CN110580822A - Method and system for monitoring and managing internal parking spaces of parking lot - Google Patents
Method and system for monitoring and managing internal parking spaces of parking lot Download PDFInfo
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- CN110580822A CN110580822A CN201910731107.6A CN201910731107A CN110580822A CN 110580822 A CN110580822 A CN 110580822A CN 201910731107 A CN201910731107 A CN 201910731107A CN 110580822 A CN110580822 A CN 110580822A
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
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Abstract
The embodiment of the application provides a method for monitoring and managing internal parking spaces of a parking lot, which comprises the following steps: acquiring first parking video information and second parking video information of a current vehicle on a target parking space; synchronizing video frames in the first parking video information and the second parking video information; judging the dynamic and static states of the current vehicle according to preset conditions; if the current vehicle is in a static state, extracting the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking spaces; and determining the parking position of the current vehicle according to the contour area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space. The method for monitoring and managing the internal parking spaces in the parking lot can realize supervision of vehicle parking in the centering unmanned parking lot, and waste of parking lot space resources caused by the fact that a plurality of parking spaces are occupied by one vehicle is avoided.
Description
Technical Field
the application relates to the technical field of parking space monitoring, in particular to a method and a system for monitoring and managing an internal parking space of a parking lot.
background
At present, various unmanned self-service parties are in the spotlight, so that the human resource cost is greatly saved, and various actual requirements of users can be met in an all-weather and convenient manner.
The unmanned parking lot is an important application scene of unmanned self-service, comprehensively utilizes various information perception technologies, an internet of things technology and an intelligent identification and control technology, and realizes full-automatic operation and unmanned management of parking service in multiple aspects of vehicle access, timing charge, facility detection, internal management and the like.
because the unmanned parking lot does not have personnel responsible for maintaining the parking order of the vehicles in the original parking lot, and an effective parking space monitoring management method is also lacked in the prior art, the vehicles in the unmanned parking lot are lack of supervision and sufficient assistance in the parking process, on one hand, the necessary visual or voice prompt cannot be given to the driver to remind and help the driver to adjust the parking position, so that the situations of parking missing and pressing lines often occur to the driver due to negligence or lack of vehicle skills, the normal passing and parking of other vehicles are influenced, and the accidents of scratching of the vehicles and door opening collision are easy to occur; on the other hand, the situation that one car occupies a plurality of parking spaces often occurs, and the waste of space resources of the parking lot is caused.
Therefore, the existing unmanned parking lot needs to enhance the monitoring and management of the utilization of parking spaces. The supervision of the parking stall in the parking area expects to pass through multiple means such as video shooting, earth induction, finds that the parking is not gone into the position, the line ball is parkked, the whole car occupies the irregular condition of these parkings of a plurality of parking stalls to in time remind and correct the giving, eliminate these irregular behaviors and influence.
Disclosure of Invention
in view of this, an object of the present application is to provide a method and a system for monitoring and managing an internal parking space in a parking lot, so as to solve the technical problems that in the prior art, a vehicle in an unmanned parking lot lacks supervision and is assisted by a driver in a parking process, parking in an out-of-position parking space, line pressing parking, occupation of a plurality of parking spaces by a single vehicle, and accident potential and waste of parking lot space resources are easily caused.
based on the above purpose, the application provides an internal parking space monitoring and management method for a parking lot, which comprises the following steps:
acquiring first parking video information and second parking video information of a current vehicle on a target parking space;
synchronizing video frames in the first parking video information and the second parking video information;
Judging the dynamic and static states of the current vehicle according to preset conditions;
if the current vehicle is in a static state, extracting the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking spaces;
and determining the parking position of the current vehicle according to the contour area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space.
in some embodiments, further comprising:
And if the current vehicle is in a non-static state, not analyzing the parking position of the current vehicle.
In some embodiments, the obtaining first parking video information and second parking video information of the current vehicle in the target parking space includes:
The method comprises the steps of obtaining first visual angle video information and second visual angle video information of a current vehicle on a target parking space, wherein the first visual angle video information comprises a position line on one side of the target parking space and a position line close to an adjacent parking space, the second visual angle video information comprises a position line on the other side of the target parking space and a position line close to the adjacent parking space, the position line on the target parking space, the first visual angle video information and at least one of the second visual angle video information comprise a front position line on the target parking space.
