CN108269421B - In-road parking berth real-time detection method, device and system based on video perception - Google Patents
In-road parking berth real-time detection method, device and system based on video perception Download PDFInfo
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- CN108269421B CN108269421B CN201711475862.XA CN201711475862A CN108269421B CN 108269421 B CN108269421 B CN 108269421B CN 201711475862 A CN201711475862 A CN 201711475862A CN 108269421 B CN108269421 B CN 108269421B
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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
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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
- G08G1/148—Management of a network of parking areas
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- 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
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- 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 video perception-based in-road parking berth real-time detection method, which comprises the steps that a vehicle enters a static berth detection mode after stopping, in the mode, the adjacent vacant berths of the vehicle are identified, identified berth photos and GNSS positions are uploaded to a server together, the GNSS positions are continuously sent to serve as control points, and only the GNSS positions are uploaded to the server when no vacant berths exist; the method comprises the steps that a vehicle enters a mobile parking position detection mode during running, in the mode, when a preset condition is met, vacant parking positions on the same side with the running direction are identified and accumulated, and when the accumulated vacant parking positions are not zero and control point information is received, the vacant parking positions and the control point information are uploaded to a server; and the remote server receives the information, screens the information, fills a parking position database of the navigation map, and draws a parking position map in the vacant road. The invention also provides an on-road parking position real-time detection device based on video perception and an on-road parking position real-time detection system.
Description
Technical Field
The invention relates to the field of intelligent traffic, in particular to an in-road parking berth real-time detection system and method based on video perception.
Background
With the rapid increase of the automobile holding capacity, the problem of 'difficult parking' which troubles more and more cities in China is more and more serious. The parking facility construction is lagged, the total parking space is insufficient, the demand and supply are unbalanced, which is a main reason causing the problem of 'difficult parking', but the low parking space utilization rate is an important reason which cannot be ignored. Therefore, the fragmented parking space resources are integrated and released by using the intelligent transportation technology, the turnover rate of the parking space is improved, and the optimal way for relieving the problem of difficult parking at the present stage is undoubtedly provided. For off-road parking facilities, various static detectors are mature in application, and parking lot and parking building parking facility parking space resources are released in real time through an urban parking guidance system. However, due to factors such as cost, policy, and usage conditions, the static detector is not popular in the field of on-road parking, and the on-road parking space resources cannot be detected in time, so that a large number of on-road parking spaces are idle. Meanwhile, since the parking positions in the road are not easy to find, the driver needs to slow down and walk slowly in the searching process, and the behavior not only influences dynamic traffic, but also aggravates environmental pollution due to more exhaust emissions. Therefore, it is necessary to find a detection idea suitable for the features of parking space in the way.
Disclosure of Invention
The technical problems to be solved by the invention are as follows:
the invention provides a video sensing-based in-road parking position real-time detection system and method, and aims to solve the problems that the existing in-road parking position detection efficiency is low and vacant in-road parking positions are not easy to find.
The invention adopts the technical scheme for solving the technical problems that:
the invention provides a video perception-based in-road parking berth real-time detection method, which comprises the following steps of:
the method comprises the steps that a vehicle enters a static parking detection mode after stopping, the position of a Global Navigation Satellite System (GNSS) is recorded, adjacent parking photos are shot, vacant parking positions are identified, the GNSS position and the vacant parking photos are uploaded to a server through remote communication when the vacant parking positions exist, and GNSS position information of the vehicle is continuously sent as control point information through short-range communication; uploading the GNSS position to a server only through remote communication when no vacant berth exists;
when the vehicle enters a mobile berth detection mode during running and meets a preset condition, starting to identify vacant berths on the same side as the running direction in real time, accumulating the number of the vacant berths, and uploading relevant berth information to a server through remote communication after the accumulated number of the vacant berths is not zero and control point information sent by the vehicle in a static berth detection mode is received through short-range communication, wherein the relevant berth information comprises the number of the vacant berths and the control point information;
the remote server receives the GNSS position and the vacant parking position pictures sent by the static parking position detection mode, moves the relevant parking position information sent by the parking position detection mode, screens the information, fills a parking position database of a navigation map, and draws a vacant road parking position map.
Further, in the mobile parking space detection mode, the preset condition includes that the control point information or the vehicle position is received to enter an area where there is a possibility of an in-road parking space.
Furthermore, the first control point information received in the driving process is first control point information, and the next control point information received in the driving process is second control point information; and in the mobile berth detection mode, when the accumulated vacant berth number is not zero and first control point information and second control point information are received, transmitting the accumulated vacant berth number, the first control point information and the second control point information through remote communication, clearing the accumulated vacant berth number, restarting accumulating the vacant berth number, abandoning the first control point information, and taking the second control point information as new first control point information.
