CN106448258A - Parking space state detection method and device - Google Patents
Parking space state detection method and device Download PDFInfo
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- CN106448258A CN106448258A CN201611189520.7A CN201611189520A CN106448258A CN 106448258 A CN106448258 A CN 106448258A CN 201611189520 A CN201611189520 A CN 201611189520A CN 106448258 A CN106448258 A CN 106448258A
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- parking space
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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
Abstract
The invention provides a parking space state detection method and a parking space state detection device, and relates to the technical field of parking space detection. The method comprises the following steps of: transmitting a microwave signal of at least one frequency band to an area with a parking space; according to reference echo data corresponding to a first parking space state of a current area and received real-time echo data of the area, judging whether the first parking space state is changed or not; and when confirming that the current first parking space state is changed, confirming a second changed parking space state according to the first parking space state and the real-time echo data. Compared with the prior art that the parking space state is detected by using a geomagnetic sensor and an obtained detection result is relatively poor in accuracy, the parking space state detection method adopts the microwave signal to detect the parking space state, and adopts the microwave signal of multiple gradient frequency bands to detect the parking space state. When the parking space is detected by using the microwave signal, influence of variation of a magnetic field near the parking space, variation of vehicle moving speeds and external environments can be avoided, and the detection result can be relatively high in accuracy.
Description
Technical field
The present invention relates to parking stall measure technical field, in particular to a kind of detection method of parking space state and device.
Background technology
In recent years, with the improvement of people's living standards, the rapid growth of automobile quantity, in order to meet user trip side
Face, can be with quick detection free time parking stall, to meet the demand that user is quickly stopped by parking space state detection technique.
Correlation technique provides two kinds of parking space state detection methods, and first is using geomagnetic sensor, ground parking stall to be carried out
Detection, above-mentioned geomagnetic sensor mainly uses vehicle and the principle of the change of geomagnetic field can be caused to realize the detection of vehicle, leads to
Often, which judges the parking stall whether vehicle parking according to the GEOMAGNETIC CHANGE in a direction of a certain parking stall.Second is to utilize magnetic
Resistance sensor is detected to the change of parking stall surrounding magnetic field.But, for above two method, either Roadside Parking position is still
Parking position, the occupancy situation of parking stall frequently changes all without producing.Parking stall is persistently taken sometimes, also can sometimes
Continuous idle.And in this case, magnetic field near parking stall, produce the reason for be often subject to external environment and drift about, so as to
So that geomagnetic sensor or magnetoresistive transducer (hereinafter referred to as sensor) detect the change in magnetic field, sensor flase drop feelings are produced
Condition.
Also, when vehicle stops leaving parking stall into parking stall or vehicle, the speed of automobile is often relatively slow, therefore, near parking stall
Changes of magnetic field also corresponding slower.Therefore, using sensor, parking space state is detected, is not appropriate for parking lot or trackside
This application scenarios for stopping, so as to cause its testing result accuracy to parking space state poor.
Content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of detection method of parking space state and device, its profit
With microwave signal, parking space state is detected, not by the changes of magnetic field near parking stall, the change of vehicle translational speed and the external world
The impact of environment, improves the accuracy of testing result.
In a first aspect, a kind of detection method of parking space state is embodiments provided, including：
The microwave signal of at least one frequency range is sent to parking stall region；
According to Basic wave data corresponding with first parking space state in presently described region and the region for receiving
Real-time echo data, judge whether first parking space state changes；
When determining that current first parking space state changes, according to first parking space state and the echo
Data, determine the second parking space state after change.
In conjunction with a first aspect, embodiments providing the first possible embodiment of first aspect, wherein, root
According to Basic wave data corresponding with first parking space state in presently described region and the real-time echo in the region for receiving
Data, judge whether first parking space state changes, including：
Receive the echo data of the parking stall region；
Calculate between Basic wave data corresponding with first parking space state in presently described region and the echo data
Mahalanobis distance；
According to the mahalanobis distance and the comparative result of mahalanobis distance baseline threshold, generate for representing first parking stall
The prompting point information of state change situation, the prompting point information at least includes effectively prompting point and unavailable emphasis point.
In conjunction with the first possible embodiment of first aspect, second of first aspect is embodiments provided
Possible embodiment, wherein, the prompting point information also includes preliminary available point, according to the mahalanobis distance and mahalanobis distance
The comparative result of baseline threshold, generates the prompting point information for representing the first parking space state situation of change, including：
When first parking space state is microwave without car state and detect during in the microwave without car state first
When mahalanobis distance is more than the first mahalanobis distance baseline threshold, generate for described in representing that first parking space state changes
Preliminary available point；When first mahalanobis distance is less than the first mahalanobis distance baseline threshold, generate for representing described
The unavailable emphasis point that first parking space state does not change；
Or,
When first parking space state is microwave dead ship condition and detect during in the microwave dead ship condition second
When mahalanobis distance is more than the second mahalanobis distance baseline threshold, the preliminary available point is generated；When second mahalanobis distance is less than
During the second mahalanobis distance baseline threshold, the unavailable emphasis point is generated.
In conjunction with second possible embodiment of first aspect, embodiments provide first aspect the third
Possible embodiment, wherein, methods described also includes：
The described preliminary available point for generating is verified, determines by the described preliminary available point that verifies to be described effective
Prompting point.
In conjunction with the third possible embodiment of first aspect, the 4th kind of first aspect is embodiments provided
Possible embodiment, wherein, verifies to the described preliminary available point for generating, and determines by the described preliminary effective of checking
Point is effective prompting point, including：
The echo data of each gradient frequency range that single is received is entered with the 3rd mahalanobis distance baseline threshold respectively
Row is compared, and statistics is more than the first number of frequency bands of the echo data of the 3rd mahalanobis distance baseline threshold；
When first number of frequency bands is more than or equal to the first given threshold, judge that the preliminary available point is verified,
And determine that by the described preliminary available point that verifies be effectively prompting point.
In conjunction with the third possible embodiment of first aspect, the 5th kind of first aspect is embodiments provided
Possible embodiment, wherein, verifies to the described preliminary available point for generating, and determines by the described preliminary effective of checking
Point is effective prompting point, including：
The echo data of all gradient frequency ranges for receiving is compared with the 4th mahalanobis distance baseline threshold respectively
Right, count the second number of frequency bands of continuously multigroup echo data for being more than the 4th mahalanobis distance baseline threshold；
When second number of frequency bands is more than the second given threshold, judge that the preliminary available point is verified, and really
The fixed described preliminary available point by checking is effective prompting point.