In some embodiments, said synchronizing video frames in said first parking video information and said second parking video information comprises:
Aligning video frames in the first parking video information and the second parking video information according to the shooting time of each frame, and then selecting the same time point to synchronize the video frames in the first parking video information and the second parking video information.
in some embodiments, the determining the dynamic and static states of the current vehicle according to the preset condition includes:
comparing an initial video frame and a last video frame in the first parking video information within a preset time period, and/or comparing an initial video frame and a last video frame in the second parking video information, judging the moving and static state of the current vehicle, and if the relative positions of the vehicles in the initial video frame and the last video frame are not changed, determining that the current vehicle is in the static state.
in some embodiments, the extracting the contour region of the current vehicle, the parking space line of the target parking space, and the corresponding parking space line of the adjacent parking spaces includes:
respectively extracting the synchronous video frames including the current vehicle image in the first parking video information and the second parking video information;
Performing convolution on one frame of video frame with a Gaussian mask operator, and performing smoothing processing on the video frame;
Calculating the gradient of each pixel point of the video frame after the smoothing treatment by using a Sobel operator;
Reserving a maximum value of the gradient strength on each pixel point of the video frame, and deleting other values;
Setting an upper threshold limit and a lower threshold limit of the maximum value of the gradient strength on each pixel point of the video frame, confirming the pixel point of which the maximum value of the gradient strength is greater than the upper threshold limit as a boundary, confirming the pixel point of which the maximum value of the gradient strength is greater than the lower threshold limit and less than the upper threshold limit as a weak boundary, and confirming the pixel point of which the maximum value of the gradient strength is less than the lower threshold limit as a non-boundary;
Confirming the boundary of the weak boundary connected with the boundary, and confirming other weak boundaries as non-boundaries;
And matching the area surrounded by the boundary with a pre-stored outline area and parking space line area of the vehicle, and determining the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space.
In some embodiments, before performing convolution with gaussian mask and performing smoothing on the video frame, the method further includes:
and carrying out gray level binarization processing on the video frame.
In some embodiments, further comprising:
And when the parking position of the current vehicle is not in accordance with the specification, performing voice reminding and visual reminding on the driver of the current vehicle according to the condition of the occupied parking space line of the current vehicle.
based on the above-mentioned purpose, in this application second aspect, still propose the inside parking stall monitoring management system in parking area, include:
the first parking video information acquisition module is used for acquiring first parking video information of a current vehicle on a target parking space;
the second parking video information acquisition module is used for acquiring second parking video information of the current vehicle on the target parking space;
The video frame synchronization module is used for synchronizing video frames in the first parking video information and the second parking video information;
The parking position determining module is used for judging the dynamic and static states of the current vehicle according to preset conditions; if the current vehicle is in a static state, extracting the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking spaces; and determining the parking position of the current vehicle according to the contour area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space.
In some embodiments, further comprising:
the voice reminding module is used for carrying out voice reminding on a driver of the current vehicle according to the condition of the occupied parking space line of the current vehicle when the parking position of the current vehicle is not in accordance with the specification;
the visual prompting module is used for visually prompting the driver of the current vehicle according to the condition of the occupied parking space line of the current vehicle when the parking position of the current vehicle is not in accordance with the specification
The embodiment of the application provides a method and a system for monitoring and managing internal parking spaces in a parking lot, and the method and the system for monitoring and managing the internal parking spaces in the parking lot can realize supervision of vehicle parking in a centering unmanned parking lot, and avoid waste of parking lot space resources caused by the fact that a plurality of parking spaces are occupied by a vehicle.