Further, in the mobile berth detection mode, when the vehicle turns or passes through a road intersection in a straight line, when the accumulated vacant berth number is not zero and control point information is received, the accumulated vacant berth number and the control point information are sent through remote communication, the accumulated vacant berth number is cleared, and the accumulated vacant berth number is restarted; and when the accumulated vacant berth number is zero or the control point information is not received, clearing the accumulated vacant berth number and restarting accumulating the vacant berth number.
Further, in the mobile berth detection mode, counting time after a vehicle turns or passes through a road intersection in a straight line, and sending the accumulated vacant berth number and control point information through remote communication if the accumulated vacant berth number is not zero and the control point information is received when the time does not exceed a preset threshold; and if the control point information is not received when the time exceeds the preset threshold value, clearing the accumulated vacant berth number and stopping recognizing the vacant berth.
Further, in the mobile parking space detection mode, the position of the vacant parking space relative to the road center line is determined according to the vehicle driving direction, and the parking space related information further includes the position information of the vacant parking space relative to the road center line.
Further, in the static parking detection mode, front, rear, left and right pictures of the vehicle are taken, and the vacant parking space is identified.
The invention also provides an in-road parking berth real-time detection device based on video perception, which comprises an information acquisition module, a storage module and a communication module, wherein the information acquisition module comprises a vehicle state detection module, an image acquisition module, a berth identification module and a positioning module, the vehicle state detection module is used for detecting the state of a vehicle, the state of the vehicle comprises the state of the vehicle, the state of the vehicle and the state of the vehicle passing through a road intersection, the image acquisition module is used for acquiring the pictures of the surrounding environment shot by each camera of the vehicle, the berth identification module is used for judging whether vacant berths exist according to the images acquired by the image acquisition module, the positioning module is used for acquiring the coordinates of the current vehicle, the storage module is used for storing the information of each module, the in-road parking berth real-time detection device also comprises a working mode selection module and a berth information processing module, wherein the communication module comprises a short-range communication module and a long-range communication module,
according to the vehicle state provided by the vehicle state detection module, the working mode selection module enables the in-road parking berth real-time detection device to enter a static berth detection mode after the vehicle stops, in the static berth detection mode, the positioning module records the GNSS position, the image acquisition module acquires adjacent berth images, the berth identification module identifies vacant berths, the berth information processing module uploads the GNSS position and vacant berth photos to a remote server through the remote communication module when the vacant berths exist, and the short-range communication module continuously sends self GNSS position information as control point information; uploading the GNSS position to a remote server only through a remote communication module when no vacant berth exists;
the working mode selection module enables the on-road parking position real-time detection device to enter a mobile parking position detection mode during vehicle running, in the mobile parking position detection mode, when the parking position information processing module meets preset conditions, the image acquisition module acquires images on the side in the same direction as the running direction, the parking position identification module starts to identify vacant parking positions on the side in the same direction as the running direction in real time, the parking position information processing module accumulates the vacant parking positions, and after the accumulated vacant parking positions are not zero and control point information sent by the on-road parking position real-time detection device in the static parking position detection mode is received through the short-range communication module, the parking position related information is uploaded to a remote server through the remote communication module, wherein the parking position related information comprises the vacant parking positions and the control point information.
Further, in the mobile parking space detection mode, the preset condition includes that the control point information or the vehicle position is received to enter an area where there is a possibility of an in-road parking space.
Further, in the mobile berth detection mode, when the accumulated vacant berth number is not zero and the first control point information and the second control point information are received, the berth information processing module sends the accumulated vacant berth number, the first control point information and the second control point information through the remote communication module, clears the accumulated vacant berth number, restarts accumulating the vacant berth number, discards the first control point information and takes the second control point information as new first control point information.
Further, in the mobile berth detection mode, when the vehicle state detection module indicates that the vehicle turns or passes through a road intersection straight, the berth information processing module sends the accumulated vacant berth number and the control point information through the remote communication module when the accumulated vacant berth number is not zero and the control point information is received, clears the accumulated vacant berth number, and restarts to accumulate the vacant berth number; and when the accumulated vacant berth number is zero or the control point information is not received, clearing the accumulated vacant berth number and restarting accumulating the vacant berth number.
Further, in the mobile parking detection mode, after the vehicle state detection module indicates that the vehicle turns or passes through a road intersection straight, the parking information processing module counts time, and when the time does not exceed a preset threshold value, if the accumulated vacant parking number is not zero and control point information is received, the accumulated vacant parking number and the control point information are sent through the remote communication module; and if the control point information is not received when the time exceeds the preset threshold value, clearing the accumulated vacant parking positions, and stopping recognizing the vacant parking positions by the parking position recognition module.
Further, in the mobile parking position detection mode, the parking position information processing module determines the position of the vacant parking position relative to the road center line according to the vehicle driving direction, and the parking position related information further includes the position information of the vacant parking position relative to the road center line.
