CN108269421A - On-street parking spaces real-time detection method, apparatus and system based on video-aware - Google Patents
On-street parking spaces real-time detection method, apparatus and system based on video-aware Download PDFInfo
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- CN108269421A CN108269421A CN201711475862.XA CN201711475862A CN108269421A CN 108269421 A CN108269421 A CN 108269421A CN 201711475862 A CN201711475862 A CN 201711475862A CN 108269421 A CN108269421 A CN 108269421A
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- Prior art keywords
- berth
- parking spaces
- control point
- point information
- vacant
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/147—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is within an open public zone, e.g. city centre
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
Abstract
The invention discloses a kind of on-street parking spaces real-time detection methods based on video-aware, it enters static berth detection pattern after including vehicle lay-off, in this mode, berth more than identification vehicle adjacent vacant, by the berth photo identified together with GNSS location upload server, and GNSS location is constantly sent as control point, only by GNSS location upload server during without vacant berth；Enter mobile berth detection pattern in vehicle traveling, in this mode, identified when meeting preset condition and add up with the vacant berth of travel direction side in the same direction, after accumulative unoccupied parking spaces are not zero and receive control point information, by unoccupied parking spaces and control point information upload server；Remote server receives above- mentioned information, and information is screened, inserts navigation map berth database, draws vacant on-street parking spaces map.The present invention also provides a kind of on-street parking spaces real-time detection apparatus based on video-aware and a kind of on-street parking spaces real-time detecting systems.
Description
Technical field
The present invention relates to intelligent transportation field, more particularly to a kind of on-street parking spaces based on video-aware detect in real time
System and method.
Background technology
With increasing sharply for car ownership, " parking difficulty " problem in the more and more cities of puzzlement China grows in intensity.
Construction of parking facilities lags, berth insufficient total amount, and demand and supply imbalance is the main reason for leading to " parking difficulty " problem, but
Low berth occupancy is also the major reason that can not be ignored.Therefore, the berth of fragmentation is provided using intelligent transport technology
Source carries out integration publication, improves berth turnover rate, undoubtedly alleviates the optimal path of " parking difficulty " problem at this stage.Outside for road
Parking facility, all kinds of stationary detectors applications are ripe, realized by city parking inducible system to each parking lot, parking building
Wait the real-time release of off road parkings facility berth resource.But it is limited to the factors such as cost, policy, use condition, stationary detectors
It is not popularized in road-surface concrete field, on-street parking spaces resource causes a large amount of on-street parking spaces not busy because that can not detect in time
It puts.Simultaneously as on-street parking spaces are not easy to find, driver needs slow down during finding, and the behavior both influences to move
State traffic, and aggravate environmental pollution because generating more exhaust emissions.Therefore, it is necessary to it is special to explore a kind of suitable on-street parking spaces
The detection thinking of point.
Invention content
The technical problems to be solved by the invention：
The present invention provides a kind of on-street parking spaces real-time detecting systems and method based on video-aware, it is intended to solve
On-street parking spaces detection efficiency is low at present and vacant on-street parking spaces problem hard to find.
The technical solution that the present invention uses to solve above-mentioned technical problem：
The present invention provides a kind of on-street parking spaces real-time detection methods based on video-aware, include the following steps：
Enter static berth detection pattern after vehicle lay-off, record Global Navigation Satellite System (GNSS) position, shoot phase
Adjacent berth photo, identifies vacant berth, by telecommunication by GNSS location and vacant berth photo upload when having a vacant berth
Server, and itself GNSS location information is constantly sent by short range communication and is used as control point information；During without vacant berth only
By telecommunication by GNSS location upload server；
Enter mobile berth detection pattern in vehicle traveling, when meeting preset condition, start identification and travel direction in real time
Vacant berth existing for side in the same direction, adds up unoccupied parking spaces, when accumulative unoccupied parking spaces are not zero and are received by short range communication
After the control point information sent to static berth detection pattern vehicle, by telecommunication by berth relevant information upload service
Device, wherein the berth relevant information includes unoccupied parking spaces and control point information；
Remote server receives the GNSS location sent under static berth detection pattern and vacant berth photo, mobile berth
The berth relevant information sent under detection pattern, screens information, inserts navigation map berth database, draws vacant road
Interior parking position map.
Further, under the mobile berth detection pattern, the preset condition includes receiving the control point letter
Breath or this truck position enter the region that may have on-street parking spaces.
Further, the first control point information received in traveling is the first control point information, is received in traveling next
A control point information is the second control point information；Under the mobile berth detection pattern, when accumulative unoccupied parking spaces are not zero
And when receiving the first control point information and the second control point information, accumulative unoccupied parking spaces, institute are sent by telecommunication
The first control point information and the second control point information are stated, and removes the unoccupied parking spaces added up, restarts to add up vacant pool
Digit, and the first control point information is abandoned, using the second control point information as the first new control point information.
