CN107610481B - Stop detection method, device and terminal device and computer readable storage medium - Google Patents
Stop detection method, device and terminal device and computer readable storage medium Download PDFInfo
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- CN107610481B CN107610481B CN201710769169.7A CN201710769169A CN107610481B CN 107610481 B CN107610481 B CN 107610481B CN 201710769169 A CN201710769169 A CN 201710769169A CN 107610481 B CN107610481 B CN 107610481B
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Abstract
The present invention relates to earth magnetism field of vehicle detection, a kind of parking detection method, device and terminal device and computer readable storage medium are provided, to improve the accuracy rate of parking detection.The described method includes: judging whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance is more than to preset to drive into threshold value；If the Geomagnetic signal occurs disturbing and the modulus value of the disturbance is more than that described preset drives into threshold value, enter more intermediate state-state machine detection pattern to carry out the determination of parking stall state；If the parking stall state is doubtful state, starter node collaboration mode is finally to determine the doubtful state.Technical solution provided by the invention significantly reduces the caused False Rate of adjacent stalls vehicle interference, effectively increases detection accuracy, to lay 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 storage medium.
Background technique
Parking detection is the pith for realizing intelligent transportation, current main detection method 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,
That is: 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 generates biggish disturbance, and the variation of external magnetic field causes geomagnetic sensor output valve to change, therefore, earth magnetism is passed
Sensor is placed in the region of vehicle process, by the disturbing signal of acquisition vehicle magnetic over the ground, after handling the disturbing signal
It can be detected the traffic informations such as presence, vehicle, the speed of vehicle.Compared to parkings 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 maintain.
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 meeting corresponding condition
It is jumped, to obtain parking space state, wherein state machine jumps 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, calculation amount is small, convenient in sensor section
It is realized on point, however, there is also apparent defects for the algorithm, that is, there are the interference signals of adjacent vehicle for Parking Stall, therefore, base
It is difficult to ensure in the state machine detection algorithm of threshold value in the detection accuracy in detecting of stopping.
Summary of the invention
The present invention provides a kind of parking detection method, device and terminal device and computer readable storage medium, to improve
The accuracy rate of parking detection.
First aspect present invention provides a kind of parking detection method, which comprises
Judge whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance is more than to preset to drive into threshold value；
If the Geomagnetic signal occurs disturbing and the modulus value of the disturbance is more than that described preset drives into threshold value, enter in mostly
Between state-state machine detection pattern to carry out the determination of parking stall state, the parking stall state includes the state that determines and doubtful
State；
If the parking stall state is doubtful state, starter node collaboration mode is final to carry out to the doubtful state
It determines.
Second aspect of the present invention provides a kind of parking detection device, and described device includes:
Judgment module, 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, if occurring disturbing for the Geomagnetic signal and the modulus value of the disturbance is more than described default to drive into threshold
Value, then carry out the determination of parking stall state into more intermediate state-state machine detection pattern, and 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 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, processor perform the steps of when executing computer program
Judge whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance is more than to preset to drive into threshold value；
If the Geomagnetic signal occurs disturbing and the modulus value of the disturbance is more than that described preset drives into threshold value, enter in mostly
Between state-state machine detection pattern to carry out the determination of parking stall state, the parking stall state includes the state that determines and doubtful
State；
If the parking stall state is doubtful state, starter node collaboration mode is final to carry out to the doubtful state
It determines.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, computer readable storage medium
It is stored with computer program, is performed the steps of when computer program is executed by processor
Judge whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance is more than to preset to drive into threshold value；
If the Geomagnetic signal occurs disturbing and the modulus value of the disturbance is more than that described preset drives into threshold value, enter in mostly
Between state-state machine detection pattern to carry out the determination of parking stall state, the parking stall state includes the state that determines and doubtful
State；
If the parking stall state is doubtful state, starter node collaboration mode is final to carry out to the doubtful state
It determines.
From aforementioned present invention provide technical solution it is found that and the prior art only by more intermediate state-state machine examination
Survey mode carries out detection to parking stall state and compares, and detects parking stall state under more intermediate state-state machine detection pattern
When for doubtful state, starter node collaboration mode is finally to determine the doubtful state, thus at according to cooperative information
It manages result and Second Decision is carried out to doubtful state, significantly reduce the caused False Rate of adjacent stalls vehicle interference, effectively
Detection accuracy is improved, to lay a good foundation for intelligent parking management.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art, can also be according to these attached drawings under the premise of not making the creative labor
Obtain other attached 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 intermediate state provided in an embodiment of the present invention-state machine detection pattern
The schematic diagram of state；
Fig. 3 is the structural schematic diagram of parking detection device provided in an embodiment of the present invention；
Fig. 4 be another embodiment of the present invention provides parking detection device structural schematic diagram；
Fig. 5 be another embodiment of the present invention provides parking detection device structural schematic diagram；
Fig. 6 is the structural schematic diagram of terminal device provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly 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 also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solution of the present invention, the following is a description of specific embodiments.
