CN110796896A - Parking lot parking space state monitoring system and monitoring method - Google Patents
Parking lot parking space state monitoring system and monitoring method Download PDFInfo
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- CN110796896A CN110796896A CN201911199596.1A CN201911199596A CN110796896A CN 110796896 A CN110796896 A CN 110796896A CN 201911199596 A CN201911199596 A CN 201911199596A CN 110796896 A CN110796896 A CN 110796896A
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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
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
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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
Abstract
The invention discloses a parking space state monitoring system and a monitoring method for a parking lot, which comprises radar acquisition modules, a data acquisition module and a data acquisition module, wherein the radar acquisition modules are arranged on two sides of a parking space in pairs and are used for acquiring electromagnetic wave data information reflected by a vehicle; the parking lot management terminal comprises a data processing module, is electrically connected with the radar acquisition module and is used for receiving and processing data information acquired by the radar acquisition module, acquiring vehicle position coordinate data, comparing the vehicle position coordinate data with parking space data and judging whether a parking space is occupied or not; and the mobile client is in communication connection with the parking lot management terminal and is used for displaying the parking space information. The monitoring method comprises the following steps: 1. the radar collects data, and the system monitors the track and the motion state of a moving object; 2. monitoring the change of the moving object from moving to static, and judging whether the object position in the static state is on a parking space or not; 3. and monitoring whether the object on the parking space leaves the parking space area after changing from static state to dynamic state. The invention realizes the accurate monitoring of the parking space based on the millimeter wave radar.
Description
Technical Field
The invention relates to a parking space state monitoring device and a monitoring method, in particular to a parking space state monitoring system of a parking lot and a parking space state monitoring method of the parking lot.
Background
With the great increase of the holding amount of urban automobiles, the management pressure of urban parking spaces is also increasing. The existing parking lot parking space state recognition systems generally mainly monitor parking spaces by using cameras, geomagnetic sensors, ultrasonic detectors, infrared correlation sensors and the like, and a marker needs to be arranged or a related sensor needs to be arranged in each parking space, so that the cost is greatly increased, and the accuracy needs to be improved; laser radar has a major challenge in vehicle scale production and cost control. Meanwhile, the existing monitoring means mainly monitor vehicles, and when an electric vehicle, a bicycle, a person or other obstacles are in a parking space, the parking space state cannot be accurately judged by the existing monitoring means.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a parking lot parking space monitoring system based on a millimeter wave radar, and the invention also aims to provide a parking lot parking space monitoring method, which provides great convenience for users to use parking spaces, can improve the accuracy of parking space state monitoring of a parking lot, and is convenient for the management of the parking spaces by a rear desk of the parking lot.
The technical scheme is as follows: a parking lot parking space state monitoring system comprises:
the radar acquisition modules are arranged on two sides of the parking space in pairs and used for acquiring electromagnetic wave data information reflected by the vehicle;
the parking lot management terminal comprises a data processing module, is electrically connected with the radar acquisition module and is used for receiving and processing data information acquired by the radar acquisition module, acquiring vehicle position coordinate data, comparing the vehicle position coordinate data with parking space data and judging whether a parking space is occupied or not;
and the mobile client is in communication connection with the parking lot management terminal and is used for displaying the parking space information. The parking space information comprises the number of the remaining parking spaces, the positions of the remaining parking spaces and the occupation states of the parking spaces.
Furthermore, still include the pilot lamp, set up on every parking stall, with parking area management end electric connection for instruct the parking stall state of occuping.
A parking lot parking space state monitoring method based on the parking lot parking space state monitoring system comprises the following steps:
the method comprises the following steps that 1, a radar acquires electromagnetic wave data of an object in a parking space range, wherein the electromagnetic wave data comprise Doppler coefficients, velocity components and position information;
step 2, removing static noise, and monitoring the moving track and the moving state of the object in real time;
step 3, when the moving object is changed from moving to static, comparing the area surrounded by the outline coordinate points of the object with the area surrounded by the parking space, and when the area surrounded by the outline coordinate points of the object is in the area surrounded by the parking space or has intersection with the area surrounded by the parking space, judging that the object is in the parking space range and the parking space is occupied;
step 4, when the object on the occupied parking space changes from static to moving, judging whether the moving object leaves the parking area in real time, and when the area surrounded by the outer contour coordinate point of the moving object completely leaves the area surrounded by the parking space, judging that the parking space is in an idle state; and (4) executing the step (3) again to confirm whether the object really leaves the parking space.