drawings
other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
Fig. 1 is a flowchart of a method for monitoring and managing an internal parking space of a parking lot according to a first embodiment of the present application;
Fig. 2 is a flowchart of a method for monitoring and managing internal parking spaces in a parking lot according to a second embodiment of the present application;
FIG. 3 is a schematic view of a parking space within a parking lot according to an embodiment of the present application;
Fig. 4 is a functional structure diagram of an internal parking space monitoring and managing system of a parking lot according to a third embodiment of the present application;
fig. 5 is a functional structure diagram of an internal parking space monitoring and management system of a parking lot according to a fourth embodiment of the present application;
Fig. 6 is a schematic structural diagram of a visual cue module in the fourth embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
specifically, as shown in fig. 1, the method is a flowchart of a method for monitoring and managing an internal parking space of a parking lot according to a first embodiment of the present application. As can be seen from fig. 1, as an embodiment of the present application, the method for monitoring and managing the internal parking spaces of the parking lot may include the following steps:
S101: the method comprises the steps of obtaining first parking video information and second parking video information of a current vehicle on a target parking space.
the internal parking space monitoring and management method of the parking lot is mainly applied to the unmanned parking lot, and a plurality of parking spaces can be arranged in the unmanned parking lot, and is a schematic parking space diagram in the parking lot in the embodiment of the application as shown in fig. 3. As can be seen from fig. 3, in the unmanned parking lot in this embodiment, any parking space includes the left parking space line 301, the front parking space line 302 and the right parking space line 303, and since the shift lever is disposed behind the parking space, the situation that the parking space occupies the parking space or the parking space crosses the rear parking space line does not occur, and therefore, the rear parking space line does not need to be considered in the present invention. A first parking video information acquisition device 304 is further disposed at the left front of any parking space, a second parking video information acquisition device 305 is further disposed at the right front of the parking space, the first parking video information acquisition device 304 and the second parking video information acquisition device 305 may be, for example, monitoring cameras respectively used for acquiring video information of the vehicle on the parking space during parking from different viewing angles, and at least one of the first parking video information acquisition device 304 and the second parking video information acquisition device 305 may capture a front parking space line 302 of the parking space, of course, the first parking video information acquisition device 304 may capture a left parking space line 301 of a target parking space and a right parking space line of an adjacent parking space on the left side of the target parking space, and the second parking video information acquisition device 305 may capture a right parking space line 302 of the target parking space, and the left parking space line of the adjacent parking space on the right side of the parking space, therefore, whether the vehicle on the parking space is in the parking standard or not can be determined by judging whether the vehicle on the parking space occupies the parking space line and the parking space to which the occupied parking space line belongs.
in this embodiment, the first parking video information acquiring device 304 and the second parking video information acquiring device 305 may be installed on a rotatable pan-tilt, and can rotate a shooting angle within a certain range, so as to be used for monitoring a plurality of parking spaces. Specifically, in a normal state where no vehicle performs a parking action, the first parking video information acquisition device 304 and the second parking video information acquisition device 305 are respectively oriented to different shooting directions through the rotation of the pan/tilt head, so that a certain number of parking spaces within the shooting range thereof can be respectively shot, for example, assuming that 10 parking spaces are totally left-to-right within the monitoring range of the two, the first parking video information acquisition device 304 can shoot 1 st to 5 th parking spaces on the far left side, and the second parking video information acquisition device 305 can shoot 6 th to 10 th parking spaces on the far right side. When it is determined that the current vehicle is performing a parking action toward any of the vacant parking spaces according to the video information captured by the first parking video information obtaining device 304 or the second parking video information obtaining device 305, the parking space is taken as the target parking space, and the first parking video information obtaining device 304 and the second parking video information obtaining device 305 both aim at the capturing direction at the target parking space by adjusting the rotation of the pan-tilt, so as to obtain the first parking video information and the second parking video information including the target parking space and the current vehicle. When the front vehicle line 302 of any empty parking space is shielded by the current vehicle, it is determined that the current vehicle is performing a parking action toward the parking space; for example, if the front vehicle line 302 of the 5 th parking space is blocked in the video information captured by the first parking video information capturing device 304, the pan-tilt of the second parking video information capturing device 305 is triggered to rotate, so that the second parking video information capturing device 305 turns to shoot the target parking space in alignment. How to determine that the leading lane 302 is blocked in the video information will be described in detail below, and will not be described herein. Therefore, the parking space area can be covered by using the video information acquisition devices (such as cameras) as few as possible, the device reuse rate is improved, the hardware cost is saved, and the false triggering of the non-parked vehicles running through the parking space area is not easy to happen.