In conjunction with the first possible embodiment of first aspect, the 6th kind of first aspect is embodiments provided
Possible embodiment, wherein, when determining that current first parking space state changes, according to first parking stall shape
State and the echo data, determine the second parking space state after change, including：
When first parking space state is microwave without car state and first parking space state changes, statistics is generated
All described prompting point information quantity summation；
According to the quantity summation of all described prompting point information of statistics, judge that second parking space state after change is
No enter car state for microwave；
When determining that second parking space state enters car state for the microwave, judge that the quantity of effective prompting point is
No it is more than or equal to the 3rd given threshold；Wherein, the 3rd given threshold is used for judging whether headstock sails parking stall into；
When the quantity of effective prompting point is more than or equal to three given threshold, second parking space state is determined
Carry out car state for microwave.
In conjunction with the 6th kind of possible embodiment of first aspect, the 7th kind of first aspect is embodiments provided
Possible embodiment, wherein, after determining that second parking space state carrys out car state for microwave, also includes：
Described effective prompting point and/or the quantity of unavailable emphasis point that continuum family planning becomes；
When the quantity of the described effective prompting point for continuously generating is more than four given thresholds, second parking stall shape is determined
State is microwave dead ship condition；
When the quantity of the unavailable emphasis point for continuously generating is more than five given thresholds, second parking stall shape is determined
State is in microwave without car state.
In conjunction with the third possible embodiment of first aspect, the 8th kind of first aspect is embodiments provided
Possible embodiment, wherein, when determining that current first parking space state changes, according to first parking stall shape
State and the echo data, determine the second parking space state after change, also include：
When first parking space state is microwave dead ship condition and first parking space state changes, count respectively
The described effective prompting point for generating and the quantity of the unavailable emphasis point；
When the quantity of the described effective prompting point for continuously generating is less than six given thresholds, second parking stall shape is determined
State is for maintaining microwave dead ship condition；
When the quantity of the unavailable emphasis point for continuously generating is more than six given threshold, second car is determined
Position state is for entering microwave without car state.
Second aspect, the embodiment of the present invention additionally provides a kind of detection means of parking space state, including：
Sending module, for sending the microwave signal of at least one frequency range to parking stall region；
Judge module, for according to Basic wave data corresponding with first parking space state in presently described region and reception
The real-time echo data in the region that arrives, judges whether first parking space state changes；
Determining module, for when determining that current first parking space state changes, according to first parking stall
State and the echo data, determine the second parking space state after change.
A kind of detection method of parking space state provided in an embodiment of the present invention and device, using to the transmission of parking stall region
The microwave signal of at least one frequency range；According to Basic wave data corresponding with the first parking space state of current region and receive
Region real-time echo data, judge whether the first parking space state changes；When the first parking space state for determining current is sent out
During changing, according to the first parking space state and echo data, the method for determining the second parking space state after change, with prior art
In using geomagnetic sensor, parking space state is detected, the testing result accuracy for obtaining is poor to be compared, and which utilizes microwave
Signal is detected to parking space state, and using the microwave signal of multiple gradient frequency ranges, parking space state is detected.Meanwhile,
Not by the changes of magnetic field near parking stall, the change of vehicle translational speed and extraneous ring when being detected to parking stall using microwave signal
The impact in border so that the accuracy of testing result is higher.
For enabling the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by to be used attached needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
The flow chart that Fig. 1 shows a kind of detection method of parking space state that the embodiment of the present invention is provided；
The flow chart that Fig. 2 shows the detection method of another kind of parking space state provided by the embodiment of the present invention；
The flow chart that Fig. 3 shows the detection method of another kind of parking space state provided by the embodiment of the present invention；
The flow chart that Fig. 4 shows the detection method of another kind of parking space state provided by the embodiment of the present invention；
Fig. 5 shows a kind of embodiment flow chart of the detection method of parking space state that the embodiment of the present invention is provided；
Fig. 6 shows the embodiment flow chart of the detection method of another kind of parking space state provided by the embodiment of the present invention；
Fig. 7 shows a kind of structural representation of the detection means of parking space state that the embodiment of the present invention is provided；
Fig. 8 shows in a kind of detection means of parking space state that the embodiment of the present invention is provided judge module and determines mould
The structural representation of block；
Fig. 9 shows that the structure of authentication module in a kind of detection means of parking space state that the embodiment of the present invention is provided is shown
It is intended to；
Figure 10 shows the structure of determining module in a kind of detection means of parking space state that the embodiment of the present invention is provided
Schematic diagram.
Major Symbol explanation：
10th, sending module；20th, judge module；30th, determining module；40th, authentication module；201st, receiving unit；202nd, calculate
Unit；203rd, signal generating unit；301st, the 3rd statistic unit；302nd, the first judging unit；303rd, the second judging unit；304th, the 3rd
Determining unit；305th, the 4th statistic unit；306th, the 4th determining unit；307th, the 5th determining unit；308th, the 5th statistic unit；
309th, the 6th determining unit；310th, the 7th determining unit；401st, the first statistic unit；402nd, the first determining unit；403rd, second
Statistic unit；404th, the second determining unit.
Specific embodiment
Purpose, technical scheme and advantage for making the embodiment of the present invention is clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
It is a part of embodiment of the present invention, rather than whole embodiments.Reality of the present invention generally described and illustrated in accompanying drawing herein
The component for applying example can be arranged and be designed with a variety of configurations.Therefore, below to the present invention's that provides in the accompanying drawings
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on the institute obtained on the premise of creative work is not made by embodiments of the invention, those skilled in the art
There is other embodiment, belong to the scope of protection of the invention.
