CN107610481A - Stop detection method, device and terminal device and computer-readable recording medium - Google Patents
Stop detection method, device and terminal device and computer-readable recording medium Download PDFInfo
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- CN107610481A CN107610481A CN201710769169.7A CN201710769169A CN107610481A CN 107610481 A CN107610481 A CN 107610481A CN 201710769169 A CN201710769169 A CN 201710769169A CN 107610481 A CN107610481 A CN 107610481A
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Abstract
The present invention relates to earth magnetism field of vehicle detection, there is provided one kind parking detection method, device and terminal device and computer-readable recording medium, to improve the accuracy rate for detection of stopping.Methods described includes：Judge whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance exceedes and default drive into threshold value；If disturbing occurs in the Geomagnetic signal and the modulus value of the disturbance exceedes described preset and drives into threshold value, enter more intermediateness state machine detection patterns to carry out the determination of parking stall state；If the parking stall state is doubtful state, starter node collaboration mode to the doubtful state finally to be determined.Technical scheme provided by the invention significantly reduces the caused False Rate of adjacent stalls vehicle interference, effectively increases accuracy of detection, so as to be laid a good foundation for intelligent parking management.
Description
Technical field
The invention belongs to earth magnetism field of vehicle detection, more particularly to a kind of parking detection method, device and terminal device and
Computer-readable recording medium.
Background technology
Parking detection is the pith of realizing intelligent transportation, detection method main at present include ultrasound, ground induction coil,
The technological means such as video and geomagnetic sensor, wherein, the parking detection method of geomagnetic sensor is to be based on such a fact,
I.e.：Ground magnetic field intensity is considered uniform and stable in several kilometer ranges, will be right when passing through containing a large amount of ferromagnetic vehicles
Earth's magnetic field produces larger disturbance, and the change of external magnetic field causes geomagnetic sensor output valve to change, therefore, earth magnetism is passed
Sensor is positioned over the region of vehicle process, the disturbing signal by collection vehicle to earth magnetism, after handling the disturbing signal
The transport information such as the presence of i.e. detectable vehicle, vehicle, speed.Compared to parking detection sides such as ultrasound, ground induction coil and videos
Method, the parking detection method of geomagnetic sensor have low-power consumption, low cost, high sensitivity, small size, are easily integrated and install
And the advantages that easy to maintenance.
In the parking detection method of various geomagnetic sensors, a kind of existing method is the state machine testing based on threshold value
Algorithm, the main thought of the algorithm are that vehicle detection process is divided into different states, state after corresponding condition is met
Redirected, so as to draw parking space state, wherein, state machine redirects the ratio that condition relies primarily on its monitoring signals and given threshold
Compared with.
State machine detection algorithm advantage based on threshold value is that method is simple, and low in energy consumption, amount of calculation is small, is easy in sensor section
Point on realize, however, the algorithm there is also it is obvious the defects of, i.e. the interference signal of adjacent car be present in Parking Stall, therefore, base
It is difficult to ensure that in the state machine detection algorithm of threshold value in the accuracy of detection in detecting of stopping.
The content of the invention
The present invention provides a kind of parking detection method, device and terminal device and computer-readable recording medium, to improve
The accuracy rate of parking detection.
First aspect present invention provides a kind of parking detection method, and methods described includes：
Judge whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance exceedes and default drive into threshold value；
If disturbing occurs in the Geomagnetic signal and the modulus value of the disturbance exceedes described preset and drives into threshold value, in entering more
Between state-state machine detection pattern to carry out the determination of parking stall state, the parking stall state includes determination state and doubtful
State；
If the parking stall state is doubtful state, starter node collaboration mode is final to be carried out to the doubtful state
It is determined that.
Second aspect of the present invention provides a kind of parking detection means, and described device includes：
Judge module, for judging whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance exceedes default drive into
Threshold value；
Detection module, if occurring disturbing for the Geomagnetic signal and the modulus value of the disturbance exceedes and described default drives into threshold
Value, then into more intermediatenesses-state machine detection pattern to carry out the determination of parking stall state, the parking stall state includes true
Determine state and doubtful state；
Node collaboration module, if being doubtful state for the parking stall state, starter node collaboration mode is with to institute
Doubtful state is stated finally to be determined.
Third aspect present invention provides a kind of terminal device, including memory, processor and storage are in memory
And the computer program that can be run on a processor, following steps are realized during computing device computer program：
Judge whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance exceedes and default drive into threshold value；
If disturbing occurs in the Geomagnetic signal and the modulus value of the disturbance exceedes described preset and drives into threshold value, in entering more
Between state-state machine detection pattern to carry out the determination of parking stall state, the parking stall state includes determination state and doubtful
State；
If the parking stall state is doubtful state, starter node collaboration mode is final to be carried out to the doubtful state
It is determined that.
The fourth aspect of the embodiment of the present invention provides a kind of computer-readable recording medium, computer-readable recording medium
Computer program is stored with, following steps are realized when computer program is executed by processor：
Judge whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance exceedes and default drive into threshold value；
If disturbing occurs in the Geomagnetic signal and the modulus value of the disturbance exceedes described preset and drives into threshold value, in entering more
Between state-state machine detection pattern to carry out the determination of parking stall state, the parking stall state includes determination state and doubtful
State；
If the parking stall state is doubtful state, starter node collaboration mode is final to be carried out to the doubtful state
It is determined that.
