall line that pre-sets whether parking stall non-pedestrian side；
Second indicates unit, if in non-pedestrian side, indicating the moving vehicle, there are the first movement tendencies.
In the present invention, it is the method by video monitoring, position is entered to vehicle and position prejudges out, optimize camera tune
Degree only just transfers camera focusing when needing to obtain information of vehicles and captures information of vehicles.And pass through geomagnetism detecting
Device, to vehicle enter position and position is determined out, then upload information of vehicles again, enhance the precision of detection.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of parking stall Parking judgment method characterized by comprising
Obtain motion profile of the moving vehicle in predetermined areas；
When the motion profile shows that the moving vehicle has rolled the parking stall line pre-seted, determine that the moving vehicle is current
The first area position at place；And judge the first current movement tendency of the moving vehicle；
Preset background modeling algorithm is called, the feature points of moving target in each parking stall in the predetermined areas are obtained
The target area position that moving target is presently in amount and each parking stall；
According to the characteristic point quantity of moving target in each parking stall, the preset movement tendency of moving target in each parking stall is judged；
When having a region being overlapped there are the target area position of moving target and the first area position in each parking stall, and with
The movement tendency for the corresponding moving target in target area position that the first area position coincides becomes with first movement
When the direction of motion of gesture is identical, judge in the region being overlapped with the presence or absence of vehicle；
When there are vehicle, the vehicle is expressed as target vehicle, and shows that the target vehicle moves there are preset
Gesture, wherein the preset movement tendency includes into trend and out position trend；
After detecting that the target vehicle has preset movement tendency, whether the target vehicle is detected by geomagnetism detecting device
It is driven out to target parking stall completely into target parking stall or completely, the target parking stall is moving target described in the overlapping region
The parking stall at place.
2. the method according to claim 1, wherein the fortune for obtaining moving vehicle in predetermined areas
Dynamic rail mark, comprising:
Obtain the video frame information in the predetermined areas；
The video frame information is parsed, obtains the texture information of moving vehicle within the scope of the moving region, and according to the line
Reason information tracks the moving vehicle；
The tracking result for analyzing the moving vehicle obtains the motion profile of the moving vehicle.
3. the method according to claim 1, wherein the feature points according to moving target in each parking stall
Amount, judges the preset movement tendency of moving target in each parking stall, comprising:
Judge whether the quantity of the moving target characteristic point is greater than preset first threshold；
When being greater than the first threshold, indicate that the movement tendency of the moving target is into trend；
Judge whether the quantity of the moving target characteristic point is greater than preset second threshold；
When being greater than the second threshold, indicate that the movement tendency of the moving target is position trend；And first threshold
Value is less than the second threshold.
4. the method according to claim 1, wherein described ought detect that the target vehicle has preset movement
After trend, detect whether the target vehicle is driven out to target carriage completely into target parking stall or completely by geomagnetism detecting device
Position, the target parking stall are the region where moving target described in the overlapping region, comprising:
After geomagnetism detecting device detects that the target vehicle enters target parking stall, the target vehicle is obtained in the target carriage
The berthing time of position；
When the berthing time is greater than preset third threshold value, indicate vehicle completely into target parking stall；
After geomagnetism detecting device detects that the target vehicle is driven out to target parking stall, obtains the target vehicle and leave the target carriage
The time of position；
When the time that the target vehicle leaves the target parking stall being greater than preset four threshold value, the target vehicle is indicated
It is driven out to the target parking stall completely.
5. the method according to claim 1, wherein the first movement of the judgement moving vehicle currently becomes
Before gesture further include:
When the moving vehicle has rolled the parking stall line pre-seted, judge the parking stall line pre-seted rolled whether
The non-pedestrian side of parking stall；
If indicating the moving vehicle, there are the first movement tendencies in non-pedestrian side.
6. a kind of parking stall Parking judges system characterized by comprising
First acquisition unit, for obtaining motion profile of the moving vehicle in predetermined areas；
Determining and the first judging unit, for showing that the moving vehicle has rolled the parking stall line pre-seted when the motion profile
When, determine the first area position that the moving vehicle is currently located；And judge that the first current movement of the moving vehicle becomes
Gesture；Second acquisition unit is obtained in the predetermined areas and is transported in each parking stall for calling preset background modeling algorithm
The target area position that moving target is presently in the characteristic point quantity of moving-target and each parking stall；
Second judgment unit judges to move mesh in each parking stall for the characteristic point quantity according to moving target in each parking stall
Mark preset movement tendency；
Third judging unit, for when there are the target area positions of moving target and the first area position in each parking stall
There are the region of coincidence, and the movement tendency of moving target corresponding with the target area position that the first area position coincides
When identical as the direction of motion of first movement tendency, judge in the region being overlapped with the presence or absence of vehicle；
First indicates unit, for the vehicle being expressed as target vehicle, and indicate the target vehicle when there are vehicle
There are preset movement tendency, wherein the preset movement tendency includes into trend and out position trend；
Detection unit, for detecting institute by geomagnetism detecting device after detecting that the target vehicle has preset movement tendency
State whether target vehicle is driven out to target parking stall completely into target parking stall or completely, the target parking stall is the overlapping region
Described in parking stall where moving target.
7. system according to claim 6, which is characterized in that the first acquisition unit includes:
First obtains subelement, for obtaining the video frame information in the predetermined areas；
Subelement is tracked, for parsing the video frame information, obtains the texture letter of moving vehicle within the scope of the moving region
Breath, and the moving vehicle is tracked according to the texture information；
It determines subelement, for analyzing the tracking result of the moving vehicle, obtains the motion profile of the moving vehicle.
8. system according to claim 6, which is characterized in that the second judgment unit includes:
First judgment sub-unit, for judging whether the quantity of the moving target characteristic point is greater than preset first threshold；
First indicates subelement, for indicating that the movement tendency of the moving target is into position when being greater than the first threshold
Trend；
Second judgment sub-unit, for judging whether the quantity of the moving target characteristic point is greater than preset second threshold；
Second indicates subelement, for when being greater than the second threshold, indicating that the movement tendency of the moving target is position
Trend；And the first threshold is less than the second threshold.
9. system according to claim 6, which is characterized in that the detection unit includes:
Second obtains subelement, for after geomagnetism detecting device detects that the target vehicle enters target parking stall, described in acquisition
Berthing time of the target vehicle in the target parking stall；
Third indicates subelement, for indicating vehicle completely into mesh when the berthing time is greater than preset third threshold value
Mark parking stall；
Third obtains subelement and obtains the mesh after detecting that the target vehicle is driven out to target parking stall for geomagnetism detecting device
Mark vehicle leaves the time of the target parking stall；
4th indicates subelement, and the time for leaving the target parking stall when the target vehicle is greater than preset 4th threshold value
When, indicate that the target vehicle is driven out to the target parking stall completely.
10. system according to claim 6, which is characterized in that further include:
4th judging unit, for when the moving vehicle has rolled the parking stall line pre-seted, judgement to have rolled described pre-
The parking stall line of setting whether parking stall non-pedestrian side；
Second indicates unit, if in non-pedestrian side, indicating the moving vehicle, there are the first movement tendencies.
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