CN106846870A - The intelligent parking system and method for the parking lot vehicle collaboration based on centralized vision - Google Patents
The intelligent parking system and method for the parking lot vehicle collaboration based on centralized vision Download PDFInfo
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- CN106846870A CN106846870A CN201710100828.8A CN201710100828A CN106846870A CN 106846870 A CN106846870 A CN 106846870A CN 201710100828 A CN201710100828 A CN 201710100828A CN 106846870 A CN106846870 A CN 106846870A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Abstract
The present invention is claimed the intelligent parking system and method for a kind of parking lot vehicle collaboration based on centralized vision.The system is made up of parking lot service centre, intelligent vehicle mobile unit and customer mobile terminal.Parking lot service centre includes vision sensor group, vehicle tracking, path planning, data management and communication module.All traffic areas in the observation scope covering parking lot of vision sensor group；The image of vehicle tracking module fusion vision sensor group collection, the position of the vehicle target in detection traffic areas and attitude；Path planning module cooks up driving path according to current vehicle position, attitude and parking stall.Mobile unit includes communication module and vehicle control module.Vehicle control module receives the path of service centre's planning, and control vehicle is by the path automatic Pilot to terminal.Customer mobile terminal is used to be sent to parking lot service centre the solicited message for sailing/rolling away from parking lot into.The present invention realizes the intellectually and automatically in vehicle discrepancy parking lot.
Description
Technical field
The invention belongs to intelligent transportation and automation field, and in particular to a kind of parking lot based on centralized vision-
The intelligent parking system and method for vehicle collaboration.
Background technology
Traditional parking lot only realizes the infrastructure service functions such as metered, parking stall inquiry, Car license recognition, automation and intelligence
Level can be changed not high.Compared with motor pool, parking garage often has that environment is complicated, road is narrow, the visual field is not open
The features such as, cause searching of the vehicle when sailing into idle parking stall and the searching when rolling away to vehicle all more to bother.This
Outward, the solution currently for intelligent vehicle parking problem generally only focuses on single intelligent vehicle in itself so that intelligent vehicle
It is limited to the global perception in parking lot, effective conspiracy relation is lacked between parking lot and vehicle, it is impossible to provide more high-quality
The parking service of amount.
Chinese patent application：Method (the application number of vision-aided system and guiding vehicle：200580045956.2) it is open
A kind of method of vision-aided system and guiding vehicle, the system includes that the location confirmation for collecting position data for vehicle is received
Machine, the vision module that vision data is collected for vehicle.The patent is proposed using the thought of vision sensor auxiliary positioning, by GPS
The visual position data weighting for obtaining position data and vision sensor acquisition obtains vehicle location, so as to aid in wagon control.
Based on GPS, machine vision is auxiliary to the patent, is suitable only for being obtained in that the motor pool of gps data, and do not apply to
In parking garage automatic stopping demand.Chinese patent application：A kind of auxiliary based on system of getting a bird's eye view is parked method (application number：
201310109884.X) disclose a kind of machine vision that is based on and aid in method of parking, the method is by before and after vehicle four
The video camera in individual orientation carries out IMAQ come the environment to surrounding, by image processing techniques, the environment of vehicle periphery is believed
Breath returns to driver in the way of image so that output result has certain intuitive.The system only relies upon vehicle-mounted sensing
Device, not by between vehicle and parking lot cooperate with realize parking.Chinese patent application：A kind of full-automatic parking system (Shen
Please number：CN201410215303.5 a kind of full-automatic parking system) is disclosed, is passed using the ultrasonic wave of environment information acquisition system
Sensor and video camera obtain information of parking, and cook up feasible parking path, make dependent instruction, and instruction is sent into each execution machine
Structure, and the actual feedback signal for obtaining carries out amendment constantly to the parking path planned, realizes the closed-loop control to vehicle.Should
System equally only relies upon onboard sensor, not by between vehicle and parking lot cooperate with realize parking.Chinese patent Shen
Please：A kind of intelligent vehicle automated driving system and method (application number with intelligent parking field coordination：201610107483.4) it is public
A kind of and intelligent vehicle automated driving system and method for intelligent parking field coordination have been opened, vehicle and parking lot has been the method achieve
Between collaboration, but background service system only carries out position distribution and Map, and environment measuring with path planning by vehicle
Carry out, depend on the support of onboard sensor.Chinese patent application：Parking lot based on distributed vision-vehicle cooperative intelligent
Shutdown system and method (application number：201610228232.1) a kind of parking lot based on distributed vision-vehicle association is disclosed
With intelligent parking system and method, detected by distributed visual sensing device covering car park areas by parking lot service centre
Target state and barrier, distribute parking spot and plan vehicle running path.The method uses distributed frame, each
Vision sensor is required for a local tracker module, and when vision sensor quantity is more, cost can be higher.