Attached drawing 1 is the implementation process schematic diagram of parking detection method provided in an embodiment of the present invention, mainly includes following step
Rapid S101 to S103, described further below:
S101 judges whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance is more than to preset to drive into threshold value.
In embodiments of the present invention, before step S101 further include: the Geomagnetic signal x of acquisition tri- axis direction of x, y and zraw,i
(t), to the Geomagnetic signal xraw,i(t) it is pre-processed, obtains the Geomagnetic signal xraw,i(t) modulus value M, herein, i ∈
When { x, y, z }, i.e. subscript i are x, xraw,x(t) indicate acquisition is the Geomagnetic signal of x-axis direction, when subscript i is y, xraw,y(t)
Indicate acquisition is the Geomagnetic signal in y-axis direction, when subscript i is z, xraw,z(t) indicate acquisition is the earth magnetism letter in z-axis direction
Number, wherein the Geomagnetic signal x of acquisition tri- axis direction of x, y and zraw,i(t) it can be and passed using the three axis earth magnetism for being deployed in parking stall
The Geomagnetic signal x of sensor acquisition tri- axis direction of x, y and zraw,i(t), and to Geomagnetic signal xraw,i(t) it is pre-processed, obtains 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, the signal x after obtaining smothing filtering are carried outsmooth,i(t)。
It specifically, can be according to following formula 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 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 disturbed still can be calculated such as the method for step S1 and S2 in above-described 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 the judging result of step S101 occurs disturbing for Geomagnetic signal and the disturbance modulus value of the disturbance is more than institute
It states to preset and drives into threshold value, then carry out the determination of parking stall state into more intermediate state-state machine detection pattern, wherein stop
Parking space state includes the state that determines and doubtful state.
It should be noted that the modulus value of magnetic signal disturbance can be calculated according to the method that previous embodiment S1 and S2 are provided
It obtains.In order to make it easy to understand, first explained to several terms involved in S102 realization process or concept herein:
It drives into disturbance number and (uses below Cnts2Indicate): refer to and drives into fluctuation status, the Geomagnetic signal occurred
Disturbing its modulus value is more than the number preset when driving into threshold value；
It is driven out to intermediate state number and (uses below Cnts7Indicate): it is driven out to and will appear Geomagnetic signal disturbance in fluctuation status
Modulus value is greater than the default threshold value that is driven out to and (presets and be driven out to threshold value ThdptIndicate) when state, the number of this state is driven out to centre
State number；
It is driven out to disturbance number and (uses below Cnts6Indicate): refer to and is driven out in fluctuation status, the Geomagnetic signal occurred
Its modulus value is disturbed lower than the number preset when being driven out to threshold value；
It drives into intermediate state number and (uses below Cnts3Indicate): it drives into fluctuation status and the mould of Geomagnetic signal disturbance occurs
Value, which is less than to preset, drives into threshold value ThavlWhen state, the number of this state drives into intermediate state number.
As one embodiment of the invention, into more intermediate state-state machine detection pattern to carry out parking stall state
Determination S1021 and S1022 can be realized as follows:
S1021 is big more than the mean value of the default modulus value for driving into count threshold and Geomagnetic signal disturbance when driving into disturbance number
When default modulus value high threshold, alternatively, driving into intermediate state number is more than when driving into intermediate state count threshold, alternatively, 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 mean value of the default modulus value for being driven out to count threshold and Geomagnetic signal disturbance when being driven out to disturbance number
When default modulus value Low threshold, alternatively, being driven out to intermediate state number is more than when being driven out to intermediate state count threshold, alternatively, through opening
When dynamic node collaboration mode is ultimately determined to the parking stall free time to doubtful state, determine that parking stall state is parking stall free time shape
State.