specifically, when there is a vehicle parking in the target parking space, the first parking video information of the current vehicle in the target parking space is acquired by the first parking video information acquisition device 301, and the second parking video information of the current vehicle in the target parking space is acquired by the second parking video information acquisition device 305. The acquired first parking video information comprises a left parking line of a target parking space and a right parking line of a left adjacent parking space of the target parking space, the acquired second parking video information comprises a right parking line of the target parking space and a left parking line of a right adjacent parking space of the target parking space, and at least one of the first parking video information and the second parking video information comprises a front parking line of the target parking space. Of course, the current vehicle in the target parking space is also included in the first parking video information and the second parking video information.
S102: and synchronizing video frames in the first parking video information and the second parking video information.
in this embodiment, after first parking video information and second parking video information of a current vehicle in a target parking space are acquired, video frames in the first parking video information and the second parking video information are synchronized according to time. Specifically, video frames in the first parking video information and the second parking video information are respectively aligned according to respective shooting time of each frame of video frame, that is, any video frame in the first parking video information is aligned with a corresponding video frame in the second parking video information at the same shooting time, and then video frames in the first parking video information and the second parking video information shot at the same time point are selected for synchronization, so that the first parking video information and the second parking video information are jointly analyzed.
s103: and judging the dynamic and static states of the current vehicle according to preset conditions.
specifically, the initial video frame and the last video frame in the first parking video information within a preset time period (for example, every 3 seconds as a preset time period) may be compared, and in general, the video frame contains 15-30 frames per second. If the current vehicle is in a non-static state, the position of the current vehicle is different in the initial video frame and the last video frame in the preset time period, or the position of the current vehicle relative to the vehicle line is different, and the dynamic and static states of the current vehicle can be judged according to the principle. Similarly, the initial video frame and the last video frame in the second parking video information may be compared to determine the moving and static states of the current vehicle, and if the relative positions of the vehicles in the initial video frame and the last video frame are not changed, the current vehicle is determined to be in the static state. On the premise that the holders of the first parking video information obtaining device 301 and the second parking video information obtaining device 305 do not rotate, as long as the current vehicle of one of the synchronized first parking video information and second parking video information is in a static state, it can be determined that the current vehicle is in the static state, and therefore, one of the first parking video information and the second parking video information can be optionally selected to determine the static state.
s104: and if the current vehicle is in a static state, extracting the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking spaces.
in this embodiment, after determining that the current vehicle is in a static state, whether the current vehicle on the target parking space is in a parking standard may be further analyzed, and first, the contour area of the current vehicle, the parking space line of the target parking space, and the corresponding parking space line of the adjacent parking space in the first parking video information and the second parking video information need to be extracted. Specifically, after determining that the current vehicle is in a static state within the latest preset time period, respectively extracting one or more synchronous video frames including the current vehicle image in the first parking video information and the second parking video information within the preset time period; for each frame of video frame, carrying out gray level binarization processing on the video frame, further carrying out convolution by using a Gaussian mask operator, and carrying out smoothing processing on the video frame; calculating the gradient of each pixel point of the video frame after the smoothing treatment by using a Sobel operator; reserving a maximum value of the gradient strength on each pixel point of the video frame, and deleting other values; setting an upper threshold limit and a lower threshold limit of the maximum value of the gradient strength on each pixel point of the video frame, confirming the pixel point of which the maximum value of the gradient strength is greater than the upper threshold limit as a boundary, confirming the pixel point of which the maximum value of the gradient strength is greater than the lower threshold limit and less than the upper threshold limit as a weak boundary, and confirming the pixel point of which the maximum value of the gradient strength is less than the lower threshold limit as a non-boundary; confirming the boundary of the weak boundary connected with the boundary, and confirming other weak boundaries as non-boundaries; and matching the area surrounded by the boundary with a pre-stored outline area and parking space line area of the vehicle, and determining the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space.
