CN110634306A - Method and device for determining vehicle position, storage medium and computing equipment - Google Patents
Method and device for determining vehicle position, storage medium and computing equipment Download PDFInfo
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- CN110634306A CN110634306A CN201910818861.3A CN201910818861A CN110634306A CN 110634306 A CN110634306 A CN 110634306A CN 201910818861 A CN201910818861 A CN 201910818861A CN 110634306 A CN110634306 A CN 110634306A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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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
Abstract
A vehicle position determining method and device, a storage medium and a computing device are provided, wherein the determining method comprises the following steps: acquiring a shot image, wherein the shot image is obtained by shooting vehicles in a parking lot, and the shot image at least comprises license plates of all vehicles; and determining parking space information of a target vehicle related to the target license plate according to the shot image, wherein the target license plate is at least one of license plates of all vehicles. The technical scheme provided by the invention can realize the positioning of the vehicle.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a method and a device for determining a vehicle position, a storage medium and computing equipment.
Background
In the prior art, when positioning vehicles, positioning instruments are generally required to be installed on each vehicle for positioning the vehicles. Or, a camera is installed near each parking space of the parking lot.
However, the vehicle locator is complex to operate and high in dependence on the GPS, and the cost of the vehicle locator or the vehicle parking space camera is high and needs to be improved.
Disclosure of Invention
The invention solves the technical problem of how to realize vehicle positioning.
In order to solve the above technical problem, an embodiment of the present invention provides a method for determining a vehicle position, including: acquiring a shot image, wherein the shot image is obtained by shooting vehicles in a parking lot, and the shot image at least comprises license plates of all vehicles; and determining parking space information of a target vehicle related to the target license plate according to the shot image, wherein the target license plate is at least one of license plates of all vehicles.
Optionally, the shooting image is obtained by shooting with an unmanned aerial vehicle, the shooting image further includes parking space information of each vehicle, and at least the license plate identifying each vehicle includes: and identifying the license plate of each vehicle and the parking space information of each vehicle.
Optionally, the shot image further includes an idle parking space and parking space information thereof, and the determining method further includes: and identifying the free parking space and the parking space information of the free parking space from the shot image.
Optionally, the shot image is shot by using a camera deployed at each preset position in the parking lot, and the preset positions meet the following deployment conditions: the cameras are respectively arranged at the starting point and the end point of each road in the parking lot, and the cameras are respectively arranged above the starting point and/or the end point of each road section, wherein the road sections are obtained by segmenting each road in the parking lot according to the detection distance of the cameras.
Optionally, the shot image is a video stream including a plurality of image frames; the parking space information of each parking space corresponds to the position information thereof one by one, and the parking space information of the vehicle related to the target license plate is determined to comprise: determining a target vehicle related to the target license plate; tracking the target vehicle in the video stream to obtain a running track of the target vehicle from the video stream; determining position information of an end point of the driving track, and taking the position information as position information of the target vehicle; and determining the parking space information of the target vehicle according to the corresponding relation between the position information and the parking space information.
Optionally, the tracking the target vehicle in the video stream to obtain the driving track of the target vehicle from the video stream includes: acquiring the position of the target vehicle in each image frame contained in the video stream; and arranging the positions according to the time sequence of each image frame to obtain the running track of the target vehicle.
Optionally, the determining method further includes: and sending the parking space information of the target vehicle to a user client or a vehicle management platform associated with the target vehicle.
In order to solve the above technical problem, an embodiment of the present invention further provides a device for determining a vehicle position, including: the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring a shot image, and the shot image is obtained by shooting vehicles in a parking lot; the recognition module is used for recognizing at least the license plate of each vehicle from the shot image; the determining module is used for determining parking space information of a target vehicle related to the target license plate, wherein the target license plate is at least one of license plates of all vehicles.
To solve the above technical problem, an embodiment of the present invention further provides a storage medium having stored thereon computer instructions, where the computer instructions execute the steps of the above method when executed.
In order to solve the above technical problem, an embodiment of the present invention further provides a computing device, including a memory and a processor, where the memory stores computer instructions executable on the processor, and the processor executes the computer instructions to perform the steps of the above method.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a vehicle positioning method, which comprises the following steps: acquiring a shot image, wherein the shot image is obtained by shooting vehicles in a parking lot, and the shot image at least comprises license plates of all vehicles; and determining parking space information of a target vehicle related to the target license plate according to the shot image, wherein the target license plate is at least one of license plates of all vehicles. According to the embodiment of the invention, the license plate of the vehicle is identified from the shot image, so that the vehicle related to the license plate is positioned. The embodiment of the invention is not only suitable for the inventory management of vehicles, but also suitable for parking management, does not need to install a positioning instrument on each vehicle, and can reduce the cost.