It was found from the technical scheme that the invention described above provides, with prior art only by more intermediatenesses-state machine examination
Survey pattern carries out detection to parking stall state and compared, and parking stall state is detected under more intermediatenesses-state machine detection pattern
For doubtful state when, starter node collaboration mode to the doubtful state finally to be determined, so as at according to cooperative information
Manage result and Second Decision is carried out to doubtful state, significantly reduce the caused False Rate of adjacent stalls vehicle interference, effectively
Accuracy of detection is improved, so as to be laid a good foundation for intelligent parking management.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
In the required accompanying drawing used be briefly described, it should be apparent that, drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, can also be according to these accompanying drawings under the premise of creative work is not paid
Obtain other accompanying drawings.
Fig. 1 is the implementation process schematic diagram of parking detection method provided in an embodiment of the present invention；
Fig. 2 is the parking stall shape that state machine exports under intermediateness provided in an embodiment of the present invention-state machine detection pattern
The schematic diagram of state；
Fig. 3 is the structural representation of parking detection means provided in an embodiment of the present invention；
Fig. 4 is the structural representation for the parking detection means that another embodiment of the present invention provides；
Fig. 5 is the structural representation for the parking detection means that another embodiment of the present invention provides；
Fig. 6 is the structural representation of terminal device provided in an embodiment of the present invention.
Embodiment
In describing below, in order to illustrate rather than in order to limit, it is proposed that such as tool of particular system structure, technology etc
Body details, thoroughly to understand the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention can also be realized in the other embodiments of details.In other situations, omit to well-known system, device, electricity
Road and the detailed description of method, in case unnecessary details hinders description of the invention.
In order to illustrate technical scheme, illustrated below by specific embodiment.
Accompanying drawing 1 is the implementation process schematic diagram of parking detection method provided in an embodiment of the present invention, mainly including following step
Rapid S101 to S103, it is described further below：
S101, judge whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance exceedes and default drive into threshold value.
In embodiments of the present invention, also include before step S101：Gather the Geomagnetic signal x of the direction of principal axis of x, y and z tri-raw,i
(t), to the Geomagnetic signal xraw,i(t) pre-processed, obtain the Geomagnetic signal xraw,i(t) modulus value M, herein, i ∈
When { x, y, z }, i.e. subscript i are x, xraw,x(t) represent collection is the Geomagnetic signal in x-axis direction, when subscript i is y, xraw,y(t)
Represent collection is the Geomagnetic signal in y-axis direction, when subscript i is z, xraw,z(t) represent collection is the earth magnetism letter in z-axis direction
Number, wherein, the Geomagnetic signal x of the collection direction of principal axis of x, y and z tri-raw,i(t) can be passed using the three axle earth magnetism for being deployed in parking stall
Sensor gathers the Geomagnetic signal x of the direction of principal axis of x, y and z tri-raw,i(t), and to Geomagnetic signal xraw,i(t) pre-processed, obtain institute
State Geomagnetic signal xraw,i(t) modulus value M S1 and S2 can be realized as follows：
S1, to the Geomagnetic signal xraw,i(t) smothing filtering is carried out, obtains the signal x after smothing filteringsmooth,i(t)。
Specifically, can be according to equation below to the Geomagnetic signal xraw,i(t) smothing filtering is carried out, after obtaining smothing filtering
Signal xsmooth,i(t)：
In above formula, N is to the Geomagnetic signal xraw,i(t) length of the wave filter of smothing filtering is carried out.
S2, according to formulaCalculate earth magnetism
Signal xraw,i(t) modulus value M, wherein, x0、y0And z0It is x-axis, y-axis and z-axis baseline value respectively.
It should be noted that due to Geomagnetic signal xraw,i(t) disturbance is still Geomagnetic signal, therefore, Geomagnetic signal
xraw,i(t) modulus value of disturbance still can be calculated such as the method for step S1 and S2 in above-mentioned embodiment, and difference is only that meter
Calculate the x in formularaw,i(t) Geomagnetic signal x is usedraw,i(t) disturbance replaces.
S102, if step S101 judged result occurs disturbing for Geomagnetic signal and the disturbance modulus value of the disturbance exceedes institute
State to preset and drive into threshold value, then enter more intermediatenesses-state machine detection pattern to carry out the determination of parking stall state, wherein, stop
Parking space state includes determination state and doubtful state.
It should be noted that the modulus value of magnetic signal disturbance can calculate according to the method that previous embodiment S1 and S2 are provided
Obtain.In order to make it easy to understand, first some terms or concept that are related in S102 implementation process are explained herein：
Drive into disturbance number and (use below Cnts2Represent)：Refer to drive into fluctuation status, the Geomagnetic signal occurred
Disturb its modulus value and exceed the number preset when driving into threshold value；
Roll intermediateness number away from and (use below Cnts7Represent)：Roll away from fluctuation status and Geomagnetic signal disturbance occurs
Modulus value is more than default threshold value of rolling away from and (presets and roll threshold value Th away fromdptRepresent) when state, the number of this state rolls centre away from
State number；
Roll disturbance number away from and (use below Cnts6Represent)：Refer to roll away from fluctuation status, the Geomagnetic signal occurred
Its modulus value is disturbed less than the number preset when rolling threshold value away from；
Drive into intermediateness number and (use below Cnts3Represent)：Drive into fluctuation status and the mould of Geomagnetic signal disturbance occur
Value, which is less than to preset, drives into threshold value ThavlWhen state, the number of this state drives into intermediateness number.