S105: and determining the parking position of the current vehicle according to the contour area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space.
After the contour area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space are extracted, the parking position of the current vehicle can be determined according to the relative position relationship between the contour area of the current vehicle and the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space, that is, whether the current vehicle is in a standard parking state or not is judged. Specifically, if the contour area of the current vehicle blocks the left parking space line of the target parking space, the current vehicle is considered to press the left parking space line; if the current vehicle also blocks a right parking space line of an adjacent parking space on the left side of the target parking space, the current vehicle is considered to occupy the adjacent parking space; similarly, if the contour area of the current vehicle covers the right parking space line of the target parking space, the current vehicle is considered to press the right parking space line; if the current vehicle also blocks a left parking space line of an adjacent parking space on the right side of the target parking space, the current vehicle is considered to occupy the adjacent parking space; and if the current vehicle covers the front parking space line of the target parking space, the current vehicle is considered to press the front parking space line and be in a state of not completely entering the target parking space.
the method for monitoring and managing the internal parking spaces in the parking lot can realize supervision of vehicle parking in the centering unmanned parking lot, and waste of parking lot space resources caused by the fact that a plurality of parking spaces are occupied by one vehicle is avoided.
fig. 2 is a flowchart of a method for monitoring and managing an internal space in a parking lot according to a second embodiment of the present application. The method for monitoring and managing the internal parking spaces of the parking lot in the embodiment can comprise the following steps:
s201: the method comprises the steps of obtaining first parking video information and second parking video information of a current vehicle on a target parking space.
S202: and synchronizing video frames in the first parking video information and the second parking video information.
S203: and judging the dynamic and static states of the current vehicle according to preset conditions.
s204: and if the current vehicle is in a static state, extracting the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking spaces.
S205: and determining the parking position of the current vehicle according to the contour area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space.
The above steps are consistent with the implementation manner of the first embodiment, and are not described herein again. In addition, the present embodiment further includes the following steps:
s206: and if the current vehicle is in a non-static state, not analyzing the parking position of the current vehicle.
in this embodiment, after step S203, if the current vehicle is in a non-stationary state, the parking position of the current vehicle is not analyzed, and after a next preset time period (for example, after 3S), the dynamic and static state of the current vehicle may be determined again until the current vehicle is in a stationary state, and then step S204 and the subsequent steps are performed.
s207: and when the parking position of the current vehicle is not in accordance with the specification, performing voice reminding and visual reminding on the driver of the current vehicle according to the condition of the occupied parking space line of the current vehicle.
Specifically, when the parking position of the current vehicle is not compliant with the specification, for example, the right side parking space line is pressed, the left side parking space line is pressed, the front parking space line is pressed, or the left or right adjacent parking space is occupied, the voice prompt can be performed on the driver of the current vehicle according to the specific condition of the current vehicle on the pressing parking space line, in addition, the visual prompt can be performed on the driver of the current vehicle in the mode of the indicator lamp, for example, the indicator lamp can be arranged in front of the target parking space, and different conditions on the pressing parking space line can correspond to different indicator lamps or different indication modes.
The method for monitoring and managing the internal parking spaces in the parking lot can realize supervision of vehicle parking in the centering unmanned parking lot, and waste of parking lot space resources caused by the fact that a plurality of parking spaces are occupied by one vehicle is avoided.
fig. 4 is a schematic functional structure diagram of an internal parking space monitoring and managing system in a parking lot according to a third embodiment of the present application. The inside parking stall monitoring management system in parking area of this embodiment includes:
The first parking video information obtaining module 401 is configured to obtain first parking video information of a current vehicle in a target parking space. A second parking video information obtaining module 402, configured to obtain second parking video information of the current vehicle in the target parking space.