The present invention sails/rolls away from demand into automatically for the vehicle of parking garage, proposes a kind of based on centralized vision
Intelligent parking system and method that parking lot cooperates with vehicle, reduce the difficulty of the car that stops under complicated parking lot environment, seeks, real
Show the intellectually and automatically in vehicle discrepancy parking lot, and reduce the requirement to system configuration.
The content of the invention
Present invention seek to address that above problem of the prior art.Stop under proposing one kind and reducing complicated parking lot environment
Car, the difficulty for seeking car, realize the intellectually and automatically in vehicle discrepancy parking lot, and reduce requirement, drop to system configuration
The intelligent parking system and method for the parking lot based on centralized vision of low cost-vehicle collaboration.Technical scheme
It is as follows：
A kind of intelligent parking system of the parking lot based on centralized vision-vehicle collaboration, including parking lot service centre,
Intelligent vehicle mobile unit and customer mobile terminal,
Described parking lot service centre includes vision sensor group, vehicle tracking module, path planning module, data pipe
Reason module and parking lot communication module, the image sequence that the vision sensor group is used to gather parking lot traffic areas are simultaneously real
When be transferred to vehicle tracking module；The vehicle tracking module receives the image sequence from vision sensor group, by inverse throwing
Shadow conversion, registration and splicing, obtain the global image in parking lot, and the vehicle of parking lot traffic areas is detected on global image
Target location and obstacle information, obtain parking lot real-time map；The path planning module is used for current according to intelligent vehicle
Position, terminal and parking lot real-time map cook up the driving path of vehicle in real time；Data management module is used for parking stall number
According to being inquired about, distributed and updated, and store parking lot real-time map, moving vehicle target location and its driving path；It is described
Parking lot communication module is used to receive sails/rolls away from request into from customer mobile terminal, and path planning module is planned
Driving path is sent to intelligent vehicle；
Described intelligent vehicle mobile unit includes vehicle communication module and vehicle control module two parts, and the vehicle leads to
Letter module is used to receive the driving path of the path planning module planning from parking lot service centre；Vehicle control module according to
The path of the parking lot service centre planning for receiving, control intelligent vehicle is by the path automatic Pilot to terminal；
Described customer mobile terminal has user terminal communication module, realize being sent to parking lot service centre sail into/
Roll the solicited message in parking lot away from, and the result of parking lot service centre transmission can be received.
Further, the vehicle tracking module is received and processes the image sequence from vision sensor group, specific bag
Include following steps：
2.1 receive the real-time image sequences from vision sensor group；
Each image of 2.2 pairs of different vision sensors acquisitions for receiving is utilized respectively correspondence vision sensor and passes through parameter
Demarcating the inner parameter for obtaining carries out distortion correction, then carries out Inverse projection, and the unification of each image aspects is transformed into vertical view
Angle；
2.3 pairs carry out registration and splicing by each image after step 2.2 correction process and Inverse projection, are stopped
Global image in；
2.4 detect target vehicle from global image and calculate its position and attitude angle, are tracked filtering and obtain target
The optimal estimation of state of motion of vehicle；Barrier is detected from global image, according to target vehicle and barrier generation parking lot
Real-time map.
Further, when intelligent vehicle sails parking lot into, the terminal of the path planning module planning is parking lot clothes
Business center is the parking stall position of vehicle distribution；When intelligent vehicle rolls parking lot away from, the end of the path planning module planning
Point is the EXIT position of user's request.
Further, during vehicle sails parking lot into, data management module is according to given parking stall distribution method
(such as nearest apart from destination), searches distance and waits stop nearest idle parking stall and its a coordinate, and completed in task of sailing into
Idle parking space information is updated afterwards；During vehicle rolls parking lot away from, data management module is according to target vehicle information searching phase
Storing cycle position is answered, coordinate of the outlet in real-time map is searched according to outlet port, and updated after the completion of task is rolled away from empty
Not busy parking space information.
