CN111125271A - Vehicle position judgment method and device and computer readable storage medium - Google Patents
Vehicle position judgment method and device and computer readable storage medium Download PDFInfo
- Publication number
- CN111125271A CN111125271A CN201811290438.2A CN201811290438A CN111125271A CN 111125271 A CN111125271 A CN 111125271A CN 201811290438 A CN201811290438 A CN 201811290438A CN 111125271 A CN111125271 A CN 111125271A
- Authority
- CN
- China
- Prior art keywords
- parking space
- vehicle
- area
- license plate
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000009434 installation Methods 0.000 claims abstract description 8
- 238000004590 computer program Methods 0.000 claims description 4
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- 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
The embodiment of the invention provides a vehicle position judging method and device and a computer readable storage medium, and relates to the technical field of target detection. The method and the device acquire a first position coordinate of a license plate floor point based on an acquired input image, acquire and determine a parking space area based on the input image, and then judge the position relation between a vehicle and a parking space according to the first position coordinate and the parking space area; the first position coordinate of the license plate landing point is utilized, namely the position relation between the vehicle and the parking space is judged by combining the space position of the license plate, so that the parking condition of the vehicle on the parking space can be judged more effectively; meanwhile, other equipment is not needed, the cost of the parking lot is saved, and the installation simplicity is reduced.
Description
Technical Field
The invention relates to the technical field of target detection, in particular to a vehicle position judging method and device and a computer readable storage medium.
Background
With the increase of vehicles, the management problem of the vehicles becomes more prominent. In order to achieve order management of vehicles, the construction of road parking facilities needs to make certain evaluation and judgment on the parking positions of the vehicles, and the positions of the vehicles in the actual space sometimes need to be determined while the vehicles are detected.
In the prior art, a geomagnetic device is arranged on a parking space, and magnetic field strengths detected by a first magnetic sensor and a second magnetic sensor in the geomagnetic device on the parking space are received at the same time, then the difference value of the magnetic field strengths of the first magnetic sensor and the second magnetic sensor is compared with a preset first magnetic field strength threshold value, and the occupation condition of the parking space is determined according to the comparison result; however, in this kind of method, geomagnetic equipment needs to be installed at each parking space, which not only increases the cost of the product, but also increases the difficulty of installation, and is not favorable for the simplicity of equipment installation; meanwhile, since detection is performed only according to the intensity of the geomagnetic signal, the position of the vehicle cannot be accurately judged.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus and a computer readable storage medium for determining a vehicle position to solve the above problems.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a vehicle position determination method, where the vehicle position determination method includes:
acquiring a first position coordinate of a license plate landing point based on the acquired input image;
acquiring and determining a parking space area based on the input image;
and judging the position relation between the vehicle and the parking space according to the first position coordinate and the parking space area.
In a second aspect, an embodiment of the present invention further provides a vehicle position determination apparatus, including:
the position coordinate determination unit is used for acquiring a first position coordinate of the license plate landing point based on the acquired input image;
the parking space area determining unit is used for acquiring and determining a parking space area based on the input image;
and the position relation judging unit is used for judging the position relation between the vehicle and the parking space according to the first position coordinate and the parking space area.
In a third aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the above-mentioned vehicle position determination method.
According to the vehicle position judgment method, the vehicle position judgment device and the computer readable storage medium, the first position coordinate of the license plate landing point is obtained based on the obtained input image, the parking space area is obtained and determined based on the input image, and then the position relation between the vehicle and the parking space is judged according to the first position coordinate and the parking space area; the first position coordinate of the license plate landing point is utilized, namely the position relation between the vehicle and the parking space is judged by combining the space position of the license plate, so that the parking condition of the vehicle on the parking space can be judged more effectively; meanwhile, other equipment is not needed, the cost of the parking lot is saved, and the installation simplicity is reduced.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 shows a block schematic diagram of a server applicable to embodiments of the present invention.
Fig. 2 is a flowchart illustrating a vehicle position determination method according to an embodiment of the present invention.
Fig. 3 shows a detailed flowchart of step S201 in fig. 2.
Fig. 4 shows a detailed flowchart of step S202 in fig. 2.
Fig. 5 shows a schematic distribution of parking space regions.
Fig. 6 shows a detailed flowchart of step S203 in fig. 2.
Fig. 7 shows a schematic diagram of the division of the parking space area into location areas.
