CN108022404A - A kind of parking alarm method and system based on multi-cam - Google Patents
A kind of parking alarm method and system based on multi-cam Download PDFInfo
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- CN108022404A CN108022404A CN201710972590.8A CN201710972590A CN108022404A CN 108022404 A CN108022404 A CN 108022404A CN 201710972590 A CN201710972590 A CN 201710972590A CN 108022404 A CN108022404 A CN 108022404A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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Abstract
The present invention provides a kind of parking alarm method and system based on multi-cam, including the first image collection module, judgment module, the second image collection module and warning message sending module；Present invention also offers a kind of parking alarm method and method based on multi-cam；System and method provided by the present invention can by directly acquire the image of the tailstock image of automobile and the side of car judge the automobile whether live conductor, also vehicle body deviation angle of the automobile when stopping into parking stall can be judged with reference to preset coordinate system by the tail-light position and headlight position for obtaining automobile, and alarm is sent when angle of inclination is more than predetermined angle, reminds car owner's crimping.
Description
Technical field
This application involves parking early warning technology field, more particularly to a kind of parking alarm method based on multi-cam and
System.
Background technology
With advances in technology, the popularization of automotive electronic industry, the user of vehicle increase rapidly.Vehicle is in parking lot
No can steadily stop is directly related to the safety and interests of users.The parking auxiliary monitoring system generally used on current vehicle
System is to install multiple cameras in vehicle body surrounding, by the video-splicing of these cameras into the figure around the complete vehicle body of a width
Piece is presented on user at the moment, but this technology needs are in what the multiple cameras of vehicle body installation could realize vehicle body surrounding scenes
It is existing, and when some or multiple shooting head fails, then can carry out inconvenience to the parking monitoring band of user, and existing
Have in technology, have some parking lots that one camera can be set above parking stall, for check parking stall park situation and
How anti-thefting monitoring, using these cameras become present invention problem to be solved to carry out stopping guide.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention proposes a kind of parking alarm method and system based on multi-cam,
The present invention can by directly acquire the image of the tailstock image of automobile and the side of car judge the automobile whether live conductor,
Also it can judge that automobile is stopping into parking with reference to preset coordinate system by the tail-light position and headlight position for obtaining automobile
Vehicle body deviation angle during position, and alarm is sent when angle of inclination is more than predetermined angle, remind car owner's crimping.
In a first aspect, the present invention provides a kind of parking alarm method based on multi-cam, specifically include；
Obtain the first image of vehicle；
According to described first image judge the vehicle whether crimping, when judging that the vehicle does not have crimping；
Obtain the second image of the vehicle；
According to second image judge the vehicle whether crimping, when judging the vehicle crimping；
Send the first warning message.
In an embodiment of the present invention, the parking alarm method based on multi-cam, further includes：
According to described first image judge the vehicle whether crimping, when judging the vehicle crimping；
Send the first warning message.
In an embodiment of the present invention, a kind of parking alarm method based on multi-cam further includes：
Obtain the 3rd image of the vehicle, and any side of vehicle according to the 3rd acquired image acquisition
Tail-light positional information, is denoted as benchmark tail-light positional information；
The coordinate information of the benchmark tail-light, note are obtained according to preset coordinate system and the benchmark tail-light positional information
On the basis of tail-light coordinate；
Obtain with the 4th image of the vehicle, and according to the 4th acquired image acquisition vehicle with the base
The positional information of the headlight of quasi- tail-light homonymy, is denoted as benchmark headlight positional information；
The coordinate information of the benchmark headlight, note are obtained according to preset coordinate system and the benchmark tail-light positional information
On the basis of headlight coordinate；
The drift angle of the vehicle is obtained according to the benchmark tail-light coordinate and benchmark headlight coordinate；
When the drift angle of the vehicle is more than predetermined angle；
Send the first warning message.
In an embodiment of the present invention, the acquisition and the 4th image of the vehicle, and according to the 4th acquired figure
The positional information with the headlight of the benchmark tail-light homonymy as obtaining the vehicle, is denoted as benchmark headlight position letter
Breath, specifically includes：
When the benchmark tail-light coordinate is in preset coordinate scope；
Obtain with the 4th image of the vehicle, and obtain according to the 4th acquired image the vehicle with institute
The positional information of the headlight of benchmark tail-light homonymy is stated, is denoted as benchmark headlight positional information.