A kind of intelligent parking method of the parking lot based on centralized vision of system-vehicle collaboration, works as intelligent vehicle
Comprised the following steps when sailing parking lot into：
5.1 when intelligent vehicle drives to Entrance, and car owner is using customer mobile terminal to parking lot service centre
Send current vehicle position and sail request into；
5.2 parking lot service centres are by sailing that customer mobile terminal in parking lot communication module receiving step 5.1 sends
Enter request, after carrying out authentication, by current vehicle position information and sail request into and be transmitted to data management module, by data
The idle parking stall of management module distribution, it is determined that idle parking stall position；
5.3 parking lot service centre vision sensor groups gather the image sequence of parking lot traffic areas, are real-time transmitted to
Vehicle tracking module is processed, and detects the position of the position, attitude and barrier of the vehicle target of parking lot traffic areas, and
Construction parking lot real-time map；
5.4 parking lot service centre path planning modules with intelligent vehicle current location as starting point, with distribute parking stall position
Terminal is set to, the parking lot real-time map planning intelligent vehicle driving path according to step 5.3；
5.5 parking lot service centre communication modules travel the vehicle of the current location of intelligent vehicle, attitude and planning
Path is sent to intelligent vehicle, and intelligent vehicle current location is sent into customer mobile terminal with the parking stall position of distribution；
The current location of the intelligent vehicle in 5.6 intelligent vehicle vehicle equipment communication module receiving steps 5.5, attitude and
The vehicle running path of planning；
The information control that 5.7 intelligent vehicle mobile unit vehicle control modules are received according to communication module in step 5.6
Intelligent vehicle automatic Pilot；
5.8 repeat steps 5.3~5.7, until intelligent vehicle sails specified parking stall into, the task of sailing into terminates.
Further, the method when intelligent vehicle is rolled away from is comprised the following steps：
6.1 car owners send testing vehicle register, roll request away from and export using customer mobile terminal to parking lot service centre
Position；
6.2 parking lot service centre communication modules are received rolls request away from, after carrying out authentication, by testing vehicle register, sails
Go out request and exits location information is transmitted to data management module, search storing cycle position；
6.3 parking lot service centre vision sensor groups gather the image sequence of parking lot traffic areas, are real-time transmitted to
Vehicle tracking module is processed, and detects the position of the position, attitude and barrier of the vehicle target of parking lot traffic areas, and
Construction parking lot real-time map；
6.4 parking lot service centre path planning modules, with intelligent vehicle current location as starting point, are end with outlet port
Point, the parking lot real-time map planning intelligent vehicle driving path according to step 6.3；
6.5 parking lot service centre communication modules travel the vehicle of the current location of intelligent vehicle, attitude and planning
Path is sent to intelligent vehicle, and intelligent vehicle current location is sent into customer mobile terminal；
The current location of the intelligent vehicle in 6.6 intelligent vehicle vehicle equipment communication module receiving steps 6.5, attitude and
The vehicle running path of planning；
The information control that 6.7 intelligent vehicle mobile unit vehicle control modules are received according to communication module in step 6.6
Intelligent vehicle automatic Pilot；
6.8 repeat steps 4.3~6.7, export until intelligent vehicle is reached, and the task of rolling away from terminates.
Further, step 2.2 Inverse projection, depression angle is transformed to by the unification of each image aspects；Including step
Suddenly：Image coordinate geometric transformation is completed using the external parameter of video camera, is allowed to be converted into top view, the external parameter
Have：The α of video camera vertical angle of view 2, the β of camera horizon visual angle 2, video camera pitching angle theta, video camera setting height(from bottom) h, make dividing for camera
Resolution is m*n, then under the road surface coordinate (x, y, 0) and image coordinate system of the road surface coordinate under world coordinate system and image coordinate system
Image coordinate (u, v) between relation be：
Above-mentioned formula is negated by the origin of coordinates of picture centre, is had：
Geometric transformation is carried out to source images using formula of negating and can obtain Inverse projection image.
