CN111125271B - Vehicle position judging method, device and computer readable storage medium - Google Patents
Vehicle position judging method, device and computer readable storage medium Download PDFInfo
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- CN111125271B CN111125271B CN201811290438.2A CN201811290438A CN111125271B CN 111125271 B CN111125271 B CN 111125271B CN 201811290438 A CN201811290438 A CN 201811290438A CN 111125271 B CN111125271 B CN 111125271B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000003860 storage Methods 0.000 title claims abstract description 12
- 238000004590 computer program Methods 0.000 claims description 5
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 5
- 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 5
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 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
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- 230000003993 interaction Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
Abstract
The embodiment of the invention provides a vehicle position judging method, a vehicle position judging 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 landing point based on the acquired input image, acquire and determine a parking space area based on the input image, and then judge the position relationship between a vehicle and a parking space according to the first position coordinate and the parking space area; the first position coordinates of the license plate landing point are utilized, namely the spatial positions of the license plates are combined to judge the position relation between the vehicle and the parking space, so that the parking condition of the vehicle on the parking space can be judged more effectively; meanwhile, other equipment is not needed, so that the cost of the parking lot is saved, and the installation simplicity is reduced.
Description
Technical Field
The present invention relates to the field of target detection technologies, and in particular, to a vehicle position determination method, a vehicle position determination device, and a computer readable storage medium.
Background
With the increasing number of vehicles, management problems for vehicles are increasingly prominent. In order to realize order management of vehicles, the construction of road parking facilities requires making a certain evaluation judgment on the parking positions of vehicles, and sometimes requires determining the positions of vehicles in actual space while detecting the vehicles.
In the prior art, geomagnetic equipment is arranged on a parking space, the magnetic field intensities detected by a first magnetic sensor and a second magnetic sensor in the geomagnetic equipment on the parking space are received at the same moment, then the magnetic field intensity difference value of the first magnetic sensor and the second magnetic sensor is compared with a preset first magnetic field intensity threshold value, and the occupation condition of the parking space is determined according to a comparison result; however, the geomagnetic equipment is required to be installed in each parking space, so that the cost of products is increased, the difficulty of installation is increased, and the simplicity of equipment installation is not facilitated; meanwhile, the position of the vehicle cannot be accurately judged because the detection is only carried out according to the geomagnetic signal intensity.
Disclosure of Invention
In view of the above, it is an object of the present invention to provide a vehicle position determining method, device and computer readable storage medium, which solve the above problems.
In order to achieve the above object, the technical scheme adopted by the embodiment of the invention is as follows:
In a first aspect, an embodiment of the present invention provides a vehicle position determination method, including:
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 determining unit is used for acquiring a first position coordinate of a 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, an embodiment of the present invention further provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described vehicle position determination method.
The vehicle position judging method, the vehicle position judging device and the computer readable storage medium provided by the embodiment of the invention acquire a first position coordinate of a license plate landing point based on the acquired input image, acquire and determine a parking space area based on the input image, and then judge the position relationship between a vehicle and a parking space according to the first position coordinate and the parking space area; the first position coordinates of the license plate landing point are utilized, namely the spatial positions of the license plates are combined to judge the position relation between the vehicle and the parking space, so that the parking condition of the vehicle on the parking space can be judged more effectively; meanwhile, other equipment is not needed, so that the cost of the parking lot is saved, and the installation simplicity is reduced.
In order to make the above objects, features and advantages of the present invention more 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 that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a block schematic diagram of a server to which an embodiment of the present invention is applicable.
Fig. 2 shows a flowchart of a vehicle position determination method provided by an embodiment of the present invention.
Fig. 3 shows a specific flowchart of step S201 in fig. 2.
Fig. 4 shows a specific flowchart of step S202 in fig. 2.
Fig. 5 shows a schematic diagram of the distribution of the parking space areas.
Fig. 6 shows a specific flowchart of step S203 in fig. 2.
Fig. 7 shows a schematic view of the position area division of the parking space area.
Fig. 8 shows a specific flowchart of step S2036 in fig. 6.
Fig. 9 shows a functional block diagram of the vehicle position determination device.