Second aspect, present invention also offers a kind of parking warning device based on multi-cam, including depositing
Reservoir, at least one processor and executable code, the memory are used to store executable code, the first image, the second figure
Picture, the 3rd image and the 4th image；
The processing is configured to perform the executable code, to realize method as described in the first aspect of the invention.
In an embodiment of the present invention, a kind of parking warning device based on multi-cam include the first camera,
Second camera and camera parking alarm system of the kind based on multi-cam as described in third aspect present invention, described first
Camera passes through network connection with the processor and second camera.
The third aspect, the present invention provides a kind of parking alarm system based on multi-cam, including the first image acquisition
Module, judgment module, the second image collection module and warning message sending module, couple between modules and are connected；
Described first image acquisition module is used for the first image for obtaining vehicle；
The judgment module be used for according to described first image judge the vehicle whether crimping, when judging that the vehicle do not have
During live conductor；
Second image collection module is used for the second image for obtaining the vehicle；
The judgment module be additionally operable to according to second image judge the vehicle whether crimping, when judging the vehicle
During crimping；
The warning message sending module is used to send warning message.
In an embodiment of the present invention, the parking alarm system based on multi-cam, further includes：
The judgment module be used for be additionally operable to according to described first image judge the vehicle whether crimping, when described in judgement
During vehicle crimping；
The warning message sending module is additionally operable to send warning message.
In an embodiment of the present invention, a kind of parking alarm system based on multi-cam further includes the 3rd shooting
Head, coordinate obtaining module, the 4th camera and drift angle acquisition module；3rd camera, the coordinate obtaining module, institute
The 4th camera and the drift angle acquisition module is stated with the coupling of other modules to be connected；
3rd image collection module is used for the 3rd image for obtaining the vehicle, and according to the 3rd acquired image
The tail-light positional information of any side of the vehicle is obtained, is denoted as benchmark tail-light positional information；
The coordinate obtaining module is used to obtain the base according to preset coordinate system and the benchmark tail-light positional information
The coordinate information of quasi- tail-light, is denoted as benchmark tail-light coordinate；
4th image collection module is used to obtain the 4th image with the vehicle, and according to the 4th acquired figure
The positional information with the headlight of the benchmark tail-light homonymy as obtaining the vehicle, is denoted as benchmark headlight position letter
Breath；
The coordinate obtaining module is additionally operable to according to obtaining preset coordinate system and the benchmark tail-light positional information
The coordinate information of benchmark headlight, is denoted as benchmark headlight coordinate；
The drift angle acquisition module obtains the vehicle according to the benchmark tail-light coordinate and benchmark headlight coordinate
Drift angle；
The judgment module is additionally operable to judge when the drift angle of the vehicle is more than predetermined angle；
The warning message sending module is additionally operable to send the first warning message.
Implement in the present invention one from, it is conventional that the warning message includes but not limited to audible alarm and sound-light alarm etc.
Alarm method.
In an embodiment of the present invention, the 4th image collection module is used to obtain the 4th image with the vehicle,
And according to the 4th acquired image acquisition vehicle the positional information with the headlight of the benchmark tail-light homonymy, note
On the basis of headlight positional information, specifically include：
The judgment module is additionally operable to judge when the benchmark tail-light coordinate is in preset coordinate scope；
4th image collection module is used to obtain the 4th image with the vehicle, and according to the 4th acquired figure
The positional information with the headlight of the benchmark tail-light homonymy as obtaining the vehicle, is denoted as benchmark headlight position letter
Breath.
Beneficial effects of the present invention have：The present invention can be by directly acquiring the figure of the tailstock image of automobile and the side of car
As come judge the automobile whether live conductor, can also be combined by the tail-light position and headlight position for obtaining automobile default
Coordinate system judges vehicle body deviation angle of the automobile when stopping into parking stall, and is sent when angle of inclination is more than predetermined angle
Alarm, reminds car owner's crimping.