Further, under the mobile berth detection pattern, when Vehicular turn or straight trip pass through intersection, when
When accumulative unoccupied parking spaces are not zero and receive control point information, accumulative unoccupied parking spaces and institute are sent by telecommunication
Control point information is stated, and removes the unoccupied parking spaces added up, restarts accumulative unoccupied parking spaces；When accumulative unoccupied parking spaces
When being zero or not receiving control point information, the unoccupied parking spaces added up are removed, restart accumulative unoccupied parking spaces.
Further, under the mobile berth detection pattern, after Vehicular turn or straight trip are by intersection, meter
The number time when the time being less than predetermined threshold value, if accumulative unoccupied parking spaces are not zero and receive control point information, leads to
It crosses telecommunication and sends accumulative unoccupied parking spaces and the control point information；If the time does not connect yet when being more than predetermined threshold value
Control point information is received, removes accumulative unoccupied parking spaces, stops identifying vacant berth.
Further, under the mobile berth detection pattern, according to vehicle heading, judge vacant berth relative to
The orientation of center line of road, the berth relevant information further include azimuth information of the vacant berth relative to center line of road.
Further, under the static berth detection pattern, vehicle photo all around is shot, identifies vacant berth.
The present invention also provides a kind of on-street parking spaces real-time detection apparatus based on video-aware, including information collection
Module, memory module and communication module, described information acquisition module include vehicle-state detection module, image capture module,
Berth identification module, locating module, for the vehicle-state detection module for detecting vehicle-state, vehicle-state includes traveling
In, stagnation of movement, steering and straight trip by intersection, described image acquisition module is for each camera shooting of collection vehicle
Surrounding enviroment photo, the image that the berth identification module is used to be acquired according to image capture module judge whether vacant pool
Position, for the locating module for obtaining current vehicle GNSS coordinate, the memory module is described logical for storing each module information
Module is interrogated to be used to establish communication connection, the road-surface concrete with other on-street parking spaces real-time detection apparatus and remote server
Berth real-time detection apparatus further includes operating mode selecting module and berth message processing module, and the communication module includes short distance
Communication module and remote communication module,
Wherein, the vehicle-state provided according to vehicle-state detection module, operating mode selecting module is after vehicle lay-off
On-street parking spaces real-time detection apparatus is made to enter static berth detection pattern, in the static berth detection pattern, positioning
Module records GNSS location, and image capture module acquires adjacent berth image, and berth identification module identifies vacant berth, berth letter
Cease processing module when there is vacant berth by remote communication module by GNSS location and vacant berth photo upload remote service
Device, and itself GNSS location information is constantly sent by short range communication module and is used as control point information；During without vacant berth only
GNSS location is uploaded by remote server by remote communication module；
Operating mode selecting module makes on-street parking spaces real-time detection apparatus enter mobile berth inspection in vehicle traveling
Survey pattern, in the mobile berth detection pattern, berth message processing module makes Image Acquisition mould when meeting preset condition
Block acquire with travel direction side image in the same direction, berth identification module start in real time identify with travel direction side in the same direction existing for it is vacant
Berth, berth message processing module add up unoccupied parking spaces, when accumulative unoccupied parking spaces are not zero and by short range communication module
After receiving the control point information that the on-street parking spaces real-time detection apparatus in static berth detection pattern is sent, by remote
Berth relevant information is uploaded remote server by journey communication module, wherein the berth relevant information includes unoccupied parking spaces and control
System point information.
Further, under the mobile berth detection pattern, the preset condition includes receiving the control point letter
Breath or this truck position enter the region that may have on-street parking spaces.
Further, the first control point information received in traveling is the first control point information, is received in traveling next
A control point information is the second control point information, and under the mobile berth detection pattern, berth message processing module is when accumulative
When unoccupied parking spaces are not zero and receive the first control point information and the second control point information, sent by remote communication module
Accumulative unoccupied parking spaces, first control point information and the second control point information, and the unoccupied parking spaces added up are removed,
Restart accumulative unoccupied parking spaces, and abandon the first control point information, using the second control point information as the first new control
Point information.
Further, under the mobile berth detection pattern, in vehicle-state detection module instruction Vehicular turn or directly
Row is when passing through intersection, and berth message processing module is when accumulative unoccupied parking spaces are not zero and receive control point information
When, accumulative unoccupied parking spaces and the control point information are sent, and remove the vacant pool added up by remote communication module
Digit restarts accumulative unoccupied parking spaces；When accumulative unoccupied parking spaces are zero or do not receive control point information, remove
Accumulative unoccupied parking spaces restart accumulative unoccupied parking spaces.
Further, under the mobile berth detection pattern, in vehicle-state detection module instruction Vehicular turn or directly
Row is by the way that after intersection, berth message processing module gate time, berth message processing module is less than in the time
During predetermined threshold value, if accumulative unoccupied parking spaces are not zero and receive control point information, sent by remote communication module accumulative
Unoccupied parking spaces and the control point information；If the time does not receive control point information yet when being more than predetermined threshold value, clearly
Except accumulative unoccupied parking spaces, berth identification module is made to stop identifying vacant berth.