Further, in the static parking detection mode, the image acquisition module acquires front, rear, left and right photos of the vehicle, and the parking identification module identifies left, rear, left and right vacant parking positions of the vehicle.
The invention further provides an on-road parking position real-time detection system based on video perception, which comprises an on-road parking position real-time detection device based on video perception, an on-road parking position information processing server and a display terminal,
the on-road parking berth information processing server is used for receiving GNSS positions and vacant berth pictures sent by the on-road parking berth real-time detection device in the static berth detection mode, moving the relevant berth information sent by the on-road parking berth real-time detection device in the berth detection mode, screening the information, filling the information into a navigation map berth database, and drawing a vacant on-road parking berth map;
the display terminal is used for receiving and displaying the vacant in-road parking space map of the in-road parking space information processing server, and a driver can conveniently and quickly select a proper in-road parking space.
Furthermore, when the in-road parking lot information processing server draws the map of the vacant in-road parking lots, the in-road parking lots are hierarchically marked on the map according to different display modes in consideration of the fact that the direction of the in-road parking lots relative to the center line of the road has a large influence on the driving route of the driver, and therefore the optimal display of the in-road parking lots on the vacant road under different map scales is achieved.
By adopting the technical scheme, compared with the prior art, the invention has the beneficial effects that:
the invention utilizes the image recognition technology to enable the vehicle to have the function of detecting the parking position in the road by means of the camera. Meanwhile, vehicles in different states play different roles in the parking position detection process. The parked vehicle is in a static parking position detection mode, GNSS coordinates of used parking positions in an in-road parking zone are mainly provided as parking position detection control points and environment images of vacant parking positions, the vehicle is in a mobile parking position detection mode during driving, the specific number of the vacant parking positions between two adjacent used parking positions is mainly identified and accumulated, and the specific number is associated with GNSS information of the control points and then uploaded. After the server collects and processes the two types of parking position detection unit information, the in-road parking position information is issued in real time, and a driver can conveniently and quickly select a proper in-road parking position. The invention makes full use of the image recognition technology, the wireless communication technology and other technologies to enable the vehicle to become a mobile detector of the on-road parking lot, can effectively improve the detection efficiency and turnover rate of the on-road parking lot, obviously reduces the communication flow between the vehicle and the server, obviously reduces the requirements on the processing and storage capacities of the vehicle-mounted device and the server, and has lower system implementation cost.
Drawings
Fig. 1 is a working flow chart of an in-road parking space real-time detection method based on video perception.
Fig. 2 is a structural framework diagram of an in-road parking space real-time detection device based on video perception.
Fig. 3 is a frame diagram of an in-road parking space real-time detection system based on video sensing according to the present invention.
Fig. 4 is a schematic map display diagram of the in-road parking space real-time detection system based on video perception.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The core idea of the invention is to utilize the image recognition technology to enable the vehicle to detect the use condition of the in-road parking berth in real time through a camera arranged on the vehicle, and enable a driver to quickly select the proper in-road parking berth through a display terminal through the acquisition, integration and release of an in-road parking berth information processing server. When the vehicle enters a static parking position detection mode, accurate GNSS coordinates of parking positions in the vacant road and environment images of the GNSS coordinates are mainly provided, and when the vehicle enters a mobile parking position detection mode, the number of the parking positions in the vacant road between the control points of the parking belts in two adjacent roads is mainly determined.
Fig. 1 is a working flow chart of an in-road parking space real-time detection method based on video perception.