Further, shoot the image and adopt unmanned aerial vehicle to shoot and obtain, shoot the image and still include the parking stall information at each vehicle place, the license plate of discerning each vehicle at least includes: and identifying the license plate of each vehicle and the parking space information of each vehicle. The embodiment of the invention utilizes the unmanned aerial vehicle to shoot the parking lot. Compared with the scheme that the camera is arranged above the front of each parking space in the prior art, the unmanned aerial vehicle is similar to a mobile shooting camera, and the deployment and construction complexity of parking lot hardware facilities can be greatly reduced. Furthermore, compared with shot images provided by the cameras of all the parking spaces, the embodiment of the invention can adopt a small number (for example, 1) of unmanned aerial vehicles to shoot, so that the power consumption can be reduced.
Further, the shot images are shot by cameras arranged at preset positions in the parking lot, and the preset positions meet the following arrangement conditions: and arranging the cameras at the starting point and the end point of each road in the parking lot, and arranging the cameras above the starting point and the end point of each road section, wherein the road sections are obtained by segmenting each road in the parking lot according to the detection distance of the cameras. According to the embodiment of the invention, the parking space information of each vehicle can be known by effectively deploying the cameras and utilizing image recognition and analysis, so that the number of deployed cameras can be reduced, and the investment of an operator can be reduced.
Drawings
FIG. 1 is a schematic flow chart diagram of a method of determining vehicle position in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a camera deployment of an exemplary scenario in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle position determination apparatus according to an embodiment of the present invention.
Detailed Description
As will be appreciated by those skilled in the art, as background art is seen, the vehicle positioning solutions provided by the prior art are costly and need improvement.
The embodiment of the invention provides a vehicle positioning method, which comprises the following steps: acquiring a shot image, wherein the shot image is obtained by shooting vehicles in a parking lot, and the shot image at least comprises license plates of all vehicles; and determining parking space information of a target vehicle related to the target license plate according to the shot image, wherein the target license plate is at least one of license plates of all vehicles.
According to the embodiment of the invention, the license plate of the vehicle is identified from the shot image, so that the vehicle related to the license plate is positioned. The embodiment of the invention is not only suitable for the inventory management of vehicles, but also suitable for parking management, does not need to install a positioning instrument on each vehicle, and can reduce the cost.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Fig. 1 is a flowchart illustrating a method for determining a vehicle position according to an embodiment of the present invention. The determining method may be performed by a computing device. In one embodiment, the computing device may be a server. The server may be a single server or a cluster of servers.
Specifically, the determination method may include the steps of:
step S101, acquiring a shot image, wherein the shot image is obtained by shooting vehicles in a parking lot, and the shot image at least comprises license plates of all vehicles;
and S102, determining parking space information of a target vehicle related to a target license plate according to the shot image, wherein the target license plate is at least one of license plates of all vehicles.
More specifically, in step S101, the computing device may acquire a captured image. The captured image is obtained by capturing images of respective vehicles in the parking lot. The captured image may include at least a license plate of each vehicle entering the parking lot.
In step S102, the computing device may identify the captured image, and obtain information such as a license plate, a vehicle color, and a vehicle model in the captured image. According to the shot image, the computing equipment can determine a target vehicle related to the target license plate, and further determine parking space information of the target vehicle. Wherein the target license plate is one or more of the license plates of the respective vehicles.
In one non-limiting example, the captured image may be captured using a drone. Unmanned aerial vehicle can shoot the license plate and the parking stall information of the vehicle of parking at the parking stall together when shooing, for example parking stall number.
In specific implementation, the computing device may acquire a captured image captured by the unmanned aerial vehicle, and recognize license plate and parking space information in the captured image, so as to obtain parking space information of the target vehicle.
Specifically, the vehicles in the parking lot can be photographed through the unmanned aerial vehicle, the information such as license plates corresponding to the vehicles in the images is sequentially recognized, and then the position distribution of the vehicles is obtained according to the information such as the license plates, so that the positioning of the vehicles is realized.