As one embodiment of the invention, into more intermediatenesses-state machine detection pattern to carry out parking stall state
It is determined that S1021 and S1022 it can realize as follows：
S1021 is big more than the default average for driving into count threshold and the modulus value of Geomagnetic signal disturbance when driving into disturbance number
When default modulus value high threshold, or, drive into intermediateness number and exceed when driving into intermediateness count threshold, or, through opening
When dynamic node collaboration mode is ultimately determined to parking bit occupancy to doubtful state, determine parking stall state for parking bit occupancy shape
State.
S1022 is small more than the default average for rolling count threshold and the modulus value of Geomagnetic signal disturbance away from when rolling disturbance number away from
When default modulus value Low threshold, or, roll intermediateness number away from and exceed when rolling intermediateness count threshold away from, or, through opening
When dynamic node collaboration mode is ultimately determined to the parking stall free time to doubtful state, it is parking stall free time shape to determine parking stall state
State.
In embodiments of the present invention, preset and drive into count threshold Navl1Represent, preset modulus value high threshold ThhighWith representing,
Roll intermediateness count threshold N away fromdpt2Represent, it is default to roll count threshold N away fromdpt1Represent, preset modulus value Low threshold ThlowWith
Represent, drive into intermediateness count threshold Navl2Represent, and starter node collaboration mode is ultimately determined to stop to doubtful state
Parking stall takes or the parking stall free time specifically see follow-up embodiment.It should be noted that " exceeding " in above-described embodiment,
Except comprising more than situation in addition to, it is also understood that for both are equal.For example, " roll intermediateness away from above-described embodiment
Number, which exceedes, rolls intermediateness count threshold away from " it can be understood as rolling away from intermediateness number and be more than or equal to and roll intermediateness away from
Count threshold, " drive into intermediateness number exceed drive into intermediateness count threshold " in above-described embodiment can be understood as sailing
Enter intermediateness number be more than or equal to drive into intermediateness count threshold.
Once it is determined that parking stall state is parking stall seizure condition or parking stall idle condition, then the shape that will can be decided
State is uploaded to host computer, shows current occupied or in the absence of storing cycle by detection, parking stall.
In embodiments of the present invention, state machine state except above-mentioned doubtful state and determines state i.e. parking bit occupancy shape
Outside state or parking stall idle condition, in addition to fluctuation status and intermediateness etc..As shown in Figure 2, it is the embodiment of the present invention
The state machine state transfer schematic diagram that state machine exports under the more intermediatenesses-state machine detection pattern provided, says in detailed below
It is bright：
(1) state S0 is init state, and all parameters and baseline are initialized under the state, is set just after the completion of initialization
Beginningization Status Flag FgitaFor 1, and jump to state S1；
(2) state S1 is parking stall idle condition, and under the state, parking stall is in the free time.It should be noted that as t
The parking stall state at quarter using PS (t) represent when, due to parking stall state it is determined that after only two states be parking stall sky
Not busy state and parking stall seizure condition, therefore, PS (t) can be arranged to represent parking stall idle condition, phase during 0 i.e. PS (t)=0
Instead, parking stall seizure condition can then be represented when PS (t) is arranged to 1 i.e. PS (t)=1；It can enter under the idle condition of parking stall
Row baseline updates, and baseline more new formula is as follows：
In formula, x0,i(t-1) be t previous moment i.e. t-1 moment i axle baseline values, herein, i ∈ { x, y, z },
xsmooth,i(t) x of implication and previous embodimentsmooth,i(t) it is meant that, i.e., the earth magnetism collected in t in i direction of principal axis
Signal xraw,i(t) signal obtained after smothing filtering is carried out, is forgetting factor, its scope is between [0,1], when PS (t-1) is t
The previous moment at quarter is the parking stall state at t-1 moment；
When detecting Geomagnetic signal xraw,i(t) there is disturbance, and the disturbance modulus value of the disturbance drives into threshold value (in advance more than default
If drive into threshold value ThavlRepresent), then state machine state jumps to state S2；
(3) state S2 drives into fluctuation status, and in this condition, the modulus value of record Geomagnetic signal disturbance exceedes default drive into
Threshold value ThavlDrive into disturbance number Cnts2If the modulus value of Geomagnetic signal disturbance drives into threshold value Th less than defaultavl, then state machine
Otherwise state transition, number Cnt is disturbed when driving into S3s2(preset more than default frequency threshold value of driving into and drive into frequency threshold value use
Navl1Represent) and meet Geomagnetic signal disturbance modulus value averageLess than default modulus value high threshold, (default modulus value high threshold is used
ThhighRepresent) when, state machine state jumps to S4, if driving into disturbance number Cnts2Frequency threshold value N is driven into more than defaultavl1And
Meet that the average of the modulus value of Geomagnetic signal disturbance is more than default modulus value high threshold ThhighWhen, then state machine state jumps to S5；
(4) state S3 drives into intermediateness, and disturbance number Cnt will be driven under the states2Reset, it is so-called to drive into middle shape
State, it is to drive into fluctuation status the modulus value for Geomagnetic signal disturbance occur to drive into threshold value Th less than defaultavlWhen state, this shape
The number of state drives into intermediateness number Cnts3If in the case where driving into intermediateness, Geomagnetic signal disturbance modulus value again above