In embodiments of the present invention, it presets and drives into count threshold Navl1It indicates, presets modulus value high threshold ThhighWith indicating,
It is driven out to intermediate state count threshold Ndpt2It indicates, it is default to be driven out to count threshold Ndpt1It indicates, presets modulus value Low threshold ThlowWith
It indicates, drives into intermediate state count threshold Navl2It indicates, and starter node collaboration mode is ultimately determined to stop to doubtful state
Parking stall occupies or the parking stall free time specifically sees subsequent embodiment.It should be noted that " being more than " in above-described embodiment,
Other than the case where including to be greater than, it is also understood that equal for the two.For example, " being driven out to intermediate state in above-described embodiment
Number is more than to be driven out to intermediate state count threshold " it can be understood as being driven out to intermediate state number and be greater than or equal to and be driven out to intermediate state
Count threshold, " driving into intermediate state number is more than to drive into intermediate state count threshold " in above-described embodiment can be understood as sailing
Enter intermediate state number be greater than or equal to drive into intermediate state count threshold.
Once it is determined that parking stall state is parking stall occupied state or parking stall idle state, the then shape that can will be decided
State is uploaded to host computer, shows after testing, and parking stall is current occupied or vehicle parking is not present.
In embodiments of the present invention, state machine state in addition to above-mentioned doubtful state and determines state i.e. parking bit occupancy shape
It further include fluctuation status and intermediate state etc. except state or parking stall idle state.It as shown in Fig. 2, is the embodiment of the present invention
The state machine state that state machine exports under the more intermediate state-state machine detection pattern provided shifts schematic diagram, says in detailed below
It is bright:
(1) state S0, that is, init state initializes all parameters and baseline under the state, is arranged just after the completion of initialization
Beginningization Status Flag FgitaIt is 1, and jumps to state S1；
(2) state S1, that is, parking stall idle state, under the state, parking stall is in the free time.It should be noted that as t
When the parking stall state at quarter is indicated using PS (t), since the state on parking stall only has two states, that is, parking stall empty after determination
Therefore not busy state and parking stall occupied state can set PS (t) to indicate parking stall idle state, phase when 0 i.e. PS (t)=0
Instead, parking stall occupied state can be then indicated when PS (t) is set as 1 i.e. PS (t)=1；It can be under the idle state of parking stall
Row baseline updates, and baseline more new formula is as follows:
In formula, x0,i(t-1) be t moment previous moment i.e. t-1 moment i axis baseline value, herein, i ∈ { x, y, z },
xsmooth,i(t) x of meaning and previous embodimentsmooth,i(t) it is meant that, i.e., in t moment in the collected earth magnetism of i axis direction
Signal xraw,i(t) signal obtained after smothing filtering is carried out, is forgetting factor, range is between [0,1], when PS (t-1) is t
The previous moment at quarter, that is, t-1 moment parking stall state；
When detecting Geomagnetic signal xraw,i(t) there is disturbance, and the disturbance modulus value of the disturbance is more than to preset to drive into threshold value (in advance
If driving into threshold value ThavlIndicate), then state machine state jumps to state S2；
(3) state S2 drives into fluctuation status, and in this state, the modulus value of record Geomagnetic signal disturbance is more than default drives into
Threshold value ThavlDrive into disturbance number Cnts2If the modulus value of Geomagnetic signal disturbance drives into threshold value Th lower than defaultavl, then state machine
Otherwise state transition disturbs number Cnt when driving into S3s2It (presets more than default frequency threshold value of driving into and drives into frequency threshold value use
Navl1Indicate) and meet Geomagnetic signal disturbance modulus value mean valueLess than default modulus value high threshold, (default modulus value high threshold is used
ThhighIndicate) when, state machine state jumps to S4, if driving into disturbance number Cnts2Frequency threshold value N is driven into more than defaultavl1And
The mean value for meeting the modulus value of Geomagnetic signal disturbance is greater than default modulus value high threshold ThhighWhen, then state machine state jumps to S5；
(4) state S3 drives into intermediate state, and disturbance number Cnt will be driven under the states2It resets, it is so-called to drive into intermediate shape
State 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 intermediate state number Cnts3If in the case where driving into intermediate state, 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 intermediate state number Cnts3More than default
To drive into intermediate state count threshold (preset to drive into intermediate state count threshold Navl2Indicate), then state machine state jumps
To state S1；
(5) state S4, that is, doubtful drives 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 set as 0 i.e. Fgcfm=0, while entering section
Point collaboration mode, by doubtful state flag bit Fg at the end of node collaboration modecfmIt is set as 1, at this point, if parking stall state
When PS (t) is determined as parking stall occupied state i.e. PS (t)=1, state machine state jumps to S5, and otherwise, state machine state jumps
To S1；