Fig. 8 shows a detailed flowchart of sub-step S2036 in fig. 6.
Fig. 9 shows a functional block diagram of the vehicle position determination device.
Icon: 100-a server; 111-a memory; 112-a processor; 113-a communication unit; 200-vehicle position determination means; 210-a location coordinate determination unit; 220-parking space area determination unit; 230-position relation judging unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Fig. 1 is a block diagram of a server 100 applicable to the embodiment of the present invention. The server 100 includes a vehicle position determination device 200, a memory 111, a processor 112, and a communication unit 113.
The memory 111, the processor 112 and the communication unit 113 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The vehicle position determination device 200 includes at least one software functional module that may be stored in the memory 111 in the form of software or Firmware (Firmware) or solidified in an Operating System (OS) of the server 100. The processor 112 is used for executing executable modules stored in the memory 111, such as software functional modules and computer programs included in the vehicle position determination apparatus 200.
The Memory 111 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 111 is used to store programs or data. The communication unit 113 is configured to establish a communication connection between the server 100 and another communication terminal via the network, and to transceive data via the network.
It should be understood that the configuration shown in fig. 1 is merely a schematic diagram of the configuration of the server 100, and that the server 100 may include more or less components than those shown in fig. 1, or have a different configuration than that shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
First embodiment
The embodiment of the invention provides a vehicle position judging method which is used for judging the parking condition of a vehicle in a parking space. Please refer to fig. 2, which is a flowchart illustrating a method for determining a vehicle position according to an embodiment of the present invention. The vehicle position determination method includes:
step S201: and acquiring a first position coordinate of the license plate landing point based on the acquired input image.
It should be noted that the input image is captured by a camera disposed at the parking space, and the input image includes a vehicle image, a road surface image, a background, and the like.
In addition, in this embodiment, the license plate landing point is a projection point of the license plate center point on the road surface.
Meanwhile, in an optional embodiment, the license plate landing point may also be a projection of any other point on the license plate on the road surface.
It should be noted that the position coordinates described in the embodiments of the present invention are all coordinates determined with the vertex at the upper left corner of the input image as the origin, the vertical side of the input image as the y-axis, and the horizontal side of the input image as the x-axis.
Of course, in other embodiments, the y-axis and the x-axis may be interchanged.
Please refer to fig. 3, which is a flowchart illustrating the step S201. The step S201 includes:
substep S2011: and acquiring a second position coordinate, a pixel value and an inclination angle of the license plate based on the input image.
Specifically, in the sub-step S2011, a license plate position in the vehicle image, that is, a position of the license plate, needs to be determined by using a preset license plate locating algorithm.
For example, the license plate location algorithm includes: the method comprises the steps of compressing an input image, carrying out RGB (red, green and blue) color image gray scale conversion on the compressed vehicle image to obtain a gray scale image, stretching the gray scale image, carrying out local enhancement to highlight the position of a license plate, and carrying out vehicle image binarization processing and edge detection to determine the position of the license plate in the input image.
After the license plate position is determined, the position coordinate and the inclination angle of the fit characters on the license plate can be determined by using a character correction algorithm, so that the second position coordinate of the license plate and the inclination angle of the shot input image relative to the license plate are determined.
For example, when the position of the license plate has been determined, the characters may be cut, the cut results may be used to perform character recognition, and after the characters are successfully recognized, the position information and the inclination angle of the characters may be determined.
It can be understood that the pasted characters are character information on the license plate, such as "Zhe A1B 234". The second position coordinate is the position information of the fit character in the input image, and the inclination angle is the included angle formed by the fit character and the x axis and is the inclination angle.
Meanwhile, on the basis of successfully recognizing the character, the pixel value of the character can be acquired. The pixel value is the number of pixel points included in the character. It should be noted that, in the above example, the license plate is located by using a conventional image processing method, but in another preferred embodiment, a deep learning frame training method may also be used to locate the license plate.
Substep S2012: and determining the vertical coordinate of the license plate landing point according to the pixel value, the inclination angle, the pre-stored camera mounting height and the pre-stored license plate height.
Firstly, calculating a distance value from a license plate landing point to a hidden line, namely a first distance.
Since the distance value of the blanking line satisfies the equation:
wherein s is a first distance, b is a pixel value, α is an inclination angle, H is a pre-stored camera installation height, and H is a pre-stored actual license plate height, i.e., the actual license plate height relative to the ground.