It is default to drive into threshold value Thavl, parking stall state can jump to S2 again, otherwise, when driving into intermediateness number Cnts3More than default
To drive into intermediateness count threshold (default to drive into intermediateness count threshold Navl2Represent), then state machine state redirects
To state S1；
(5) state S4 be it is doubtful drive into state, it is so-called it is doubtful drive into state, be that Geomagnetic signal disturbs, but uncertain
Whether there is vehicle to drive into parking stall, by doubtful state flag bit Fg under the statecfmIt is arranged to 0 i.e. Fgcfm=0, while enter section
Point collaboration mode, by doubtful state flag bit Fg at the end of node collaboration modecfm1 is arranged to, now, if parking stall state
When PS (t) is defined as parking stall seizure condition i.e. PS (t)=1, state machine state jumps to S5, and otherwise, state machine state redirects
To S1；
(6) state S5 is parking stall seizure condition, according to foregoing agreement, PS (t)=1, in this condition, if earth magnetism is believed
The modulus value of number disturbance rolls threshold value Th away from less than defaultdpt, then state machine state, which jumps to, rolls fluctuation status S6 away from；
(7) state S6 rolls fluctuation status away from, and under the state, the modulus value of record Geomagnetic signal disturbance rolls threshold away from less than default
Value ThdptRoll disturbance number Cnt away froms6If the modulus value of Geomagnetic signal disturbance rolls threshold value Th away from higher than defaultdpt, then state machines
State, which jumps to, rolls intermediateness S7 away from, otherwise, number Cnt is disturbed when rolling away froms6(preset more than default count threshold of rolling away from and roll meter away from
Number threshold value Ndpt1Represent) and the average of the modulus value of Geomagnetic signal disturbance be less than default modulus value Low threshold (default modulus value Low threshold
Use ThlowRepresent) when, state machine state jumps to S1, and number Cnt is disturbed when rolling away froms6Count threshold N is rolled away from more than defaultdpt1And
The average of the modulus value of Geomagnetic signal disturbance is more than default modulus value Low threshold ThlowWhen, state machine state, which jumps to, doubtful rolls state away from
S8；
(8) state S7 rolls intermediateness away from, under the state, will roll disturbance number Cnt away froms6Reset, it is so-called to roll centre away from
State, it is to roll in fluctuation status the modulus value for Geomagnetic signal disturbance occur away to roll threshold value Th away from more than defaultdptWhen state, it is this
I.e. roll intermediateness number away from (rolls intermediateness number Cnt away to the number of states7Represent), when rolling away from, intermediateness number is big
(preset in default intermediateness count threshold of rolling away from and roll intermediateness count threshold N away fromdpt2Represent) when, then state machine state
S5 is jumped to, otherwise, when the modulus value of Geomagnetic signal disturbance rolls threshold value Th away from again below defaultdptWhen, state machine state jumps to
S6；
(9) state S8 be it is doubtful roll state away from, it is so-called it is doubtful roll state away from, be that Geomagnetic signal disturbs, but uncertain
Whether there is vehicle to roll parking stall away from, under the state, by doubtful state flag bit FgcfmIt is arranged to 0 i.e. Fgcfm=0, while enter section
Point collaboration mode, by doubtful state flag bit Fg at the end of node collaboration modecfm1 is arranged to, now, if parking stall state
When PS (t) is defined as parking stall seizure condition i.e. PS (t)=1, state machine state jumps to S5, and otherwise, state machine state redirects
To S1.
S103, if state machine state is doubtful state, starter node collaboration mode to the doubtful state to carry out most
Determine eventually.
As it was previously stated, doubtful state i.e. include it is doubtful drive into state and it is doubtful roll state away from, in order to be done most to doubtful state
Determine eventually, can starter node collaboration mode.So-called starter node collaboration mode, sensed using adjacent several nodes i.e. earth magnetism
The Geomagnetic signal of device collection, cooperates with each other to carry out the final determination of parking stall state.As one embodiment of the invention, start
Node collaboration mode S1031 and S1032 can be realized as follows with carrying out final determination to doubtful state：
It is preprocessed to gather Geomagnetic signal by geomagnetic sensor A in S1031, acquisition any three geomagnetic sensors A, B and C
Gained modulus value M afterwardsAGeomagnetic signal gained modulus value M after pretreatment is gathered with geomagnetic sensor BBBetween Pearson's coefficient ρAB
And geomagnetic sensor B gathers Geomagnetic signal gained modulus value M after pretreatmentBGeomagnetic signal is gathered with geomagnetic sensor C
Gained modulus value M after pretreatmentCBetween Pearson's coefficient ρBC。
In embodiments of the present invention, geomagnetic sensor A, B and C is respectively deployed on three adjacent stalls, earth magnetism sensing
Device B is deployed between geomagnetic sensor A and geomagnetic sensor C, and these geomagnetic sensors can be three that previous embodiment refers to
Axle geomagnetic sensor, MA、MBAnd MCThe method through step S1 and S2 that previous embodiment can be used to refer to is asked for, and is not done herein
Repeat.Specifically, obtain geomagnetic sensor A in any three geomagnetic sensors A, B and C and gather Geomagnetic signal after pretreatment
Gained modulus value MAGeomagnetic signal gained modulus value M after pretreatment is gathered with geomagnetic sensor BBBetween Pearson's coefficient ρABWith
And geomagnetic sensor B gathers Geomagnetic signal gained modulus value M after pretreatmentBGeomagnetic signal warp is gathered with geomagnetic sensor C
Gained modulus value M after pretreatmentCBetween Pearson's coefficient ρBCIt can be calculated according to equation below：
AndWherein, cov (MA,MB) it is MAAnd MBBetween association
Variance, cov (MB,MC) it is MBAnd MCBetween covariance, σA、σBAnd σCIt is M respectivelyA、MBAnd MCStandard deviation.