Further, the parking lot service centre vehicle tracking module has vehicle location and multiple target tracking module,
Comprise the following steps：
(1) background model is set up using the global image of continuous multiple frames；
(2) vehicle target is detected with background subtraction, search window is initialized according to testing result；
(3) initialization of Kalman filter；
(4) the target position of current time vehicle is predicted using the status information of init state information or last moment
Put；
(5) vehicle target is iterated with self adaptation mean shift algorithm in certain limit near predicted value and is searched
Rope, until searching best match target；
(6) Utilization assessment parameter is estimated to Search Results, judges tracking target with the presence or absence of blocking or color is dry
Disturb, if Search Results mistake, Search Results are substituted using predicted value；Otherwise, using Search Results as tracking result；
(7) if the pixel value difference that continuous N frame occurs between tracking target and prediction target is more than the T situation of pixel,
Fresh target is then marked as, and for fresh target distributes new search box and Kalman filter, so as to realize multiple target tracking；
(8) above-mentioned image coordinate is transformed into world coordinates, is saved in data management module, and send to path planning mould
Block；
(9) state of Kalman filter is updated using tracking result, repeat step (4), (5), (6), (7), (8),
Continuation is tracked to vehicle target.
Advantages of the present invention and have the beneficial effect that：
The present invention proposes the intelligent parking system and method for a kind of parking lot based on centralized vision-vehicle collaboration.This
System realizes intelligent vehicle with background service center, customer mobile terminal and background service center using mobile communications network
Interconnection, each state of motion of vehicle, planning vehicle running path are detected using parking lot background service center, combined with intelligent vehicle
Function for Automatic Pilot, realizes vehicle and comes in and goes out the intellectually and automatically in parking lot, reduce parking under complicated parking lot environment,
Seek the difficulty of car.Focused on by by the image of multiple vision sensors, reduce shutdown system configuration requirement.
Brief description of the drawings
The intelligent parking system general frame of parking lot of Fig. 1 present invention based on centralized vision-vehicle collaboration；
Fig. 2 present invention realizes that intelligent vehicle sails the flow in parking lot into automatically；
Fig. 3 present invention realizes that intelligent vehicle rolls the flow in parking lot away from automatically；
The vision sensor group of Fig. 4 parking lot service centres of the present invention sets effect；
Single vision sensor scheme of installation in Fig. 5 parking lot service centre vision sensor groups of the present invention；
The global image product process of Fig. 6 parking lot service centre vehicle tracking modules of the present invention；
The moving vehicles detection and tracking flow of Fig. 7 parking lot service centre vehicle tracking modules of the present invention.
Specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described：
The present invention proposes the intelligent parking system and method for a kind of parking lot based on centralized vision-vehicle collaboration, profit
Realize that intelligent vehicle-parking lot service centre, customer mobile terminal-parking lot service centre interconnect with mobile communications network, profit
Each state of motion of vehicle is detected with the vision sensor group and vehicle tracking module of parking lot service centre, plan each intelligent vehicle
Driving path, the Function for Automatic Pilot of combined with intelligent vehicle guides intelligent vehicle automatic Pilot, finally realizes that intelligent vehicle is automatic
Sail into/roll parking lot away from.
Specific embodiment of the invention is described below in conjunction with accompanying drawing and instantiation.
It is as shown in Figure 1 a kind of intelligent parking of parking lot based on centralized vision proposed by the present invention-vehicle collaboration
The general frame of system.The system is by parking lot service centre, intelligent vehicle mobile unit and the part group of customer mobile terminal three
Into.
Described parking lot service centre includes vision sensor group, vehicle tracking module, path planning module, data pipe
Reason module and communication module.Vision sensor group is used to gather the image sequence of parking lot traffic areas and be real-time transmitted to car
Tracking module.Vehicle tracking module is received and processes the image sequence from vision sensor group, and real-time detection parking lot leads to
The position of the position, attitude and barrier of the vehicle target in row region, constructs parking lot real-time map.Path planning module according to
Parking lot real-time map, intelligent vehicle current location and terminal cook up driving path, wherein, intelligent vehicle sails parking lot into
When terminal be parking lot service centre be the vehicle distribution parking stall position, terminal when intelligent vehicle rolls parking lot away from be use
The EXIT position of family request.Data management module is used to that parking stall data to be inquired about, distributed and updated, and storage stops
Parking lot real-time map, the position of moving vehicle target and its driving path.When vehicle sails parking lot into, data management module root
Suitable free time parking stall and its coordinate are searched according to given parking stall distribution method, and updates idle parking space information；Rolled away from vehicle
During parking lot, data management module searches stand according to information of vehicles, and outlet is searched in real-time map according to outlet port
Coordinate, and idle parking space information is updated after the completion of task is rolled away from.Communication module is used to receive from customer mobile terminal
Sail/roll away from request into, the driving path of planning is sent to intelligent vehicle, and intelligent vehicle current location and final position are sent out
Give customer mobile terminal.
