CN110675650A - Parking space state monitoring method - Google Patents
Parking space state monitoring method Download PDFInfo
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- CN110675650A CN110675650A CN201910905287.5A CN201910905287A CN110675650A CN 110675650 A CN110675650 A CN 110675650A CN 201910905287 A CN201910905287 A CN 201910905287A CN 110675650 A CN110675650 A CN 110675650A
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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
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
Abstract
The invention provides a parking space state monitoring method, which belongs to the technical field of parking lot monitoring and comprises the following steps: marking the parking space state for each parking space in the first image; when the moving vehicle is monitored to exist, acquiring a second image of the parking lot at a preset time interval through the camera; when the change rate of the area of the change area of the continuously acquired N second images and the change area of the first image is smaller than a preset value, controlling the camera to stop acquiring the second images; determining whether a target changed parking space exists according to the changed area of the candidate changed parking space; when the target changes the parking space, the last second image collected by the camera is used for replacing the first image, and the parking space state of the target changing parking space is modified to obtain the parking space state of each parking space in the current first image. The parking space state monitoring method provided by the invention can effectively monitor the parking space condition in the parking lot and ensure the effective operation of the parking lot.
Description
Technical Field
The invention belongs to the technical field of parking lot monitoring, and particularly relates to a parking space state monitoring method.
Background
With the rapid development of economy, the holding amount of automobiles continuously increases, and higher requirements on the bearing capacity of parking lots are increased. The parking space monitoring method mostly adopts the forms of geomagnetic field, signal wave and the like, and because of the complexity of the environment in the parking lot and the density of people flow, the existing method cannot accurately and effectively monitor the parking space condition in the parking lot, so that the vehicles in the parking lot are crowded and the parking spaces are not effectively utilized.
Disclosure of Invention
The invention aims to provide a parking space state monitoring method, and aims to solve the problem that the parking space condition in a parking lot cannot be accurately and effectively monitored.
In order to achieve the purpose, the invention adopts the technical scheme that: the parking space state monitoring method comprises the following steps:
acquiring a first image of a parking lot through a camera installed at a preset position, and marking a parking space state for each parking space in the first image;
when the moving vehicle is monitored to exist, acquiring a second image of the parking lot at a preset time interval through the camera, and sequentially calculating the change area of the acquired second image and the change area of the first image;
when the change rate of the area of the change area of the continuously acquired N second images and the change area of the first image is smaller than a preset value, controlling the camera to stop acquiring the second images;
determining covered candidate change parking spaces according to the change area of the last second image and the first image acquired by the camera;
determining whether a target change parking space exists according to the changed area of the candidate change parking space;
and when the target changes the parking space, replacing the first image with the last second image acquired by the camera, and modifying the parking space state of the target change parking space to obtain the parking space state of each parking space in the current first image.
As another embodiment of the present application, the determining a covered candidate change parking space according to a change area of the last second image and the first image acquired by the camera includes:
determining a change image in a change range of the last second image acquired by the camera relative to the first image;
picking up a change part of the parking space covered in the change image;
and judging whether the candidate parking spaces change or not according to the change part.
As another embodiment of the present application, the determining a variation image of the last second image acquired by the camera with respect to the variation range of the first image includes:
when the change degree of the change part is larger than a preset threshold value, judging that the change of the parking space state occurs in the change part;
and when the change degree of the change part is smaller than a preset threshold value, judging that the parking space state does not change in the change part.
As another embodiment of the present application, the determining a variation image of the last second image acquired by the camera with respect to the variation range of the first image includes:
comparing the RGB values of the pixel points in the last second image and the first image one by one;
and determining pixel points with the RGB values exceeding a change threshold value, and combining the pixel points exceeding the change threshold value into the change image.
As another embodiment of this application, and for every parking stall mark parking stall state in the first image, include:
picking up a parking space image of each parking space on the first image;
and determining and marking the parking space state of each parking space according to the parking space image.
As another embodiment of the present application, the sequentially calculating the variation regions of the acquired second image and the first image includes:
making difference between each pixel point in the acquired N second images and the first image;
setting a difference range, and eliminating corresponding pixel points which are within the difference range after difference is made;
and splicing the reserved pixel points into the change area.