Brief description of the drawings
Fig. 1 is a kind of parking alarm method structure chart based on multi-cam described in example for the present invention one；
Fig. 2 is a kind of parking alarm method structure chart based on multi-cam described in example for the present invention one；
Fig. 3 is a kind of parking alarm system structure chart based on multi-cam described in example for the present invention one；
Fig. 4 is a kind of parking alarm system structure chart based on multi-cam described in example for the present invention one.
Embodiment
It should be noted that in the present invention, term " first ", " second " are only used for description purpose, and it is not intended that
Indicate or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " are defined
One or more this feature can be expressed or be implicitly included to two " feature.In the description of the present invention, " multiple "
It is meant that two or more, unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；It can be machine
Tool is connected or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be two members
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under "
Can directly it be contacted including the first and second features, it is not directly to contact but pass through it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first special
Sign is directly over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " fisrt feature that includes are immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
Below in conjunction with the accompanying drawings and specific embodiment the present invention will be further described, illustrative examples therein and
Illustrate only to be used for explaining the present invention, but it is not as a limitation of the invention.
In a first aspect, the present invention provides a kind of parking alarm method based on multi-cam, as shown in Figure 1, specific bag
Include；
S110, the first image for obtaining vehicle；
S120, judged according to described first image the vehicle whether crimping, when judging that the vehicle does not have crimping；
S130, the second image for obtaining the vehicle；
S140, judged according to second image vehicle whether crimping, when judging the vehicle crimping；
S150, send the first warning message.
In an embodiment of the present invention, the parking alarm method based on multi-cam, further includes：
According to described first image judge the vehicle whether crimping, when judging the vehicle crimping；
Send the first warning message.
In a concrete application scene of the invention, described first image is the tailstock image of automobile, and second image is
The side image of automobile, server obtain the tailstock image of the vehicle, and judge two of automobile according to the parking stall image
Trailing wheel is either with or without crimping, and server obtains the side image of the automobile at this time, and this is sorrowful according to the side image of the automobile
Chinese herbaceous peony wheel and back wheels of vehicle there is the situation of crimping, then server is to the vehicle alert.
In an embodiment of the present invention, as shown in Fig. 2, a kind of parking alarm method based on multi-cam also wraps
Include：
S210, the 3rd image for obtaining the vehicle, and according to the 3rd acquired image acquisition vehicle it is any
The tail-light positional information of side, is denoted as benchmark tail-light positional information；
S220, the coordinate letter according to preset coordinate system and the benchmark tail-light positional information acquisition benchmark tail-light
Breath, is denoted as benchmark tail-light coordinate；
S230, obtain with the 4th image of the vehicle, and according to the 4th acquired image acquisition vehicle with
The positional information of the headlight of the benchmark tail-light homonymy, is denoted as benchmark headlight positional information；
S240, the coordinate letter according to preset coordinate system and the benchmark tail-light positional information acquisition benchmark headlight
Breath, is denoted as benchmark headlight coordinate；
S250, the drift angle according to the benchmark tail-light coordinate and the benchmark headlight coordinate acquisition vehicle；
S260, when the drift angle of the vehicle is more than predetermined angle；
S270, send the first warning message.
In an embodiment of the present invention, the step S230, specifically includes：
When the benchmark tail-light coordinate is in preset coordinate scope；
Obtain with the 4th image of the vehicle, and obtain according to the 4th acquired image the vehicle with institute
The positional information of the headlight of benchmark tail-light homonymy is stated, is denoted as benchmark headlight positional information.
In an of the invention concrete application scene, it is less than 5 for Y-axis coordinate during the preset coordinate scope, the preset angle
Spend for 5 degree；
Server obtains the benchmark tail-light position of the automobile, and according to preset coordinate system and the benchmark tail-light position
It is (08,04) to put benchmark tail-light coordinate described in acquisition of information, and Y-axis coordinate is less than 5, then server obtains the benchmark of the automobile
Headlight position, and the benchmark headlight coordinate is obtained according to preset coordinate system and the benchmark headlight positional information and is
(06,12), then server obtained according to benchmark tail-light coordinate be (08,04) and the benchmark headlight coordinate for (06,
12) drift angle of the vehicle is judged for 15 degree, and more than 5 degree of predetermined angle, then server is to the vehicle alert.