(6) state S5, that is, parking stall occupied state, according to agreement above-mentioned, PS (t)=1, in this state, if earth magnetism is believed
The modulus value of number disturbance is driven out to threshold value Th lower than defaultdpt, then state machine state, which jumps to, is driven out to fluctuation status S6；
(7) state S6 is driven out to fluctuation status, and under the state, the modulus value of record Geomagnetic signal disturbance is driven out to threshold lower than default
Value ThdptBe driven out to disturbance number Cnts6If the modulus value of Geomagnetic signal disturbance, which is higher than to preset, is driven out to threshold value Thdpt, then state machines
State, which jumps to, is driven out to intermediate state S7, otherwise, disturbs number Cnt when being driven out tos6It (presets more than the default count threshold that is driven out to and is driven out to meter
Number threshold value Ndpt1Indicate) and the mean value of the modulus value of Geomagnetic signal disturbance be less than default modulus value Low threshold (default modulus value Low threshold
Use ThlowIndicate) when, state machine state jumps to S1, disturbs number Cnt when being driven out tos6Count threshold N is driven out to more than defaultdpt1And
The mean value of the modulus value of Geomagnetic signal disturbance is greater than default modulus value Low threshold ThlowWhen, state machine state, which jumps to, doubtful is driven out to state
S8；
(8) state S7 is driven out to intermediate state, under the state, will be driven out to disturbance number Cnts6It resets, it is so-called to be driven out to centre
State is to be driven out to the modulus value for occurring Geomagnetic signal disturbance in fluctuation status to be driven out to threshold value Th greater than defaultdptWhen state, it is this
I.e. be driven out to intermediate state number (is driven out to intermediate state number Cnt to the number of states7Indicate), when being driven out to, intermediate state number is big
It (presets in the default intermediate state count threshold that is driven out to and is driven out to intermediate state count threshold Ndpt2Indicate) when, then state machine state
S5 is jumped to, otherwise, when the modulus value of Geomagnetic signal disturbance is driven out to threshold value Th again below defaultdptWhen, state machine state jumps to
S6；
(9) state S8, that is, doubtful is driven out to state, it is so-called it is doubtful be driven out to state, be that Geomagnetic signal disturbs, but uncertain
Whether there is vehicle to be driven out to parking stall, under the state, by doubtful state flag bit FgcfmIt is set as 0 i.e. Fgcfm=0, while entering section
Point collaboration mode, by doubtful state flag bit Fg at the end of node collaboration modecfmIt is set as 1, at this point, if parking stall state
When PS (t) is determined as parking stall occupied state i.e. PS (t)=1, state machine state jumps to S5, and otherwise, state machine state jumps
To S1.
S103, if state machine state is doubtful state, starter node collaboration mode is to carry out most the doubtful state
It determines eventually.
As previously mentioned, doubtful state i.e. include it is doubtful drive into state and it is doubtful be driven out to state, in order to be done most to doubtful state
It determines eventually, it can starter node collaboration mode.So-called starter node collaboration mode is sensed using adjacent several nodes i.e. earth magnetism
The Geomagnetic signal of device acquisition, cooperates with each other to carry out the final determination of parking stall state.As one embodiment of the invention, starting
Node collaboration mode S1031 and S1032 can be realized as follows with carrying out final determination to doubtful state:
It is preprocessed to obtain the acquired Geomagnetic signal of geomagnetic sensor A in any three geomagnetic sensors A, B and C by S1031
Gained modulus value M afterwardsAWith the acquired Geomagnetic signal of geomagnetic sensor B gained modulus value M after pretreatmentBBetween Pearson's coefficient ρAB
And the acquired Geomagnetic signal of geomagnetic sensor B gained modulus value M after pretreatmentBWith the acquired Geomagnetic signal of 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, these geomagnetic sensors can be three that previous embodiment refers to
Axis geomagnetic sensor, MA、MBAnd MCThe method through step S1 and S2 that can be referred to using previous embodiment is sought, and is not done herein
It repeats.Specifically, the acquired Geomagnetic signal of geomagnetic sensor A is obtained in any three geomagnetic sensors A, B and C after pretreatment
Gained modulus value MAWith the acquired Geomagnetic signal of geomagnetic sensor B gained modulus value M after pretreatmentBBetween Pearson's coefficient ρABWith
And the acquired Geomagnetic signal of geomagnetic sensor B gained modulus value M after pretreatmentBWith the acquired Geomagnetic signal warp of geomagnetic sensor C
Gained modulus value M after pretreatmentCBetween Pearson's coefficient ρBCIt can be calculated according to following formula:
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, judgement | ρAB|>Thresholdhigh、|ρBC|>Thresholdhigh、And
Whether set up simultaneously, if setting up simultaneously, it is determined that doubtful to drive into that state is parking stall occupied state and the doubtful state that is driven out to is
Parking stall idle state, otherwise, it determines doubtful state is that interference generates, doubtful state of driving into is parking stall idle state and doubts
Seemingly being driven out to state is parking stall occupied state, herein, | ρAB| it is ρABModulus value, | ρBC| it is ρBCModulus value,With
It is M respectivelyA、MBAnd MCIn the mean value of regular length N, ThresholdhighIt is the Pearson's coefficient high threshold of setting.