In view of in prior art, by geomagnetic sensor and magnetoresistive transducer, parking space state is detected, can be due to
The occupancy situation of parking stall will not frequently change and according to the magnetic field near parking stall, parking space state cannot be detected, also, by
Magnetic field near parking stall is drifted about by external environment reason generation, can cause changing for magnetic field, so as to can also produce
The flase drop situation of sensor (including geomagnetic sensor and magnetoresistive transducer).Based on this, a kind of car is embodiments provided
The detection method of position state and device, can be detected to parking space state using microwave signal, and using multiple gradients frequency
The microwave signal of section, while detecting to parking space state, and is not moved by the changes of magnetic field near parking stall, vehicle when detecting
Velocity variations and the impact of external environment so that the accuracy of testing result is higher.It is described below by embodiment.
Flow chart with reference to shown in Fig. 1, embodiments provides a kind of detection method of parking space state, methods described
Realized by the detecting system (hereinafter referred to as system) of parking space state, methods described is specifically included：
S101, the microwave signal at least one frequency range of parking stall region transmission.
In the embodiment of the present invention, system includes microstrip antenna, and the microstrip antenna is preferably provided at parking stall region；System
Microwave signal can be sent to parking stall region by the microstrip antenna for arranging, the microwave signal can be the micro- of a frequency range
Ripple signal, or the microwave signal of multiple gradient frequency ranges；Preferably, using 8 gradient frequency ranges in the embodiment of the present invention
Microwave signal is detected to parking space state.
Specifically, before microstrip antenna is started, first determine whether whether microstrip antenna is normal, determining that microstrip antenna is normal
When, microwave signal is sent by the microstrip antenna.
S102, according to Basic wave data corresponding with first parking space state in presently described region and described in receiving
The real-time echo data in region, judges whether first parking space state changes.
Specifically, one or more microwave signals that microstrip antenna sends can be returned back after parking stall region is reached
Ripple signal, carries echo data in the echo-signal, system receives the one or more echo-signals for returning, and then extracts and connects
In the echo-signal of receipts carry echo data, and echo data is processed (process include to receive echo data take
Average or filtering etc.), finally according to the echo data after process and the corresponding Basic wave data of the first parking space state, judge
Whether the first parking stall changes.
Wherein, above-mentioned first parking space state includes microwave without car state and microwave dead ship condition two states；Above-mentioned microwave
Without car state is corresponded to and has or not car state Basic wave data, and above-mentioned microwave dead ship condition is to there is parking state Basic wave data.
S103, when determining that current first parking space state changes, according to first parking space state and institute
Echo data is stated, determines the second parking space state after change.
When the first parking space state is microwave without car state, system is according to no car state Basic wave data and returning for receiving
Wave number evidence, when determining that current microwave without car state changes, whether the second parking space state after determining whether to change is
Microwave enters car state；If so, system further determines that whether the second parking space state is that microwave carrys out car state；If so, system enters one
Step determines that the end-state of the second parking space state is microwave dead ship condition, or microwave without car state.
When the first parking space state is microwave dead ship condition, system is according to parking state Basic wave data and returning for receiving
Wave number evidence, when determining that current microwave without car state changes, the second parking space state after determining whether to change is to maintain
Microwave dead ship condition, or change turns to microwave without car state.
A kind of detection method of parking space state provided in an embodiment of the present invention, sends at least one using to parking stall region
The microwave signal of individual frequency range；According to Basic wave data corresponding with the first parking space state of current region and the region for receiving
Real-time echo data, judge whether the first parking space state changes；When the first parking space state for determining current changes
When, according to the first parking space state and echo data, the method for determining the second parking space state after change, with profit of the prior art
With geomagnetic sensor, parking space state is detected, the testing result accuracy for obtaining is poor to be compared, and which utilizes microwave signal pair
Parking space state is detected, and using the microwave signal of multiple gradient frequency ranges, parking space state is detected.Meanwhile, using micro-
Not by the shadow of the changes of magnetic field near parking stall, the change of vehicle translational speed and external environment when ripple signal is detected to parking stall
Ring so that the accuracy of testing result is higher.
Further, with reference to Fig. 2, in the detection method of parking space state provided in an embodiment of the present invention, in step 102, root
According to Basic wave data corresponding with first parking space state in presently described region and the real-time echo in the region for receiving
Data, judge the method whether first parking space state changes, specifically include following steps：
S1021, the echo data of the reception parking stall region.
Specifically, the microwave signal that microstrip antenna sends is after parking stall region is reached, and parking stall region can return
Echo-signal, carries echo data in the echo-signal, system is received and returns one or more echo-signals, and extracts echo
The echo data for carrying in signal.
S1022, calculating Basic wave data corresponding with first parking space state in presently described region and the number of echoes
According between mahalanobis distance.
System is processed to echo data after echo data is extracted from echo-signal, and the process is included to returning
Wave number evidence takes average or filtering etc..So that system takes average to echo data as an example, when launching and receive multigroup echo data
When, system can calculate the echo meansigma methodss of multigroup echo data, or the echo meansigma methodss for calculating preset group echo data.When
When meansigma methodss are more than the meansigma methodss for pre-setting, judge whether parking stall changes.
Specifically, the corresponding Basic wave data of above-mentioned first parking space state include：No car state Basic wave data or
Parking state Basic wave data, above two Basic wave data are all previously generated, and its specific generation method includes：?
Parking space state is microwave without car state or during microwave dead ship condition, system by microstrip antenna to the parking stall region send to
The microwave signal of a few frequency range, system receives the echo data of parking stall region return, and the echo data is carried out
Process (process equally includes average or filtering etc. to be taken to the echo data for receiving), and according to the echo data life after process
Become no car state Basic wave data or parking state Basic wave data.
Then, system is according to the first parking space state, after calculating the corresponding Basic wave data of the first parking space state and processing
Echo data between mahalanobis distance.
S1023, according to the mahalanobis distance and the comparative result of mahalanobis distance baseline threshold, generate for representing described
The prompting point information of one parking space state situation of change, the prompting point information at least includes effectively prompting point and unavailable emphasis point.
Specifically, when the first parking space state is microwave without car state, which corresponds to the first mahalanobis distance baseline threshold；When
When one parking space state is microwave dead ship condition, which corresponds to the second mahalanobis distance baseline threshold.
System will be corresponding from the first different parking space states respectively for corresponding for different the first parking space state mahalanobis distance
First mahalanobis distance baseline threshold and the second mahalanobis distance baseline threshold are compared, and obtain representing corresponding first parking space state
The prompting point information of situation of change.Above-mentioned first mahalanobis distance baseline threshold may be configured as phase with the second mahalanobis distance baseline threshold
Same value, may be alternatively provided as different values.