As another embodiment of the present application, when a change rate of an area of a change area of N second images continuously acquired and the first image is smaller than a preset value, controlling the camera to stop acquiring the second images includes:
respectively determining the change areas of the continuously acquired N second images and the first image according to the acquisition sequence;
and when the change rate of the area of the change area is smaller than a preset value, controlling the camera to stop acquiring the second image.
As another embodiment of the present application, the determining whether there is a target change parking space according to the changed area of the candidate change parking space includes:
when the change area of the candidate change parking space is smaller than a preset area threshold value, judging that the target parking space is not changed;
and when the change area of the candidate change parking space is larger than a preset area threshold value, judging that the target parking space changes.
As another embodiment of the present application, after the replacing the first image with the last second image collected by the camera and modifying the parking space state of the target changing parking space, the method includes:
and associating and storing the modified target change parking space with the current first image.
As another embodiment of this application, the obtaining of the parking space state of each parking space in the current first image includes:
when the change area of the candidate change parking space is smaller than a preset area threshold value, the target change parking space is not changed;
and when the change area of the candidate change parking space is larger than a preset area threshold value, changing the target change parking space.
The parking space state monitoring method has the beneficial effects that compared with the prior art, the parking space state monitoring method has the advantages that a first image of a parking lot is collected through a camera installed at a preset position, and a parking space state is marked for each parking space in the first image; therefore, the image information of each parking space in the current state is determined, and data support is provided for subsequent judgment. And the camera is used for acquiring images, so that the cost is low and the installation is convenient. When the moving vehicle is monitored to exist, acquiring a second image of the parking lot at a preset time interval through the camera, and sequentially calculating the change area of the acquired second image and the change area of the acquired first image; when a moving vehicle exists, a second image in the same target area is obtained, and because the second image has a moving area relative to the first image, namely a change area of the second image relative to the first image, whether the parking space is changed or not can be judged by comparing the change areas. When the change rate of the area of the change area of the continuously acquired N second images and the change area of the first image is smaller than a preset value, controlling the camera to stop acquiring the second images; due to the influence of vehicle light and the like, when the change rate of the area of the change region of each continuously collected N image and the first image is smaller than a preset value, the region can be considered to be interfered by other outside, the parking space state of the region does not change, and the camera is controlled to stop collecting the second image, namely the parking space changes. And determining covered candidate change parking spaces according to the change area of the last second image and the first image acquired by the camera. The covered candidate change parking spaces are determined according to the change area, the whole graph does not need to be researched, and the analysis efficiency is improved. Determining whether a target changed parking space exists according to the changed area of the candidate changed parking space; when the target changes the parking space, the last second image collected by the camera is used for replacing the first image, and the parking space state of the target changing parking space is modified to obtain the parking space state of each parking space in the current first image. The last second image collected by the camera is replaced by the first image, and the parking space state is correspondingly modified, so that the method for monitoring the parking space state can continuously monitor vehicles in places such as a parking lot and the like, and the effective operation of the parking lot is guaranteed.
Drawings
Fig. 1 is a flowchart of a parking space state monitoring method according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a parking space status monitoring method according to the present invention will now be described. The parking space state monitoring method comprises the following steps:
s110: the method comprises the steps of collecting a first image of a parking lot through a camera installed at a preset position, and marking a parking space state for each parking space in the first image.
S120: when the moving vehicle is monitored to exist, the second image of the parking lot is collected through the camera at a preset time interval, and the collected second image and the change area of the first image are calculated in sequence.
S130: and when the change rate of the area of the change area of the continuously acquired N second images and the change area of the first image is smaller than a preset value, controlling the camera to stop acquiring the second images.
S140: and determining covered candidate change parking spaces according to the last second image acquired by the camera and the change area of the first image.
S150: and determining whether the target changed parking space exists according to the changed area of the candidate changed parking space.
S160: and when the target changes the parking space, replacing the first image with the last second image acquired by the camera, and modifying the parking space state of the target change parking space to obtain the parking space state of each parking space in the current first image.