Doubtful state flag bit is set logical one by S1033.
It, therefore, can be by doubtful state flag bit since through step S1031 and S1032, doubtful state is able to final determination
FgcfmIt is set as logical one i.e. Fgcfm=1.
From the exemplary parking detection method of above-mentioned attached drawing 1 it is found that and the prior art only by more intermediate state-state machines
Detection pattern carries out detection to parking stall state and compares, and detects parking stall shape under more intermediate state-state machine detection pattern
When state is doubtful state, starter node collaboration mode is finally to determine the doubtful state, thus according to cooperative information
Processing result carries out Second Decision to doubtful state, significantly reduces the caused False Rate of adjacent stalls vehicle interference, has
Effect improves detection accuracy, to lay a good foundation for intelligent parking management.
Fig. 3 is the schematic diagram of parking detection device provided in an embodiment of the present invention, mainly includes judgment module 301, detection
Module 302 and node collaboration module 303, detailed description are as follows:
Judgment 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 be more than it is default drive into threshold value,
The determination of parking stall state is carried out into more intermediate state-state machine detection pattern, 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 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 embodiment of the present invention method
Think, bring technical effect is identical as embodiment of the present invention method, and particular content can be found in embodiment of the present invention method
Narration, details are not described herein again.
In the exemplary parking detection device of attached drawing 3, the state of determination includes parking stall idle state and parking stall occupied state,
Detection module 302 may include the first determination unit 401 and the second determination unit 402, fill as the exemplary parking of attached drawing 4 detects
It sets, in which:
First determination unit 301, for being more than default to drive into the equal of count threshold and the modulus value when drive into disturbance number
When value is greater than default modulus value high threshold, alternatively, drive into intermediate state number and be more than when driving into intermediate state count threshold, alternatively,
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 occupied state；
Second determination unit 302, for being more than default to be driven out to the equal of count threshold and the modulus value when be driven out to disturbance number
When value is less than default modulus value Low threshold, alternatively, be driven out to intermediate state number and be more than when being driven out to intermediate state count threshold, alternatively,
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 state.
In the exemplary parking detection device of attached drawing 3, the state of determination includes parking stall idle state and parking stall occupied state,
Doubtful state include it is doubtful drive into state and it is doubtful be driven out to state, node collaboration module 303 may include acquiring unit 501,
Three determination units 502 and setting unit 503, such as the exemplary parking detection device of attached drawing 5, in which:
Acquiring unit 501, for obtaining the acquired earth magnetism letter of geomagnetic sensor A in any three geomagnetic sensors A, B and C
Number after pretreatment gained modulus value MAWith the acquired Geomagnetic signal of geomagnetic sensor B gained modulus value M after pretreatmentBBetween skin
You are inferior coefficient ρABAnd the acquired Geomagnetic signal of geomagnetic sensor B gained modulus value M after pretreatmentBIt is adopted 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；
Third determination unit 502, for judging | ρAB|>Thresholdhigh、|ρBC|>Thresholdhigh、AndWhether set up simultaneously, if setting up simultaneously, it is determined that the doubtful state of driving into is parking
Bit occupancy state and the doubtful state that is driven out to are parking stall idle state, otherwise, it determines the doubtful state is that interference produces
It is raw, described it is doubtful drive into that state is parking stall idle state and the doubtful state that is driven out to is parking stall occupied state, it is described |
ρAB| it is the ρABModulus value, it is described | ρBC| it is the ρBCModulus value, it is described WithIt is M respectivelyA、MBAnd MC?
The mean value of regular length N, ThresholdhighIt is the Pearson's coefficient high threshold of setting；
Setting unit 503, for setting logical one for doubtful state flag bit.
The parking detection device of above-mentioned 3 to 5 any example of attached drawing can also include acquisition module and preprocessing module,
In:
Acquisition module, for acquiring the Geomagnetic signal x of tri- axis direction of x, y and zraw,i(t), the i ∈ { x, y, z }；
Preprocessing module, for the Geomagnetic signal xraw,i(t) it is pre-processed, obtains the Geomagnetic signal xraw,i
(t) modulus value M.