In this embodiment, the first parking video information acquisition module 401 may be, for example, equivalent to the first parking video information acquisition device 304 shown in fig. 3, and the second parking video information acquisition module 402 may be, for example, equivalent to the second parking video information acquisition device 305 shown in fig. 3. First parking video information acquisition module 401 with second parking video information acquisition module 402 can install on rotatable cloud platform, can rotate the shooting angle in certain extent to can be used for the monitoring to a plurality of parking stalls.
specifically, when a vehicle parks in the target parking space, the first parking video information of the current vehicle in the target parking space is acquired by the first parking video information acquisition module 401, and the second parking video information of the current vehicle in the target parking space is acquired by the second parking video information acquisition module 402. The acquired first parking video information comprises a left parking line of a target parking space and a right parking line of a left adjacent parking space of the target parking space, the acquired second parking video information comprises a right parking line of the target parking space and a left parking line of a right adjacent parking space of the target parking space, and at least one of the first parking video information and the second parking video information comprises a front parking line of the target parking space. Of course, the current vehicle in the target parking space is also included in the first parking video information and the second parking video information.
A video frame synchronization module 403, configured to synchronize video frames in the first parking video information and the second parking video information.
in this embodiment, after first parking video information and second parking video information of a current vehicle in a target parking space are acquired, video frames in the first parking video information and the second parking video information are synchronized according to time. Specifically, video frames in the first parking video information and the second parking video information are respectively aligned according to respective shooting time, that is, any video frame in the first parking video information is aligned with a corresponding video frame in the second parking video information at the same shooting time, and then video frames in the first parking video information and the second parking video information shot at the same time point are selected for synchronization, so that the first parking video information and the second parking video information are analyzed together.
a parking position determining module 404, configured to determine a dynamic state and a static state of the current vehicle according to a preset condition; if the current vehicle is in a static state, extracting the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking spaces; and determining the parking position of the current vehicle according to the contour area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space.
Specifically, an initial video frame and a last video frame in the first parking video information within a preset time period (for example, 3S) may be compared, in a general case, a video frame includes 15-30 frames per second, and if the current vehicle is in a non-stationary state, the position of the current vehicle is different or the position of the current vehicle relative to a vehicle location line is different in the initial video frame and the last video frame within the preset time period, and the moving and static states of the current vehicle may be determined through the above principle. Similarly, the initial video frame and the last video frame in the second parking video information may be compared to determine the moving and static states of the current vehicle, and if the relative positions of the vehicles in the initial video frame and the last video frame are not changed, the current vehicle is determined to be in the static state. As long as the current vehicle of one of the synchronized first parking video information and second parking video information is in a static state, it can be determined that the current vehicle is in the static state, and thus, the determination of the static state can be optionally performed by one of the first parking video information and the second parking video information.
when the current vehicle is determined to be in a static state, whether the current vehicle on the target parking space parks in a standard or not can be further analyzed, and firstly, the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space in the first parking video information and the second parking video information need to be extracted. Specifically, after determining that the current vehicle is in a static state within the latest preset time period, respectively extracting one or more synchronous video frames including the current vehicle image in the first parking video information and the second parking video information within the preset time period; for each frame of video frame, performing convolution with a Gaussian mask operator, and performing smoothing processing on the video frame; calculating the gradient of each pixel point of the video frame after the smoothing treatment by using a Sobel operator; reserving a maximum value of the gradient strength on each pixel point of the video frame, and deleting other values; setting an upper threshold limit and a lower threshold limit of the maximum value of the gradient strength on each pixel point of the video frame, confirming the pixel point of which the maximum value of the gradient strength is greater than the upper threshold limit as a boundary, confirming the pixel point of which the maximum value of the gradient strength is greater than the lower threshold limit and less than the upper threshold limit as a weak boundary, and confirming the pixel point of which the maximum value of the gradient strength is less than the lower threshold limit as a non-boundary; confirming the boundary of the weak boundary connected with the boundary, and confirming other weak boundaries as non-boundaries; and matching the area surrounded by the boundary with a pre-stored outline area and parking space line area of the vehicle, and determining the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space.