The intelligent vehicle mobile unit includes communication module and vehicle control module.Communication module is used to receive carrys out automatic stop
This car driving path of the planning of parking lot service centre；Vehicle control module is planned according to the parking lot service centre for receiving
Path, control intelligent vehicle is by the path automatic Pilot to terminal.
The customer mobile terminal is used to be sent to parking lot service centre the solicited message for sailing/rolling away from parking lot into, and
Receive the result that parking lot service centre sends：It is intelligent vehicle current location and the parking stall position of distribution when sailing into,
It is intelligent vehicle current location and exits location information when rolling away from.
It is illustrated in figure 2 the present invention and realizes that intelligent vehicle sails the flow in parking lot into automatically, comprises the following steps：
(1) when intelligent vehicle drives to Entrance, car owner is using customer mobile terminal to parking lot service centre
Send current vehicle position and sail request into；
(2) parking lot service centre sails request into by what customer mobile terminal in communication module receiving step (1) sent,
After carrying out authentication, by current vehicle position information and sail request into and be transmitted to data management module, by data management mould
The idle parking stall of block distribution, it is determined that idle parking stall position；
(3) parking lot service centre vision sensor group gathers the image sequence of parking lot traffic areas, is real-time transmitted to
Vehicle tracking module is processed, and detects the position of the position, attitude and barrier of the vehicle target of parking lot traffic areas, and
Construction parking lot real-time map；
(4) parking lot service centre path planning module is with intelligent vehicle current location as starting point, with the parking stall position distributed
Terminal is set to, the parking lot real-time map planning intelligent vehicle driving path according to step (3)；
(5) parking lot service centre communication module travels the vehicle of the current location of intelligent vehicle, attitude and planning
Path is sent to intelligent vehicle, and intelligent vehicle current location is sent into customer mobile terminal with the parking stall position of distribution；
(6) current location of the intelligent vehicle in intelligent vehicle vehicle equipment communication module receiving step (5), attitude and
The vehicle running path of planning；
(7) the information control that intelligent vehicle mobile unit vehicle control module is received according to communication module in step (6)
Intelligent vehicle automatic Pilot；
(8) repeat step (3)~(7), until intelligent vehicle sails specified parking stall into, the task of sailing into terminates.
It is illustrated in figure 3 the present invention and realizes that intelligent vehicle rolls the flow in parking lot away from automatically, comprises the following steps：
(1) car owner sends testing vehicle register, rolls request away from and export using customer mobile terminal to parking lot service centre
Position；
(2) parking lot service centre communication module is received and rolls request away from, after carrying out authentication, by testing vehicle register, is sailed
Go out request and exits location information is transmitted to data management module, search storing cycle position；
(3) parking lot service centre vision sensor group gathers the image sequence of parking lot traffic areas, is real-time transmitted to
Vehicle tracking module is processed, and detects the position of the position, attitude and barrier of the vehicle target of parking lot traffic areas, and
Construction parking lot real-time map；
(4) parking lot service centre path planning module, with intelligent vehicle current location as starting point, is end with outlet port
Point, the parking lot real-time map planning intelligent vehicle driving path according to step (3)；
(5) parking lot service centre communication module travels the vehicle of the current location of intelligent vehicle, attitude and planning
Path is sent to intelligent vehicle, and intelligent vehicle current location and outlet port are sent into customer mobile terminal；
(6) current location of the intelligent vehicle in intelligent vehicle vehicle equipment communication module receiving step (5), attitude and
The vehicle running path of planning；
(7) the information control that intelligent vehicle mobile unit vehicle control module is received according to communication module in step (6)
Intelligent vehicle automatic Pilot；
(8) repeat step (3)~(7), export until intelligent vehicle is reached, and the task of rolling away from terminates.
The vision sensor group for being illustrated in figure 4 parking lot service centre of the present invention sets effect example.
Comprising the multiple vision sensors installed in different location in parking lot, each vision in the vision sensor group
The observation scope of sensor overlaps, but the whole in the union covering parking lot of multiple vision sensor observation scopes comes in and goes out
Mouth region domain and traffic areas.This example is only used for description vision sensor group and sets effect, is not only limited in this kind of field in figure
Scape.
Fig. 5 show single vision sensor scheme of installation in parking lot service centre vision sensor group of the present invention.