The preprocessing module may include filter unit and magnitude calculation unit, in which:
Filter unit, for the Geomagnetic signal xraw,i(t) smothing filtering, the signal after obtaining smothing filtering are carried out
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 schematic diagram 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 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 executing computer program 62
Step in embodiment, such as step S101 to S103 shown in FIG. 1.Alternatively, reality when processor 60 executes computer program 62
The function of each module/unit in existing above-mentioned each Installation practice, such as judgment module 301 shown in Fig. 3, detection module 302 and section
The function of point collaboration module 303.
Illustratively, the computer program 62 for detection method of stopping, which specifically includes that, judges whether Geomagnetic signal disturbs
And whether the modulus value of the disturbance is more than to preset to drive into threshold value；If the Geomagnetic signal occurs disturbing and the modulus value of the disturbance is super
It crosses described preset and drives into threshold value, then carry out the determination of parking stall state into more intermediate state-state machine detection pattern, it is described
Parking stall state includes the state that determines and doubtful state；If the parking stall state is doubtful state, starter node cooperation mould
Formula is finally to determine the doubtful state.Computer program 62 can be divided into one or more module/units, and one
A or multiple module/units are stored in memory 61, and are executed by processor 60, to complete the present invention.One or more
A module/unit can be the series of computation machine program instruction section that can complete specific function, and the instruction segment is based on describing
Calculation machine program 62 is calculating the implementation procedure in equipment 6.For example, computer program 62 can be divided into judgment module 301, inspection
The function of module 302 and node collaboration module 303 is surveyed, each device concrete function is as follows: judgment module 301, for judging earth magnetism
Whether signal occurs disturbing and whether the modulus value of the disturbance is more than to preset to drive into threshold value；Detection module 302, if believing for earth magnetism
Number occur disturbing and the modulus value of the disturbance be more than it is default drive into threshold value, then enter more intermediate state-state machine detection pattern with
Carry out the determination of parking stall state, wherein parking stall state includes the state that determines and doubtful state；Node collaboration module 303 is used
If being doubtful state in parking stall state, starter node collaboration mode is finally to determine doubtful state.
Terminal device 6 may include, but are not limited 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 does not constitute the restriction to terminal device 6, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as terminal device can also connect including input-output equipment, network
Enter equipment, bus etc..
Alleged processor 60 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
Memory 61 can be the internal storage unit of terminal device 6, such as the hard disk or memory of terminal device 6.Storage
Device 61 is also possible to the plug-in type hard disk being equipped on 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 including terminal device 6 internal storage unit and also including External memory equipment.Memory
61 for storing other programs and data needed for computer program and 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 function
Can unit, module division progress for example, in practical application, can according to need 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 unit or module, to complete above description
All or part of function.Each functional unit in embodiment, module can integrate in one processing unit, be also possible to
Each unit physically exists alone, and can also be integrated in one unit with two or more units, above-mentioned integrated unit
Both it can take the form of hardware realization, can also realize in the form of software functional units.In addition, each functional unit, mould
The specific name of block is also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.It is single in above system
Member, the specific work process of module, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, 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, it can be with
It realizes 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 logical function partition, there may be another division manner in actual implementation, such as multiple
Unit or assembly can be combined or can be integrated into another system, or some features can be ignored or not executed.It is another
Point, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device or
The INDIRECT COUPLING or communication connection of unit can be electrical property, mechanical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If integrated module/unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete by computer program, detection method of stopping
Computer program can be stored in a computer readable storage medium, which, can be real when being executed by processor
The step of existing above-mentioned each embodiment of the method, that is, judge whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance surpasses
It crosses to preset and drives into threshold value；If the Geomagnetic signal occurs disturbing and the modulus value of the disturbance is more than that described preset drives into threshold value,
The determination of parking stall state is carried out into more intermediate state-state machine detection pattern, the parking stall state includes determining shape
State and doubtful state；If the parking stall state be doubtful state, starter node collaboration mode with to the doubtful state into