After the contour area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space are extracted, the parking position of the current vehicle can be determined according to the relative position relationship between the contour area of the current vehicle and the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space, that is, whether the current vehicle is in a standard parking state or not is judged. Specifically, if the current vehicle blocks the parking space line on the left side of the target parking space, the current vehicle is considered to press the parking space line on the left side; if the current vehicle also blocks a right parking space line of an adjacent parking space on the left side of the target parking space, the current vehicle is considered to occupy the adjacent parking space, and similarly, if the current vehicle blocks a right parking space line of the right side of the target parking space, the current vehicle is considered to press the right parking space line; if the current vehicle still shelters from the left stall line of the adjacent parking stall on the right side of the target parking stall, the current vehicle is considered to occupy the adjacent parking stall, and if the current vehicle shelters from the front stall line of the target parking stall, the current vehicle is considered to press the front stall line, and the current vehicle is in a state of not completely entering the target parking stall.
The inside parking stall monitoring management system in parking area of this application embodiment can realize the supervision that the vehicle in the centering unmanned parking area parks, has avoided the waste of the parking area space resource that causes because of the one car occupies a plurality of parking stalls.
Fig. 5 is a schematic functional structure diagram of an internal parking space monitoring and managing system in a parking lot according to a fourth embodiment of the present application. The inside parking stall monitoring management system in parking area of this embodiment includes:
The first parking video information obtaining module 501 is configured to obtain first parking video information of a current vehicle in a target parking space.
The second parking video information obtaining module 502 is configured to obtain second parking video information of the current vehicle in the target parking space.
a video frame synchronization module 503, configured to synchronize video frames in the first parking video information and the second parking video information.
A parking position determining module 504, configured to determine a dynamic and static state of the current vehicle according to a preset condition; if the current vehicle is in a static state, extracting the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking spaces; and determining the parking position of the current vehicle according to the contour area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space.
in addition, the method further comprises the following steps:
And the voice reminding module 505 is configured to perform voice reminding on a driver of the current vehicle according to the condition of the current vehicle occupying the parking space line when the parking position of the current vehicle does not meet the specification.
And the visual prompting module 506 is configured to visually prompt a driver of the current vehicle according to a situation of the current vehicle occupying the parking space line when the parking position of the current vehicle does not meet a specification.
Fig. 6 is a schematic structural diagram of a visual cue module in the fourth embodiment of the present application. The visual prompting module 506 of the present embodiment may be an indicator light with three arrow patterns, wherein if the parked vehicle presses the left side of the parking space, the arrow pointing to the right side lights up a green light to prompt the driver to adjust the position of the vehicle to the right. Otherwise, when the parked vehicle presses the right side of the parking space, the arrow pointing to the left side lights up the green light to prompt the driver to adjust the position of the vehicle to the left side. If the vehicle stops and does not enter the parking space and presses the front parking space line, the arrow below lights up a green light to prompt the driver to back the vehicle. If the vehicle is out of line seriously and already occupies the left or right adjacent parking space, the arrow is lighted to be a red light to prompt a driver to cause the floating of the parking fee if the driver does not adjust the red light. Correspondingly, the system for monitoring and managing internal parking spaces in a parking lot according to this embodiment may further include a fee management module (not shown in the figure), and when a vehicle has taken up a nearby parking space seriously over the line and the situation of taking up the nearby parking space during the monitoring period of N preset time periods has not changed all the time, the parking position determining module 504 may extract the license plate number of the current vehicle and report the license plate number to the fee management module, so as to facilitate rate floating.
The inside parking stall monitoring management system in parking area of this application embodiment can realize the supervision that the vehicle in the centering unmanned parking area parks, has avoided the waste of the parking area space resource that causes because of the one car occupies a plurality of parking stalls.
the above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. The utility model provides a parking area's inside parking stall monitoring management method which characterized in that includes:
Acquiring first parking video information and second parking video information of a current vehicle on a target parking space;
Synchronizing video frames in the first parking video information and the second parking video information;
judging the dynamic and static states of the current vehicle according to preset conditions;
if the current vehicle is in a static state, extracting the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking spaces;
And determining the parking position of the current vehicle according to the contour area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space.
2. The method of claim 1, further comprising:
and if the current vehicle is in a non-static state, not analyzing the parking position of the current vehicle.