Further, under the mobile berth detection pattern, the berth message processing module is according to vehicle traveling side
To judging orientation of the vacant berth relative to center line of road, berth relevant information further includes vacant berth relative to road
The azimuth information of center line.
Further, under the static berth detection pattern, described image acquisition module collection vehicle all around according to
Piece, the berth identification module identify vehicle vacant berth all around.
The present invention further provides a kind of on-street parking spaces real-time detecting systems based on video-aware, are regarded including being based on
On-street parking spaces real-time detection apparatus, on-street parking spaces netscape messaging server Netscape and the display terminal that frequency perceives,
The on-street parking spaces netscape messaging server Netscape is used to receive the road-surface concrete pool under static berth detection pattern
The GNSS location and vacant berth photo that position real-time detection apparatus is sent, the on-street parking spaces moved under the detection pattern of berth are real
When the berth relevant information sent of detection device, information is screened, is inserted navigation map berth database, is drawn empty
Remaining on-street parking spaces map；
The display terminal is used to receive and show the vacant road of the on-street parking spaces netscape messaging server Netscape
Interior parking position map, facilitates driver quickly to select suitable on-street parking spaces.
Further, the on-street parking spaces netscape messaging server Netscape is drawing the vacant on-street parking spaces map
When, it is contemplated that on-street parking spaces are affected to driver's travel route relative to the orientation of road axis, therefore according to
Vacant on-street parking spaces are labeled on map by different display mode stratification, are realized vacant under different map scale
The best image of on-street parking spaces.
The present invention is had the advantage that compared with prior art using above-mentioned technical proposal：
The present invention makes vehicle have the function of detection on-street parking spaces by camera using image recognition technology.Together
When, the effect that the vehicle of different conditions plays in the detection process of berth is also different.Stopped vehicle is in the detection of static berth
Pattern, main provide use the GNSS coordinate in berth as berth detection control point and vacant berth in road-surface concrete band
Ambient image, vehicle is in mobile berth detection pattern in traveling, and main identification accumulative adjacent two has used vacant between berth
The particular number in berth, and it is associated with control point GNSS information after upload.Server is single in acquisition, the detection of two class berths of processing
After metamessage, on-street parking spaces information is issued in real time, driver is facilitated quickly to select suitable on-street parking spaces.This hair
It is bright to make full use of the technologies such as image recognition technology, wireless telecommunications, vehicle is made to become the moving detector of on-street parking spaces, it can
The detection efficiency and turnover rate of on-street parking spaces are effectively improved, and communication traffic substantially reduces between vehicle and server, it is right
Car-mounted device and server process and storage capacity require to significantly reduce, and system implementation cost is relatively low.
Description of the drawings
Fig. 1 is a kind of work flow diagram of the on-street parking spaces real-time detection method based on video-aware of the present invention.
Fig. 2 is a kind of structural framing figure of the on-street parking spaces real-time detection apparatus based on video-aware of the present invention.
Fig. 3 is a kind of frame diagram of the on-street parking spaces real-time detecting system based on video-aware of the present invention.
Fig. 4 is a kind of map denotation signal of on-street parking spaces real-time detecting system based on video-aware of the present invention
Figure.
Specific embodiment
The present invention is further described below in conjunction with the accompanying drawings.
The core concept of the present invention is using image recognition technology, vehicle is made to pass through the camera being installed on vehicle real-time
The service condition of on-street parking spaces is detected, and passes through the acquisition, integration and publication of on-street parking spaces netscape messaging server Netscape,
Driver is made to pass through display terminal and quickly selects suitable on-street parking spaces.Wherein, mould is detected when vehicle enters static berth
During formula, the accurate GNSS coordinate of vacant on-street parking spaces and its ambient image are mainly provided, when vehicle enters mobile berth inspection
During survey pattern, the quantity of vacant on-street parking spaces between lay-by control point in adjacent two-way is mainly determined.
Fig. 1 is a kind of work flow diagram of the on-street parking spaces real-time detection method based on video-aware of the present invention.