Referring to fig. 1, the procedure is as follows:
s100: for any vehicle, judging whether the vehicle stops running or is running, if the vehicle stops running, executing step S110, otherwise, executing step S120, wherein the judgment can be carried out according to data obtained from an ECU unit through an OBD interface of the vehicle;
s110: the vehicle enters a stationary detection mode;
s111: recording the GNSS position of a global navigation satellite system, shooting photos of front, back, left and right adjacent positions, and identifying vacant berths, wherein the GNSS system can be a GPS, a Beidou, a GLONASS and other satellite navigation systems;
s112: judging whether the adjacent berths are vacant, if so, executing step S113, otherwise, executing step S114, and identifying the vacant berths by using a convolutional neural network technology;
s113: uploading the GNSS position and the vacant parking position photo to a server through remote communication, and continuously sending self GNSS position information as control point information through short-range communication, wherein the remote communication can be based on wireless communication technologies such as 2G/3G/4G/5G, the short-range communication can be based on technologies such as Bluetooth, RFID, Near Field Communication (NFC), and the like, and the maximum communication distance of the short-range communication can be limited to ensure that the control point information can be received only by vehicles which run in the same direction as the parking position and are close to the parking position;
s114: uploading the GNSS position to a server only through remote communication;
s120: the vehicle enters a movement detection mode;
s121: judging whether a preset condition is met, wherein the preset condition can be that control point information is received or the position of the vehicle enters an area with possible in-road parking berths, and the judgment that the position of the vehicle enters the area with the possible in-road parking berths can be carried out by combining an electronic navigation map stored by the local computer with GNSS position information; if the preset condition is met, executing step S122, and if the preset condition is not met, continuing to wait;
s122: the method comprises the steps of identifying vacant berths on the same direction side as the driving direction in real time, and accumulating the vacant berths, wherein the side in the same direction as the driving direction is on the right side in a left-steering vehicle country (such as China) and on the left side in a right-steering vehicle country;
s123: judging whether control point information sent by a vehicle in a static parking detection mode is received, if so, continuing to execute the step S124, and if not, returning to the step S122;
s124: judging whether the accumulated number of the vacant berths is zero, if not, continuing to execute the step S125, otherwise, returning to the step S122;
s125: uploading relevant berth information to a server through remote communication, wherein the relevant berth information comprises accumulated vacant berth number and control point information; the remote communication is carried out with the server only when the accumulated vacant berth number is not zero, so that the transmission flow of relevant berth information is greatly reduced, and the communication and processing pressure between a vehicle end and the server end can be reduced;
s130: and the server receives information sent by the vehicle in the static parking detection mode and the vehicle in the mobile parking detection mode, fills the parking data base and draws an empty parking map.
Preferably, the first control point information received during driving is first control point information, and the next control point information received during driving is second control point information; and in the mobile berth detection mode, when the accumulated vacant berth number is not zero and first control point information and second control point information are received, transmitting the accumulated vacant berth number, the first control point information and the second control point information through remote communication, clearing the accumulated vacant berth number, restarting accumulating the vacant berth number, abandoning the first control point information, and taking the second control point information as new first control point information.
Preferably, in the mobile berth detection mode, when the vehicle turns or passes through a road intersection in a straight line, when the accumulated vacant berth number is not zero and control point information is received, the accumulated vacant berth number and the control point information are sent through remote communication, the accumulated vacant berth number is cleared, and the accumulated vacant berth number is restarted; and when the accumulated vacant berth number is zero or the control point information is not received, clearing the accumulated vacant berth number and restarting accumulating the vacant berth number.
Preferably, in the mobile berth detection mode, counting time after a vehicle turns or passes through a road intersection in a straight line, and transmitting the accumulated vacant berth number and control point information through remote communication if the accumulated vacant berth number is not zero and the control point information is received when the time does not exceed a preset threshold; and if the control point information is not received when the time exceeds the preset threshold value, clearing the accumulated vacant berth number and stopping recognizing the vacant berth.
Preferably, considering that most roads are provided with a central isolation facility, the orientation of the on-road parking lot relative to the road centerline has a greater impact on the driving route schedule when the driver selects the parking lot. In order to avoid that a driver finds that the selected vacant parking position is not on one side of the road where the vehicle runs but on the other side of the road when arriving at the road where the vacant parking position is located, in the mobile parking position detection mode, the position of the vacant parking position relative to the road center line is judged according to the running direction of the vehicle, and the relevant parking position information further comprises the position information of the vacant parking position relative to the road center line.
Preferably, in the static parking space detection mode, the front, rear, left and right photographs of the vehicle are taken, and the vacant parking space is identified, wherein the taking can be performed by a vehicle-mounted panoramic all-around system, and the panoramic all-around system is a component of an Advanced Driver Assistance System (ADAS).
Fig. 2 is a structural framework diagram of an in-road parking space real-time detection device based on video perception.