The parking space state monitoring method has the beneficial effects that compared with the prior art, the parking space state monitoring method has the advantages that a first image of a parking lot is collected through a camera installed at a preset position, and a parking space state is marked for each parking space in the first image; therefore, the image information of each parking space in the current state is determined, and data support is provided for subsequent judgment. And the camera is used for acquiring images, so that the cost is low and the installation is convenient. When the moving vehicle is monitored to exist, acquiring a second image of the parking lot at a preset time interval through the camera, and sequentially calculating the change area of the acquired second image and the change area of the acquired first image; when a moving vehicle exists, a second image in the same target area is obtained, and because the second image has a moving area relative to the first image, namely a change area of the second image relative to the first image, whether the parking space is changed or not can be judged by comparing the change areas. When the change rate of the area of the change area of the continuously acquired N second images and the change area of the first image is smaller than a preset value, controlling the camera to stop acquiring the second images; due to the influence of vehicle light and the like, when the change rate of the area of the change region of each continuously collected N image and the first image is smaller than a preset value, the region can be considered to be interfered by other outside, the parking space state of the region does not change, and the camera is controlled to stop collecting the second image, namely the parking space changes. And determining covered candidate change parking spaces according to the change area of the last second image and the first image acquired by the camera. The covered candidate change parking spaces are determined according to the change area, the whole graph does not need to be researched, and the analysis efficiency is improved. Determining whether a target changed parking space exists according to the changed area of the candidate changed parking space; when the target changes the parking space, the last second image collected by the camera is used for replacing the first image, and the parking space state of the target changing parking space is modified to obtain the parking space state of each parking space in the current first image. The last second image collected by the camera is replaced by the first image, and the parking space state is correspondingly modified, so that the method for monitoring the parking space state can continuously monitor vehicles in places such as a parking lot and the like, and the effective operation of the parking lot is guaranteed.
As a specific implementation manner of the parking space state monitoring method provided by the present invention, determining a covered candidate change parking space according to a change area of a last second image and a first image acquired by a camera includes:
and determining a change image in the change range of the last second image acquired by the camera relative to the first image.
And picking up the changed part of the parking space covered in the changed image.
And judging whether a candidate changed parking space exists according to the change part.
In the invention, after a plurality of second images in the same target area with the first image are continuously acquired, the same parking space boundary line can be arranged on the first image and the second image, the parking space boundary line is used for picking up images in corresponding parking spaces in the first image and the second image, the first parking space graph is taken out when the first image passes through the parking space boundary line, a plurality of second parking space images can be picked up from the second image through the parking space boundary line, and the second parking space images are sequentially compared with the first parking space image picked up in the first image according to a certain sequence. If the vehicle position changes exist in the second vehicle position image area, the change value after being compared with the first vehicle position image, namely the change array, shows a certain change trend, and the change trend is increased firstly and fluctuates within a certain range after the vehicle completely enters or completely exits. And if the change of the parking space does not occur in the second parking space image area, the second parking space image is close to the first parking space image, the similarity is large, and the change arrays fluctuate in another range from the beginning to the end, so that the change of the parking space is proved to be absent.
As a specific implementation manner of the parking space state monitoring method provided by the present invention, determining a change image of a last second image acquired by a camera with respect to a change range of a first image includes:
and when the change degree of the change part is greater than a preset threshold value, judging that the parking space state is changed in the change part.
And when the change degree of the change part is smaller than a preset threshold value, judging that the parking space state does not change in the change part.
In the invention, because the automobile is driven out in a changing process, the collected second image is respectively compared with the first image, and the change difference between the two images can be represented by a change array. When the change array is stabilized in a first fluctuation range from the first number, the similarity of the second parking space image and the first parking space image can be proved to be large, no obvious change exists, and the parking space at the position is proved to be unchanged. However, due to the light of the vehicle, etc., the second vehicle location image and the first vehicle location image have a difference in a short time, so the variation values of the second vehicle location image and the first vehicle location image will vary within a certain range. When the change array changes from small to large and is stabilized in the second fluctuation range, the difference between the second parking space image and the first parking space image is small at the beginning stage of the movement because the vehicle drives in and drives out as a change process, so that the value of the change array is small, the difference between the second parking space image and the first parking space image is larger and larger along with the movement of the vehicle, and the change value is stabilized in the second fluctuation range after the vehicle finishes driving in or driving out, so that the parking space at the position can be judged
As a specific implementation manner of the parking space state monitoring method provided by the present invention, determining a change image of a last second image acquired by a camera with respect to a change range of a first image includes:
and comparing the RGB values of the pixel points in the last second image and the first image one by one.