Referring to Fig. 1, flow is as follows：
S100：For any vehicle, judge that vehicle in stagnation of movement or traveling, if it is determined that for stagnation of movement, then performs step
Otherwise S110, performs step S120, which can carry out according to by the data that vehicle OBD interfaces are obtained from ECU units；
S110：Vehicle enters static detection pattern；
S111：Global navigation satellite system GNSS position is recorded, adjacent position photo all around is shot, identifies vacant pool
Position, the GNSS system can be the satellite navigation systems such as GPS, the Big Dipper, GLONASS；
S112：Judge whether adjacent berth is vacant, if there is vacant berth, perform step S113, otherwise perform step S114,
Convolutional neural networks technology can be used to realize for the vacant berth identification；
S113：By telecommunication by GNSS location and vacant berth photo upload server, and pass through short range communication
Itself GNSS location information is constantly sent as control point information, the telecommunication can be based on the channel radios such as 2G/3G/4G/5G
Letter technology, the short range communication can be based on the technologies such as bluetooth, RFID, near-field communication (NFC), the maximum communication of the short range communication
Distance may be limited, to ensure that the vehicle that control point information is only capable of by being travelled in the same direction with berth and close to berth receives；
S114：Only by telecommunication by GNSS location upload server；
S120：Vehicle enters mobile detection pattern；
S121：Judge whether preset condition is met, which can be to receive control point information or this parking stall
It puts into may have the regions of on-street parking spaces, wherein, this truck position enters sentencing for the region that may have on-street parking spaces
It is disconnected to be carried out by locally stored digital navigation map combination GNSS location information；If preset condition is met, step is performed
Rapid S122 if preset condition is unsatisfactory for, is continued waiting for；
S122：Start identification in real time and vacant berth existing for travel direction side in the same direction, add up unoccupied parking spaces, wherein institute
It is right side to state with travel direction side in the same direction in left rudder vehicle national (such as China), is left side in right standard rudder car country；
S123：Judge whether to receive the control point information that static berth detection pattern vehicle is sent, if receiving control
Point information, continues to execute step S124, if not receiving control point information, return to step S122；
S124：Judge whether accumulative unoccupied parking spaces are zero, if accumulative unoccupied parking spaces are not zero, continue to execute step
S125, otherwise return to step S122；
S125：By telecommunication by berth relevant information upload server, wherein the berth relevant information includes tiring out
Count unoccupied parking spaces and control point information；By carrying out telecommunication with server only when accumulative unoccupied parking spaces are not zero,
The transmission flow of berth relevant information is greatly reduced, communication and the processing pressure of vehicle end and server end can be mitigated；
S130：Server receives the information that static berth detection pattern vehicle and mobile berth detection pattern vehicle are sent,
Berth database is inserted, and draws vacant berth map.
Preferably, the first control point information received in traveling is the first control point information, is received in traveling next
Control point information is the second control point information；Under the mobile berth detection pattern, be not zero when accumulative unoccupied parking spaces and
When receiving the first control point information and the second control point information, accumulative unoccupied parking spaces, described are sent by telecommunication
First control point information and the second control point information, and the unoccupied parking spaces added up are removed, restart to add up vacant berth
Number, and the first control point information is abandoned, using the second control point information as the first new control point information.
Preferably, under the mobile berth detection pattern, when Vehicular turn or straight trip pass through intersection, when tired
Meter unoccupied parking spaces are when being not zero and receiving control point information, by telecommunication send accumulative unoccupied parking spaces with it is described
Control point information, and the unoccupied parking spaces added up are removed, restart accumulative unoccupied parking spaces；When accumulative unoccupied parking spaces are
Zero or when not receiving control point information, the unoccupied parking spaces add up are removed, restart to add up unoccupied parking spaces.
Preferably, it under the mobile berth detection pattern, after Vehicular turn or straight trip are by intersection, counts
Time when the time being less than predetermined threshold value, if accumulative unoccupied parking spaces are not zero and receive control point information, passes through
Telecommunication sends accumulative unoccupied parking spaces and the control point information；If the time does not receive yet when being more than predetermined threshold value
To control point information, accumulative unoccupied parking spaces are removed, stop identifying vacant berth.
Preferably, it is contemplated that most of roads are equipped with central isolation facility, and on-street parking spaces are relative to center line of road
Orientation selects travel route arrangement during berth to be affected driver.To avoid road where driver reaches vacant berth
It is detected not in the road side that vehicle is travelled and in road opposite side in the mobile berth in vacant berth selected by being found during road
Under pattern, according to vehicle heading, orientation of the vacant berth relative to center line of road is judged, berth relevant information is also wrapped
Include azimuth information of the vacant berth relative to center line of road.
Preferably, under the static berth detection pattern, vehicle photo all around is shot, identifies vacant berth, institute
Stating shooting can be carried out by vehicle-mounted panoramic viewing system, and the panoramic looking-around system is advanced driver assistance system (ADAS)
Component part.
Fig. 2 is a kind of structural framing figure of the on-street parking spaces real-time detection apparatus based on video-aware of the present invention.