In specific implementation, the computing device may further identify an idle parking space (i.e., a free parking space) and parking space information of the parking space from a captured image captured by the unmanned aerial vehicle, which is very beneficial to inventory management and parking management of vehicles. In practical application, the idle parking space information can be displayed at the entrance of the parking lot, and the idle parking space information is provided for the car owner entering the parking lot.
In another non-limiting example, the vehicle parking position may be determined by obtaining a video stream based on camera shooting and locating the vehicle parking position based on visual analysis of the video stream, so as to monitor the driving track of the vehicle in real time. Furthermore, the optimal parking route can be found out through a machine learning method of the system, and the user is informed, so that the parking efficiency of the user is improved.
In particular, a small number of cameras may be deployed in the parking lot at a particular location. In one non-limiting example, the camera may be a binocular camera, or alternatively, the camera may be a monocular camera.
In implementations, vehicle operation and parking location within a parking lot may be captured using a deployed camera. The captured image may be available based on a camera, and may be a video stream comprising a plurality of image frames.
In one embodiment, the captured images may be captured using cameras disposed at various predetermined locations within the parking lot. The preset position meets the following deployment conditions: the cameras are arranged at the starting point and the end point of each road in the parking lot, and the shooting direction of the cameras faces to the center of the road. For example, the cameras are disposed at the intersections of roads, and in this case, the cameras are also located at the start point or the end point of a road, and may be located toward the center of the road.
Further, when the parking lot is large, each road is long. In this condition, considering that the detection distance of the camera is typically 30 to 70 meters, the camera can be deployed according to the detection distance of the camera.
For example, cameras may be deployed at the entrance and exit of a road corresponding to parking spaces in a parking lot, and the cameras may capture images of vehicles traveling on the road.
For example, if the length of a road exceeds the detection distance of the camera, each road in the parking lot may be segmented according to the detection distance of the camera to obtain a plurality of road segments, and the camera may be disposed in advance above the start point and the end point of each road segment so that the camera can photograph a vehicle traveling on each road. In order to avoid the problems of dead angles of shooting and the like of the cameras, the distance between the deployed cameras can be slightly smaller than the detection distance of the cameras.
Further, considering that the width of a common parking space does not exceed 2.5 meters at most, a small number of parking space management cameras can be deployed.
Fig. 2 is a schematic diagram of a camera deployment of an exemplary scenario in accordance with an embodiment of the present invention. Referring to fig. 2, each camera may be deployed above an intersection of a drivable path in a parking lot, the drivable path having parking spaces on one or both sides. Such as camera C1, camera C2, camera C3, and camera C4. Each intersection may be used as a start point or an end point of a road, and each intersection may generate a diverging path for a vehicle to travel. If the road has no parking space, the camera will not be deployed.
In further reference to fig. 2, in an implementation, the roads of the parking lot may be segmented according to the detection distances of the cameras, and the cameras, such as the camera C1 in fig. 2, may be respectively installed above the starting point and/or the ending point of each obtained road segment. That is, the road in front of the parking space may be divided into several road segments by the camera detection distance, and then cameras, such as a camera C3 and a camera C4, may be additionally installed at the entrance and exit of the road segments, respectively, and the direction of the cameras may be identical to the traveling direction of the vehicle in the road. If a bi-directional route, the camera orientation may be in the direction of the right route (note: the camera orientation is not represented in the figures, and is not shown).
In particular implementations, the target vehicle may be determined by receiving externally input vehicle information, which may include a license plate number, a vehicle color, a vehicle type, and the like.
Further, after the target vehicle is determined, the license plate of the target vehicle can be identified from the shot image, and the vehicle is marked by the license plate; alternatively, the vehicle may be tagged with all of its path attributes. Optionally, the vehicle may also be marked according to information such as the color and model of the target vehicle. Each path attribute comprises a camera identification and a timestamp, and the timestamp is the time when the camera associated with the camera identification shoots the target vehicle for the first time. Alternatively, the target vehicle may be uniquely marked with license plate information.
Further, a target vehicle in the video stream may be tracked to obtain a driving track of the target vehicle from the video stream. Specifically, first, each image frame in the video stream may be identified, it may be determined whether the target vehicle is included, and the position of the target vehicle in the image frame may be determined; secondly, the positions may be arranged in a time sequence order of the image frames to obtain a driving track of the target vehicle.