S1032, judge | ρAB|>Thresholdhigh、|ρBC|>Thresholdhigh、And
Whether set up simultaneously, if set up simultaneously, it is determined that doubtful to drive into that state is parking stall seizure condition and doubtful state of rolling away from is
Parking stall idle condition, otherwise, it determines doubtful state is to disturb generation, doubtful state of driving into be parking stall idle condition and doubt
It is parking stall seizure condition seemingly to roll state away from, herein, | ρAB| it is ρABModulus value, | ρBC| it is ρBCModulus value,With
It is M respectivelyA、MBAnd MCIn regular length N average, ThresholdhighIt is the Pearson's coefficient high threshold of setting.
S1033, doubtful state flag bit is arranged to logical one.
, therefore, can be by doubtful state flag bit due to finally being determined through step S1031 and S1032, doubtful state
FgcfmIt is arranged to logical one i.e. Fgcfm=1.
It was found from the parking detection method of the above-mentioned example of accompanying drawing 1, with prior art only by more intermediateness-state machines
Detection pattern carries out detection to parking stall state and compared, and parking stall shape is detected under more intermediatenesses-state machine detection pattern
When state is doubtful state, starter node collaboration mode to the doubtful state finally to be determined, so as to according to cooperative information
Result carries out Second Decision to doubtful state, significantly reduces the caused False Rate of adjacent stalls vehicle interference, has
Effect improves accuracy of detection, so as to be laid a good foundation for intelligent parking management.
Fig. 3 is the schematic diagram of parking detection means provided in an embodiment of the present invention, mainly includes judge module 301, detection
Module 302 and node collaboration module 303, describe in detail as follows：
Judge module 301, for judging whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance is more than default
Drive into threshold value；
Detection module 302, if occur disturbing for Geomagnetic signal and the modulus value of the disturbance exceed it is default drive into threshold value,
Into more intermediatenesses-state machine detection pattern to carry out the determination of parking stall state, wherein, parking stall state includes determining shape
State and doubtful state；
Node collaboration module 303, if being doubtful state for parking stall state, starter node collaboration mode is with to doubtful
State is finally determined.
It should be noted that device provided in an embodiment of the present invention, due to being based on same structure with the inventive method embodiment
Think, its technique effect brought is identical with the inventive method embodiment, and particular content can be found in the inventive method embodiment
Narration, here is omitted.
In the parking detection means of the example of accompanying drawing 3, determine that state includes parking stall idle condition and parking stall seizure condition,
Detection module 302 can include the first determining unit 401 and the second determining unit 402, as the parking of the example of accompanying drawing 4 detects dress
Put, wherein：
First determining unit 301, for default driving into the equal of count threshold and the modulus value when driving into disturbance number and exceed
When value is more than default modulus value high threshold, or, drive into intermediateness number and exceed when driving into intermediateness count threshold, or,
When the activated node collaboration mode is ultimately determined to parking bit occupancy to the doubtful state, the parking stall state is determined
For parking stall seizure condition；
Second determining unit 302, for default rolling the equal of count threshold and the modulus value away from when rolling disturbance number away from and exceed
When value is less than default modulus value Low threshold, or, roll intermediateness number away from and exceed when rolling intermediateness count threshold away from, or,
When the activated node collaboration mode is ultimately determined to the parking stall free time to the doubtful state, the parking stall state is determined
For parking stall idle condition.
In the parking detection means of the example of accompanying drawing 3, determine that state includes parking stall idle condition and parking stall seizure condition,
Doubtful state include it is doubtful drive into state and it is doubtful roll state away from, node collaboration module 303 can include acquiring unit 501, the
Three determining units 502 and setting unit 503, such as the parking detection means of the example of accompanying drawing 5, wherein：
Acquiring unit 501, earth magnetism letter is gathered for obtaining geomagnetic sensor A in any three geomagnetic sensors A, B and C
Number after pretreatment gained modulus value MAGeomagnetic signal gained modulus value M after pretreatment is gathered with geomagnetic sensor BBBetween skin
You are inferior coefficient ρABAnd geomagnetic sensor B gathers Geomagnetic signal gained modulus value M after pretreatmentBAdopted with geomagnetic sensor C
Collect Geomagnetic signal gained modulus value M after pretreatmentCBetween Pearson's coefficient ρBC, described geomagnetic sensor A, B and C are disposed respectively
In on three adjacent stalls, geomagnetic sensor B is deployed between geomagnetic sensor A and geomagnetic sensor C；
3rd determining unit 502, for judging | ρAB|>Thresholdhigh、|ρBC|>Thresholdhigh、
AndWhether set up simultaneously, if set up simultaneously, it is determined that the doubtful state of driving into is parking stall seizure condition
And the doubtful state of rolling away from is parking stall idle condition, otherwise, it determines the doubtful state produces for interference, is described doubtful
The state of driving into is parking stall idle condition and the doubtful state of rolling away from is parking stall seizure condition, described | ρAB| it is described
ρABModulus value, it is described | ρBC| it is the ρBCModulus value, it is described WithIt is M respectivelyA、MBAnd MCRegular length N's
Average, ThresholdhighIt is the Pearson's coefficient high threshold of setting；
Setting unit 503, for doubtful state flag bit to be arranged into logical one.