Thus, the first distance
And then, calculating the ordinate of the license plate floor point according to the first distance and the ordinate of the intersection point formed by a straight line which passes through the license plate floor point and is vertical to the hidden line and the hidden line.
The method includes the steps of obtaining parking space contour point coordinates through an image recognition algorithm, determining an equation of a hidden line based on the parking space contour point coordinates, calculating a vertical coordinate of an intersection point formed by a straight line which passes through a license plate landing point and is perpendicular to the hidden line and the hidden line under the condition that the distance between the license plate landing point and the hidden line is known to be a first distance, and adding the first distance to the vertical coordinate of the intersection point to obtain the vertical coordinate of the license plate landing point.
Substep S2013: and determining the horizontal coordinate of the license plate landing point according to the second position coordinate.
The license plate landing point is a projection point of the license plate on the road surface, so that the license plate landing point and the license plate have the same abscissa, and the abscissa of the license plate landing point is the abscissa in the second position coordinate.
At this point, the abscissa and the ordinate of the license plate floor point are determined, that is, the first position coordinate of the license plate floor point is determined.
Step S202: and acquiring and determining the parking space area based on the input image.
Please refer to fig. 4, which is a flowchart illustrating the step S202. The step S202 includes:
substep S2021: and acquiring coordinates of a plurality of parking space contour points based on the input image.
It should be noted that the parking space contour point coordinate is a coordinate of a certain point at the boundary of the parking space line. In a preferred embodiment, the obtained coordinates of each parking space contour point are coordinates of an intersection point of two adjacent sidelines of the parking space contour, that is, vertex coordinates of the parking space.
It can be understood that the coordinates of a plurality of parking space contour points can be obtained through an image processing method.
Substep S2022: and determining a parking space area based on the coordinates of the plurality of parking space contour points.
Under the condition that the vertex coordinates of the parking space are determined, the linear equation of the side line can be determined according to the coordinates of two adjacent vertexes, and an equation system formed by all the side lines is an equation capable of representing the parking space area.
Step S203: and judging the position relation between the vehicle and the parking space according to the first position coordinate and the parking space area.
In an optional embodiment, whether the first position coordinate is in the parking space area can be directly judged, if so, the license plate floor point is in the parking space, and therefore the vehicle is determined to be in the parking space; if not, the license plate landing point is out of the parking space, and therefore the vehicle is determined to be out of the parking space.
In another optional embodiment, in order to more accurately judge the position relationship between the vehicle and the parking space, the parking space area is divided into an area in the boundary and a boundary area, and the position relationship between the vehicle and the parking space is determined by judging the position relationship between the first position coordinates and the area in the boundary and the boundary area. The boundary area is an area with a smaller area formed by a straight line with a preset distance value from a side line of the parking space and the parking space area; generally, the preset distance value should be less than or equal to 1/3 of the edge length.
Correspondingly, the interior area is all other areas except the boundary area in the parking space area. For example, referring to fig. 5, the shaded portion is the border region, and the blank portion is the border region.
Please refer to fig. 6, which is a flowchart illustrating the step S203. The step S203 includes:
substep S2031: judging whether the first position coordinate belongs to the area in the boundary, if so, executing a substep S2032; if not, then substep S2033 is performed.
Substep S2032: and determining that the vehicle is in the parking space.
When the first position coordinate belongs to the area in the boundary, the license plate floor point is in the parking space, and therefore the vehicle is determined to be in the parking space.
Substep S2033: judging whether the first position coordinate belongs to the boundary area, if not, executing a substep S2034; if so, then sub-step S2035 is performed.
And when the first position coordinate does not belong to the boundary area, further judging whether the first position coordinate belongs to the boundary area.
Substep S2034: and determining that the vehicle is out of the parking space.
And when the first position coordinate does not belong to the parking space area, indicating that the license plate landing point is outside the parking space, and determining that the vehicle is outside the parking space.
Substep S2035: the input image is subjected to class segmentation to acquire a vehicle image.
And when the first position coordinate belongs to the boundary area, the license plate landing point is shown to be closer to the edge of the parking space, and if the vehicle is continuously considered to stop in the parking space at the moment, a larger error possibly exists, so that the vehicle image is further obtained, and the distribution condition of the vehicle image in the parking space is further analyzed.
And acquiring a vehicle image from the input image, namely distinguishing the vehicle image from road surface, background, non-motor vehicle and other images.