Icon: 100-server; 111-memory; 112-a processor; 113-a communication unit; 200-vehicle position judgment means; 210-a position coordinate determination unit; 220-a parking space area determining unit; 230-a positional relationship determination unit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The components of the 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 invention, as 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 made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
It is noted that relational terms such as "first" and "second", and the like, are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Referring to fig. 1, a block diagram of a server 100 according to an embodiment of the invention is shown. 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, so as 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 apparatus 200 includes at least one software function module that may be stored in the memory 111 in the form of software or Firmware (Firmware) or cured in an Operating System (OS) of the server 100. The processor 112 is configured to execute executable modules stored in the memory 111, such as software functional modules and computer programs included in the vehicle position determination device 200.
The Memory 111 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. Wherein the memory 111 is used for storing programs or data. The communication unit 113 is configured to establish a communication connection between the server 100 and other communication terminals through the network, and is configured to transmit and receive data through the network.
It should be understood that the architecture shown in fig. 1 is merely a schematic diagram of the architecture of the server 100, and that the server 100 may also include more or fewer components than shown in fig. 1, or have a different configuration than 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. Referring to fig. 2, a flowchart of a vehicle position determining method according to an embodiment of the invention is shown. The vehicle position judging method comprises the following steps:
step S201: and acquiring a first position coordinate of the license plate landing point based on the acquired input image.
The input image is captured by a camera provided at the parking space, and 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 alternative embodiment, the landing point of the license plate can also be the projection of any other point on the license plate on the road surface.
The position coordinates in the embodiment of the present invention are all coordinates determined by using the vertex of the upper left corner of the input image as the origin, the vertical edge of the input image as the y-axis, and the horizontal edge 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 specific flowchart of step S201. The step S201 includes:
Sub-step S2011: and acquiring second position coordinates, pixel values and inclination angles of the license plate based on the input image.
Specifically, in the substep S2011, the license plate position in the vehicle image, that is, the position of the license plate, needs to be determined by using a preset license plate positioning algorithm.
For example, the license plate location algorithm includes: the input image is compressed, RGB color image gray scale conversion is carried out on the compressed vehicle image to be a gray scale image, the gray scale image is stretched, local enhancement is carried out on the gray scale image so as to highlight the license plate position, and then vehicle image binarization processing and edge detection are carried out, so that the license plate position in the input image is determined.
After the license plate position is determined, the position coordinates and the inclination angle of the attached characters on the license plate can be determined by utilizing a character correction algorithm, so that the second position coordinates of the license plate and the inclination angle of the shooting input image relative to the license plate are determined.
For example, in the case where the license plate position has been determined, the character may be cut, then character recognition may be performed using the result of the cutting, and after the character is successfully recognized, the position information and the inclination angle of the character may be determined.
It can be understood that the laminating character is character information on the license plate, such as 'Zhejiang A1B 234'. The second position coordinate is the position information of the attached character in the input image, and the inclination angle is the included angle formed by the attached character and the x axis.
Meanwhile, on the basis of successfully identifying the character, the pixel value of the character can be obtained. The pixel value is the number of pixel points contained in the character. It should be noted that, the above example is to implement positioning of the license plate by using a conventional image processing method, but in another preferred embodiment, positioning of the license plate may also be implemented by using a deep learning frame training method.
Sub-step S2012: and determining the ordinate of the license plate landing point according to the pixel value, the inclination angle, the prestored camera mounting height and the prestored license plate height.
Firstly, calculating a distance value from a place where a license plate falls to a blanking line, namely a first distance.
Since the distance value of the vanishing line satisfies the equation: Wherein s is a first distance, b is a pixel value, alpha is an inclination angle, H is a prestored camera mounting height, and H is a prestored license plate actual height, namely the actual height of the license plate relative to the ground.
Thus, a first distance
And then, calculating the ordinate of the license plate landing point according to the first distance and the ordinate of the intersection point formed by the straight line which passes through the license plate landing point and is perpendicular to the blanking line and the blanking line.
It can be understood that the coordinates of the contour points of the parking space can be obtained through an image recognition algorithm, then an equation of a vanishing line is determined based on the coordinates of the contour points of the parking space, under the condition that the distance between the landing point of the license plate and the blanking line is known to be a first distance, the ordinate of an intersection point formed by a straight line which passes through the landing point of the license plate and is vertical to the blanking line and the vanishing line can be calculated, and then the ordinate of the intersection point is added with the first distance to obtain the ordinate of the landing point of the license plate.
Sub-step S2013: and determining the abscissa of the license plate landing point according to the second position coordinates.
The license plate landing point is the 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.
The abscissa and the ordinate of the license plate landing place are determined, namely the first position coordinate of the license plate landing place is determined.