As shown in Fig. 2, the on-street parking spaces real-time detection apparatus based on video-aware includes information acquisition module 10, deposits
Module 20 and communication module 30 are stored up, described information acquisition module 10 includes vehicle-state detection module 11, image capture module
12nd, berth identification module 13, locating module 14, the vehicle-state detection module 11 are used to detect vehicle-state, vehicle-state
Including in traveling, by intersection, described image acquisition module 12 is respectively taken the photograph for collection vehicle for stagnation of movement, steering and straight trip
As the surrounding enviroment photo that head is shot, the berth identification module 13 is used to be judged according to the image that image capture module 12 acquires
With the presence or absence of vacant berth, for obtaining current vehicle GNSS coordinate, the memory module 20 is used to deposit the locating module 14
Each module information is stored up, the communication module 30 is used to establish with other on-street parking spaces real-time detection apparatus and remote server
Communication connection, which is characterized in that the on-street parking spaces real-time detection apparatus further includes operating mode selecting module 40 and pool
Position message processing module 50, the communication module 30 include short range communication module 31 and remote communication module 32,
Wherein, the vehicle-state provided according to vehicle-state detection module 11, operating mode selecting module 40 are stopped in vehicle
On-street parking spaces real-time detection apparatus is made to enter static berth detection pattern after sailing, in the static berth detection pattern,
Locating module 14 records GNSS location, and image capture module 12 acquires adjacent berth image, and berth identification module 13 identifies vacant
Berth, berth message processing module 50 are shone GNSS location and vacant berth by remote communication module 32 when there is vacant berth
Piece uploads remote server, and constantly sends itself GNSS location information by short range communication module 31 and be used as control point letter
Breath, the maximum communication distance of the short range communication may be limited, to ensure that control point information is only capable of by being travelled in the same direction with berth
And the vehicle close to berth receives；GNSS location is only uploaded by long-range clothes by remote communication module 32 during no vacant berth
Business device；
Operating mode selecting module 40 makes on-street parking spaces real-time detection apparatus enter mobile berth in vehicle traveling
Detection pattern, in the mobile berth detection pattern, berth message processing module 50 adopts image when meeting preset condition
Collect the acquisition of module 12 and travel direction side image in the same direction, berth identification module 13 starts to identify in real time to be deposited with travel direction side in the same direction
Vacant berth, with travel direction side in the same direction be right side in left rudder vehicle national (such as China) wherein described, in right standard rudder car country
For left side, berth message processing module 50 adds up unoccupied parking spaces, when accumulative unoccupied parking spaces are not zero and pass through short range communication
After module 31 receives the control point information that the on-street parking spaces real-time detection apparatus in static berth detection pattern is sent,
Berth relevant information is uploaded by remote server by remote communication module 32, wherein the berth relevant information includes vacant pool
Digit and control point information.
Preferably, under the mobile berth detection pattern, the preset condition includes receiving the control point information
Or this truck position enters the region that may have on-street parking spaces.
Preferably, the first control point information received in traveling is the first control point information, is received in traveling next
Control point information is the second control point information, and under the mobile berth detection pattern, berth message processing module 50 is when accumulative
When unoccupied parking spaces are not zero and receive the first control point information and the second control point information, sent out by remote communication module 32
Accumulative unoccupied parking spaces, first control point information and the second control point information are sent, and removes the vacant berth added up
Number restarts accumulative unoccupied parking spaces, and abandons the first control point information, using the second control point information as the first new control
System point information.
Preferably, under the mobile berth detection pattern, in the instruction Vehicular turn of vehicle-state detection module 11 or directly
Row is when passing through intersection, and berth message processing module 50 is when accumulative unoccupied parking spaces are not zero and receive control point information
When, accumulative unoccupied parking spaces and the control point information are sent by remote communication module 32, and remove added up it is vacant
Berth number restarts accumulative unoccupied parking spaces；When accumulative unoccupied parking spaces are zero or do not receive control point information, remove
The unoccupied parking spaces added up, restart accumulative unoccupied parking spaces, and wherein vehicle-state detection module 11 judges Vehicular turn
Or straight trip by intersection is carried out by digital navigation map figure layer.
Preferably, under the mobile berth detection pattern, in the instruction Vehicular turn of vehicle-state detection module 11 or directly
Row is by after intersection, 50 gate time of berth message processing module, berth message processing module 50 the time not
During more than predetermined threshold value, if accumulative unoccupied parking spaces are not zero and receive control point information, sent out by remote communication module 32
Send accumulative unoccupied parking spaces and the control point information；If the time does not receive control point letter yet when being more than predetermined threshold value
Breath, removes accumulative unoccupied parking spaces, berth identification module 13 is made to stop identifying vacant berth, wherein the predetermined threshold value can be
5 to 10 minutes.
Preferably, under the mobile berth detection pattern, the berth message processing module 50 is according to vehicle traveling side
To judging orientation of the vacant berth relative to center line of road, berth relevant information further includes vacant berth relative to road
The azimuth information of center line.
Preferably, under the static berth detection pattern, 12 collection vehicle of described image acquisition module all around according to
Piece, the berth identification module 13 identify vehicle vacant berth all around, vertical, lateral, oblique etc. each so as to take into account
Kind on-street parking spaces.