Second aspect, present invention also offers a kind of parking warning device based on multi-cam, including depositing
Reservoir, at least one processor and executable code, the memory are used to store executable code, the first image, the second figure
Picture, the 3rd image and the 4th image；
The processing is configured to perform the executable code, to realize method as described in the first aspect of the invention.
In an embodiment of the present invention, a kind of parking warning device based on multi-cam include the first camera,
Second camera and camera parking alarm system of the kind based on multi-cam as described in third aspect present invention, described first
Camera passes through network connection with the processor and second camera.
The third aspect, the present invention provides a kind of parking alarm system based on multi-cam, as shown in figure 3, including
One image collection module 100, judgment module 200, the second image collection module 300 and warning message sending module 400, it is each
Couple and be connected between module；
First image collection module 100 is used for the first image for obtaining vehicle；
Judgment module 200 be used for according to described first image judge the vehicle whether crimping, when judging that the vehicle do not have
During live conductor；
Second image collection module 300 is used for the second image for obtaining the vehicle；
Judgment module 200 be additionally operable to according to second image judge the vehicle whether crimping, when judging the vehicle
During crimping；
Warning message sending module 400 is used to send warning message.
In an embodiment of the present invention, the parking alarm method based on multi-cam, as shown in figure 4, further including：
Judgment module 200 be used for be additionally operable to according to described first image judge the vehicle whether crimping, when described in judgement
During vehicle crimping；
Warning message sending module 400 is additionally operable to send warning message.
In a concrete application scene of the invention, described first image acquisition module 100 is integrated in the first camera, the
Two image collection modules 300 are integrated in second camera, and first camera and second camera are arranged at parking stall
Top, the second camera are the camera adjacent with the first camera.
Server obtains the first image of the vehicle of the first camera shooting, and is sentenced according to described first image
There is not crimping phenomenon in car of cutting steam, and server obtains the second image of the involved vehicle of the second camera shooting at this time,
Server judges to judge that the vehicle there are crimping phenomenon, then sends sound by speaker to the vehicle according to second image
Alarm signal.
Use the example above, when the server judges described first image there are during crimping phenomenon, server is directly to described
Vehicle sends audible ringing signal.
In an embodiment of the present invention, as shown in figure 4, a kind of parking alarm system based on multi-cam further includes
3rd image collection module 500, coordinate obtaining module 600, the 4th image collection module 700 and drift angle acquisition module 800；The
Three image collection modules 500, coordinate obtaining module 600, the 4th image collection module 700 and drift angle acquisition module 800 and its
He is connected in module coupling；
3rd image collection module 500 is used for the 3rd image for obtaining the vehicle, and according to the 3rd acquired image
The tail-light positional information of any side of the vehicle is obtained, is denoted as benchmark tail-light positional information；
Coordinate obtaining module 600 is used to obtain the benchmark according to preset coordinate system and the benchmark tail-light positional information
The coordinate information of tail-light, is denoted as benchmark tail-light coordinate；
4th image collection module 700 is used to obtain the 4th image with the vehicle, and according to the 4th acquired figure
The positional information with the headlight of the benchmark tail-light homonymy as obtaining the vehicle, is denoted as benchmark headlight position letter
Breath；
Coordinate obtaining module 600 is additionally operable to obtain the base according to preset coordinate system and the benchmark tail-light positional information
The coordinate information of quasi- headlight, is denoted as benchmark headlight coordinate；
Drift angle acquisition module 800 obtains the vehicle according to the benchmark tail-light coordinate and benchmark headlight coordinate
Drift angle；
Judgment module 200 is additionally operable to judge when the drift angle of the vehicle is more than predetermined angle；
Warning message sending module 400 is additionally operable to send the first warning message.
Implement in the present invention one from, it is conventional that the warning message includes but not limited to audible alarm and sound-light alarm etc.
Alarm method.
In an embodiment of the present invention, the 4th image collection module 700 is used to obtain the 4th image with the vehicle, and
According to the positional information with the headlight of the benchmark tail-light homonymy of vehicle described in the 4th acquired image acquisition, it is denoted as
Benchmark headlight positional information, specifically includes：
Judgment module 200 is additionally operable to judge when the benchmark tail-light coordinate is in preset coordinate scope；
4th image collection module 700 is used to obtain the 4th image with the vehicle, and according to the 4th acquired figure
The positional information with the headlight of the benchmark tail-light homonymy as obtaining the vehicle, is denoted as benchmark headlight position letter
Breath.