Step S202: and determining the parking space area based on the input image acquisition.
Referring to fig. 4, a specific flowchart of step S202 is shown. The step S202 includes:
substep S2021: and acquiring a plurality of parking space contour point coordinates based on the input image.
It should be noted that, the coordinates of the contour point of the parking space are the coordinates 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 intersection points of two adjacent side lines of the parking space contour, namely, vertex coordinates of the parking space.
It can be appreciated that a plurality of parking space contour point coordinates can be obtained through an image processing method.
Substep S2022: and determining the parking space area based on the plurality of parking space contour point coordinates.
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 set formed by all the side lines is an equation capable of representing the parking space area.
Step S203: and judging the position relationship between the vehicle and the parking space according to the first position coordinates and the parking space area.
In an alternative embodiment, whether the first position coordinate is in the parking space area can be directly judged, if so, the license plate landing point is indicated to be in the parking space, and therefore the vehicle is determined to be in the parking space; if not, indicating that the license plate falls outside the parking space, thereby determining that the vehicle is outside the parking space.
In another alternative embodiment, to more accurately determine the position relationship between the vehicle and the parking space, the parking space area is divided into an inner boundary area and a boundary area, and the position relationship between the vehicle and the parking space is determined by determining the position relationship between the first position coordinate and the inner boundary area and the boundary area. The boundary area is an area with smaller area formed by a straight line with a preset distance value from the side line of the parking space and the parking space area; typically, the preset distance value should be less than or equal to 1/3 of the edge length.
Correspondingly, the in-boundary area is all other areas except the boundary area in the parking space area. For example, referring to fig. 5, a hatched portion is a boundary region, and a blank portion is an in-boundary region.
Please refer to fig. 6, which is a flowchart of step S203. The step S203 includes:
Substep S2031: judging whether the first position coordinates belong to an in-boundary region, if so, executing a substep S2032; if not, sub-step S2033 is performed.
Substep S2032: and determining that the vehicle is in the parking space.
When the first position coordinate belongs to the in-boundary area, the license plate landing place is indicated to be in the parking space, and therefore the vehicle is determined to be in the parking space.
Substep S2033: judging whether the first position coordinates belong to a boundary area, if not, executing a substep S2034; if so, sub-step S2035 is performed.
When the first position coordinate does not belong to the boundary region, whether the first position coordinate belongs to the boundary region is further judged.
Sub-step S2034: and determining that the vehicle is outside the parking space.
When the first position coordinate does not belong to the parking space area, the license plate landing place is indicated to be outside the parking space, and therefore the fact that the vehicle is outside the parking space is determined.
Sub-step S2035: the input image is subjected to category segmentation to acquire a vehicle image.
When the first position coordinates belong to the boundary area, the license plate landing point is indicated to be relatively close to the edge of the parking space, and when the vehicle is continuously considered to be parked in the parking space, larger errors possibly exist, so that the vehicle image is further acquired, and the distribution condition of the vehicle image in the parking space is further analyzed.
The vehicle image is obtained from the input image, namely, the vehicle image is distinguished from images of road surfaces, backgrounds, non-motor vehicles and the like.
Sub-step S2036: and judging the position relationship 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 first straight line occupies 1/3 of a parking space boundary with a left line segment, the line segment before the second straight line occupies 1/4 of the parking space boundary, and the line segment after the third straight line occupies 1/4 of the parking space boundary. The straight line passing through the point I0 and the point I1 is a first straight line, the straight line passing through the point J0 and the point I2 is a second straight line, and the straight line passing through the point J1 and the point I3 is a third straight line.
It should be noted that in other embodiments, more or fewer straight lines may be provided, so as to divide the parking space area into more or fewer location areas, which is not particularly limited herein. Meanwhile, the proportion of the straight line cutting parking space boundary can be divided according to the requirements of users.
After the parking space dividing proportion is determined, determining intersection points formed by the first straight line, the second straight line and the third straight line and the parking space area respectively according to the principle of invariance of intersection ratio of camera imaging.
Thus, it is provided withAnd the points A, I0, Q and E in the actual parking space area and the parking space area in the picture are respectively the point A ', the point I0', the point Q and the point E, so that the intersection/>, formed by Q, A, I0 and the point E on the first straight line, based on the principle of invariance of intersection of camera imaging
Since the intersection point Q ' of two parallel lines in the stereoscopic space is at infinity, Q ' I0' is approximately equal to Q ' E ', and therefore,
Due to the fact that is presetThus,/>And/>Length of/>The length of (a) can be determined by the region equation and the blanking line equation, i.e. b and c are known, so that the value of a, i.e./>, can be foundTo determine the I0 point coordinates and thereby determine the equation for the first line.