Wherein, the corresponding echo data of above-mentioned effective prompting point produces the signal for generating during fluctuation, for representing the first parking stall
State changes；Above-mentioned unavailable emphasis point corresponds to echo data and does not produce the signal for generating during fluctuation, for representing the first car
Position state does not change.
Above-mentioned effective prompting point and unavailable emphasis point are all the foundation for judging the first parking space state situation of change.This step
In, effectively prompting point and unavailable emphasis point (judge that the first parking space state is suitable for judging whether echo data changes
No change), and it is not directly used for the second parking space state after judging change.
Further, the prompting point information also includes preliminary available point, and corresponding, above-mentioned steps 1023, according to described
Mahalanobis distance and the comparative result of mahalanobis distance baseline threshold, generate for representing carrying for the first parking space state situation of change
Show an information, including：
When first parking space state is microwave without car state and detect during in the microwave without car state first
When mahalanobis distance is more than the first mahalanobis distance baseline threshold, generate for described in representing that first parking space state changes
Preliminary available point；When first mahalanobis distance is less than the first mahalanobis distance baseline threshold, generate for representing described
The unavailable emphasis point that first parking space state does not change；
Or,
When first parking space state is microwave dead ship condition and detect during in the microwave dead ship condition second
When mahalanobis distance is more than the second mahalanobis distance baseline threshold, the preliminary available point is generated；When second mahalanobis distance is less than
During the second mahalanobis distance baseline threshold, the unavailable emphasis point is generated.
In the embodiment of the present invention, above-mentioned first mahalanobis distance baseline threshold is may be configured as with the second mahalanobis distance baseline threshold
Identical value, may be alternatively provided as different values, and its concrete numerical value can be configured according to practical situation, and the embodiment of the present invention is to this
It is not specifically limited.
Further, with reference to Fig. 2, the detection method of the parking space state also includes：
S1024, the described preliminary available point to generating are verified, determine that by the described preliminary available point that verifies be institute
State effective prompting point.
In the embodiment of the present invention, using following two methods, preliminary available point is verified：
First method includes：The echo data of each gradient frequency range that single is received respectively with the 3rd geneva
Compare apart from baseline threshold, statistics is more than the first frequency range of the echo data of the 3rd mahalanobis distance baseline threshold
Quantity；
When first number of frequency bands is more than or equal to the first given threshold, judge that the preliminary available point is verified,
And determine that by the described preliminary available point that verifies be effectively prompting point.
Specifically, system sends the microwave signal of multiple gradient frequency ranges by microstrip antenna to parking stall region, and connects
Return the vehicle to the garage and knock off an echo data for each transmission frequency range of the correspondence of region return, now, each frequency that single is received by system
Section echo data is compared with the 3rd mahalanobis distance baseline threshold respectively, obtains echo data and the 3rd geneva of each frequency range
The first comparison result apart from baseline threshold；Then, system is more than the 3rd mahalanobis distance according to above-mentioned first comparison result statistics
First number of frequency bands of the echo data of baseline threshold；
Then, system continues to be contrasted above-mentioned first number of frequency bands of statistics with the first given threshold, when the first frequency
When segment number is more than or equal to the first given threshold, system judges preliminary available point by checking, and determine by checking this is first
Step available point is effectively prompting point；And when the first number of frequency bands is less than the first given threshold, system judges preliminary available point not
By checking, now, system regenerates preliminary available point, and continues to verify preliminary available point.
In the embodiment of the present invention, above-mentioned first given threshold can be the threshold value for being pre-set according to practical situation, its value
3 are could be arranged to, the embodiment of the present invention is not particularly limited to concrete numerical value.
Second method includes：By the echo data of all gradient frequency ranges for receiving respectively with the 4th mahalanobis distance
Baseline threshold is compared, and counts the second frequency range of continuously multigroup echo data for being more than the 4th mahalanobis distance baseline threshold
Quantity；
When second number of frequency bands is more than the second given threshold, judge that the preliminary available point is verified, and really
The fixed described preliminary available point by checking is effective prompting point.
Specifically, system multipass microstrip antenna sends the microwave signal of multiple gradient frequency ranges to parking stall region,
And receive the echo data of each transmission frequency range of correspondence of parking stall region return；Now, system owning each reception
The echo data of gradient frequency range is compared with the 4th mahalanobis distance baseline threshold respectively, obtains the second comparison result, Ran Hougen
The second number of frequency bands of continuously multigroup echo data for being more than the 4th mahalanobis distance baseline threshold is counted according to the second comparison result, and
According to second number of frequency bands and the second given threshold, preliminary available point is verified.
In embodiments of the present invention, above-mentioned 3rd mahalanobis distance baseline threshold is not more than the 4th mahalanobis distance baseline threshold,
And above-mentioned 3rd mahalanobis distance baseline threshold and the 4th mahalanobis distance baseline threshold are all the threshold for being pre-set according to practical situation
Value, the embodiment of the present invention is not specifically limited to its numerical values recited.
Above-mentioned second given threshold can be equally the threshold value for being pre-set according to practical situation, in the embodiment of the present invention,
Which is preferably arranged to 15.The numerical value of continuously multigroup echo data of above-mentioned statistics can be configured as needed, reality of the present invention
Apply in example, which is preferably arranged to 5 groups.
Further, with reference to Fig. 3, in the detection method of parking space state provided in an embodiment of the present invention, when the first parking stall shape
When state includes microwave without car state, step 104, when determining that current first parking space state changes, according to described
First parking space state and the echo data, determine the second parking space state after change, specifically include：
S1040, when first parking space state is that microwave without car state and first parking space state change, system
The quantity summation of all described prompting point information that family planning becomes.
Specifically, when the first parking space state is in microwave without car state and system judges that first parking space state changes
When, obtain and count effective prompting point of generation and the respective quantity of unavailable emphasis point, and statistical computation is effectively pointed out a little and no
Effect prompting point quantity summation.
S1041, all described quantity summation for pointing out point information according to statistics, judge second parking stall after change
Whether state is that microwave enters car state.