The parking detection means of the above-mentioned any example of accompanying drawing 3 to 5 can also include acquisition module and pretreatment module, its
In：
Acquisition module, for gathering the Geomagnetic signal x of the direction of principal axis of x, y and z tri-raw,i(t), the i ∈ { x, y, z }；
Pretreatment module, for the Geomagnetic signal xraw,i(t) pre-processed, obtain the Geomagnetic signal xraw,i
(t) modulus value M.
The pretreatment module can include filter unit and magnitude calculation unit, wherein：
Filter unit, for the Geomagnetic signal xraw,i(t) smothing filtering is carried out, obtains the signal after smothing filtering
xsmooth,i(t)；
Magnitude calculation unit, for according to formula
Calculate the Geomagnetic signal xraw,i(t) modulus value M, wherein, x0、y0And z0It is x-axis, y-axis and z-axis baseline value respectively.
Fig. 6 is the structural representation for the terminal device that one embodiment of the invention provides.As shown in fig. 6, the end of the embodiment
End equipment 6 includes：Processor 60, memory 61 and it is stored in the computer that can be run in memory 61 and on processor 60
Program 62, such as the program of parking detection method.Processor 60 realizes above-mentioned parking detection method when performing computer program 62
Step in embodiment, such as the step S101 to S103 shown in Fig. 1.It is or real during the execution computer program 62 of processor 60
The function of each module/unit in existing above-mentioned each device embodiment, such as judge module 301 shown in Fig. 3, detection module 302 and section
The function of point collaboration module 303.
Exemplary, the computer program 62 for detection method of stopping mainly includes：Judge whether Geomagnetic signal disturbs
And whether the modulus value of the disturbance exceedes and default drives into threshold value；If disturbing occurs in the Geomagnetic signal and the modulus value of the disturbance surpasses
Cross described preset and drive into threshold value, then enter more intermediatenesses-state machine detection pattern to carry out the determination of parking stall state, it is described
Parking stall state includes determination state and doubtful state；If the parking stall state is doubtful state, starter node cooperation mould
Formula to the doubtful state finally to be determined.Computer program 62 can be divided into one or more module/units, and one
Individual or multiple module/units are stored in memory 61, and are performed by processor 60, to complete the present invention.One or more
Individual module/unit can be the series of computation machine programmed instruction section that can complete specific function, and the instruction segment is based on describing
Calculation machine 62 implementation procedure in computing device 6 of program.For example, computer program 62 can be divided into judge module 301, inspection
The function of module 302 and node collaboration module 303 is surveyed, each device concrete function is as follows：Judge module 301, for judging earth magnetism
Whether signal occurs disturbing and whether the modulus value of the disturbance exceedes and default drive into threshold value；Detection module 302, if believing for earth magnetism
Number occur disturbing and the modulus value of the disturbance exceed it is default drive into threshold value, then into more intermediatenesses-state machine detection pattern with
The determination of parking stall state is carried out, wherein, parking stall state includes determination state and doubtful state；Node collaboration module 303, use
If being doubtful state in parking stall state, starter node collaboration mode to doubtful state finally to be determined.
Terminal device 6 may include but be not limited only to processor 60, memory 61.It will be understood by those skilled in the art that Fig. 6
The only example of terminal device 6, the restriction to terminal device 6 is not formed, can included than illustrating more or less portions
Part, some parts or different parts are either combined, such as terminal device can also include input-output equipment, network connects
Enter equipment, bus etc..
Alleged processor 60 can be CPU (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other PLDs, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng.
Memory 61 can be the internal storage unit of terminal device 6, such as the hard disk or internal memory of terminal device 6.Storage
Device 61 can also be the plug-in type hard disk being equipped with the External memory equipment of terminal device 6, such as terminal device 6, intelligent storage
Block (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card) etc..