Row is final to be determined.Wherein, computer program includes computer program code, computer program code can for source code form,
Object identification code form, executable file or certain intermediate forms etc..Computer-readable medium may include: that can carry computer
Any entity or device of program code, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only are deposited at recording medium
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
Make laws in method administrative area and the requirement of patent practice carry out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and
Patent practice, computer-readable medium do not include electric carrier signal and telecommunication signal.Above embodiments are only to illustrate the present invention
Technical solution, rather than its limitations；Although the present invention is described in detail referring to the foregoing embodiments, this field is general
Logical technical staff is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to it
Middle some technical characteristics are equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution originally
The spirit and scope for inventing each embodiment technical solution, should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of parking detection method, which is characterized in that the described method includes:
Judge whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance is more than to preset to drive into threshold value；
If the Geomagnetic signal occurs disturbing and the modulus value of the disturbance is more than that described preset drives into threshold value, enter more intermediate shapes
For state-state machine detection pattern to carry out the determination of parking stall state, the parking stall state includes the state that determines and doubtful state；
The determining state includes parking stall idle state and parking stall occupied state, the doubtful state include it is doubtful drive into state and
It is doubtful to be driven out to state；
If the parking stall state is doubtful state, starter node collaboration mode is final true to carry out to the doubtful state
It is fixed；The determining state includes parking stall idle state and parking stall occupied state, and the doubtful state includes doubtful driving into shape
State and doubtful it is driven out to state；
Wherein, the starter node collaboration mode is finally to determine the doubtful state, comprising:
Obtain in any three geomagnetic sensors A, B and C the acquired Geomagnetic signal of geomagnetic sensor A gained modulus value after pretreatment
MAWith the acquired Geomagnetic signal of geomagnetic sensor B gained modulus value M after pretreatmentBBetween Pearson's coefficient ρABAnd earth magnetism passes
The acquired Geomagnetic signal of sensor B gained modulus value M after pretreatmentBAfter pretreatment with the acquired Geomagnetic signal of geomagnetic sensor C
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；
Judgement | ρAB|>Thresholdhigh、|ρBC|>Thresholdhigh、AndWhether simultaneously at
It is vertical, if setting up simultaneously, it is determined that described doubtful to drive into that state is parking stall occupied state and the doubtful state that is driven out to is to stop
Parking stall idle state, otherwise, it determines the doubtful state is that interference generates, the doubtful state of driving into is parking stall idle state
And the doubtful state that is driven out to is parking stall occupied state, and it is described | ρAB| it is the ρABModulus value, it is described | ρBC| it is the ρBC
Modulus value, it is describedWithIt is M respectivelyA、MBAnd MCIn the mean value of regular length N, ThresholdhighIt is setting
Pearson's coefficient high threshold；
Logical one is set by doubtful state flag bit.
2. as described in claim 1 parking detection method, which is characterized in that the determining state include parking stall idle state and
Parking stall occupied state, the determination that parking stall state is carried out into more intermediate state-state machine detection pattern, comprising:
When driving into disturbance number is more than to preset the mean value for driving into count threshold and the modulus value greater than default modulus value high threshold, or
Person, driving into intermediate state number is more than when driving into intermediate state count threshold, alternatively, the activated node collaboration mode is to institute
State doubtful state be ultimately determined to parking bit occupancy when, determine the parking stall state be parking stall occupied state；
When being driven out to disturbance number is more than to preset the mean value for being driven out to count threshold and the modulus value less than default modulus value Low threshold, or
Person, being driven out to intermediate state number is more than when being driven out to intermediate state count threshold, alternatively, the activated node collaboration mode is to institute
When stating doubtful state and being ultimately determined to the parking stall free time, determine that the parking stall state is parking stall idle state.
3. parking detection method as claimed in claim 1 or 2, which is characterized in that described to judge whether Geomagnetic signal disturbs
And whether the modulus value of the disturbance is more than to preset to drive into before threshold value, the method also includes:
Acquire the Geomagnetic signal x of tri- axis direction of x, y and zraw,i(t), the i ∈ { x, y, z }；
To the Geomagnetic signal xraw,i(t) it is pre-processed, obtains the Geomagnetic signal xraw,i(t) modulus value M.
4. parking detection method as claimed in claim 3, which is characterized in that described to the Geomagnetic signal xraw,i(t) it carries out pre-
Processing, obtains the Geomagnetic signal xraw,i(t) modulus value M, comprising:
To the Geomagnetic signal xraw,i(t) smothing filtering, the signal x after obtaining smothing filtering are carried outsmooth,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.