Similarly, the equations for the second and third lines are also calculated according to the method described above. Knowing the equations for the first, second and third lines, a set of equations characterizing the first, second, third, fourth, fifth and sixth location areas can be determined, respectively.
Referring to fig. 8, a specific flowchart of substep S2036 is shown. This substep S2036 includes:
substep S20361: the pixel duty cycle of the vehicle image in each location area is calculated.
In a preferred embodiment, the first, second, third, fourth, fifth and sixth pixel ratios of the vehicle image in the first, second, third, fourth, fifth and sixth position areas are calculated, respectively.
Substep S20362: and judging the position relation between the vehicle and the parking space according to the pixel duty ratio in each position area.
Correspondingly, judging whether the fifth pixel duty ratio is greater than or equal to a preset threshold value, if so, indicating that most of the vehicle body is in a fifth area, wherein 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, judging whether the first pixel duty ratio, the second pixel duty ratio, the third pixel duty ratio, the fourth pixel duty ratio or the sixth pixel duty ratio is larger than or equal to a preset threshold value, so as to determine whether the vehicle is in a line pressing state, if so, indicating that part of areas of the vehicle are in boundary areas of the parking space areas, so as to determine that the vehicle exceeds the parking space, namely, the vehicle presses the side line of the parking space; if not, the first pixel duty ratio, the second pixel duty ratio, the third pixel duty ratio, the fourth pixel duty ratio, the fifth pixel duty ratio and the sixth pixel duty ratio are all smaller than the preset threshold value, which indicates that the vehicle is outside the parking space and is not parked in the parking space.
Second embodiment
Referring to fig. 9, fig. 9 is a functional block diagram of a vehicle position determining apparatus 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 brevity, reference may be made to the corresponding contents of the above embodiment. 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 determining unit is used for acquiring first position coordinates of the license plate landing point based on the acquired input image.
Specifically, the coordinate determining 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 an ordinate of a license plate landing point according to the pixel value, the inclination angle, the prestored camera mounting height, and the prestored license plate height, and then determine an abscissa of the license plate landing point according to the second position coordinate.
It will be appreciated that in a preferred embodiment, the coordinate determination unit may be used to perform step S201, sub-step S2011, sub-step S2012 and sub-step S2013.
The parking space area determination unit 220 is configured to determine a parking space area based on the input image acquisition.
Specifically, the parking space area determining unit 220 is configured to acquire a plurality of parking space contour point coordinates based on the input image, and determine a parking space area based on the plurality of parking space contour point coordinates.
It will be appreciated that in a preferred embodiment, the spot area determination unit 220 is operable 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.
The parking space area includes an inner boundary area and a boundary area. The boundary area is an area with smaller area formed by a straight line with a preset distance value from the side line of the parking space and the parking space area; typically, the preset distance value should be less than or equal to 1/3 of the edge length.
Correspondingly, the in-boundary area is all other areas except the boundary area in the parking space area. For example, referring to fig. 5, a hatched portion is a boundary region, and a blank portion is an in-boundary region.
Specifically, the position relationship determination unit 230 is configured to determine whether the first position coordinate belongs to an in-boundary area, determine that the vehicle is in the parking space when the first position coordinate belongs to the in-boundary area, determine that the vehicle is out of the parking space when the first position coordinate does not belong to the parking space area, and perform category segmentation on the input image to obtain a vehicle image when the first position coordinate belongs to the boundary area, and determine a position relationship between the vehicle and the parking space based on the vehicle image and the parking space area.
The position relationship judging unit 230 is further configured to calculate a pixel duty ratio of the vehicle image in each position area, and judge a position relationship between the vehicle and the parking space according to the pixel duty ratio in each position area.