Further, the step 3 further includes: and setting a moving time threshold, and judging that the parking space is occupied when the moving object is in a moving state in the parking space range all the time and the continuous moving time of the moving object is greater than the moving time threshold.
Further, in step 3, a time threshold is set, and when the moving object changes from moving to stationary and the time for keeping the stationary state is greater than the time threshold, it is determined whether the moving object is in the parking space.
Further, in the step 2, the static noise is removed by removing the static object data with the doppler coefficient of zero.
Further, the preprocessing of step 2 further includes filtering out an anomaly detection point.
Further, the motion state of the object is judged according to the Doppler coefficient and/or the velocity component.
Furthermore, when the parking space occupation state changes, the parking lot management end controls the indicator lamp to correspondingly change.
Compared with the prior art, the invention has the following remarkable advantages: 1. the real-time monitoring of the parking spaces in the parking lot is realized based on the millimeter wave radar, the parking lot can adapt to various weather conditions, is little influenced by environmental interference, is high in positioning precision (reaching 5cm), and realizes the accurate monitoring of the parking spaces. 2. The detectable range of the radar is 80 meters in the longitudinal direction, the horizontal angle is 120 degrees, the two millimeter-wave radars can monitor 30-40 parking spaces, the cost is low, and the arrangement is easy. 3. The system can be used for monitoring the occupied parking space of the automobile, people, bicycles, battery cars and other moving objects in the parking area after the other moving objects are static. 4. The radar is all equipped with at parking stall both ends, with two radars detection carry out data processing can be more accurate obtain object coordinate, improve the accuracy that the system judges.
Drawings
FIG. 1 is a schematic diagram of arrangement of radar in parking spaces of a parking lot;
FIG. 2 is a data processing diagram of radar acquiring the outermost outline position of a moving object;
fig. 3 is a schematic diagram of determining whether a moving object is in a parking area.
Detailed Description
The technical solution of the present invention will be described in detail below with reference to the specific embodiments and the accompanying drawings.
A parking space state monitoring system comprises millimeter wave radars, wherein the millimeter wave radars are installed on two sides of a parking space, preferably on corresponding walls on two sides of the parking space of a parking lot and used for collecting electromagnetic wave data information reflected by an object. The parking lot management terminal comprises a data processing module and is used for processing data information acquired by the millimeter wave radar, judging whether the parking space is occupied according to the processing information and sending parking space state information to the mobile client. The mobile client is preferably a mobile phone app and is connected with the parking lot management end in a wireless communication mode, the parking lot management end detects parking places and aims to inform the user end of the parking place situation, so that the user end can acquire empty parking place information, namely, the system can send the situation of detecting the residual parking places of the parking places and the residual parking place position information to the mobile phone app of the client so that the client can know the parking place situation of the parking lot. When the APP is opened by the mobile user side, the parking lot parking space condition can be displayed, and in addition, the user can select a target parking space through the mobile user side. Preferably, the system further comprises an indicator light correspondingly installed in each parking space for indicating the status of the parking space.
In an actual parking lot, vehicles, people, animals or other objects (such as shopping carts, sundries and the like) can occupy parking spaces, the invention adopts a millimeter wave radar to detect the parking spaces, electromagnetic waves sent by the millimeter wave radar can be strongly reflected after encountering the objects, reflected echoes are received by the radar, and parameter information such as the distance, the speed, the angle, the Doppler and the like of the objects can be obtained according to the data information of the sent and received electromagnetic waves. The detection precision of the millimeter wave radar reaches about 5cm, so that the state of a parking space moving object or a static object can be accurately detected through the millimeter wave radar, and when the object is in the parking space range, the parking space occupation condition can be judged according to the parking space position and the object position. The monitoring system and the monitoring method are mainly used for monitoring the occupation state of the moving object to the parking space when the moving object changes from moving to static and from static to moving. The first step is to monitor the moving object, the second step is to monitor whether the moving object is in the parking space in the process of changing from moving to static, if yes, the moving object occupies the parking space; and finally, monitoring whether the object in the parking space leaves the parking space area after the object is changed from static to dynamic. The specific monitoring steps are as follows:
(1) the detectable range of radar is vertical 80 meters, and horizontal angle is 120 degrees, and easily arranges, as shown in fig. 1, installs radar acquisition module at the both ends of a plurality of parking stalls, and the parking stall within range between two radars can all monitor. The two millimeter wave radars can realize the monitoring of 30-40 parking spaces; the radar acquisition module acquires data information of the parking lot, wherein the data information comprises Doppler coefficients, velocity components Vx and Vy and object position information.