Substep S2036: and judging the position relation between the vehicle and the parking space based on the vehicle image and the parking space area.
It should be noted that the parking space area includes a plurality of pre-divided location areas.
Referring to fig. 7, in a preferred embodiment, the first position area, the second position area, the third position area, the fourth position area, the fifth position area and the sixth position area are divided according to a first straight line, a second straight line and a third straight line, wherein the left line segment of the first straight line occupies 1/3 of the parking space edge, the line segment before the second straight line occupies 1/4 of the parking space edge, and the line segment after the third straight line occupies 1/4 of the parking space edge. The straight line passing through the points I0 and I1 is a first straight line, the straight line passing through the points J0 and I2 is a second straight line, and the straight line passing through the points J1 and I3 is a third straight line.
It should be noted that, in other embodiments, more or fewer straight lines may be arranged, so as to divide the parking space area into more or fewer location areas, which is not limited herein. Meanwhile, the proportion of the straight line cutting parking space sideline can be divided according to the requirements of users.
After the parking space division proportion is determined, intersection points formed by the first straight line, the second straight line and the third straight line and the parking space area are determined according to the cross ratio invariance principle of camera imaging.
Thus, it is provided
And points corresponding to points A, I0, Q and E in the parking space area in the actual parking space area and points corresponding to points A ', I0', Q 'and E' are respectively points A ', I0', Q 'and E', so that the intersection ratio formed by Q, A, I0 and E on the first straight line is based on the principle of intersection ratio invariance of camera imaging
Since the intersection Q ' of two parallel lines in the three-dimensional space is at infinity, Q ' I0' is approximately equal to Q ' E ', and therefore,
due to presetting of
Therefore, the temperature of the molten metal is controlled,
and is
Length of and
can be determined by the area equation and the vanishing line equation, i.e. b, c are known, so that the value a can be determined, i.e. the value of
To determine the I0 point coordinates and thus the equation for the first line.
Similarly, the equations of the second line and the third line are calculated according to the method. With the knowledge of the equations of the first, second and third straight lines, it is possible to determine the equation sets characterizing the first, second, third, fourth, fifth and sixth position areas, respectively.
Please refer to fig. 8, which is a flowchart illustrating the sub-step S2036. The substep S2036 comprises:
sub-step S20361: and calculating the pixel ratio of the vehicle image in each position area.
In a preferred embodiment, a first pixel proportion, a second pixel proportion, a third pixel proportion, a fourth pixel proportion, a fifth pixel proportion and a sixth pixel proportion of the vehicle image in the first position area, the second position area, the third position area, the fourth position area, the fifth position area and the sixth position area are calculated respectively.
Sub-step S20362: and judging the position relation between the vehicle and the parking space according to the pixel proportion in each position area.
Correspondingly, whether the fifth pixel ratio is larger than or equal to a preset threshold value or not is judged, if yes, most of the vehicle body is in a fifth area, and the fifth area is the middle area of the parking space area, so that the vehicle can be determined to be in the parking space; if not, indicating that most areas of the vehicle are outside the fifth area, so as to judge whether the first pixel proportion, the second pixel proportion, the third pixel proportion, the fourth pixel proportion or the sixth pixel proportion are greater than or equal to a preset threshold value, thereby determining whether the vehicle is pressed, if so, indicating that part areas of the vehicle are in a boundary area of a parking space area, thereby determining that the vehicle exceeds the parking space, namely, the vehicle presses a side line of the parking space; if not, the first pixel proportion, the second pixel proportion, the third pixel proportion, the fourth pixel proportion, the fifth pixel proportion and the sixth pixel proportion are all smaller than a preset threshold value, which indicates that the vehicle is out of the parking space and does not park in the parking space.
Second embodiment
Referring to fig. 9, fig. 9 is a functional block diagram of a vehicle position determination device 200 according to a preferred embodiment of the invention. It should be noted that the basic principle and the technical effects of the vehicle position determining device 200 provided in the present embodiment are the same as those of the above embodiment, and for the sake of brief description, no part of the present embodiment is mentioned, and corresponding contents in the above embodiment can be referred to. The vehicle position determination device 200 includes a position coordinate determination unit 210, a parking space area determination unit 220, and a positional relationship determination unit 230.
The coordinate determination unit is used for acquiring a first position coordinate of the license plate landing point based on the acquired input image.