Fig. 3 is a kind of frame diagram of the on-street parking spaces real-time detecting system based on video-aware of the present invention.Such as Fig. 3 institutes
Show, the on-street parking spaces real-time detecting system based on video-aware is examined in real time including the on-street parking spaces based on video-aware
Device 100, on-street parking spaces netscape messaging server Netscape 200 and display terminal 300 are surveyed,
The on-street parking spaces netscape messaging server Netscape 200 is used to receive the road-surface concrete under static berth detection pattern
The GNSS location and vacant berth photo that berth real-time detection apparatus 100 is sent move the road-surface concrete under the detection pattern of berth
The berth relevant information that berth real-time detection apparatus 100 is sent, screens information, is inserted navigation map berth data
Vacant on-street parking spaces map is drawn in library；
The display terminal 300 is used to receive and show the vacant of the on-street parking spaces netscape messaging server Netscape 200
On-street parking spaces map, facilitates driver quickly to select suitable on-street parking spaces, and wherein display terminal includes mobile phone, row
Vehicle recorder fills the equipment with navigation feature such as navigator, built-in vehicle navigation elements afterwards.
Fig. 4 is a kind of ground of the on-street parking spaces real-time detecting system based on video-aware provided in an embodiment of the present invention
Figure display schematic diagram.In view of on-street parking spaces relative to influence of the orientation of road axis to driver's travel route compared with
Greatly, especially when road axis is yellow solid line or there is central isolation facility, unreasonable vacant on-street parking spaces are shown
Driver will be caused to find generation of the berth in road opposite side phenomenon after reaching vacant berth.Therefore according to different display modes
Vacant on-street parking spaces are labeled on map by stratification, realize vacant on-street parking spaces under different map scale
Best image.Referring to Fig. 4, flow is as follows：
S401：Less than 1:Under 50000 small scale range, show in every its vacant road in road axis both sides of road
Parking position sum.
S402：1:50000 to 1:Under 20000 medium scale range, heart line both sides show every respectively in the road
The vacant on-street parking spaces quantity in its road axis both sides of road.
S403：More than 1:Under 10000 large scale range, show in dots in all vacant roads of certain road
The distribution situation of parking position.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that is used in the specification of the present invention arranges
Diction " comprising " refers to there are the feature, integer, step, operation, element and/or component, but it is not excluded that presence or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or during " coupled " to another element, it can be directly connected or coupled to other elements or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or coupling.Wording used herein
"and/or" includes any cell of one or more associated list items and all combines.
Those skilled in the art of the present technique are appreciated that unless otherwise defined all terms used herein are (including technology art
Language and scientific terminology) there is the meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or the meaning of too formal be explained.
Those skilled in the art of the present technique are it is understood that the present invention can be related to performing operation described herein
In one or more operations equipment.The equipment can specially be designed and be manufactured for required purpose or can also
Including the known device in all-purpose computer, the all-purpose computer activates or again with having the procedure selection being stored in it
Structure.Such computer program can be stored in equipment (for example, computer) readable medium or be stored in suitable for storage
E-command is simultaneously coupled in any kind of medium of bus respectively, and the computer-readable medium is including but not limited to any
The disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic disk) of type, random access memory (RAM), read-only memory (ROM),
Electrically programmable ROM, electrically erasable ROM (EPROM), electrically erasable ROM (EEPROM), flash memory, magnetic card or light card
Piece.Readable medium is included for by any mechanism by equipment (for example, computer) storage or transmission information in the form of readable.Example
Such as, readable medium includes random access memory (RAM), read-only memory (ROM), magnetic disk storage medium, optical storage medium, flash memory
Device, the signal (such as carrier wave, infrared signal, digital signal) propagated in the form of electricity, light, sound or other etc..
Those skilled in the art of the present technique are it is understood that these structure charts can be realized with computer program instructions
And/or the combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.It can be with
These computer program instructions are supplied to the processing of all-purpose computer, special purpose computer or other programmable data processing methods
Device generates machine, is created so as to be performed instruction by the processor of computer or other programmable data processing methods
Be used to implement structure chart and/or block diagram and/or flow graph frame or multiple frames in the method specified.
Those skilled in the art of the present technique it is understood that in the present invention by discussion cross various operations, method, flow
In step, measure, scheme can be replaced, changed, combined or deleted.Further, there is in the present invention mistake by discussion
Various operations, method, other steps, measures, and schemes in flow can also be replaced, changed, being reset, being decomposed, being combined or
It deletes.Further, it is of the prior art have with disclosed in the present invention various operations, method, the step in flow, arrange
It applies, scheme may also be alternated, changed, rearranged, decomposed, combined or deleted.
Those skilled in the art do not depart from the present invention essence and spirit, can there are many deformation scheme realize the present invention,
The foregoing is merely preferably feasible embodiments of the invention, not thereby limit to the interest field of the present invention, all with this
The equivalent structure variation that description of the invention and accompanying drawing content are made, is both contained within the interest field of the present invention.