As shown in fig. 2, the video perception-based in-road parking space real-time detection device includes an information acquisition module 10, a storage module 20, and a communication module 30, where the information acquisition module 10 includes a vehicle state detection module 11, an image acquisition module 12, a parking space identification module 13, and a positioning module 14, the vehicle state detection module 11 is configured to detect a vehicle state, the vehicle state includes a driving state, a stopped state, a turning state, and a straight-through road intersection, the image acquisition module 12 is configured to acquire surrounding environment photos taken by each camera of the vehicle, the parking space identification module 13 is configured to determine whether there is an empty parking space according to the images acquired by the image acquisition module 12, the positioning module 14 is configured to obtain a current vehicle GNSS coordinate, the storage module 20 is configured to store information of each module, the communication module 30 is configured to establish a communication connection with other in-road parking space real-time detection devices and a remote server, it is characterized in that the in-road parking berth real-time detection device further comprises a working mode selection module 40 and a berth information processing module 50, the communication module 30 comprises a short-range communication module 31 and a long-range communication module 32,
according to the vehicle state provided by the vehicle state detection module 11, the working mode selection module 40 enables the in-road parking position real-time detection device to enter a static parking position detection mode after the vehicle stops, in the static parking position detection mode, the positioning module 14 records a GNSS position, the image acquisition module 12 acquires an adjacent parking position image, the parking position identification module 13 identifies an empty parking position, the parking position information processing module 50 uploads the GNSS position and the empty parking position image to a remote server through the remote communication module 32 when the empty parking position exists, and continuously sends self GNSS position information as control point information through the short-range communication module 31, the maximum communication distance of the short-range communication can be limited, so that the control point information can be received only by the vehicle which runs in the same direction as the parking position and is close to the parking position; uploading the GNSS position to the remote server only through the remote communication module 32 when there is no vacant parking space;
the working mode selection module 40 makes the in-road parking position real-time detection device enter a mobile parking position detection mode when the vehicle is running, in the mobile berth detection mode, when the berth information processing module 50 meets the preset condition, the image acquisition module 12 is used for acquiring the image of the side in the same direction as the driving direction, the berth identification module 13 starts to identify the vacant berth on the side in the same direction as the driving direction in real time, wherein the side in the same direction as the traveling direction is the right side in a left-hand rudder vehicle country (such as China) and the left side in a right-hand rudder vehicle country, the parking information processing module 50 accumulates the vacant parking numbers, when the accumulated number of vacant parking positions is not zero and the control point information sent by the in-road parking position real-time detection device in the static parking position detection mode is received through the short-range communication module 31, the remote server uploads the relevant information of the berth, including the number of vacant berths and control point information, through the remote communication module 32.
Preferably, in the mobile parking space detection mode, the preset condition includes that the control point information is received or the vehicle position enters an area where there is a possibility of an in-road parking space.
Preferably, in the mobile berth detection mode, when the accumulated vacant berth number is not zero and the first control point information and the second control point information are received, the berth information processing module 50 transmits the accumulated vacant berth number, the first control point information and the second control point information through the remote communication module 32, clears the accumulated vacant berth number, restarts the accumulated vacant berth number, discards the first control point information, and uses the second control point information as new first control point information.
Preferably, in the mobile parking space detection mode, when the vehicle state detection module 11 indicates that the vehicle turns to or passes through a road intersection, the parking space information processing module 50 sends the accumulated vacant parking space and the control point information through the remote communication module 32 when the accumulated vacant parking space is not zero and receives the control point information, clears the accumulated vacant parking space, and restarts accumulating the vacant parking space; when the accumulated number of vacant berths is zero or the control point information is not received, clearing the accumulated number of vacant berths, and restarting accumulating the number of vacant berths, wherein the vehicle state detection module 11 judges whether the vehicle turns or moves straight through the road intersection or is performed through the electronic navigation map layer.
Preferably, in the mobile parking position detection mode, after the vehicle state detection module 11 indicates that the vehicle turns to or passes through the intersection straight, the parking position information processing module 50 counts time, and when the time of the parking position information processing module 50 does not exceed a preset threshold, if the accumulated vacant parking position number is not zero and the control point information is received, the accumulated vacant parking position number and the control point information are sent through the remote communication module 32; if the control point information is not received when the time exceeds a preset threshold value, clearing the accumulated vacant parking positions, and stopping the parking position identification module 13 from identifying the vacant parking positions, wherein the preset threshold value can be 5 to 10 minutes.
Preferably, in the mobile parking space detection mode, the parking space information processing module 50 determines the position of the vacant parking space relative to the road center line according to the vehicle driving direction, and the parking space related information further includes the position information of the vacant parking space relative to the road center line.
Preferably, in the static parking space detection mode, the image capturing module 12 captures front, rear, left and right photographs of the vehicle, and the parking space recognition module 13 recognizes left, rear, left and right vacant parking spaces of the vehicle, so that various in-road parking spaces such as vertical, horizontal, and oblique parking spaces can be considered.
Fig. 3 is a frame diagram of an in-road parking space real-time detection system based on video sensing according to the present invention. As shown in fig. 3, the video-perception-based on-road parking lot real-time detection system includes a video-perception-based on-road parking lot real-time detection apparatus 100, an on-road parking lot information processing server 200 and a display terminal 300,
the on-road parking berth information processing server 200 is configured to receive a GNSS position and an empty berth photo sent from the on-road parking berth real-time detection apparatus 100 in the static berth detection mode, and to receive berth-related information sent from the on-road parking berth real-time detection apparatus 100 in the mobile berth detection mode, to screen the information, to fill the information into a navigation map berth database, and to draw an empty on-road parking berth map;
the display terminal 300 is configured to receive and display the map of the vacant in-road parking positions of the in-road parking position information processing server 200, so as to facilitate a driver to quickly select a proper in-road parking position, where the display terminal includes a mobile phone, a car recorder, a rear-mounted navigator, a vehicle built-in navigation unit, and other devices having a navigation function.