Continuing with fig. 2, assuming that vehicle a (not shown) enters from the parking lot entrance and enters driving route C1 along driving route 1, at this time, it is first captured by camera C1 disposed above the starting point of driving route C1, and the time when camera C1 first captured vehicle a is T1, at this time, camera C1 and timestamp T1 may be taken as one of the path attributes of vehicle a, and the position X1 of vehicle a at this time may be recorded. Second, assuming that as vehicle a moves, it enters travel route C3, which is first captured by camera C3 at time T2, the path attributes of the vehicle may add camera C3, timestamp T2, and the location X2 of vehicle a at that time. Similarly, the time when the other cameras first captured vehicle a and the camera identification and the position of the corresponding time may be recorded in sequence. After vehicle a finally stops in the space, all the path attributes of vehicle a may be obtained, assuming that vehicle a is located at position Xn at this time. Based on the overall path attributes and the respective associated positions X1, X2, …, Xn, the travel trajectory of the vehicle a can thus be determined from the overall path attributes of the vehicle a.
Or, if each camera that the vehicle a passes through captures the license plate of the vehicle a, the time at which the license plate is captured, the camera identification, and the vehicle position at the corresponding time may be recorded, and the travel track of the vehicle a may be determined based on these pieces of information, and the specific process may be implemented based on the prior art, and will not be described herein again.
Further, after the travel track is obtained, position information of an end point of the travel track may be determined, and the position information may be used as the position information of the target vehicle. Note that the travel route 1 does not correspond to parking spaces (here, it means that there are no parking spaces set in order on one side or both sides of the travel route 1 without considering parking spaces on both sides of the cross travel route (for example, the travel route C1, the travel route C2, the travel route C3, and the travel route C4)), and there is no need to dispose a camera.
Furthermore, the parking space information of each parking space corresponds to the position information thereof one by one. The computing device may determine, according to the correspondence between the position information and the parking space information, parking space information where the target vehicle is located.
Further, the computing device may send the parking space information of the target vehicle to a user client or a vehicle management platform associated with the target vehicle. The idle parking space information can be sent to a vehicle management platform, so that the vehicle management platform or an owner of the user client can know the position distribution information of the vehicle or the idle parking space in the parking lot conveniently.
Therefore, according to the embodiment of the invention, the vehicle position information in the parking lot can be determined by using the shot image of the unmanned aerial vehicle without using expensive equipment such as a vehicle locator and the like, so that the cost is saved, or a small number of cameras can be deployed by using existing cameras in the parking lot or at specific positions of the parking lot, the vehicle is positioned in a visual analysis mode, so that the vehicle supervision is realized, and the method and the device are not only suitable for the inventory management of the vehicle, but also suitable for the parking management, and reduce the investment of an operator.
Fig. 3 is a schematic structural diagram of a vehicle position determination apparatus according to an embodiment of the present invention. The vehicle position determining device may implement the method of fig. 1, and may be executed by a computing device such as a server.
Specifically, the vehicle position determination device may include: an acquisition module 31 configured to acquire a captured image captured of a vehicle in a parking lot; a recognition module 32 for recognizing at least a license plate of each vehicle from the photographed image; the determining module 33 is configured to determine parking space information where a target vehicle associated with the target license plate is located, where the target license plate is at least one of license plates of each vehicle.
In specific implementation, the captured image is obtained by shooting with an unmanned aerial vehicle, the captured image further includes parking space information of each vehicle, and the identification module 32 may include: and the first identification submodule (not shown) is used for identifying the license plate of each vehicle and the parking space information of each vehicle.
In a specific implementation, the shot image further includes an idle parking space and parking space information thereof, and the identification module 32 may further include: and a second identification submodule (not shown) for identifying the free parking space and the parking space information of the free parking space from the shot image.
In specific implementation, the shot images are shot by using cameras deployed at preset positions in the parking lot, and the preset positions meet the following deployment conditions: the cameras are respectively arranged at the starting point and the end point of each road in the parking lot, the shooting direction of each camera faces to the center position of the road, the cameras are respectively arranged above the starting point and the end point of each road section, and the road sections are obtained by segmenting each road in the parking lot according to the detection distance of the cameras.