Specifically, the quantity summation of effective prompting point and unavailable emphasis point of the system according to statistics, judges whether to reach out
Begin to sentence the quantity (COME_CAR_NUM) of headstock, that is, whether the second parking space state after judging to change is that microwave enters car state.
S1042, when determining that second parking space state enters car state for the microwave, judge described effective to point out to put
Whether quantity is more than or equal to the 3rd given threshold；Wherein, the 3rd given threshold is used for judging whether headstock sails parking stall into.
In this step, system determines whether effectively to point out point when determining that the second parking space state enters car state for microwave
Quantity whether be more than or equal to for judging whether headstock sails the 3rd given threshold of parking stall into.
S1043, when described effective prompting point quantity more than or equal to three given threshold when, determine second car
Position state carrys out car state for microwave.
Further, system is entered and sentences car shape when the quantity of effectively prompting point is judged more than or equal to three given thresholds
State (determines that the second parking space state carrys out car state for microwave)；The 3rd given threshold is less than in the quantity for judging effectively prompting point
When, maintain without car state and continue detection.
Further, in the detection method of parking space state provided in an embodiment of the present invention, step 1044, determining described the
After two parking space states carry out car state for microwave, also include：
Described effective prompting point and/or the quantity of unavailable emphasis point that S1044, continuum family planning become.
S1045, when continuously generate described effective prompting point quantity more than four given thresholds when, determine described second
Parking space state is microwave dead ship condition.
S1046, when the quantity of the unavailable emphasis point for continuously generating is more than five given thresholds, determine described second
Parking space state is in microwave without car state.
In conjunction with step 1044～step 1046, system continuum is in respect of the quantity of effect prompting point and/or unavailable emphasis point
Quantity, judges that whether which exceed for judging parking threshold value that vehicle comes to a complete stop, and the parking threshold value includes the 4th given threshold and the
Five given thresholds.Then, system is respectively by the quantity of the quantity of effective prompting point of statistics and unavailable emphasis point respectively with the 4th
Given threshold and the 5th given threshold are contrasted；When the quantity of effectively prompting is more than four given thresholds, second is determined
Parking space state is microwave dead ship condition；When the quantity of unavailable emphasis point is more than five given thresholds, the second parking space state is determined
In microwave without car state.
Wherein, above-mentioned 3rd given threshold, the 4th given threshold and the 5th given threshold are similarly pre- according to practical situation
The threshold value for first arranging, the embodiment of the present invention is not specifically limited to its numerical values recited.
It should be noted that whenever system is when detecting the first parking space state and changing, all effectively will point out a little and
Unavailable emphasis point is zeroed, and when parking space state detection is carried out for next first parking space state, is redefined and is effectively carried
Show a little and unavailable emphasis point is to carry out parking space state detection.
Further, with reference to Fig. 4, in the detection method of parking space state provided in an embodiment of the present invention, when the first parking stall shape
When state includes microwave dead ship condition, step 104, when determining that current first parking space state changes, according to described
First parking space state and the echo data, determine the second parking space state after change, specifically include：
S1047, when first parking space state is that microwave dead ship condition and first parking space state change, point
The described effective prompting point of generation and the quantity of the unavailable emphasis point are not counted；
S1048, when continuously generate described effective prompting point quantity less than six given thresholds when, determine described second
Parking space state is for maintaining microwave dead ship condition；
S1049, when the quantity of the unavailable emphasis point for continuously generating is more than six given threshold, determine described
Second parking space state is for entering microwave without car state.
Wherein, above-mentioned 6th given threshold is the threshold value for being pre-set according to practical situation, and the embodiment of the present invention is counted to which
Value size is not specifically limited.
It should be noted that whenever system is when detecting the first parking space state and changing, all effectively will point out a little and
Unavailable emphasis point is zeroed, and when parking space state detection is carried out for next first parking space state, is redefined and is effectively carried
Show a little and unavailable emphasis point is to carry out parking space state detection.
A kind of detection method of parking space state provided in an embodiment of the present invention, with utilization geomagnetic sensor of the prior art
Parking space state is detected, the testing result accuracy for obtaining is poor to be compared, and which is carried out to parking space state using microwave signal
Detection, and using the microwave signal of multiple gradient frequency ranges, parking space state is detected.Meanwhile, using microwave signal to parking stall
Do not changed by the changes of magnetic field near parking stall, vehicle translational speed when being detected and external environment is affected so that detection
As a result accuracy is higher.
Below by complete embodiment, a kind of detection method of parking space state provided in an embodiment of the present invention is said
Bright：
The detection method of parking space state provided in an embodiment of the present invention is using microwave, parking space state to be detected.At this
In inventive embodiments, the frequency of microwave can be divided into n gradient (different frequency range of corresponding microwave), by n gradient frequency
Microwave signal the occupancy situation of parking stall is judged.Preferably, in the embodiment of the present invention using 8 gradient frequencies microwave
Signal is detected to microwave.
It is that Fig. 5 exists effective for excluding the full implementation step of interference signal in microwave echoes data referring to Fig. 5, Fig. 5
Prompting point and unavailable emphasis point concept.Wherein, point is effectively pointed out：The signal for generating when microwave echoes data produce fluctuation, uses
Change in the first parking space state of expression；Unavailable emphasis point：The signal for producing when microwave echoes data do not produce fluctuation, uses
Do not change in the first parking space state of expression.Wherein, effectively prompting point and unavailable emphasis point be all judge parking space state according to
According to.In the step, it is adaptable to judge whether microwave echoes data change, and it is not directly used for judging that the first parking space state becomes
The second parking space state after change.
Below, in conjunction with Fig. 5, to excluding clawback data interference signal method, (process of exclusive PCR) is briefly described：
Step 1：The microwave signal of 8 gradient frequency ranges is sent by microstrip antenna to parking stall region, and is obtained described
8 groups of echo datas that region returns.
Step 2：Obtain no car state benchmark data and the parking state benchmark data of microstrip antenna.
In the embodiment of the present invention, under microwave without car state or microwave dead ship condition, number of echoes is obtained by microstrip antenna
According to, generation no car state benchmark data and parking state benchmark data, and benchmark data is demarcated.
Step 3：Judge microstrip antenna whether in normal condition.
Step 4：When judging that microstrip antenna is normal, calculate preset group in the 8 groups of echo datas for receiving (preset group is 3 groups)
The echo meansigma methodss of echo data.