5. a kind of parking detection device, which is characterized in that described device includes:
Judgment module, for judging whether Geomagnetic signal occurs disturbing and whether the modulus value of the disturbance is more than to preset to drive into threshold
Value；
Detection module, if occur disturbing for the Geomagnetic signal and the modulus value of the disturbance be more than it is described it is default drive into threshold value,
The determination of parking stall state is then carried out into more intermediate state-state machine detection pattern, the parking stall state includes determining
State and doubtful state；The determining state includes parking stall idle state and parking stall occupied state, the doubtful state packet
It includes and doubtful drive into state and doubtful be driven out to state；
Node collaboration module, if being doubtful state for the parking stall state, starter node collaboration mode to described to doubt
It is finally determined like state；The determining state includes parking stall idle state and parking stall occupied state, the doubtful shape
State includes doubtful driving into state and doubtful being driven out to state；
Wherein, the node collaboration module includes:
Acquiring unit obtains in any three geomagnetic sensors A, B and C if being doubtful state for the parking stall state
The acquired Geomagnetic signal of geomagnetic sensor A gained modulus value M after pretreatmentAWith the acquired Geomagnetic signal of geomagnetic sensor B through pre-
Gained modulus value M after processingBBetween Pearson's coefficient ρABAnd the acquired Geomagnetic signal of geomagnetic sensor B after pretreatment gained
Modulus value MBWith the acquired Geomagnetic signal of geomagnetic sensor C gained modulus value M after pretreatmentCBetween Pearson's coefficient ρBC, described
Geomagnetic sensor A, B and C are respectively deployed on three adjacent stalls, and the geomagnetic sensor B is deployed in the earth magnetism sensing
Between device A and the geomagnetic sensor C；
Third determination unit, for judging | ρAB|>Thresholdhigh、|ρBC|>Thresholdhigh、AndWhether set up simultaneously, if setting up simultaneously, it is determined that the doubtful state of driving into is parking stall occupied state and institute
Stating the doubtful state that is driven out to is parking stall idle state, otherwise, it determines the doubtful state is that interference generates, described doubtful drives into shape
State is parking stall idle state and the doubtful state that is driven out to is parking stall occupied state, described | ρAB| it is the ρABMould
Value, described | ρBC| it is the ρBCModulus value, it is described WithIt is M respectivelyA、MBAnd MCIn the mean value of regular length N,
ThresholdhighIt is the Pearson's coefficient high threshold of setting；
Setting unit, for setting logical one for doubtful state flag bit.
6. as claimed in claim 5 parking detection device, which is characterized in that the determining state include parking stall idle state and
Parking stall occupied state, the detection module include:
First determination unit, for being more than to preset the mean value for driving into count threshold and the modulus value greater than pre- when driving into disturbance number
If when modulus value high threshold, alternatively, driving into intermediate state number is more than when driving into intermediate state count threshold, alternatively, activated institute
State node collaboration mode to the doubtful state be ultimately determined to parking bit occupancy when, determine the parking stall state be parking stall
Occupied state；
Second determination unit, for being more than to preset the mean value for being driven out to count threshold and the modulus value less than pre- when being driven out to disturbance number
If when modulus value Low threshold, alternatively, being driven out to intermediate state number is more than when being driven out to intermediate state count threshold, alternatively, activated institute
When stating node collaboration mode and being ultimately determined to the parking stall free time to the doubtful state, determine that the parking stall state is parking stall
Idle state.
7. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as Claims 1-4 when executing the computer program
The step of any one the method.
8. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In realization is such as the step of Claims 1-4 any one the method when the computer program is executed by processor.
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| CN109448420A (en) * | 2018-08-25 | 2019-03-08 | 高宏音 | The open parking stall parking management system in roadside and its data processing method |
| CN109360425A (en) * | 2018-11-06 | 2019-02-19 | 宁波大榭招商国际码头有限公司 | Truck statistical system in a kind of collection card test method and field based on geomagnetic sensor |
| DE102018220421A1 (en) * | 2018-11-28 | 2020-05-28 | Robert Bosch Gmbh | Magnetic parking sensor |
| CN110827574B (en) * | 2019-11-13 | 2022-06-07 | 苏州泊讯物联网技术有限公司 | Parking space detection system and method and intelligent parking platform |
| CN111311927A (en) * | 2020-01-17 | 2020-06-19 | 深圳市戴升智能科技有限公司 | Traffic flow detection method and device, computer equipment and storage medium |
| CN111815964B (en) * | 2020-09-02 | 2020-12-29 | 四川九通智路科技有限公司 | Traffic flow detection system and method based on geomagnetic sensing type spike |
| CN112037534B (en) * | 2020-09-04 | 2022-02-18 | 深圳华强技术有限公司 | Car detection method and device integrating geomagnetic data and NB (nuclear magnetic resonance) signals |
| CN114550466B (en) * | 2020-11-26 | 2023-07-21 | 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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