Specifically, the coordinate determination unit is configured to obtain a second position coordinate, a pixel value, and an inclination angle of the license plate based on the input image, determine a vertical coordinate of the license plate landing point according to the pixel value, the inclination angle, a pre-stored camera mounting height, and a pre-stored license plate height, and then determine a horizontal coordinate of the license plate landing point according to the second position coordinate.
It is to be understood that in a preferred embodiment, the coordinate determination unit may be configured to perform step S201, substep S2011, substep S2012, and substep S2013.
The parking space area determination unit 220 is configured to determine a parking space area based on the input image.
Specifically, the parking space area determining unit 220 is configured to obtain coordinates of a plurality of parking space contour points based on the input image, and determine a parking space area based on the coordinates of the plurality of parking space contour points.
It is to be understood that, in a preferred embodiment, the parking space region determining unit 220 may be configured to perform step S202, sub-step S2021, and sub-step S2022.
The position relationship determining unit 230 is configured to determine a position relationship between the vehicle and the parking space according to the first position coordinate and the parking space area.
It should be noted that the parking space area includes an inner area and a boundary area. The boundary area is an area with a smaller area formed by a straight line with a preset distance value from a side line of the parking space and the parking space area; generally, the preset distance value should be less than or equal to 1/3 of the edge length.
Correspondingly, the interior area is all other areas except the boundary area in the parking space area. For example, referring to fig. 5, the shaded portion is the border region, and the blank portion is the border region.
Specifically, the position relation determination unit 230 is configured to determine whether the first position coordinate belongs to an intra-area, determine that the vehicle is in the space when the first position coordinate belongs to the intra-area, determine that the vehicle is out of the space when the first position coordinate does not belong to the space area, and perform category segmentation on the input image to obtain a vehicle image and determine the position relation between the vehicle and the space based on the vehicle image and the space area when the first position coordinate belongs to the boundary area.
The position relation determining unit 230 is further configured to calculate a pixel ratio of the vehicle image in each position area, and determine a position relation between the vehicle and the parking space according to the pixel ratio in each position area.
It is to be understood that, in a preferred embodiment, the position relation determining unit 230 is operable to execute step S203, sub-step S2031, sub-step S2032, sub-step S2033, sub-step S2034, sub-step S2035 and sub-step S2036.
In summary, the method, the apparatus, and the computer-readable storage medium for determining a vehicle position provided in the embodiments of the present invention obtain a first position coordinate of a license plate landing spot based on an obtained input image, obtain a determined parking space area based on the input image, and then determine a position relationship between a vehicle and a parking space according to the first position coordinate and the parking space area; the first position coordinate of the license plate landing point is utilized, namely the position relation between the vehicle and the parking space is judged by combining the space position of the license plate, so that the parking condition of the vehicle on the parking space can be judged more effectively; meanwhile, other equipment is not needed, the cost of the parking lot is saved, and the installation simplicity is reduced.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle position determination method, characterized by comprising:
acquiring a first position coordinate of a license plate landing point based on the acquired input image;
acquiring and determining a parking space area based on the input image;
and judging the position relation between the vehicle and the parking space according to the first position coordinate and the parking space area.
2. The method according to claim 1, wherein the parking space area includes an area within a boundary, and the step of determining the position relationship between the vehicle and the parking space according to the first position coordinates and the parking space area includes:
when the first position coordinate does not belong to the parking space area, determining that the vehicle is out of the parking space;
when the first position coordinate belongs to the area within the boundary, determining that the vehicle is in the parking space.
3. The method according to claim 1, wherein the parking space area includes a boundary area, and the step of determining the position relationship between the vehicle and the parking space according to the first position coordinates and the parking space area includes:
when the first position coordinate belongs to the boundary area, performing category segmentation on the input image to obtain a vehicle image;
and judging the position relation between the vehicle and the parking space based on the vehicle image and the parking space area.
4. The vehicle position determination method according to claim 3, wherein the parking space region includes a plurality of pre-divided position regions, and the step of determining the positional relationship between the vehicle and the parking space based on the vehicle image and the parking space region includes:
calculating the pixel ratio of the vehicle image in each position area;
and judging the position relation between the vehicle and the parking space according to the pixel proportion in each position area.