Step 5：Judge whether the first parking space state is microwave without car state according to echo meansigma methodss.
Step 5a：When the first parking space state is microwave without car state, currently detected echo data and no car is calculated
The first mahalanobis distance between state benchmark data is (i.e.：Mahalanobis distance result no under car state)；
Step 6a1：When the first mahalanobis distance is more than the first mahalanobis distance baseline threshold for pre-setting, illustrate that microwave is returned
Wave number is tentatively generated for representing preliminary available point that first parking space state changes, is waited to which according to change is produced
Verify further；
Step 6a2：When the first mahalanobis distance is less than the first mahalanobis distance baseline threshold for pre-setting, illustrate that microwave is returned
Wave number generates, according to change is not produced, the unavailable emphasis point not changed for the first parking space state of expression；
Step 5b：When the first parking space state is microwave dead ship condition, the echo data and parking being currently received is determined
The second mahalanobis distance between state benchmark data is (i.e.：Mahalanobis distance result under parking state)；
Step 6b1：When the second mahalanobis distance is more than the second mahalanobis distance baseline threshold for pre-setting, illustrate that microwave is returned
Wave number is tentatively generated for representing preliminary available point that first parking space state changes, is waited to which according to change is produced
Verify further.
Step 6b2：When the second mahalanobis distance is less than the second mahalanobis distance baseline threshold for pre-setting, illustrate that microwave is returned
Wave number generates, according to change is not produced, the unavailable emphasis point not changed for the first parking space state of expression.
Wherein, the first mahalanobis distance baseline threshold in above-mentioned steps may be configured as phase with the second mahalanobis distance baseline threshold
Same value.
With reference to Fig. 5, after step 6a1 and step 6b1, also include to verify preliminary available point further, specifically
Verification method includes：
Step 7a：The echo data of each gradient frequency range for respectively single being received respectively with the 3rd mahalanobis distance
Baseline threshold is compared, and statistics is more than the first band number of the echo data of the 3rd mahalanobis distance baseline threshold
Amount；
Step 8a：When the first number of frequency bands is not less than the first given threshold (as 3) for pre-setting, determining tentatively has
Effect point is effectively prompting point.
And/or,
Step 7b：Respectively (can in the embodiment of the present invention by the echo data of 8 frequency ranges and the 4th mahalanobis distance baseline threshold
To be set to 25) compare, more than the second of the 4th mahalanobis distance baseline threshold in statistics continuous N group (preferably 5 groups) data
Number of frequency bands, wherein, the 3rd mahalanobis distance baseline threshold is not more than the 4th mahalanobis distance baseline threshold；
Step 8b：When the second number of frequency bands is more than the second given threshold for pre-setting (preferably 15), that is, determine just
Step available point is effectively prompting point.
Fig. 6 is the method flow diagram of the detection for carrying out parking space state using prompting point information, the car being related in detection process
Position state is divided into：Microwave dead ship condition, microwave without car state, sentence car state, with reference to Fig. 6, comprise the following steps that：
Step 1：When system detectio to the first parking space state is in microwave without car state and the first parking space state changes
When, the effective prompting point data and unavailable emphasis point data for generating is obtained, and counts the number of effective prompting point and unavailable emphasis point
Amount summation；
Step 2：According to effective prompting point of statistics and the quantity summation of unavailable emphasis point, judge whether to reach and start to sentence car
The quantity (COME_CAR_NUM) of head.Specifically, according to all effective prompting point of statistics and the quantity summation of unavailable emphasis point,
Whether the second parking space state after judging to change is that microwave enters car state.
Step 3：When determining that the second parking space state enters car state for the microwave, whether effective quantity for pointing out point is judged
More than or equal to the 3rd given threshold；Wherein, above-mentioned 3rd given threshold is used for judging whether headstock sails parking stall into.
Step 4：When effectively prompting point quantity is more than or equal to three given thresholds, it is (i.e. true that car state is sentenced in system entrance
Fixed second parking space state carrys out car state for microwave, and continues executing with step 5), otherwise, system maintains microwave without car state and returns to
Step 1 continues detection；
Step 5：The quantity of quantity and/or unavailable emphasis point of the continuum in respect of effect prompting point, judges whether which exceedes and uses
In sentencing the parking threshold value that vehicle comes to a complete stop；Wherein, above-mentioned parking threshold value includes：4th given threshold and the 5th given threshold.
Step 6：When the quantity of the effective prompting point for continuously generating is more than four given thresholds, the second parking space state is determined
For microwave dead ship condition；When the quantity of the unavailable emphasis point for continuously generating is more than five given thresholds, the second parking stall shape is determined
State is in microwave without car state.
Step 7：When the first parking space state is microwave dead ship condition and the first parking space state changes, statistics life respectively
The effective prompting point for becoming and the quantity of unavailable emphasis point；
Step 8：When the quantity of the effective prompting point for continuously generating is less than six given thresholds, the second parking space state is determined
For maintaining microwave dead ship condition；When the quantity of the unavailable emphasis point for continuously generating is more than six given thresholds, the second car is determined
Position state is for entering microwave without car state.Wherein, above-mentioned 6th given threshold be from car threshold value.
In the middle of each step above-mentioned, whenever system is when detecting the first parking space state and changing, all effectively carried
Showing a little and be zeroed with unavailable emphasis point, when parking space state detection being carried out for next first parking space state, redefines
Effectively prompting point and unavailable emphasis point are to carry out parking space state detection.
A kind of detection means of parking space state is embodiments provided, with reference to Fig. 7, described device is above-mentioned for executing
The detection method of parking space state, described device includes：
Sending module 10, for sending the microwave signal of at least one frequency range to parking stall region；
Judge module 20, for according to Basic wave data corresponding with first parking space state in presently described region and connecing
The real-time echo data in the region for receiving, judges whether first parking space state changes；
Determining module 30, for when determining that current first parking space state changes, according to first car
Position state and the echo data, determine the second parking space state after change.
Further, with reference to Fig. 8, in the detection means of parking space state provided in an embodiment of the present invention, judge module 20, bag
Include：
Receiving unit 201, for receiving the echo data of the parking stall region；
Computing unit 202, for calculate Basic wave data corresponding with first parking space state in presently described region and
Mahalanobis distance between the echo data；
Signal generating unit 203, for the comparative result according to the mahalanobis distance and mahalanobis distance baseline threshold, generating is used for
Represent the prompting point information of the first parking space state situation of change, the prompting point information at least includes effectively prompting point and nothing
Effect prompting point.