In an of the invention concrete application scene, it is less than 5 for Y-axis coordinate during the preset coordinate scope, the preset angle
Spend for 10 degree；Judgment module 200, drift angle acquisition module 800 and coordinate obtaining module 600 are integrated in the server, the 3rd figure
As acquisition module 500 is integrated in the first camera, the 4th image collection module 700 is integrated in second camera, and described
One camera and second camera are arranged above parking stall, and the second camera is the shooting adjacent with the first camera
Head.
First camera obtains the benchmark tail-light position of the automobile, and server is according to preset coordinate system and the benchmark
It is (08,04) that tail-light positional information, which obtains the benchmark tail-light coordinate, and Y-axis coordinate is less than 5, then second camera obtains institute
The benchmark headlight position of automobile is stated, server obtains the base according to preset coordinate system and the benchmark headlight positional information
Quasi- headlight coordinate is (06,12), then server obtains benchmark tail-light coordinate (08,04) and the benchmark headstock very much described in
Lamp coordinate (06,12) judges the drift angle of the vehicle for 15 degree, more than 5 degree of predetermined angle, then warning message sending module 400 to
The vehicle alert.
Obviously, above-described embodiment expresses technical solution of the present invention example just for the sake of clearer, rather than right
The restriction of embodiment of the present invention.To those skilled in the art, can also make on the basis of the above description other
Various forms of changes or variation, without departing from the inventive concept of the premise, these belong to protection scope of the present invention.Cause
The protection domain of this patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of parking alarm method based on multi-cam, it is characterised in that comprise the following steps：
Obtain the first image of vehicle；
According to described first image judge the vehicle whether crimping, when judging that the vehicle does not have crimping；
Obtain the second image of the vehicle；
According to second image judge the vehicle whether crimping, when judging the vehicle crimping；
Send the first warning message.
2. a kind of parking alarm method based on multi-cam as claimed in claim 1, it is characterised in that further include：
According to described first image judge the vehicle whether crimping, when judging the vehicle crimping；
Send the first warning message.
3. a kind of parking alarm method based on multi-cam as claimed in claim 1, it is characterised in that further include：
Obtain the 3rd image of the vehicle, and according to the 3rd acquired image acquisition any side of vehicle the tailstock
Lamp positional information, is denoted as benchmark tail-light positional information；
The coordinate information of the benchmark tail-light is obtained according to preset coordinate system and the benchmark tail-light positional information, is denoted as base
Quasi- tail-light coordinate；
Obtain with the 4th image of the vehicle, and according to the 4th acquired image acquisition vehicle with the control vehicle
The positional information of the headlight of taillight homonymy, is denoted as benchmark headlight positional information；
The coordinate information of the benchmark headlight is obtained according to preset coordinate system and the benchmark tail-light positional information, is denoted as base
Quasi- headlight coordinate；
The drift angle of the vehicle is obtained according to the benchmark tail-light coordinate and benchmark headlight coordinate；
When the drift angle of the vehicle is more than predetermined angle；
Send the first warning message.
4. a kind of parking alarm method based on multi-cam as claimed in claim 3, it is characterised in that the acquisition and institute
State the 4th image of vehicle, and according to the 4th acquired image acquisition vehicle the car with the benchmark tail-light homonymy
The positional information of head lamp, is denoted as benchmark headlight positional information, specifically includes：
When the benchmark tail-light coordinate is in preset coordinate scope；
Obtain with the 4th image of the vehicle, it is and obtaining according to the 4th acquired image the vehicle with the base
The positional information of the headlight of quasi- tail-light homonymy, is denoted as benchmark headlight positional information.
A kind of 5. parking warning device based on multi-cam, including memory, at least one processor and executable generation
Code, the memory are used to store executable code, the first image, the second image, the 3rd image and the 4th image；
The processing is configured to perform the executable code, to realize the method as described in the claims in the present invention 1-4.