And determining pixel points with the RGB values exceeding the change threshold, and combining the pixel points exceeding the change threshold into a change image.
In the invention, in order to judge the parking space more accurately, the image of the parking lot can be acquired through the high-definition camera device by comparing each pixel point in the second parking space image and the first parking space image. The parking stall in the target area that high definition camera device shot is more, and through every pixel of contrast, the speed of monitoring is very fast to the precision is higher, thereby more accurate judges parking stall information, has improved the degree of accuracy of monitoring. The method comprises the steps of comparing each pixel point on the second vehicle position image with each pixel point on the first vehicle position image to obtain an error value, and determining the error value, namely a change value, in the second vehicle position image and the first vehicle position image, so as to judge whether a vehicle really enters or exits.
In the present invention, when the vehicle position changes, it is necessarily reflected on the acquired image, that is, the RGB values of the image change. The full-color camera of the high-definition camera device is applied to the full-color camera, and the resolution of the camera is high. By comparing the RGB values of each pixel point in the second parking space image and the first parking space image, whether the pixel point really changes or not can be judged more accurately, and the second parking space image in the parking space boundary line is picked up on the change image, so that the number of the pixel points in the second parking space image is small, the data analysis speed is high, and whether the parking space really changes or not can be judged in time. The RGB color scheme is a color standard in the industry, and various colors are obtained by changing three color channels of red (R), green (G) and blue (B) and superimposing the three color channels on each other, where RGB represents colors of the three channels of red, green and blue, and the color standard almost includes all colors that can be perceived by human vision, and is one of the most widely used color systems at present. RGB is designed based on the principle of color light emission, and it is popular to say that its color mixing mode is as if there are three lamps of red, green and blue, when their lights are superimposed, the colors are mixed, and the brightness is equal to the sum of the three brightnesses, the higher the mixed brightness is, the additive mixing is. The superposition condition of three lamps of red, green and blue, the brightest superposition area of the three colors in the center is white, and the characteristics of addition mixing are as follows: the more superimposed the brighter. The three color channels red, green and blue are each divided into 256 levels of brightness, with the "light" being weakest at 0, which is off, and brightest at 255. When the three-color gray values are the same, gray tones with different gray values are generated, namely, the darkest black tone is generated when the three-color gray values are all 0; when the three-color gray scale is 255, the color tone is brightest white. The RGB colors are called additive colors because white can be produced by adding R, G and B together (i.e., all light rays are reflected back to the eye). Additive colors are used in illumination, televisions, and computer displays. For example, the display produces color by emitting light through red, green, and blue phosphors. Most visible light spectra can be represented as a mixture of red, green, blue (RGB) light in different proportions and intensities. If these colors overlap, cyan, magenta, and yellow are produced. The RGB values represent values of red, green and blue between 0 and 055. Whether the pixel point really changes or not can be judged fundamentally by comparing the RGB value of each pixel point, and the monitoring accuracy is ensured.
As a specific implementation manner of the parking space state monitoring method provided by the present invention, and labeling a parking space state for each parking space in the first image, the method includes:
and a parking space image of each parking space is picked up on the first image.
And determining and marking the parking space state of each parking space according to the parking space image.
In the invention, the image of each parking space can be picked up through the boundary line of the parking spaces, and whether the parking space at the position is changed or not is judged by comparing the image of the parking space with the previous image, thereby ensuring the effective judgment of the parking space monitoring method. The change of parking stall can be accurately mastered through the mark.
As a specific implementation manner of the parking space state monitoring method provided by the present invention, sequentially calculating the variation areas of the collected second image and the first image, includes:
and (4) making difference between each pixel point in the acquired N second images and the first image.
And setting a difference range, and eliminating the corresponding pixel points which are within the difference range after the difference is made.
And splicing the reserved pixel points into a change area.