Claims (16)
1. a kind of on-street parking spaces real-time detection method based on video-aware, which is characterized in that include the following steps：
Enter static berth detection pattern after vehicle lay-off, in this mode, record global navigation satellite system GNSS position is clapped
Adjacent berth photo is taken the photograph, identifies vacant berth, by telecommunication by GNSS location and vacant berth photo when having a vacant berth
Upload server, and itself GNSS location information is constantly sent by short range communication and is used as control point information；Without vacant berth
When only by telecommunication by GNSS location upload server；
Enter mobile berth detection pattern in vehicle traveling, in this mode, when meeting preset condition, start identification in real time with
Vacant berth existing for travel direction side in the same direction adds up unoccupied parking spaces, when accumulative unoccupied parking spaces are not zero and pass through short distance
It, will be in the relevant information of berth by telecommunication after communication receives the control point information that static berth detection pattern vehicle is sent
Server is passed, wherein the berth relevant information includes unoccupied parking spaces and control point information；
Remote server receives the GNSS location sent under static berth detection pattern and vacant berth photo and mobile berth
The berth relevant information sent under detection pattern, screens information, inserts navigation map berth database, draws vacant road
Interior parking position map.
2. the on-street parking spaces real-time detection method according to claim 1 based on video-aware, which is characterized in that
Under the mobile berth detection pattern, the preset condition includes receiving the control point information or this truck position enters possibility
There is the region of on-street parking spaces.
3. the on-street parking spaces real-time detection method according to claim 1 based on video-aware, which is characterized in that row
The first control point information received in sailing is the first control point information, and the next control point information received in traveling is the second control
System point information；Under the mobile berth detection pattern, believe when accumulative unoccupied parking spaces are not zero and receive the first control point
Breath and during the second control point information sends accumulative unoccupied parking spaces, first control point information and the by telecommunication
Two control point information, and the unoccupied parking spaces added up are removed, restart accumulative unoccupied parking spaces, and abandon the first control point
Information, using the second control point information as the first new control point information.
4. the on-street parking spaces real-time detection method according to claim 1 based on video-aware, which is characterized in that
Under the mobile berth detection pattern, when Vehicular turn or straight trip pass through intersection, when accumulative unoccupied parking spaces are not
Zero and when receiving control point information, accumulative unoccupied parking spaces and the control point information are sent, and clear by telecommunication
Except the unoccupied parking spaces added up, restart accumulative unoccupied parking spaces；When accumulative unoccupied parking spaces are zero or do not receive control
During system point information, the unoccupied parking spaces added up are removed, restart accumulative unoccupied parking spaces.
5. the on-street parking spaces real-time detection method according to claim 4 based on video-aware, which is characterized in that
Under the mobile berth detection pattern, in Vehicular turn or straight trip by after intersection, gate time, the time not
During more than predetermined threshold value, if accumulative unoccupied parking spaces are not zero and receive control point information, sent by telecommunication accumulative
Unoccupied parking spaces and the control point information；If the time does not receive control point information yet when being more than predetermined threshold value, clearly
Except accumulative unoccupied parking spaces, stop identifying vacant berth.
6. the on-street parking spaces real-time detection method according to claim 1 based on video-aware, which is characterized in that
Under the mobile berth detection pattern, according to vehicle heading, orientation of the vacant berth relative to center line of road is judged, it is described
Berth relevant information further includes azimuth information of the vacant berth relative to center line of road.
7. the on-street parking spaces real-time detection method according to claim 1 based on video-aware, which is characterized in that
Under the static berth detection pattern, vehicle photo all around is shot, identifies vacant berth.
8. a kind of on-street parking spaces real-time detection apparatus based on video-aware, including information acquisition module, memory module
And communication module, described information acquisition module include vehicle-state detection module, image capture module, berth identification module,
Locating module, the vehicle-state detection module is for detecting vehicle-state, and vehicle-state is included in traveling, stagnation of movement, steering
The surrounding enviroment photo shot with straight trip by intersection, described image acquisition module for each camera of collection vehicle,
The image that the berth identification module is used to be acquired according to image capture module judges whether vacant berth, the positioning mould
Block for obtaining current vehicle GNSS coordinate, the memory module for storing each module information, the communication module be used for
Other on-street parking spaces real-time detection apparatus and remote server establish communication connection, which is characterized in that the road-surface concrete
Berth real-time detection apparatus further includes operating mode selecting module and berth message processing module, and the communication module includes short distance
Communication module and remote communication module,
Wherein, the vehicle-state provided according to vehicle-state detection module, operating mode selecting module is on vehicle lay-off Hou Shi roads
Interior parking position real-time detection apparatus enters static berth detection pattern, in the static berth detection pattern, locating module
Record GNSS location, image capture module acquires adjacent berth image, and berth identification module identifies vacant berth, at the information of berth
Manage module when there is vacant berth by remote communication module by GNSS location and vacant berth photo upload remote server, and
And itself GNSS location information is constantly sent by short range communication module and is used as control point information；Only by remote during without vacant berth
GNSS location is uploaded remote server by journey communication module；
Operating mode selecting module makes on-street parking spaces real-time detection apparatus enter mobile berth detection mould in vehicle traveling
Formula, in the mobile berth detection pattern, berth message processing module adopts image capture module when meeting preset condition
Collection and travel direction side image in the same direction, berth identification module start to identify in real time and vacant pool existing for travel direction side in the same direction
Position, berth message processing module adds up unoccupied parking spaces, when accumulative unoccupied parking spaces are not zero and are connect by short range communication module
After receiving the control point information that the on-street parking spaces real-time detection apparatus in static berth detection pattern is sent, by long-range
Berth relevant information is uploaded remote server by communication module, wherein the berth relevant information includes unoccupied parking spaces and control
Point information.