Fig. 4 is a schematic map display diagram of an in-road parking space real-time detection system based on video perception according to an embodiment of the present invention. Considering that the influence of the position of the parking space in the road relative to the center line of the road on the driving route of the driver is large, especially when the center line of the road is a yellow solid line or a central isolation facility exists, the unreasonable display of the parking space in the vacant road can cause the phenomenon that the driver finds the parking space on the other side of the road after arriving at the vacant parking space. Therefore, the parking positions in the vacant roads are hierarchically marked on the map according to different display modes, and the optimal display of the parking positions in the vacant roads under different map scales is realized. Referring to fig. 4, the procedure is as follows:
s401: and displaying the total number of parking positions in the vacant roads on both sides of the center line of each road in a small proportion range of less than 1: 50000.
S402: and under the medium scale range of 1: 50000-1: 20000, the number of parking berths in the vacant roads on the two sides of the road center line of each road is respectively displayed on the two sides of the road center line.
S403: and displaying the distribution condition of the parking berths in all the vacant roads of a certain road in a point form in a large scale range larger than 1: 10000.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
One skilled in the art will appreciate that the present invention may be directed to an apparatus for performing one or more of the operations described in the present application. The apparatus may be specially designed and constructed for the required purposes, or it may comprise any known apparatus in a general purpose computer selectively activated or reconfigured by a program stored in the general purpose computer. Such a computer program may be stored in a device (e.g., computer) readable medium, including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, Random Access Memories (RAMs), Read Only Memories (ROMs), electrically programmable ROMs, electrically erasable ROMs (eproms), electrically erasable programmable ROMs (eeproms), flash memories, magnetic cards, or optical cards, or in any type of media suitable for storing electronic instructions, and each coupled to a bus. A readable medium includes any mechanism for storing or transmitting information in a form readable by a device (e.g., a computer). For example, a readable medium includes Random Access Memory (RAM), Read Only Memory (ROM), magnetic disk storage media, optical storage media, flash memory devices, signals propagating in electrical, optical, acoustical or other forms (e.g., carrier waves, infrared signals, digital signals), etc.
It will be understood by those within the art that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the methods specified in the block or blocks of the block diagrams and/or flowchart block or blocks.
Those of skill in the art will appreciate that the various operations, methods, steps in the processes, acts, or solutions discussed in the present application can be interchanged, modified, combined, or eliminated. Further, various operations, methods, steps in the flows, which have been discussed in the present application, may be interchanged, modified, rearranged, decomposed, combined, or eliminated. Further, steps, measures, schemes in the various operations, methods, procedures disclosed in the prior art and the present invention can also be alternated, changed, rearranged, decomposed, combined, or deleted.
As will be apparent to those skilled in the art, many modifications can be made to the invention without departing from the spirit and scope thereof, and it is intended that the present invention cover all modifications and equivalents of the embodiments of the invention covered by the appended claims.
Claims (16)
1. An in-road parking berth real-time detection method based on video perception is characterized by comprising the following steps:
the method comprises the steps that a vehicle enters a static parking detection mode after stopping, in the mode, the position of a Global Navigation Satellite System (GNSS) is recorded, adjacent parking photos are shot, vacant parking positions are identified, the GNSS position and the vacant parking photos are uploaded to a remote server through remote communication when the vacant parking positions exist, and GNSS position information is continuously sent as control point information through short-range communication; uploading the GNSS position to a remote server only through remote communication when no vacant berth exists;
the method comprises the steps that a vehicle enters a mobile berth detection mode during running, in the mode, when a preset condition is met, vacant berths existing on the side in the same direction as the running direction are identified in real time, the number of the vacant berths is accumulated, and after the accumulated vacant berths are not zero and control point information sent by the vehicle in a static berth detection mode is received through short-range communication, relevant berth information is uploaded to a remote server through remote communication, wherein the relevant berth information comprises the number of the vacant berths and the control point information;
the remote server receives the GNSS position and the vacant parking position pictures sent by the static parking position detection mode and the parking position related information sent by the mobile parking position detection mode, screens the information, fills a parking position database of a navigation map, and draws a vacant road parking position map.
2. The video-perception-based on-road parking space real-time detection method of claim 1, wherein in the mobile parking space detection mode, the preset condition includes that the control point information is received or a vehicle position enters an area where on-road parking spaces are possible.
3. The video perception-based method for detecting parking positions in roads in real time according to claim 1, wherein first control point information received during driving is first control point information, and next control point information received during driving is second control point information; and in the mobile berth detection mode, when the accumulated vacant berth number is not zero and first control point information and second control point information are received, transmitting the accumulated vacant berth number, the first control point information and the second control point information through remote communication, clearing the accumulated vacant berth number, restarting accumulating the vacant berth number, abandoning the first control point information, and taking the second control point information as new first control point information.