(2) The data information is preprocessed to obtain corresponding object position coordinates X, Y, and the motion track and the motion state of the object are monitored in real time. The pretreatment mainly comprises the following steps: and eliminating static object data with the Doppler coefficient being zero to remove static noise and obtain moving object data with the Doppler coefficient being not zero. Further, the preprocessing also comprises filtering abnormal detection points, and mainly eliminates false detection points caused by moving objects in the underground parking lot scene, so that the problem of false alarm caused by the fact that the false detection points are mistaken for targets by the millimeter wave radar sensor is avoided. Because underground parking garage environment is complicated, be equipped with many pipelines, fire hydrant etc. and other vehicles in addition, these metals have produced a large amount of refractions, reflection interference to the electromagnetic wave of radar transmission and receipt to lead to the same target of radar receipt to produce the echo in a plurality of positions, the wrong a plurality of targets of judgement, can utilize parameters such as Doppler coefficient, positional information to carry out false detection point filtering in this application.
(3) It is determined whether an object is within the parking space area. The step has two conditions, one is that when the object is changed from moving to static, whether the object occupies the parking space is judged at the moment; there is also a case where the parking space is occupied (for example, a person or other small animal moves in the parking space) when the object moves in the parking space within a certain continuous time. Specifically, a moving time threshold may be set, and when the object moves within the parking space range within a certain continuous time and the continuous moving time is greater than the moving time threshold, it is determined that the parking space is occupied. For the first case, when the monitored object velocity components Vx, Vy are 0 and the doppler coefficient is 0, it is determined whether the current position of the moving object is within the parking space area. First, data collected by a radar is used as a reference for representing the outermost outline of a vehicle, as shown in fig. 2, two sides of a moving object are detected by the radar, two ends cd and gh are used as boundaries, but two ends ab and ef are not used, and four points of coordinates of the moving object obtained after preprocessing the detected data are a ', d, h and e'. As shown in fig. 3, if the area surrounded by the coordinate points of the outer contour of the (x1, y1), (x2, y2), (x3, y3), (x4, y4) of the vehicle is within the parking area surrounded by the coordinate points of the (a11, b11), (a12, b12), (a13, b13), and (a14, b14), or arbitrarily intersects with the parking area (the position coordinates of the four points of each parking space are stored in the parking management system, and it is determined that data is read directly from the position coordinates), it indicates that the parking space is occupied. In fig. 3, the moving object is now in the area of two parking spaces, and the system then shows that two parking spaces are occupied at this time, and the indicator lights of the two parking spaces change from green to red. Preferably, a time threshold may be set, and when the doppler coefficient of the moving object becomes zero and does not change within a certain time threshold, for example, the state of the moving object does not change within 10s, it is determined whether the object is within the range of the parking space area.
(4) When the object on the occupied parking space detected by the radar is changed from a static state to a moving object, namely the Doppler coefficient and the speed component of the object are changed from 0 to non-0, the moving object is immediately monitored, whether the moving object leaves the parking area or not is judged in real time, if the moving object area completely leaves the parking area, the system displays that the original occupied parking space is in an idle state, the parking space indicator lamp is changed from red to green, then the flow of the step (3) is executed again to confirm whether the object really leaves the parking area or not again, and the situation that the object returns to the parking area again is avoided. The parking space occupation monitoring system can monitor the occupation situation of the vehicle on the parking space, and when people, bicycles, battery cars and other moving objects stay in the parking area after standing still, the system can also judge that the parking space is occupied, so that the safety in the parking process can be improved.
Claims (10)
1. The utility model provides a parking area parking stall state monitoring system which characterized in that includes:
the radar acquisition modules are arranged on two sides of the parking space in pairs and used for acquiring electromagnetic wave data information reflected by the vehicle;
the parking lot management terminal comprises a data processing module, is electrically connected with the radar acquisition module and is used for receiving and processing data information acquired by the radar acquisition module, acquiring vehicle position coordinate data, comparing the vehicle position coordinate data with parking space data and judging whether a parking space is occupied or not;
and the mobile client is in communication connection with the parking lot management terminal and is used for displaying the parking space information.