It will be appreciated that in a preferred embodiment, the positional relationship determination unit 230 may be used to perform 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 device and the computer readable storage medium for determining the vehicle position according to the embodiments of the present invention acquire a first position coordinate of a license plate landing point based on an acquired input image, acquire and determine a parking space area based on the input image, and then determine a position relationship between the vehicle and the parking space according to the first position coordinate and the parking space area; the first position coordinates of the license plate landing point are utilized, namely the spatial positions of the license plates are combined to judge the position relation between the vehicle and the parking space, so that the parking condition of the vehicle on the parking space can be judged more effectively; meanwhile, other equipment is not needed, so that the cost of the parking lot is saved, and the installation simplicity is reduced.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. 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, functional modules in the embodiments of the present invention may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single 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 this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A vehicle position determination method, characterized in that the vehicle position determination method includes:
Acquiring a first position coordinate of a license plate landing point based on the acquired input image; the license plate landing point is the projection of any point on the license plate on the road surface;
the step of obtaining the first position coordinates of the license plate landing point based on the obtained input image comprises the following steps:
acquiring a second position coordinate, a pixel value and an inclination angle of the license plate based on the input image;
Determining the ordinate of the license plate landing point according to the pixel value, the inclination angle, the prestored camera mounting height and the prestored license plate height;
Determining the abscissa of the license plate landing point according to the second position coordinate;
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 vehicle position determination method according to claim 1, wherein the parking space area includes an in-boundary area, and the step of determining the positional relationship between the vehicle and the parking space based on 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 outside the parking space;
And when the first position coordinate belongs to the in-boundary area, determining that the vehicle is in the parking space.
3. The vehicle position determination method according to claim 1, wherein the parking space area includes a boundary area, and the step of determining the positional relationship between the vehicle and the parking space based on the first position coordinates and the parking space area includes:
When the first position coordinates belong to the boundary area, performing category segmentation on the input image to acquire a vehicle image;
and judging the position relationship 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 area includes a plurality of pre-divided position areas, and the step of determining the positional relationship of the vehicle and the parking space based on the vehicle image and the parking space area includes:
Calculating the pixel duty 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 duty ratio in each position area.
5. The vehicle position determination method according to claim 4, wherein the parking 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 according to a first straight line, a second straight line, and a third straight line, wherein the first straight line occupies 1/3 of a parking space boundary with a left line segment, the line segment before the second straight line occupies 1/4 of the parking space boundary, and the line segment after the third straight line occupies 1/4 of the parking space boundary;
the step of calculating the pixel duty ratio of the vehicle image in each of the position areas includes:
Calculating a first pixel duty ratio, a second pixel duty ratio, a third pixel duty ratio, a fourth pixel duty ratio, a fifth pixel duty ratio, and a sixth pixel duty ratio 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, respectively;
The step of judging the position relationship between the vehicle and the parking space according to the pixel occupation ratio in each position area comprises the following steps:
when the fifth pixel duty ratio is greater 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 duty ratio, the second pixel duty ratio, the third pixel duty ratio, the fourth pixel duty ratio or the sixth pixel duty ratio is greater than or equal to a preset threshold;
And when the first pixel duty ratio, the second pixel duty ratio, the third pixel duty ratio, the fourth pixel duty ratio, the fifth pixel duty ratio and the sixth pixel duty ratio are all smaller than the preset threshold value, determining that the vehicle is outside the parking space.
6. The vehicle position determination method according to claim 1, wherein the step of determining the ordinate of the license plate landing place based on the pixel value, the inclination angle, a pre-stored camera mounting height, and a pre-stored license plate height includes:
According to the formula 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, alpha is the inclination angle, H is the pre-stored camera mounting height, and H is the pre-stored license plate height;
and calculating the ordinate of the license plate landing place according to the first distance and the ordinate of the intersection point of the straight line which passes through the license plate landing place and is perpendicular to the blanking line and the blanking line.
7. The vehicle position determination method according to any one of claims 1 to 5, characterized in that the step of determining a parking space area based on the input image acquisition includes:
Acquiring a plurality of parking space contour point coordinates based on the input image;
And determining the parking space area based on the plurality of the parking space contour point coordinates.
8. A vehicle position determination apparatus, characterized by comprising:
the position coordinate determining unit is used for acquiring a first position coordinate of a license plate landing point based on the acquired input image; the license plate landing point is the projection of any point on the license plate on the road surface;
The position coordinate determining unit is further used for acquiring second position coordinates, pixel values and inclination angles of the license plate based on the input image; determining the ordinate of the license plate landing point according to the pixel value, the inclination angle, the prestored camera mounting height and the prestored license plate height; determining the abscissa of the license plate landing point according to the second position coordinate;
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.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the vehicle position determination method according to any one of claims 1 to 7.
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