4. The video perception-based in-road parking berth real-time detection method as claimed in claim 1, characterized in that in the mobile berth detection mode, when a vehicle turns or passes straight through a road intersection, when the accumulated number of vacant berths is not zero and control point information is received, the accumulated number of vacant berths and the control point information are sent through remote communication, the accumulated number of vacant berths is cleared, and the accumulated number of vacant berths is restarted; and when the accumulated vacant berth number is zero or the control point information is not received, clearing the accumulated vacant berth number and restarting accumulating the vacant berth number.
5. The video perception-based in-road parking berth real-time detection method as claimed in claim 4, characterized in that in the mobile berth detection mode, after a vehicle turns or moves straight through a road intersection, time is counted, and when the time does not exceed a preset threshold, if the accumulated number of vacant berths is not zero and control point information is received, the accumulated number of vacant berths and the control point information are sent through remote communication; and if the control point information is not received when the time exceeds the preset threshold value, clearing the accumulated vacant berth number and stopping recognizing the vacant berth.
6. The video perception-based on-road parking space real-time detection method as claimed in claim 1, wherein in the mobile parking space detection mode, the position of the vacant parking space relative to the road center line is determined according to the vehicle driving direction, and the parking space related information further includes position information of the vacant parking space relative to the road center line.
7. The video-perception-based method for detecting the parking position in the road in real time as claimed in claim 1, wherein in the static parking position detection mode, pictures of the front, the back, the left and the right of the vehicle are taken, and the vacant parking position is identified.
8. An on-road parking berth real-time detection device based on video perception comprises an information acquisition module, a storage module and a communication module, wherein the information acquisition module comprises a vehicle state detection module, an image acquisition module, a berth identification module and a positioning module, the vehicle state detection module is used for detecting the state of a vehicle, the state of the vehicle comprises the state of the vehicle, the vehicle is stopped, turned and directly passes through a road intersection, the image acquisition module is used for acquiring the surrounding environment pictures shot by each camera of the vehicle, the berth identification module is used for judging whether vacant berths exist according to the images acquired by the image acquisition module, the positioning module is used for acquiring the GNSS position of the current vehicle, the storage module is used for storing the information of each module, and the communication module is used for establishing communication connection with other on-road parking berth real-time detection devices and a remote server, it is characterized in that the in-road parking berth real-time detection device also comprises a working mode selection module and a berth information processing module, the communication module comprises a short-distance communication module and a long-distance communication module,
according to the vehicle state provided by the vehicle state detection module, the working mode selection module enables the in-road parking berth real-time detection device to enter a static berth detection mode after the vehicle stops, in the static berth detection mode, the positioning module records the GNSS position, the image acquisition module acquires adjacent berth images, the berth identification module identifies vacant berths, the berth information processing module uploads the GNSS position and vacant berth photos to a remote server through the remote communication module when the vacant berths exist, and the short-range communication module continuously sends self GNSS position information as control point information; uploading the GNSS position to a remote server only through a remote communication module when no vacant berth exists;
the working mode selection module enables the on-road parking position real-time detection device to enter a mobile parking position detection mode during vehicle running, in the mobile parking position detection mode, when the parking position information processing module meets preset conditions, the image acquisition module acquires images on the side in the same direction as the running direction, the parking position identification module starts to identify vacant parking positions on the side in the same direction as the running direction in real time, the parking position information processing module accumulates the vacant parking positions, and after the accumulated vacant parking positions are not zero and control point information sent by the on-road parking position real-time detection device in the static parking position detection mode is received through the short-range communication module, the parking position related information is uploaded to a remote server through the remote communication module, wherein the parking position related information comprises the vacant parking positions and the control point information.
9. The apparatus of claim 8, wherein in the mobile parking detection mode, the preset condition comprises receiving the control point information or entering the area where there is an on-road parking space by the vehicle position.
10. The video-perception-based in-road parking space real-time detection device of claim 8, wherein the first control point information received during driving is first control point information, the next control point information received during driving is second control point information, and in the mobile parking space detection mode, the parking space information processing module sends the accumulated free parking space number, the first control point information and the second control point information through the remote communication module, clears the accumulated free parking space number, restarts accumulating the free parking space number, discards the first control point information, and uses the second control point information as new first control point information when the accumulated free parking space number is not zero and the first control point information and the second control point information are received.