3. the method of claim 2, wherein the obtaining first and second parking video information of the current vehicle in the target parking space comprises:
the method comprises the steps of obtaining first visual angle video information and second visual angle video information of a current vehicle on a target parking space, wherein the first visual angle video information comprises a position line on one side of the target parking space and a position line close to an adjacent parking space, the second visual angle video information comprises a position line on the other side of the target parking space and a position line close to the adjacent parking space, the position line on the target parking space, the first visual angle video information and at least one of the second visual angle video information comprise a front position line on the target parking space.
4. The method of claim 3, wherein synchronizing the video frames in the first parking video information and the second parking video information comprises:
Aligning video frames in the first parking video information and the second parking video information according to the shooting time of each frame, and then selecting the same time point to synchronize the video frames in the first parking video information and the second parking video information.
5. the method according to claim 4, wherein the determining the dynamic and static states of the current vehicle according to preset conditions comprises:
Comparing an initial video frame and a last video frame in the first parking video information within a preset time period, and/or comparing an initial video frame and a last video frame in the second parking video information, judging the moving and static state of the current vehicle, and if the relative positions of the vehicles in the initial video frame and the last video frame are not changed, determining that the current vehicle is in the static state.
6. The method of claim 5, wherein the extracting the contour region of the current vehicle and the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space comprises:
Respectively extracting the synchronous video frames including the current vehicle image in the first parking video information and the second parking video information;
performing convolution on one frame of video frame with a Gaussian mask operator, and performing smoothing processing on the video frame;
Calculating the gradient of each pixel point of the video frame after the smoothing treatment by using a Sobel operator;
Reserving a maximum value of the gradient strength on each pixel point of the video frame, and deleting other values;
Setting an upper threshold limit and a lower threshold limit of the maximum value of the gradient strength on each pixel point of the video frame, confirming the pixel point of which the maximum value of the gradient strength is greater than the upper threshold limit as a boundary, confirming the pixel point of which the maximum value of the gradient strength is greater than the lower threshold limit and less than the upper threshold limit as a weak boundary, and confirming the pixel point of which the maximum value of the gradient strength is less than the lower threshold limit as a non-boundary;
Confirming the boundary of the weak boundary connected with the boundary, and confirming other weak boundaries as non-boundaries;
And matching the area surrounded by the boundary with a pre-stored outline area and parking space line area of the vehicle, and determining the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space.
7. The method of claim 6, wherein prior to convolving with the Gaussian mask to smooth the video frame, further comprising:
and carrying out gray level binarization processing on the video frame.
8. The method of claim 7, further comprising:
and when the parking position of the current vehicle is not in accordance with the specification, performing voice reminding and visual reminding on the driver of the current vehicle according to the condition of the occupied parking space line of the current vehicle.
9. The utility model provides an inside parking stall monitoring management system in parking area which characterized in that includes:
The first parking video information acquisition module is used for acquiring first parking video information of a current vehicle on a target parking space;
The second parking video information acquisition module is used for acquiring second parking video information of the current vehicle on the target parking space;
The video frame synchronization module is used for synchronizing video frames in the first parking video information and the second parking video information;
The parking position determining module is used for judging the dynamic and static states of the current vehicle according to preset conditions; if the current vehicle is in a static state, extracting the outline area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking spaces; and determining the parking position of the current vehicle according to the contour area of the current vehicle, the parking space line of the target parking space and the corresponding parking space line of the adjacent parking space.
10. The system of claim 9, further comprising:
the voice reminding module is used for carrying out voice reminding on a driver of the current vehicle according to the condition of the occupied parking space line of the current vehicle when the parking position of the current vehicle is not in accordance with the specification;
And the visual prompting module is used for visually prompting the driver of the current vehicle according to the condition of the occupied parking space line of the current vehicle when the parking position of the current vehicle is not in accordance with the specification.
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| CN201910731107.6A CN110580822A (en) | 2019-08-08 | 2019-08-08 | Method and system for monitoring and managing internal parking spaces of parking lot |
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