In the invention, when the difference value obtained by subtracting the pixel points of the two images is within the preset difference value range, the pixel points are removed. After pixel points in the second image and the first image are compared one by one and an error value is determined, the second image is image information acquired according to a certain time sequence. After a series of error values are solved, the error values need to be analyzed to judge the change of the vehicle in the corresponding parking space, pixel points in the second image and the first image are compared one by one, and when the determined error values are smaller than a preset threshold value, the change of the pixel points is proved to be smaller. The purpose of setting the threshold is to enable the pixel points of the acquired image to slightly change due to the light of other vehicles or the change of ambient light if the parking space information at the position does not change, so that the influence of the surrounding environment can be eliminated by setting the threshold, and the monitoring accuracy is improved. The pixel point can be judged to be the part of the parking space state without occurrence area, and then the pixel point is eliminated, namely, the pixel point is used as the pixel point without reference. When the error value is larger than the threshold value, the pixel point is indicated to have larger change, the pixel point can be judged to be the point acquired in the vehicle motion with larger probability, and the pixel point is reserved. The degree of change of the second image relative to the first image is judged by solving the ratio of the reserved pixel points on the first image, and whether the parking space condition changes is judged. The duty value can be a change value of the second seat image and the first seat image.
As a specific implementation manner of the parking space state monitoring method provided by the present invention, when a change rate of an area of a change region between N second images continuously collected and a first image is smaller than a preset value, controlling a camera to stop collecting the second images includes:
and respectively determining the change regions of the continuously acquired N second images and the first image according to the acquisition sequence.
And when the change rate of the area of the change area is smaller than a preset value, controlling the camera to stop acquiring the second image.
In the invention, when the parking space is not changed, namely the vehicle does not move, the camera is controlled to stop acquiring the second image. The human body detection switch can be installed in the parking lot, when the human body detection switch monitors human movement, the camera shooting function of the high-definition camera can be started, and meanwhile, the analysis program is started. The analysis program is connected with the high-definition camera, the analysis program can be realized by programming on a computer, and codes which can be used for reference images, change images and calibration images are input in the matlab in advance by taking the matlab as an example. The code is capable of intercepting an internal image of the corresponding area on the input image, that is, picking up an image within the lane boundary line on the acquired image. The difference module is used for comparing the second vehicle position image with the first vehicle position image, and the analysis module is used for analyzing the change trend of the change value. When the human body detection switch detects a human body, the high-definition camera device continuously acquires the changed images in the same target area with the reference image, and the acquired changed images are arranged according to the shooting time sequence. And acquiring a second parking space image positioned in the parking space boundary line on the plurality of variable images in sequence. The second station images are also arranged and stored in the order of acquisition time. Therefore, data support is provided for subsequent comparison with the first vehicle position image.
As a specific implementation manner of the parking space state monitoring method provided by the present invention, determining whether there is a target changed parking space according to a changed area of a candidate changed parking space includes:
and when the change area of the candidate changed parking space is smaller than a preset area threshold value, judging that the target parking space is not changed.
And when the change area of the candidate changed parking space is larger than a preset area threshold value, judging that the target parking space is changed.
In the invention, the parking space information comprises the relative position or number of the parking space, the vacancy condition of the current parking space and the like. After the second image is compared with the first image, the vehicle is judged to be driven in or driven out. And replacing the first image and the third image, and simultaneously changing the corresponding parking space code and the parking space vacancy condition. Thereby providing a data basis for the next monitoring.
The invention also comprises an environment compensation module, wherein the environment compensation module is more specific to the outdoor parking lot, and the acquired image information has a certain difference due to the change of ambient light. Therefore, different threshold values, first fluctuation ranges and second fluctuation ranges in different time are set through the environment compensation module, and therefore a more accurate monitoring effect can be provided more accurately.
As a specific implementation manner of the parking space state monitoring method provided by the present invention, after replacing the first image with the last second image acquired by the camera and modifying the parking space state of the target-changed parking space, the method includes:
and associating and storing the modified target change parking space with the current first image.
According to the invention, the parking space image with the parking space change can be replaced in real time, so that the basis of data comparison for the next parking space change is ensured.