6. a kind of parking warning device based on multi-cam as claimed in claim 5, it is characterised in that described one kind is based on
The parking warning device of multi-cam is based on including the first camera, second camera and the kind as described in third aspect present invention
The camera parking alarm system of multi-cam, first camera pass through network with the processor and second camera
Connection.
7. a kind of parking alarm system based on multi-cam, its feature with a kind of parking report based on multi-cam
Alert system, including the first image collection module, judgment module, the second image collection module and warning message sending module, respectively
Couple and be connected between a module；
Described first image acquisition module is used for the first image for obtaining vehicle；
The judgment module be used for according to described first image judge the vehicle whether crimping, when judging that the vehicle do not press
During line；
Second image collection module is used for the second image for obtaining the vehicle；
The judgment module be additionally operable to according to second image judge the vehicle whether crimping, when judging the vehicle crimping
When；
The warning message sending module is used to send warning message.
8. a kind of parking alarm system based on multi-cam as claimed in claim 7, it is characterised in that further include：
The judgment module be used to being additionally operable to according to described first image judge the vehicle whether crimping, when judging the vehicle
During crimping；
The warning message sending module is additionally operable to send warning message.
9. a kind of parking alarm system based on multi-cam as claimed in claim 7, it is characterised in that further include the 3rd and take the photograph
As head, coordinate obtaining module, the 4th camera and drift angle acquisition module；3rd camera, the coordinate obtaining module,
4th camera and the drift angle acquisition module are connected with the coupling of other modules；
3rd image collection module is used for the 3rd image for obtaining the vehicle, and according to the 3rd acquired image acquisition
The tail-light positional information of any side of the vehicle, is denoted as benchmark tail-light positional information；
The coordinate obtaining module is used to obtain the control vehicle according to preset coordinate system and the benchmark tail-light positional information
The coordinate information of taillight, is denoted as benchmark tail-light coordinate；
4th image collection module is used to obtain the 4th image with the vehicle, and is obtained according to the 4th acquired image
The positional information with the headlight of the benchmark tail-light homonymy of the vehicle is taken, is denoted as benchmark headlight positional information；
The coordinate obtaining module is additionally operable to obtain the benchmark according to preset coordinate system and the benchmark tail-light positional information
The coordinate information of headlight, is denoted as benchmark headlight coordinate；
The drift angle acquisition module obtains the inclined of the vehicle according to the benchmark tail-light coordinate and benchmark headlight coordinate
Angle；
The judgment module is additionally operable to judge when the drift angle of the vehicle is more than predetermined angle；
The warning message sending module is additionally operable to send the first warning message.
A kind of 10. parking alarm system based on multi-cam as claimed in claim 9, it is characterised in that the 4th figure
As acquisition module be used to obtaining with the 4th image of the vehicle, and according to the 4th acquired image acquisition vehicle with
The positional information of the headlight of the benchmark tail-light homonymy, is denoted as benchmark headlight positional information, specifically includes：
The judgment module is additionally operable to judge when the benchmark tail-light coordinate is in preset coordinate scope；
4th image collection module is used to obtain the 4th image with the vehicle, and is obtained according to the 4th acquired image
The positional information with the headlight of the benchmark tail-light homonymy of the vehicle is taken, is denoted as benchmark headlight positional information.
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| CN110299028A (en) * | 2019-07-31 | 2019-10-01 | 深圳市捷顺科技实业股份有限公司 | Method, apparatus, equipment and the readable storage medium storing program for executing of line detection are got in a kind of parking |
| CN110491168A (en) * | 2019-08-09 | 2019-11-22 | 智慧互通科技有限公司 | A kind of method and device based on wheel touchdown point detection vehicle stopped state |
| CN110580822A (en) * | 2019-08-08 | 2019-12-17 | 横琴善泊投资管理有限公司 | Method and system for monitoring and managing internal parking spaces of parking lot |
| CN111753716A (en) * | 2020-06-23 | 2020-10-09 | 中国联合网络通信集团有限公司 | Parking line pressing detection method and server |
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| CN110491168A (en) * | 2019-08-09 | 2019-11-22 | 智慧互通科技有限公司 | A kind of method and device based on wheel touchdown point detection vehicle stopped state |
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