Further, with reference to Fig. 8, in the detection means of parking space state provided in an embodiment of the present invention, the prompting point letter
Ceasing also includes preliminary available point, signal generating unit 203, including：
First generates subelement, for being microwave without car state in first parking space state and being in the microwave no car
When the first mahalanobis distance for detecting during state is more than the first mahalanobis distance baseline threshold, generate for representing first parking stall
The described preliminary available point that state changes；When first mahalanobis distance is less than the first mahalanobis distance baseline threshold
When, generate for representing the unavailable emphasis point that first parking space state does not change；
Or,
Second generates subelement, for being microwave dead ship condition in first parking space state and being in the microwave parking
When the second mahalanobis distance for detecting during state is more than the second mahalanobis distance baseline threshold, the preliminary available point is generated；Work as institute
When the second mahalanobis distance is stated less than the second mahalanobis distance baseline threshold, generate the unavailable emphasis point.
Further, with reference to Fig. 7, the detection means of parking space state provided in an embodiment of the present invention also includes：
Authentication module 40, verifies for the described preliminary available point to generating, and determines by the described preliminary of checking
Available point is effective prompting point.
Further, with reference to Fig. 9, in the detection means of parking space state provided in an embodiment of the present invention, authentication module 40, bag
Include：
First statistic unit 401, for the echo data of each gradient frequency range that receives single respectively with
Three mahalanobis distance baseline thresholds are compared, and statistics is more than the of the echo data of the 3rd mahalanobis distance baseline threshold
One number of frequency bands；
First determining unit 402, for when first number of frequency bands is more than or equal to the first given threshold, judging described
Preliminary available point is verified, and determines that by the described preliminary available point that verifies be effectively prompting point.
Further, with reference to Fig. 9, in the detection means of parking space state provided in an embodiment of the present invention, authentication module 40, also
Including：
Second statistic unit 403, for by the echo data of all gradient frequency ranges for receiving respectively with the 4th horse
Family name compares apart from baseline threshold, statistics continuously multigroup echo data for being more than the 4th mahalanobis distance baseline threshold the
Two number of frequency bands；
Second determining unit 404, described preliminary for when second number of frequency bands is more than the second given threshold, judging
Available point is verified, and determines that the described preliminary available point by verifying is effective prompting point.
Further, with reference to Figure 10, in the detection means of parking space state provided in an embodiment of the present invention, determining module 30 is wrapped
Include：
3rd statistic unit 301, for being microwave without car state and first parking stall shape when first parking space state
When state changes, the quantity summation of all described prompting point information that statistics is generated；
First judging unit 302, for all described quantity summation for pointing out point information according to statistics, after judging change
Second parking space state whether be that microwave enters car state；
Second judging unit 303, for when determining that second parking space state enters car state for the microwave, judging institute
The quantity of effective prompting point is stated whether more than or equal to the 3rd given threshold；Wherein, the 3rd given threshold is used for judging headstock
Whether parking stall is sailed into；
3rd determining unit 304, for when described effective prompting point quantity more than or equal to three given threshold when,
Determine that second parking space state carrys out car state for microwave.
Further, with reference to Figure 10, in the detection means of parking space state provided in an embodiment of the present invention, determining module 30 is also
Including：
4th statistic unit 305, the described effective prompting point for becoming for continuum family planning and/or unavailable emphasis point
Quantity；
4th determining unit 306, for the quantity in the described effective prompting point for continuously generating more than the 4th given threshold
When, determine second parking space state for microwave dead ship condition；
5th determining unit 307, for the quantity in the unavailable emphasis point for continuously generating more than the 5th given threshold
When, determine second parking space state in microwave without car state.
Further, in the detection means of parking space state provided in an embodiment of the present invention, with reference to Figure 10, determining module 30,
Also include：
5th statistic unit 308, for being microwave dead ship condition and first parking stall shape in first parking space state
When state changes, described effective prompting point of generation and the quantity of the unavailable emphasis point is counted respectively；
6th determining unit 309, for the quantity in the described effective prompting point for continuously generating less than the 6th given threshold
When, determine second parking space state for maintaining microwave dead ship condition；
7th determining unit 310, is more than the 6th setting for the quantity in the unavailable emphasis point for continuously generating
During threshold value, determine second parking space state for entering microwave without car state.
A kind of detection means of parking space state provided in an embodiment of the present invention, with utilization geomagnetic sensor of the prior art
Parking space state is detected, the testing result accuracy for obtaining is poor to be compared, and which is carried out to parking space state using microwave signal
Detection, and using the microwave signal of multiple gradient frequency ranges, parking space state is detected.Meanwhile, using microwave signal to parking stall
Do not changed by the changes of magnetic field near parking stall, vehicle translational speed when being detected and external environment is affected so that detection
As a result accuracy is higher.
The detection means of the parking space state provided by the embodiment of the present invention can be specific hardware or installation on equipment
Software or firmware on the equipment etc..The device provided by the embodiment of the present invention, its realize the technique effect of principle and generation and
Preceding method embodiment is identical, is brief description, and device embodiment part does not refer to part, refers in preceding method embodiment
Corresponding contents.Those skilled in the art can be understood that, for convenience and simplicity of description, described above is
The specific work process of system, device and unit, all may be referred to the corresponding process in said method embodiment, and here is no longer gone to live in the household of one's in-laws on getting married
State.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, other sides can be passed through
Formula is realized.Device embodiment described above is only that schematically for example, the division of the unit, only one kind are patrolled
The division of volume function, can have an other dividing mode when actually realizing, and for example, multiple units or component can in conjunction with or can
To be integrated into another system, or some features can be ignored, or not execute.Another, shown or discussed each other
Coupling direct-coupling or communication connection can be the INDIRECT COUPLING or communication link of device or unit by some communication interfaces
Connect, can be electrical, mechanical or other forms.
The unit that illustrates as separating component can be or may not be physically separate, aobvious as unit
The part for showing can be or may not be physical location, you can be located at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in the embodiment that the present invention is provided can be integrated in a processing unit, also may be used
To be that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.