As a specific implementation manner of the parking space state monitoring method provided by the present invention, obtaining a parking space state of each parking space in a current first image includes:
and when the change area of the candidate change parking space is smaller than the preset area threshold value, the target change parking space is not changed.
And when the change area of the candidate change parking space is larger than a preset area threshold value, changing the target change parking space.
According to the invention, the change condition of the parking space can be judged by comparing the area values, the method is convenient and quick, and by setting the area threshold value and the like, when the parking space changes, the change area is larger, the change of the parking space is indicated, and when the change area is smaller, the change of the parking space is indicated.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Parking stall state monitoring method, its characterized in that includes:
acquiring a first image of a parking lot through a camera installed at a preset position, and marking a parking space state for each parking space in the first image;
when the moving vehicle is monitored to exist, acquiring a second image of the parking lot at a preset time interval through the camera, and sequentially calculating the change area of the acquired second image and the change area of the first image;
when the change rate of the area of the change area of the continuously acquired N second images and the change area of the first image is smaller than a preset value, controlling the camera to stop acquiring the second images;
determining covered candidate change parking spaces according to the change area of the last second image and the first image acquired by the camera;
determining whether a target change parking space exists according to the changed area of the candidate change parking space;
and when the target changes the parking space, replacing the first image with the last second image acquired by the camera, and modifying the parking space state of the target change parking space to obtain the parking space state of each parking space in the current first image.
2. The parking space state monitoring method according to claim 1, wherein the determining of the covered candidate change parking space according to the change area of the last second image and the first image acquired by the camera comprises:
determining a change image in a change range of the last second image acquired by the camera relative to the first image;
picking up a change part of the parking space covered in the change image;
and judging whether a candidate changed parking space exists according to the change part.
3. The parking space state monitoring method according to claim 2, wherein the determining of the change image of the last second image collected by the camera relative to the change range of the first image comprises:
when the change degree of the change part is larger than a preset threshold value, judging that the change of the parking space state occurs in the change part;
and when the change degree of the change part is smaller than a preset threshold value, judging that the parking space state does not change in the change part.
4. The parking space state monitoring method according to claim 2, wherein the determining of the change image of the last second image collected by the camera relative to the change range of the first image comprises:
comparing the RGB values of the pixel points in the last second image and the first image one by one;
and determining pixel points with the RGB values exceeding a change threshold value, and combining the pixel points exceeding the change threshold value into the change image.
5. The parking space state monitoring method according to claim 1, wherein the step of marking the parking space state for each parking space in the first image comprises:
picking up a parking space image of each parking space on the first image;
and determining and marking the parking space state of each parking space according to the parking space image.
6. The parking space state monitoring method according to claim 1, wherein the calculating the change area of the collected second image and the first image in sequence comprises:
making difference between each pixel point in the acquired N second images and the first image;
setting a difference range, and eliminating corresponding pixel points which are within the difference range after difference is made;
and splicing the reserved pixel points into the change area.
7. The parking space state monitoring method according to claim 1, wherein when the change rate of the area of the change region of the N continuously collected second images and the first image is smaller than a preset value, controlling the camera to stop collecting the second images comprises:
respectively determining the change areas of the continuously acquired N second images and the first image according to the acquisition sequence;
and when the change rate of the area of the change area is smaller than a preset value, controlling the camera to stop acquiring the second image.
8. The parking space state monitoring method according to claim 1, wherein the determining whether there is a target change parking space according to the changed area of the candidate change parking space includes:
when the change area of the candidate change parking space is smaller than a preset area threshold value, judging that the target parking space is not changed;
and when the change area of the candidate change parking space is larger than a preset area threshold value, judging that the target parking space changes.
9. The parking space state monitoring method according to claim 1, wherein after the replacing the first image with the last second image collected by the camera and the modifying the parking space state of the target changed parking space, the method comprises:
and associating and storing the modified target change parking space with the current first image.
10. The parking space state monitoring method according to claim 1, wherein the obtaining of the parking space state of each parking space in the current first image includes:
when the change area of the candidate change parking space is smaller than a preset area threshold value, the target change parking space is not changed;
and when the change area of the candidate change parking space is larger than a preset area threshold value, changing the target change parking space.
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