If the origin of parking lot global coordinate system is O (0,0,0), the coordinate of vision sensor C as an example is (xc,yc,h).Vision
Sensor C includes external parameter：2 α (vertical angle of view), 2 β (horizontal view angle), θ (angle of pitch), h (height).Wherein, setting height(from bottom)
H is fixed, and remaining parameter can be obtained by demarcating.
Fig. 6 show the global image product process of parking lot service centre vehicle tracking module of the present invention, including following
Step：
(1) image of vision sensor group collection is received, line distortion is entered respectively to the image from each vision sensor
Correction；
(2) Inverse projection is carried out respectively to the image from each vision sensor, is allowed to be converted into top view.If
The resolution ratio of vision sensor C is m*n, according to vision sensor image-forming principle, corresponding to the world coordinate system of vision sensor C
Under coordinate (x, y, 0) and image coordinate system under coordinate (u, v) between relation be：
Inverse projection relation can be solved from above-mentioned formula (1)-(2)：
(3) homography matrix between the top view image for being obtained according to Inverse projection, maps an image to stop one by one
Parking lot global coordinate system, carries out fusion and edge smoothing treatment, obtains global image.
Fig. 7 show the moving vehicles detection and tracking flow of parking lot service centre vehicle tracking module of the present invention, including with
Lower step：
(1) initialize：Set up background model using the global image of continuous multiple frames, setting vehicle attitude angle from -90 ° to
[180/R] is individual altogether for 90 ° of template, and wherein R is template group resolution ratio, and initializes Kalman filter；
(2) vehicle target is detected using background subtraction, search window is initialized according to testing result；
(3) using the status information of init state information or last moment according to Kalman filter to predict current when
Carve the position of vehicle target；
(4) continuous adaptive mean shift algorithm (Continuously is used in certain limit near predicted value
Adaptive Mean-SHIFT, CamShift) search is iterated to vehicle target, until searching best match target；
(5) Utilization assessment parameter is estimated to Search Results, judge tracking target block with the presence or absence of serious or
Color is disturbed, if Search Results mistake, Search Results is substituted using predicted value；Otherwise, using Search Results as tracking
As a result；
(6) if the pixel value difference that continuous N frame occurs between tracking target and prediction target is more than the T situation of pixel,
Fresh target is then marked as, and for fresh target distributes new search box and Kalman filter, so as to realize many vehicle targets
Tracking；
(7) image of each vehicle target to detecting, is matched, then best match template pair with attitude Angle formwork
The angle the answered as current attitude angle of the vehicle；
(8) state of Kalman filter is updated using tracking result,
(9) repeat step (3)-(9), continuation is tracked to vehicle target.
The above embodiment is interpreted as being merely to illustrate the present invention rather than limits the scope of the invention.
Read after the content of record of the invention, technical staff can make various changes or modifications to the present invention, these equivalent changes
Change and modification equally falls into the scope of the claims in the present invention.
Claims (5)
1. the intelligent parking system that a kind of parking lot based on centralized vision-vehicle is cooperateed with, it is characterised in that：Including parking lot
Service centre, intelligent vehicle mobile unit and the part of customer mobile terminal three, wherein
The parking lot service centre includes vision sensor group, vehicle tracking module, path planning module, data management module
And communication module, vision sensor group is for gathering the image sequence of parking lot traffic areas and being real-time transmitted to vehicle tracking
Module；The vehicle tracking module receives the image sequence from vision sensor group, by Inverse projection, registration and spelling
Connect, obtain the global image in parking lot, position, the attitude of the vehicle target of parking lot traffic areas are detected on global image
And the position of barrier, construct parking lot real-time map；Path planning module is current according to parking lot real-time map, intelligent vehicle
Position and terminal cook up driving path；Data management module is used to that parking stall data to be inquired about, distributed and updated, and deposits
Storage parking lot real-time map, the position of moving vehicle target and its driving path；Communication module is used to receive from user's movement
Request is sailed/rolled away to terminal into, and the driving path of planning is sent into intelligent vehicle；
The intelligent vehicle mobile unit includes communication module and vehicle control module, and communication module is used to receive from parking lot
This car driving path of the planning of service centre；Vehicle control module controls intelligent vehicle according to the path of the planning for receiving
By the path automatic Pilot to terminal；
The customer mobile terminal is used to be sent to parking lot service centre the solicited message for sailing/rolling away from parking lot into, and receives
The result that parking lot service centre sends.