9. the on-street parking spaces real-time detection apparatus according to claim 8 based on video-aware, which is characterized in that
Under the mobile berth detection pattern, the preset condition includes receiving the control point information or this truck position enters possibility
There is the region of on-street parking spaces.
10. the on-street parking spaces real-time detection apparatus according to claim 8 based on video-aware, which is characterized in that
The first control point information received in traveling is the first control point information, and the next control point information received in traveling is second
Control point information, under the mobile berth detection pattern, berth message processing module be not zero when accumulative unoccupied parking spaces and
When receiving the first control point information and the second control point information, by remote communication module send accumulative unoccupied parking spaces,
First control point information and the second control point information, and the unoccupied parking spaces added up are removed, restart accumulative vacant
Berth number, and the first control point information is abandoned, using the second control point information as the first new control point information.
11. the on-street parking spaces real-time detection apparatus according to claim 8 based on video-aware, which is characterized in that
Under the mobile berth detection pattern, indicate that Vehicular turn or straight trip pass through intersection in vehicle-state detection module
When, berth message processing module passes through telecommunication mould when accumulative unoccupied parking spaces are not zero and receive control point information
Block sends accumulative unoccupied parking spaces and the control point information, and removes the unoccupied parking spaces added up, restarts to add up
Unoccupied parking spaces；When accumulative unoccupied parking spaces are zero or do not receive control point information, the unoccupied parking spaces added up are removed,
Restart accumulative unoccupied parking spaces.
12. the on-street parking spaces real-time detection apparatus according to claim 11 based on video-aware, which is characterized in that
Under the mobile berth detection pattern, indicate that Vehicular turn or straight trip pass through intersection in vehicle-state detection module
Afterwards, berth message processing module gate time, berth message processing module is when the time being less than predetermined threshold value, if accumulative
Unoccupied parking spaces are not zero and receive control point information, by remote communication module send accumulative unoccupied parking spaces with it is described
Control point information；If the time does not receive control point information yet when being more than predetermined threshold value, accumulative unoccupied parking spaces are removed,
Berth identification module is made to stop identifying vacant berth.
13. the on-street parking spaces real-time detection apparatus according to claim 8 based on video-aware, which is characterized in that
Under the mobile berth detection pattern, the berth message processing module judges vacant berth phase according to vehicle heading
For the orientation of center line of road, the berth relevant information further includes azimuth information of the vacant berth relative to center line of road.
14. the on-street parking spaces real-time detection apparatus according to claim 8 based on video-aware, which is characterized in that
Under the static berth detection pattern, all around photo, the berth identify mould to described image acquisition module collection vehicle
Block identifies vehicle vacant berth all around.
15. a kind of on-street parking spaces real-time detecting system based on video-aware, which is characterized in that including such as claim 8
To described in any one of 14 the on-street parking spaces real-time detection apparatus based on video-aware, on-street parking spaces information processing
Server and display terminal,
The on-street parking spaces that the on-street parking spaces netscape messaging server Netscape is used to receive under static berth detection pattern are real
When the GNSS location sent of detection device and vacant berth photo, the on-street parking spaces under mobile berth detection pattern examine in real time
The berth relevant information that device is sent is surveyed, information is screened, navigation map berth database is inserted, draws vacant road
Interior parking position map；
The display terminal is used in the vacant road for receiving and showing the on-street parking spaces netscape messaging server Netscape stop
Vehicle berth map, facilitates driver quickly to select suitable on-street parking spaces.
16. the on-street parking spaces real-time detecting system according to claim 15 based on video-aware, which is characterized in that
The on-street parking spaces netscape messaging server Netscape is when drawing the vacant on-street parking spaces map, according to different displays
Vacant on-street parking spaces are labeled on map by mode stratification, realize vacant road-surface concrete pool under different map scale
The best image of position.
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| CN201711475862.XA CN108269421B (en) | 2017-12-29 | 2017-12-29 | In-road parking berth real-time detection method, device and system based on video perception |
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