2. The parking space state monitoring system of claim 1, wherein: the parking space occupation indicating device comprises indicating lamps, is arranged on each parking space, is electrically connected with a parking lot management terminal and is used for indicating the occupation state of the parking spaces.
3. The method for monitoring the parking space state of the parking lot according to claim 1, wherein: the parking space information comprises the number of the remaining parking spaces, the positions of the remaining parking spaces and the occupation states of the parking spaces.
4. A parking space state monitoring method for a parking lot based on the parking space state monitoring system of any one of claims 1 to 3, comprising:
the method comprises the following steps that 1, a radar acquires electromagnetic wave data of an object in a parking space range, wherein the electromagnetic wave data comprise Doppler coefficients, velocity components and position information;
step 2, removing static noise, and monitoring the moving track and the moving state of the object in real time;
step 3, when the moving object is changed from moving to static, comparing the area surrounded by the outline coordinate points of the object with the area surrounded by the parking space, and when the area surrounded by the outline coordinate points of the object is in the area surrounded by the parking space or has intersection with the area surrounded by the parking space, judging that the object is in the parking space range and the parking space is occupied;
step 4, when the object on the occupied parking space changes from static to moving, judging whether the moving object leaves the parking area in real time, and when the area surrounded by the outer contour coordinate point of the moving object completely leaves the area surrounded by the parking space, judging that the parking space is in an idle state; and (4) executing the step (3) again to confirm whether the object really leaves the parking space.
5. The method for monitoring the parking space state of the parking lot according to claim 4, wherein the step 3 further comprises: and setting a moving time threshold, and judging that the parking space is occupied when the moving object is in a moving state in the parking space range all the time and the continuous moving time of the moving object is greater than the moving time threshold.
6. The method for monitoring the parking space state of the parking lot according to claim 4, wherein: in the step 3, a time threshold is set, and when the moving object changes from moving to stationary and the time for keeping the stationary state is greater than the time threshold, whether the moving object is in the parking space range is judged.
7. The method for monitoring the parking space state of the parking lot according to claim 4, wherein: in the step 2, the static noise is removed by eliminating the static object data with the Doppler coefficient being zero.
8. The method for monitoring the parking space state of the parking lot according to claim 4 or 7, wherein: the preprocessing of step 2 further comprises filtering out anomaly detection points.
9. The method for monitoring the parking space state of the parking lot according to claim 4, wherein: and judging the motion state of the object according to the Doppler coefficient and/or the velocity component.
10. The method for monitoring the parking space state of the parking lot according to claim 4, wherein: when the parking space occupation state changes, the parking lot management end controls the indicator lamp to correspondingly change.
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| CN111192478A (en) * | 2020-04-10 | 2020-05-22 | 南京楚航科技有限公司 | Road parking space state identification method based on millimeter wave radar |
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| CN111882681A (en) * | 2020-06-02 | 2020-11-03 | 领翌技术(横琴)有限公司 | Vehicle information identification method based on parking behavior and parking system |
| CN112393703A (en) * | 2020-11-12 | 2021-02-23 | 成都九壹通智能科技股份有限公司 | Data processing method of distance measuring sensor |
| CN112863221A (en) * | 2021-01-05 | 2021-05-28 | 北京智联云海科技有限公司 | Device and method for navigating closed parking lot to vacant parking space |
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| CN117372950A (en) * | 2023-10-10 | 2024-01-09 | 安徽典典科技发展有限责任公司 | Detection device and detection method for new energy parking space occupied by non-energy vehicle |
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| CN113706853A (en) * | 2021-05-21 | 2021-11-26 | 北京筑梦园科技有限公司 | Vehicle management method and device and parking management system |
| CN113706853B (en) * | 2021-05-21 | 2024-01-12 | 北京筑梦园科技有限公司 | Vehicle management method, device and parking management system |
| CN115880791A (en) * | 2021-09-26 | 2023-03-31 | 山西西电信息技术研究院有限公司 | Parking management method |
| CN117372950A (en) * | 2023-10-10 | 2024-01-09 | 安徽典典科技发展有限责任公司 | Detection device and detection method for new energy parking space occupied by non-energy vehicle |
| CN117372950B (en) * | 2023-10-10 | 2024-04-30 | 安徽典典科技发展有限责任公司 | Detection device and detection method for new energy parking space occupied by non-energy vehicle |
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