In a specific implementation, the captured image is a video stream comprising a plurality of images; the parking space information of each parking space corresponds to the position information thereof one to one, and the determining module 33 may include: a first determining submodule (not shown) for determining a target vehicle associated with the target license plate; a second determining submodule (not shown) for tracking the target vehicle in the video stream to obtain a driving track of the target vehicle from the video stream; a third determination submodule (not shown) for determining position information of an end point of the travel locus, and using the position information as position information of the target vehicle; and a fourth determining submodule (not shown) configured to determine, according to a correspondence between the position information and the parking space information, parking space information where the target vehicle is located.
In a specific implementation, the vehicle position determination device may further include: and a sending module (not shown) configured to send the parking space information of the target vehicle to a user client or a vehicle management platform associated with the target vehicle.
For more details of the operation principle and the operation mode of the vehicle position determining apparatus, reference may be made to the description of the technical solution in fig. 1, and details are not repeated here.
Further, the embodiment of the present invention further discloses a storage medium, on which computer instructions are stored, and when the computer instructions are executed, the technical solution of the method in the embodiment shown in fig. 1 is executed. Preferably, the storage medium may include a computer-readable storage medium such as a non-volatile (non-volatile) memory or a non-transitory (non-transient) memory. The storage medium may include ROM, RAM, magnetic or optical disks, etc.
Further, the embodiment of the present invention also discloses a computing device, which includes a memory and a processor, where the memory stores computer instructions capable of running on the processor, and when the processor runs the computer instructions, the computing device executes the technical solution of the method described in the embodiment shown in fig. 1.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method of determining a position of a vehicle, comprising:
acquiring a shot image, wherein the shot image is obtained by shooting vehicles in a parking lot, and the shot image at least comprises license plates of all vehicles;
and determining parking space information of a target vehicle related to the target license plate according to the shot image, wherein the target license plate is at least one of license plates of all vehicles.
2. The method according to claim 1, wherein the captured images are captured by an unmanned aerial vehicle, the captured images further include information of a parking space where each vehicle is located, and the identifying at least a license plate of each vehicle includes:
and identifying the license plate of each vehicle and the parking space information of each vehicle.
3. The method according to claim 2, wherein the shot image further includes a free space and space information thereof, and the method further includes:
and identifying the free parking space and the parking space information of the free parking space from the shot image.
4. The determination method according to claim 1, wherein the captured images are captured using cameras disposed at respective preset positions in the parking lot, the preset positions satisfying the following deployment conditions: the cameras are respectively arranged above the starting point and/or the end point of each road in the parking lot, the shooting direction of each camera faces to the center position of the road, the cameras are respectively arranged above the starting point and the end point of each road section, and the road sections are obtained by segmenting each road in the parking lot according to the detection distance of the cameras.
5. The determination method according to claim 4, wherein the captured image is a video stream containing a plurality of image frames; the parking space information of each parking space corresponds to the position information thereof one by one, and the parking space information of the vehicle related to the target license plate is determined to comprise:
determining a target vehicle related to the target license plate;
tracking the target vehicle in the video stream to obtain a running track of the target vehicle from the video stream;
determining position information of an end point of the driving track, and taking the position information as position information of the target vehicle;
and determining the parking space information of the target vehicle according to the corresponding relation between the position information and the parking space information.
6. The method of claim 5, wherein tracking the target vehicle in the video stream to obtain the travel track of the target vehicle from the video stream comprises:
acquiring the position of the target vehicle in each image frame contained in the video stream;
and arranging the positions according to the time sequence of each image frame to obtain the running track of the target vehicle.
7. The determination method according to any one of claims 1 to 6, characterized by further comprising:
and sending the parking space information of the target vehicle to a user client or a vehicle management platform associated with the target vehicle.
8. A vehicle position determination apparatus, characterized by comprising:
the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring a shot image, and the shot image is obtained by shooting vehicles in a parking lot;
the recognition module is used for recognizing at least the license plate of each vehicle from the shot image;
the determining module is used for determining parking space information of a target vehicle related to the target license plate, wherein the target license plate is at least one of license plates of all vehicles.
9. A storage medium having stored thereon computer instructions, characterized in that the computer instructions are operative to perform the steps of the method of any one of claims 1 to 7.
10. A computing device comprising a memory and a processor, the memory having stored thereon computer instructions executable on the processor, wherein the processor, when executing the computer instructions, performs the steps of the method of any of claims 1 to 7.
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| CN111626277A (en) * | 2020-08-03 | 2020-09-04 | 杭州智诚惠通科技有限公司 | Vehicle tracking method and device based on over-station inter-modulation index analysis |
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