Further, memory 61 can also both include the internal storage unit of terminal device 6 or including External memory equipment.Memory
61 are used to store computer program and other programs and data needed for terminal device.Memory 61 can be also used for temporarily
Store the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work(
Can unit, module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of device are divided into different functional units or module, to complete above description
All or part of function.Each functional unit, module in embodiment can be integrated in a processing unit or
Unit is individually physically present, can also two or more units it is integrated in a unit, above-mentioned integrated unit
Both it can be realized, can also be realized in the form of SFU software functional unit in the form of hardware.In addition, each functional unit, mould
The specific name of block is not limited to the protection domain of the application also only to facilitate mutually distinguish.It is single in said system
Member, the specific work process of module, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in detail or remembers in some embodiment
The part of load, it may refer to the associated description of other embodiments.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Member and algorithm steps, it can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, application-specific and design constraint depending on technical scheme.Professional and technical personnel
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, can be with
Realize by another way.For example, device described above/terminal device embodiment is only schematical, for example, mould
The division of block or unit, only a kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple
Unit or component can combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another
Point, shown or discussed mutual coupling or direct-coupling or communication connection can be by some interfaces, device or
The INDIRECT COUPLING of unit or communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, be shown as unit
Part can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple networks
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If integrated module/unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, the present invention realizes above-described embodiment side
All or part of flow in method, by computer program the hardware of correlation can also be instructed to complete, detection method of stopping
Computer program can be stored in a computer-readable recording medium, the computer program, can be real when being executed by processor
The step of existing above-mentioned each embodiment of the method, i.e. judge whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance surpasses
Cross to preset and drive into threshold value；If disturbing occurs in the Geomagnetic signal and the modulus value of the disturbance exceedes described preset and drives into threshold value,
Into more intermediatenesses-state machine detection pattern to carry out the determination of parking stall state, the parking stall state includes determining shape
State and doubtful state；If the parking stall state is doubtful state, starter node collaboration mode to the doubtful state to enter
Row is final to be determined.Wherein, computer program includes computer program code, computer program code can be source code form,
Object identification code form, executable file or some intermediate forms etc..Computer-readable medium can include：Computer can be carried
Any entity or device of program code, recording medium, USB flash disk, mobile hard disk, magnetic disc, CD, computer storage, read-only deposit
Reservoir (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier wave letter
Number, telecommunication signal and software distribution medium etc..It should be noted that the content that computer-readable medium includes can be according to department
Legislation and the requirement of patent practice carry out appropriate increase and decrease in method administrative area, such as in some jurisdictions, according to legislation and
Patent practice, computer-readable medium do not include electric carrier signal and telecommunication signal.Above example is only illustrating the present invention
Technical scheme, rather than its limitations；Although the present invention is described in detail with reference to the foregoing embodiments, this area it is general
Logical technical staff should be understood：It can still modify to the technical scheme described in foregoing embodiments, or to it
Middle some technical characteristics carry out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this
The spirit and scope of each embodiment technical scheme are invented, should be included in the scope of the protection.
Claims (10)
1. one kind parking detection method, it is characterised in that methods described includes：
Judge whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance exceedes and default drive into threshold value；
If disturbing occurs in the Geomagnetic signal and the modulus value of the disturbance exceedes described preset and drives into threshold value, enter shapes among more
For state-state machine detection pattern to carry out the determination of parking stall state, the parking stall state includes determination state and doubtful state；
If the parking stall state is doubtful state, starter node collaboration mode is final true to be carried out to the doubtful state
It is fixed.
2. as claimed in claim 1 parking detection method, it is characterised in that the determination state include parking stall idle condition and
Parking stall seizure condition, it is described into more intermediatenesses-state machine detection pattern to carry out the determination of parking stall state, including：
When driving into disturbance number more than the average for driving into count threshold and the modulus value is preset more than default modulus value high threshold, or
Person, drive into intermediateness number and exceed when driving into intermediateness count threshold, or, the activated node collaboration mode is to institute
State doubtful state be ultimately determined to stop bit occupancy when, it is parking stall seizure condition to determine the parking stall state；
When rolling disturbance number away from more than the average for rolling count threshold and the modulus value away from is preset less than default modulus value Low threshold, or
Person, roll intermediateness number away from and exceed when rolling intermediateness count threshold away from, or, the activated node collaboration mode is to institute
When stating doubtful state and being ultimately determined to the parking stall free time, it is parking stall idle condition to determine the parking stall state.
3. as claimed in claim 1 parking detection method, it is characterised in that the determination state include parking stall idle condition and
Parking stall seizure condition, the doubtful state include it is doubtful drive into state and it is doubtful roll state away from, the starter node cooperates mould
Formula finally to be determined to the doubtful state, including：
Obtain geomagnetic sensor A in any three geomagnetic sensors A, B and C and gather Geomagnetic signal gained modulus value after pretreatment
MAGeomagnetic signal gained modulus value M after pretreatment is gathered with geomagnetic sensor BBBetween Pearson's coefficient ρABAnd earth magnetism passes
Sensor B gathers Geomagnetic signal gained modulus value M after pretreatmentBGeomagnetic signal is gathered with geomagnetic sensor C after pretreatment
Gained modulus value MCBetween Pearson's coefficient ρBC, described geomagnetic sensor A, B and C be respectively deployed on three adjacent stalls,
The geomagnetic sensor B is deployed between the geomagnetic sensor A and the geomagnetic sensor C；
Judge | ρAB|>Thresholdhigh、|ρBC|>Thresholdhigh、AndWhether simultaneously into
It is vertical, if set up simultaneously, it is determined that the doubtful state of driving into is parking stall seizure condition and described doubtful rolls state away to stop
Parking stall idle condition, otherwise, it determines the doubtful state is interference generation, the doubtful state of driving into is parking stall idle condition
It is described and the doubtful state of rolling away from is parking stall seizure condition | ρAB| it is the ρABModulus value, it is described | ρBC| it is the ρBC
Modulus value, it is describedWithIt is M respectivelyA、MBAnd MCIn regular length N average, ThresholdhighIt is setting
Pearson's coefficient high threshold；
Doubtful state flag bit is arranged to logical one.