If the function realized using in the form of SFU software functional unit and as independent production marketing or use when, permissible
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed by prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) execute each embodiment methods described of the present invention all or part of step.
And aforesaid storage medium includes：USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
It should be noted that：Similar label and letter represent similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then which need not be defined further and explain in subsequent accompanying drawing, additionally, term " the
One ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that indicating or hint relative importance.
Finally it should be noted that：The specific embodiment of embodiment described above, the only present invention, in order to illustrate the present invention
Technical scheme, rather than a limitation, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this
Bright be described in detail, it will be understood by those within the art that：Any those familiar with the art
The invention discloses technical scope in, which still can be modified to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of embodiment of the present invention technical scheme.The protection in the present invention should all be covered
Within the scope of.Therefore, protection scope of the present invention should be defined by the scope of the claims.
Claims (10)
1. a kind of detection method of parking space state, it is characterised in that include：
The microwave signal of at least one frequency range is sent to parking stall region；
According to Basic wave data corresponding with first parking space state in presently described region and the reality in the region for receiving
When echo data, judge whether first parking space state changes；
When determining that current first parking space state changes, according to first parking space state and the number of echoes
According to the second parking space state after determination change.
2. the detection method of parking space state according to claim 1, it is characterised in that according to presently described region
The corresponding Basic wave data of one parking space state and the real-time echo data in the region for receiving, judge first parking stall
Whether state changes, including：
Receive the echo data of the parking stall region；
Calculate the horse between Basic wave data corresponding with first parking space state in presently described region and the echo data
Family name's distance；
According to the mahalanobis distance and the comparative result of mahalanobis distance baseline threshold, generate for representing first parking space state
The prompting point information of situation of change, the prompting point information at least includes effectively prompting point and unavailable emphasis point.
3. the detection method of parking space state according to claim 2, it is characterised in that the prompting point information is also included just
Step available point, according to the mahalanobis distance and the comparative result of mahalanobis distance baseline threshold, generates for representing first car
The prompting point information of position state change situation, including：
When first parking space state is microwave without car state and the first geneva for detecting during in the microwave without car state
When distance is more than the first mahalanobis distance baseline threshold, generate described preliminary for represent that first parking space state changes
Available point；When first mahalanobis distance is less than the first mahalanobis distance baseline threshold, generate for representing described first
The unavailable emphasis point that parking space state does not change；
Or,
When first parking space state is microwave dead ship condition and the second geneva for detecting during in the microwave dead ship condition
When distance is more than the second mahalanobis distance baseline threshold, the preliminary available point is generated；When second mahalanobis distance is less than described
During the second mahalanobis distance baseline threshold, the unavailable emphasis point is generated.
4. the detection method of parking space state according to claim 3, it is characterised in that methods described also includes：
The described preliminary available point for generating is verified, determines that the described preliminary available point by verifying is effective prompting
Point.
5. the detection method of parking space state according to claim 4, it is characterised in that to the described preliminary available point for generating
Verified, determined that the described preliminary available point by verifying is effective prompting point, including：
The echo data of each gradient frequency range that single is received is compared with the 3rd mahalanobis distance baseline threshold respectively
Right, statistics is more than the first number of frequency bands of the echo data of the 3rd mahalanobis distance baseline threshold；
When first number of frequency bands is more than or equal to the first given threshold, judge that the preliminary available point is verified, and really
The fixed described preliminary available point by checking is effectively prompting point.
6. the detection method of parking space state according to claim 4, it is characterised in that to the described preliminary available point for generating
Verified, determined that the described preliminary available point by verifying is effective prompting point, including：
The echo data of all gradient frequency ranges for receiving is compared with the 4th mahalanobis distance baseline threshold respectively, system
Count the second number of frequency bands of continuously multigroup echo data for being more than the 4th mahalanobis distance baseline threshold；
When second number of frequency bands is more than the second given threshold, judges that the preliminary available point is verified, and determine logical
The described preliminary available point for crossing checking is effective prompting point.
7. the detection method of parking space state according to claim 2, it is characterised in that when determining current first car
When position state changes, according to first parking space state and the echo data, the second parking space state after change is determined,
Including：
When first parking space state is microwave without car state and first parking space state changes, the institute for generating is counted
There is the quantity summation of the prompting point information；
According to the quantity summation of all described prompting point information of statistics, judge that whether second parking space state after change is
Microwave enters car state；
When determining that second parking space state enters car state for the microwave, judge whether the quantity of effective prompting point is big
In equal to the 3rd given threshold；Wherein, the 3rd given threshold is used for judging whether headstock sails parking stall into；
When the quantity of effective prompting point is more than or equal to three given threshold, determine that second parking space state is micro-
Ripple carrys out car state.
8. the detection method of parking space state according to claim 7, it is characterised in that determining second parking space state
After carrying out car state for microwave, also include：
Described effective prompting point and/or the quantity of unavailable emphasis point that continuum family planning becomes；
When the quantity of the described effective prompting point for continuously generating is more than four given thresholds, determine that second parking space state is
Microwave dead ship condition；
When the quantity of the unavailable emphasis point for continuously generating is more than five given thresholds, determine at second parking space state
In microwave without car state.
9. the detection method of parking space state according to claim 4, it is characterised in that when determining current first car
When position state changes, according to first parking space state and the echo data, the second parking space state after change is determined,
Also include：
When first parking space state is microwave dead ship condition and first parking space state changes, statistics is generated respectively
Described effective prompting point and the unavailable emphasis point quantity；
When the quantity of the described effective prompting point for continuously generating is less than six given thresholds, determine that second parking space state is
Maintain microwave dead ship condition；
When the quantity of the unavailable emphasis point for continuously generating is more than six given threshold, second parking stall shape is determined
State is for entering microwave without car state.
10. a kind of detection means of parking space state, it is characterised in that include：
Sending module, for sending the microwave signal of at least one frequency range to parking stall region；
Judge module, for according to Basic wave data corresponding with first parking space state in presently described region and receiving
The real-time echo data in the region, judges whether first parking space state changes；
Determining module, for when determining that current first parking space state changes, according to first parking space state
With the echo data, the second parking space state after change is determined.
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| CN106448258B (en) | 2019-10-25 |
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