2. the intelligent parking system that the parking lot based on centralized vision according to claim 1-vehicle is cooperateed with, its feature
It is：Can realize that intelligent vehicle sails the specified location in parking lot into from parking automatically outside the venue, and be sailed automatically from parking lot
Go out to specified outlet.
3. the intelligent parking system that the parking lot based on the centralized vision-vehicle of system according to claim 1,2 is cooperateed with,
Characterized in that, the intelligent vehicle method of sailing into is comprised the following steps：
3.1 when intelligent vehicle drives to Entrance, and car owner is sent using customer mobile terminal to parking lot service centre
Current vehicle position and sail request into；
3.2 parking lot service centres sail request into by what customer mobile terminal in communication module receiving step 3.1 sent, carry out
After authentication, by current vehicle position information and sail request into and be transmitted to data management module, by data management module point
With idle parking stall, it is determined that idle parking stall position；
3.3 parking lot service centre vision sensor groups gather the image sequence of parking lot traffic areas, are real-time transmitted to vehicle
Tracking module is processed, and detects the position of the position, attitude and barrier of the vehicle target of parking lot traffic areas, and is constructed
Parking lot real-time map；
With intelligent vehicle current location as starting point, the parking stall position with distribution is 3.4 parking lot service centre path planning modules
Terminal, the parking lot real-time map planning intelligent vehicle driving path according to step 3.3；
3.5 parking lot service centre communication modules are by the vehicle running path of the current location of intelligent vehicle, attitude and planning
Intelligent vehicle is sent to, and intelligent vehicle current location is sent to customer mobile terminal with the parking stall position of distribution；
The current location of the intelligent vehicle in 3.6 intelligent vehicle vehicle equipment communication module receiving steps 3.5, attitude and planning
Vehicle running path；
The information that 3.7 intelligent vehicle mobile unit vehicle control modules are received according to communication module in step 3.6 controls intelligence
Vehicular automatic driving；
3.8 repeat steps 3.3~3.7, until intelligent vehicle sails specified parking stall into, the task of sailing into terminates.
4. the intelligent parking system that the parking lot based on the centralized vision-vehicle of system according to claim 1,2 is cooperateed with,
Characterized in that, intelligent vehicle rolls method away from comprising the following steps：
4.1 car owners send testing vehicle register, roll request and outlet port away from using customer mobile terminal to parking lot service centre；
4.2 parking lot service centre communication modules are received rolls request away from, and after carrying out authentication, by testing vehicle register, rolling away from please
Ask and exits location information is transmitted to data management module, search storing cycle position；
4.3 parking lot service centre vision sensor groups gather the image sequence of parking lot traffic areas, are real-time transmitted to vehicle
Tracking module is processed, and detects the position of the position, attitude and barrier of the vehicle target of parking lot traffic areas, and is constructed
Parking lot real-time map；
4.4 parking lot service centre path planning modules with intelligent vehicle current location as starting point, with outlet port as terminal, root
According to the parking lot real-time map planning intelligent vehicle driving path of step 4.3；
4.5 parking lot service centre communication modules are by the vehicle running path of the current location of intelligent vehicle, attitude and planning
Intelligent vehicle is sent to, and intelligent vehicle current location and outlet port are sent to customer mobile terminal；
The current location of the intelligent vehicle in 4.6 intelligent vehicle vehicle equipment communication module receiving steps 4.5, attitude and planning
Vehicle running path；
The information that 4.7 intelligent vehicle mobile unit vehicle control modules are received according to communication module in step 4.6 controls intelligence
Vehicular automatic driving；
4.8 repeat steps 4.3~4.7, export until intelligent vehicle is reached, and the task of rolling away from terminates.
5. according to claim 1 and 2 the parking lot service centre vehicle tracking module of system method for tracking target, it is special
Levy and be, comprised the following steps in each process cycle：
5.1 receive the real-time image sequences from vision sensor group；
Each image of 5.2 pairs of different vision sensors acquisitions for receiving is utilized respectively correspondence vision sensor and passes through parameter calibration
The inner parameter of acquisition carries out distortion correction, then carries out Inverse projection, and the unification of each image aspects is transformed into depression angle；
5.3 pairs carry out registration and splicing by each image after step 5.2 correction process and Inverse projection, obtain in parking lot
Global image；
5.4 detect target vehicle from global image, are tracked the optimal estimation that filtering obtains target vehicle motion state；From
Barrier is detected in global image, the real-time map in parking lot is generated according to target vehicle and barrier.
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