5. The vehicle position determination method according to claim 4, wherein the space area includes a first position area, a second position area, a third position area, a fourth position area, a fifth position area, and a sixth position area that are divided by a first straight line, a second straight line, and a third straight line, wherein the first straight line includes a left line segment of 1/3 of a space edge, a line segment before the second straight line includes 1/4 of the space edge, and a line segment after the third straight line includes 1/4 of the space edge;
the step of calculating the pixel ratio of the vehicle image in each position area comprises the following steps:
respectively calculating a first pixel proportion, a second pixel proportion, a third pixel proportion, a fourth pixel proportion, a fifth pixel proportion and a sixth pixel proportion of the vehicle image in the first position area, the second position area, the third position area, the fourth position area, the fifth position area and the sixth position area;
the step of judging the position relation between the vehicle and the parking space according to the pixel proportion in each position area comprises the following steps:
when the fifth pixel proportion is larger than or equal to a preset threshold value, determining that the vehicle is in the parking space;
determining that the vehicle exceeds the parking space when the first pixel proportion, the second pixel proportion, the third pixel proportion, the fourth pixel proportion or the sixth pixel proportion is greater than or equal to a preset threshold value;
and when the first pixel proportion, the second pixel proportion, the third pixel proportion, the fourth pixel proportion, the fifth pixel proportion and the sixth pixel proportion are all smaller than the preset threshold value, determining that the vehicle is out of the parking space.
6. The vehicle position determination method according to any one of claims 1 to 5, wherein the step of acquiring the first position coordinates of the license plate landing spot based on the acquired input image includes:
acquiring a second position coordinate, a pixel value and an inclination angle of the license plate based on the input image;
determining a vertical coordinate of the license plate landing point according to the pixel value, the inclination angle, a pre-stored camera installation height and a pre-stored license plate height;
and determining the horizontal coordinate of the license plate landing point according to the second position coordinate.
7. The vehicle position determination method according to claim 6, wherein the step of determining the ordinate of the license plate landing point according to the pixel value, the inclination angle, a pre-stored camera mounting height, and a pre-stored license plate height includes:
formula of basis
Calculating a first distance, wherein s is the first distance, the first distance is the distance from the license plate landing point to a blanking line, b is the pixel value, α is the inclination angle, H is a pre-stored camera installation height, and H is a pre-stored license plate height;
and calculating the vertical coordinate of the license plate landing point according to the first distance and the vertical coordinate of the intersection point formed by the straight line which passes through the license plate landing point and is vertical to the hidden line and the hidden line.
8. The vehicle position determination method according to any one of claims 1 to 5, wherein the step of determining the parking space region based on the input image acquisition includes:
acquiring a plurality of parking space contour point coordinates based on the input image;
and determining a parking space area based on the coordinates of the plurality of parking space contour points.
9. A vehicle position determination device characterized by comprising:
the position coordinate determination unit is used for acquiring a first position coordinate of the license plate landing point based on the acquired input image;
the parking space area determining unit is used for acquiring and determining a parking space area based on the input image;
and the position relation judging unit is used for judging the position relation between the vehicle and the parking space according to the first position coordinate and the parking space area.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a vehicle position determination method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811290438.2A CN111125271B (en) | 2018-10-31 | 2018-10-31 | Vehicle position judging method, device and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811290438.2A CN111125271B (en) | 2018-10-31 | 2018-10-31 | Vehicle position judging method, device and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111125271A true CN111125271A (en) | 2020-05-08 |
| CN111125271B CN111125271B (en) | 2024-04-26 |
Family