4. detection method of being stopped as described in claims 1 to 3 any one, it is characterised in that described whether to judge Geomagnetic signal
Appearance disturbs and whether the modulus value of the disturbance is driven into before threshold value more than default, and methods described also includes：
Gather the Geomagnetic signal x of the direction of principal axis of x, y and z tri-raw,i(t), the i ∈ { x, y, z }；
To the Geomagnetic signal xraw,i(t) pre-processed, obtain the Geomagnetic signal xraw,i(t) modulus value M.
5. parking detection method as claimed in claim 4, it is characterised in that described to the Geomagnetic signal xraw,i(t) carry out pre-
Processing, obtains the Geomagnetic signal xraw,i(t) modulus value M, including：
To the Geomagnetic signal xraw,i(t) smothing filtering is carried out, obtains the signal x after smothing filteringsmooth,i(t)；
According to formulaCalculate the Geomagnetic signal
xraw,i(t) modulus value M, the x0、y0And z0It is x-axis, y-axis and z-axis baseline value respectively.
6. one kind parking detection means, it is characterised in that described device includes：
Judge module, for judging whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance exceedes and default drive into threshold
Value；
Detection module, if occur disturbing for the Geomagnetic signal and the modulus value of the disturbance exceed it is described it is default drive into threshold value,
Then into more intermediatenesses-state machine detection pattern to carry out the determination of parking stall state, the parking stall state includes determining
State and doubtful state；
Node collaboration module, if being doubtful state for the parking stall state, starter node collaboration mode is with to described doubtful
Finally determined like state.
7. as claimed in claim 6 parking detection means, it is characterised in that the determination state include parking stall idle condition and
Parking stall seizure condition, the detection module include：
First determining unit, disturbance number is driven into more than the default average for driving into count threshold and the modulus value more than in advance for working as
If during modulus value high threshold, or, drive into intermediateness number and exceed when driving into intermediateness count threshold, or, activated institute
State node collaboration mode to the doubtful state be ultimately determined to stop bit occupancy when, it is parking stall to determine the parking stall state
Seizure condition；
Second determining unit, disturbance number is rolled away from more than the default average for rolling count threshold and the modulus value away from less than in advance for working as
If during modulus value Low threshold, or, roll intermediateness number away from and exceed when rolling intermediateness count threshold away from, or, activated institute
When stating node collaboration mode and being ultimately determined to the parking stall free time to the doubtful state, it is parking stall to determine the parking stall state
Idle condition.
8. as claimed in claim 6 parking detection means, it is characterised in that the determination state include parking stall idle condition and
Parking stall seizure condition, the doubtful state include doubtful driving into state and doubtful rolling state, the node collaboration module bag away from
Include：
Acquiring unit, Geomagnetic signal is gathered through pre- for obtaining geomagnetic sensor A in any three geomagnetic sensors A, B and C
Gained modulus value M after processingAGeomagnetic signal gained modulus value M after pretreatment is gathered with geomagnetic sensor BBBetween Pearson came system
Number ρABAnd geomagnetic sensor B gathers Geomagnetic signal gained modulus value M after pretreatmentBEarth magnetism is gathered with geomagnetic sensor C
Signal gained modulus value M after pretreatmentCBetween Pearson's coefficient ρBC, described geomagnetic sensor A, B and C are respectively deployed in three
On adjacent stalls, the geomagnetic sensor B is deployed between the geomagnetic sensor A and the geomagnetic sensor C；
3rd determining unit, for judging | ρAB|>Thresholdhigh、|ρBC|>Thresholdhigh、AndWhether set up simultaneously, if set up simultaneously, it is determined that the doubtful state of driving into is parking stall seizure condition and institute
It is parking stall idle condition to state doubtful state of rolling away from, otherwise, it determines the doubtful state produces for interference, described doubtful drives into shape
State is parking stall idle condition and the doubtful state of rolling away from is parking stall seizure condition, described | ρAB| it is the ρABMould
Value, described | ρBC| it is the ρBCModulus value, it is described WithIt is M respectivelyA、MBAnd MCIn regular length N average,
ThresholdhighIt is the Pearson's coefficient high threshold of setting；
Setting unit, for doubtful state flag bit to be arranged into logical one.
9. a kind of terminal device, including memory, processor and it is stored in the memory and can be on the processor
The computer program of operation, it is characterised in that realize such as claim 1 to 5 described in the computing device during computer program
The step of any one methods described.
10. a kind of computer-readable recording medium, the computer-readable recording medium storage has computer program, and its feature exists
In realization is such as the step of claim 1 to 5 any one methods described when the computer program is executed by processor.
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| CN112037534A (en) * | 2020-09-04 | 2020-12-04 | 深圳华强技术有限公司 | Car detection method and device integrating geomagnetic data and NB (nuclear magnetic resonance) signals |
| CN114550466A (en) * | 2020-11-26 | 2022-05-27 | 中移物联网有限公司 | Parking space state detection method and device and electronic equipment |
| CN114255600A (en) * | 2022-01-26 | 2022-03-29 | 杭州海康威视数字技术股份有限公司 | Parking detection method, parking detection equipment and storage medium |
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