11. The video-perception-based in-road parking berth real-time detection device of claim 8, wherein in the mobile berth detection mode, when the vehicle state detection module indicates that the vehicle turns to or moves straight through a road intersection, the berth information processing module sends the accumulated vacant berth numbers and control point information through the remote communication module when the accumulated vacant berth numbers are not zero and the control point information is received, clears the accumulated vacant berth numbers, and restarts to accumulate the vacant berth numbers; and when the accumulated vacant berth number is zero or the control point information is not received, clearing the accumulated vacant berth number and restarting accumulating the vacant berth number.
12. The video-perception-based in-road parking berth real-time detection device of claim 11, wherein in the mobile berth detection mode, after the vehicle state detection module indicates that the vehicle turns to or moves straight through a road intersection, the berth information processing module counts time, and when the time does not exceed a preset threshold, if the accumulated number of vacant berths is not zero and control point information is received, the accumulated number of vacant berths and the control point information are sent through the remote communication module; and if the control point information is not received when the time exceeds the preset threshold value, clearing the accumulated vacant parking positions, and stopping recognizing the vacant parking positions by the parking position recognition module.
13. The video-perception-based in-road parking space real-time detection device as claimed in claim 8, wherein in the mobile parking space detection mode, the parking space information processing module determines an orientation of an unoccupied parking space relative to a road centerline according to a vehicle driving direction, and the parking space related information further includes orientation information of the unoccupied parking space relative to the road centerline.
14. The video perception-based in-road parking space real-time detection device as claimed in claim 8, wherein in the static parking space detection mode, the image acquisition module acquires front, back, left and right pictures of the vehicle, and the parking space recognition module recognizes the free parking spaces of the vehicle.
15. A video-perception-based on-road parking space real-time detection system, which is characterized by comprising the video-perception-based on-road parking space real-time detection device, the on-road parking space information processing server and the display terminal according to any one of claims 8 to 14,
the on-road parking berth information processing server is used for receiving GNSS positions and vacant berth pictures sent by the on-road parking berth real-time detection device in the static berth detection mode, moving the relevant berth information sent by the on-road parking berth real-time detection device in the berth detection mode, screening the information, filling the information into a navigation map berth database, and drawing a vacant on-road parking berth map;
the display terminal is used for receiving and displaying the vacant in-road parking space map of the in-road parking space information processing server, and a driver can conveniently and quickly select a proper in-road parking space.
16. The video-perception-based in-road parking lot real-time detection system as claimed in claim 15, wherein the in-road parking lot information processing server hierarchically labels the vacant in-road parking lots on the map according to different display modes when drawing the vacant in-road parking lot map, so as to achieve optimal display of the vacant in-road parking lots at different map scales.
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| CN109272774A (en) * | 2018-10-30 | 2019-01-25 | 湖南国科防务电子科技有限公司 | Parking stall bootstrap technique, computer equipment and storage medium |
| CN110444041B (en) * | 2019-08-15 | 2021-07-02 | 同济大学 | Partition-based parking lot refined management method |
| CN116052461A (en) * | 2021-10-28 | 2023-05-02 | 华为技术有限公司 | Virtual parking space determining method, display method, device, equipment, medium and program |
| CN116028672B (en) * | 2023-03-28 | 2023-12-19 | 小米汽车科技有限公司 | Library address pushing method and device, electronic equipment and storage medium |
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| JP4178154B2 (en) * | 2005-08-30 | 2008-11-12 | 松下電器産業株式会社 | Parking position search support device, method and program |
| DE102006041360B4 (en) * | 2006-09-01 | 2021-04-29 | Volkswagen Ag | Method for disseminating spatio-temporal traffic information |
| DE102013209298A1 (en) * | 2013-05-21 | 2014-11-27 | Bayerische Motoren Werke Aktiengesellschaft | System and method for detecting a potentially vacant parking space |
| EP3026654A1 (en) * | 2014-11-25 | 2016-06-01 | Gemalto Sa | Method for managing parking spaces on public streets |
| US9557741B1 (en) * | 2015-08-24 | 2017-01-31 | Ford Global Technologies, Llc | System and method for autonomous valet parking using plenoptic cameras |
| US9739881B1 (en) * | 2016-03-24 | 2017-08-22 | RFNAV, Inc. | Low cost 3D radar imaging and 3D association method from low count linear arrays for all weather autonomous vehicle navigation |
| CN106228848B (en) * | 2016-09-29 | 2019-10-01 | 北京百度网讯科技有限公司 | A kind of parking navigation method and apparatus |
| CN106297401B (en) * | 2016-10-18 | 2019-02-12 | 中国科学院深圳先进技术研究院 | Detection method, detection device and the detection system on vehicle-mounted trackside parking stall |
| CN106781666B (en) * | 2016-12-29 | 2020-02-28 | 珠海市魅族科技有限公司 | Control method and system for target parking space |
| CN107665588B (en) * | 2017-09-27 | 2020-05-19 | 浙江志诚软件有限公司 | Detection method and system for berth with abnormal detector state |
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