ID=70494389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811290438.2A Active CN111125271B (en) | 2018-10-31 | 2018-10-31 | Vehicle position judging method, device and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111125271B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111753716A (en) * | 2020-06-23 | 2020-10-09 | 中国联合网络通信集团有限公司 | Parking line pressing detection method and server |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003217080A (en) * | 2002-01-24 | 2003-07-31 | Mitsubishi Heavy Ind Ltd | Parking vehicle specifying system |
| WO2014072971A1 (en) * | 2012-11-06 | 2014-05-15 | Givon Assaf | Method of determining a license plate of a vehicle tracked by a surveillance system |
| CN105844959A (en) * | 2016-06-13 | 2016-08-10 | 北京精英智通科技股份有限公司 | Method for determining entering of vehicles to parking spaces, device, method for determining exiting of vehicles from parking spaces, and device |
| WO2016168555A1 (en) * | 2015-04-17 | 2016-10-20 | General Electric Company | Monitoring parking rule violations |
| TWI615815B (en) * | 2017-03-03 | 2018-02-21 | 群光電能科技股份有限公司 | Cloud based transregional license-plate-recognizing system |
| CN107944352A (en) * | 2017-11-09 | 2018-04-20 | 石数字技术成都有限公司 | A kind of Vehicle License Plate Recognition System and method based on picture retrieval method |
| CN108205928A (en) * | 2018-01-01 | 2018-06-26 | 智慧互通科技有限公司 | Apparatus system and method based on the parking of image, electronic license plate and sensor management |
-
2018
- 2018-10-31 CN CN201811290438.2A patent/CN111125271B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003217080A (en) * | 2002-01-24 | 2003-07-31 | Mitsubishi Heavy Ind Ltd | Parking vehicle specifying system |
| WO2014072971A1 (en) * | 2012-11-06 | 2014-05-15 | Givon Assaf | Method of determining a license plate of a vehicle tracked by a surveillance system |
| WO2016168555A1 (en) * | 2015-04-17 | 2016-10-20 | General Electric Company | Monitoring parking rule violations |
| CN105844959A (en) * | 2016-06-13 | 2016-08-10 | 北京精英智通科技股份有限公司 | Method for determining entering of vehicles to parking spaces, device, method for determining exiting of vehicles from parking spaces, and device |
| TWI615815B (en) * | 2017-03-03 | 2018-02-21 | 群光電能科技股份有限公司 | Cloud based transregional license-plate-recognizing system |
| CN107944352A (en) * | 2017-11-09 | 2018-04-20 | 石数字技术成都有限公司 | A kind of Vehicle License Plate Recognition System and method based on picture retrieval method |
| CN108205928A (en) * | 2018-01-01 | 2018-06-26 | 智慧互通科技有限公司 | Apparatus system and method based on the parking of image, electronic license plate and sensor management |
Non-Patent Citations (1)
| Title |
|---|
| 杨德亮等: "基于车牌照模型的大地坐标系下车辆精确定位", 《清华大学学报》, pages 1566 - 1572 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111753716A (en) * | 2020-06-23 | 2020-10-09 | 中国联合网络通信集团有限公司 | Parking line pressing detection method and server |
| CN111753716B (en) * | 2020-06-23 | 2023-11-24 | 中国联合网络通信集团有限公司 | Parking line pressing detection method and server |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111125271B (en) | 2024-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111179152B (en) | Road identification recognition method and device, medium and terminal | |
| US9245188B2 (en) | Lane detection system and method | |
| CN107392139B (en) | Lane line detection method based on Hough transform and terminal equipment | |
| JP3426060B2 (en) | Face image processing device | |
| KR101605514B1 (en) | Apparatus and method for recognizing lane | |
| CN110390306B (en) | Method for detecting right-angle parking space, vehicle and computer readable storage medium | |
| CN110502983B (en) | Method and device for detecting obstacles in expressway and computer equipment | |
| CN111932537B (en) | Object deformation detection method and device, computer equipment and storage medium | |
| US7561721B2 (en) | System and method for range measurement of a preceding vehicle | |
| KR20210078530A (en) | Lane property detection method, device, electronic device and readable storage medium | |
| CN106650567B (en) | Safety belt detection method and device | |
| CN105678287B (en) | A kind of method for detecting lane lines based on ridge measurement | |
| CN112598922B (en) | Parking space detection method, device, equipment and storage medium | |
| CN110991215B (en) | Lane line detection method and device, storage medium and electronic equipment | |
| CN111681285B (en) | Calibration method, calibration device, electronic equipment and storage medium | |
| CN108197590B (en) | Pavement detection method, device, terminal and storage medium | |
| KR101483742B1 (en) | Lane Detection method for Advanced Vehicle | |
| CN110991264A (en) | Front vehicle detection method and device | |
| CN111125271A (en) | Vehicle position judgment method and device and computer readable storage medium | |
| CN108268866B (en) | Vehicle detection method and system | |
| CN115713557A (en) | Method, device and equipment for detecting obstacles in traffic scene and storage medium | |
| CN108629226B (en) | Vehicle detection method and system based on image layering technology | |
| JP2020098389A (en) | Road sign recognition device and program thereof | |
| CN109886120B (en) | Zebra crossing detection method and system | |
| KR20180071552A (en) | Lane Detection Method and System for Camera-based Road Curvature Estimation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |