CN111739338A - Parking management method and system based on multiple types of sensors - Google Patents
Parking management method and system based on multiple types of sensors Download PDFInfo
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- CN111739338A CN111739338A CN202010562450.5A CN202010562450A CN111739338A CN 111739338 A CN111739338 A CN 111739338A CN 202010562450 A CN202010562450 A CN 202010562450A CN 111739338 A CN111739338 A CN 111739338A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/147—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is within an open public zone, e.g. city centre
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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Abstract
The invention discloses a parking management method and a system based on a plurality of types of sensors, which relate to the field of intelligent parking management, and the method comprises the following steps: acquiring radar data of a target area acquired by a millimeter wave radar and point cloud data of the target area acquired by a laser radar; judging whether a vehicle target exists in the target area or not according to the radar data and the point cloud data of the target area and acquiring target information; if the vehicle exists, vehicle parking information of the vehicle is acquired according to the target information and the image data of the target area acquired by the camera; and parking management is carried out on the vehicle according to the vehicle parking information. Whether vehicles exist in the target area or not is comprehensively judged by using the millimeter wave radar and the laser radar, the vehicle target information is obtained, and the vehicle parking information is further obtained by fusing the image data of the target area acquired by the camera, so that the accuracy and precision of parking management are improved. The invention is suitable for the field of parking management.
Description
Technical Field
The invention relates to the field of intelligent parking management, in particular to a parking management method and system based on multiple types of sensors.
Background
Today of economic rapid development, people's standard of living and income constantly improve, and city motor vehicle reserves also increases rapidly, but follows thereupon, and city parking stall breach also constantly enlarges, can't satisfy huge parking demand far away, and the contradiction between parking stall and parking demand is sharp-pointed day by day. Especially, on two sides of an urban road, due to scarcity of roadside parking spaces and thin traffic safety awareness of motor vehicle drivers, urban roadside parking and roadside illegal parking become one of aeipathia of urban management, so that problems of traffic jam, disordered parking, disorder parking and the like seriously restrict green and rapid development of a city, seriously affect city appearance and living environment of residents, and have reached an irresistible degree on treatment of urban roadside parking and roadside illegal parking.
In roadside parking management, an image monitoring device is generally used to monitor a target parking area, and then a target detection and recognition algorithm is used to determine a target vehicle, so as to perform parking management on the vehicle. However, the visual information shot by the camera is easily interfered by the environment, and the strong light, the fog, the rain and the snow and the like can not accurately obtain the target characteristics of the vehicle in the video image, so that the parking management precision is low. Thus, other sensors are often introduced to assist in parking management, such as millimeter wave radar, lidar, and the like. If the millimeter wave radar is used for monitoring the vehicles in the target area, although the environment interference resistance is strong, the erroneous judgment is easy to occur on the recognition of the vehicle target; and if the laser radar is used, although the point cloud data of the monitoring area can be obtained, the capability of acquiring key identity information of the vehicle is still lacked.
Disclosure of Invention
In order to solve the technical problems, the invention provides a parking management method and system based on multiple types of sensors, which can solve the problems of low accuracy and precision of parking management.
In order to achieve the above object, the present invention provides a parking management method based on multiple types of sensors, the method comprising:
acquiring radar data of a target area acquired by a millimeter wave radar and point cloud data of the target area acquired by a laser radar;
judging whether a vehicle target exists in the target area or not according to the radar data of the target area and the point cloud data of the target area and acquiring target information;
if the target area has the vehicle, acquiring vehicle parking information of the vehicle according to the target information and the image data of the target area acquired by the camera;
and parking management is carried out on the vehicle according to the vehicle parking information.
Further, the step of judging whether a vehicle target exists in the target area according to the radar data of the target area and the point cloud data of the target area comprises the following steps:
if the vehicle targets exist in the target area according to the radar data of the target area and the point cloud data of the target area, judging whether the targets identified by the millimeter wave radar and the laser radar are the same;
and if the target areas are the same, confirming that the vehicles exist in the target areas.
Further, the step of judging whether the target identified by the millimeter wave radar and the target identified by the laser radar are the same target includes;
similarity judgment is carried out on the vehicle targets identified by the two radars according to a preset rule;
and if the similarity of the targets identified by the two radars meets the preset condition, determining that the two radars are the same target.
Further, the step of judging whether a vehicle target exists in the target area according to the radar data of the target area and the point cloud data of the target area comprises the following steps:
if the target area is identified to have a target according to the radar data of the target area and the point cloud data of the target area does not identify the target in the target area, acquiring image data of the target area acquired by a camera;
and confirming whether the vehicle exists in the target area or not according to the image data of the target area.
Further, the step of judging whether a vehicle target exists in the target area according to the radar data of the target area and the point cloud data of the target area comprises the following steps:
if the target area is identified to have a target according to the radar data of the target area and the point cloud data of the target area does not identify the target in the target area, acquiring image data of the target area acquired by a camera;
and confirming whether the vehicle exists in the target area or not according to the image data of the target area.
Further, the present invention provides a parking management system based on multiple types of sensors, the system comprising:
the millimeter wave radar is used for acquiring radar data of the target area;
the laser radar is used for acquiring point cloud data of a target area;
the camera is used for acquiring image data of a target area;
the processor is used for judging whether a vehicle target exists in the target area or not according to the radar data of the target area and the point cloud data of the target area and acquiring target information; if the target area has the vehicle, acquiring vehicle parking information of the vehicle according to the target information and the image data of the target area acquired by the camera; and parking management is carried out on the vehicle according to the vehicle parking information.
Further, the processor is specifically configured to determine whether the target identified by the millimeter wave radar and the target identified by the laser radar are the same target if it is determined that the target area has the vehicle target according to both the radar data of the target area and the point cloud data of the target area; and if the target areas are the same, confirming that the vehicles exist in the target areas.
Further, the processor is specifically configured to perform similarity judgment on the two radar-identified targets according to a preset rule; and if the similarity of the targets identified by the two radars meets the preset condition, determining that the two radars are the same target.
Further, the processor is specifically configured to acquire image data of the target area acquired by the camera if the target area is identified according to the radar data of the target area and the target area is not identified by the point cloud data of the target area; and confirming whether the vehicle exists in the target area or not according to the image data of the target area.
Further, the processor is specifically configured to acquire image data of a target area acquired by a camera if the target area is not identified according to radar data of the target area and the target area is identified according to point cloud data of the target area; and confirming whether the vehicle exists in the target area or not according to the image data of the target area.
According to the parking management method and system based on the multi-type sensor, whether a vehicle exists in a target area or not is judged comprehensively by utilizing radar data acquired by a millimeter wave radar and point cloud data acquired by a laser radar, vehicle target information is acquired, image data of the target area acquired by a camera is further fused, and vehicle parking information of the vehicle is acquired. Thereby realized obtaining data and synthesize the parking management who carries out the vehicle through multiple sensor, and then can avoid carrying out parking management through single sensor and exist receive the environmental impact great, data acquisition not accurate enough problem, consequently promoted the accuracy and the accuracy of parking management.
Drawings
FIG. 1 is a flow chart of a multi-type sensor-based parking management method provided by the present invention;
fig. 2 is a schematic diagram of a multi-type sensor-based parking management system provided by the invention.
Detailed Description
The structure and implementation of the device of the present invention are further described in detail below with reference to the accompanying drawings and examples.
The invention provides a parking management method based on multiple types of sensors, which specifically comprises the following steps as shown in figure 1:
101. and acquiring radar data of a target area acquired by the millimeter wave radar and point cloud data of the target area acquired by the laser radar.
The target area may be an area requiring parking management, such as a roadside parking lot, a parking space area of a closed parking lot, an import/export area, and the like, the point cloud data of the target area specifically includes data such as pose information, speed information, and contour information of a vehicle in the target area, the radar data of the target area includes data such as pose information and speed information of a vehicle in the target area, and the image data of the target area specifically includes data such as pose, contour, license plate number, and vehicle color of a vehicle target.
It should be noted that, the spatial coordinates of each radar and camera need to be matched and fused, and calibration and coordinate system conversion are performed on a plurality of radars and cameras, so that the radars and cameras are located in the same reference system and have the same spatial information description on the same target. And then, the acquisition time is synchronized, so that the timestamps of a plurality of radars and cameras are consistent when data are acquired at unit time. Thereby achieving spatiotemporal fusion of the multi-sensor data.
102. And judging whether a vehicle target exists in the target area or not according to the radar data of the target area and the point cloud data of the target area, and acquiring the target information.
For the embodiment of the present invention, step 102 may specifically include: if the vehicle targets exist in the target area according to the radar data of the target area and the point cloud data of the target area, judging whether the targets identified by the millimeter wave radar and the laser radar are the same; and if the target areas are the same, confirming that the vehicles exist in the target areas.
The step of judging whether the target identified by the millimeter wave radar and the target identified by the laser radar are the same target comprises the following steps of; judging the similarity of the two targets identified by the two radars according to a preset rule; and if the similarity of the targets identified by the two radars meets the preset condition, determining that the two radars are the same target. For example, the vehicle similarity judgment can be carried out on the targets identified by the two radars through the dimensions of target pose, speed, contour and the like.
Further, step 102 may specifically be: if the target area is identified to have the target according to the millimeter wave radar and the target area is not identified to have the target according to the laser radar, acquiring image data of the target area acquired by a camera; and confirming whether the vehicle exists in the target area or not according to the image data of the target area.
For example, if no vehicle target is collected by the laser radar in a plurality of continuous time collection periods, but a suspected target is collected by the millimeter wave radar, it may be determined that information about the suspected target exists in the target area, and then it is determined whether the target is a vehicle target by combining image data of the target area collected by the camera. The situation may occur that the vehicle is a dark vehicle, and the detection capability of the laser radar on a dark target is reduced; and the false alarm of the millimeter wave radar can be caused by the non-vehicle target, so that whether the target is the vehicle target or not can be clearly judged by further combining the image data.
Further, step 102 may specifically be: if the target area has the target according to the millimeter wave radar and the target area has the target according to the laser radar, acquiring image data of the target area acquired by a camera; and confirming whether the vehicle exists in the target area or not according to the image data of the target area.
For example, if the laser radar detects a stationary vehicle target but the millimeter wave radar does not acquire a suspected target in a plurality of continuous time acquisition periods, it may be determined that the suspected target information exists in the target area, and then it is determined comprehensively by combining the image data of the target area acquired by the camera whether the target is a vehicle target. This situation may occur when the vehicle is a stationary target and the detection rate of the stationary target by the millimeter wave radar is not good.
For the embodiment of the present invention, step 102 may further include: preprocessing the point cloud data of the target area, such as sampling, dividing, clustering and the like; finally, obtaining the pose, the outline and other information of the vehicle target; at this time, the step of judging whether the vehicle target exists in the target area according to the point cloud data of the target area comprises the following steps: and judging whether a vehicle target exists in the target area according to the preprocessed point cloud data.
103. And if the target area has the vehicle, acquiring vehicle parking information of the vehicle according to the target information and the image data of the target area acquired by the camera.
Specifically, image data of a target area is collected through a camera, and specifically the image data comprises data such as the pose, the outline, the license plate number and the color of a vehicle target; and acquiring vehicle parking information of the vehicle through Kalman filtering by combining radar data and point cloud data acquired by a millimeter wave radar and a laser radar, wherein the vehicle information comprises vehicle pose, speed, license plate number, vehicle color and the like.
104. And parking management is carried out on the vehicle according to the vehicle parking information.
According to the parking management method based on the multi-type sensor, whether a vehicle exists in a target area or not is judged comprehensively by utilizing radar data acquired by a millimeter wave radar and point cloud data acquired by a laser radar, vehicle target information is acquired, image data of the target area acquired by a camera is further fused, and vehicle parking information of the vehicle is acquired. Thereby realized obtaining data and synthesize the parking management who carries out the vehicle through multiple sensor, and then can avoid carrying out parking management through single sensor and exist receive the environmental impact great, data acquisition not accurate enough problem, consequently promoted the accuracy and the accuracy of parking management.
As a specific implementation manner of the method shown in fig. 1, an embodiment of the present invention provides a parking management system based on multiple types of sensors, and as shown in fig. 2, the system includes: a millimeter wave radar 21, a laser radar 22, a camera 23, and a processor 24; it should be noted that, the spatial coordinates of each radar and camera need to be matched and fused, and calibration and coordinate system conversion are performed on a plurality of radars and cameras, so that the radars and cameras are located in the same reference system and have the same spatial information description on the same target. And then, the acquisition time is synchronized, so that the timestamps of a plurality of radars and cameras are consistent when data are acquired at unit time. Thereby achieving spatiotemporal fusion of the multi-sensor data.
The millimeter wave radar 21 is configured to collect radar data of a target area, where the radar data of the target area may be pose information, speed information, and other data of a vehicle, and the target area may be an area that needs to be subjected to parking management, such as a roadside parking lot, a parking space area of a closed parking lot, an import/export area, and the like.
The laser radar 22 is configured to acquire point cloud data of a target area, where the point cloud data of the target area may specifically include pose information, speed information, and contour information of a vehicle in the target area;
the camera 23 is configured to acquire image data of a target area, where the image data of the target area specifically includes data of a pose, an outline, a license plate number, a vehicle color, and the like of a vehicle target;
the processor 24 is used for judging whether a vehicle target exists in the target area according to the radar data of the target area and the point cloud data of the target area and acquiring target information; if the target area has the vehicle, acquiring vehicle parking information of the vehicle according to the target information and the image data of the target area acquired by the camera; and parking management is carried out on the vehicle according to the vehicle parking information.
Specifically, the processor 24 is configured to determine whether a vehicle target exists in a target area according to radar data of the target area and point cloud data of the target area, and acquire pose information, speed information, contour information, and the like of the vehicle target; if the target area has the vehicle, fusing radar data and point cloud data with image data of the target area acquired by a camera, and acquiring vehicle parking information of the vehicle through Kalman filtering, wherein the vehicle information comprises vehicle pose, speed, license plate number and the like; and parking management is carried out on the vehicle according to the vehicle information.
Further, the processor 24 is specifically configured to determine whether the target identified by the millimeter wave radar and the target identified by the laser radar are the same target if it is determined that the target area has the vehicle target according to both the radar data of the target area and the point cloud data of the target area; and if the target areas are the same, confirming that the vehicles exist in the target areas.
For example, if both the millimeter wave radar and the laser radar recognize a target, in this case, a filter such as a kalman filter is usually used to determine the similarity between the targets recognized by the two radars, and if it is determined that the targets recognized by the two radars are the same target, it is determined that a vehicle exists in the area.
Further, the processor 24 is specifically configured to perform similarity judgment on the two targets identified by the radar according to a preset rule; and if the similarity of the targets identified by the two radars meets the preset condition, determining that the two radars are the same target. For example, the vehicle similarity judgment can be carried out on the targets identified by the two radars through the dimensions of target pose, speed, contour and the like.
Further, the processor 24 is specifically configured to acquire image data of the target area acquired by a camera if the target area is identified according to the millimeter wave radar and the target area is not identified according to the laser radar; and confirming whether the vehicle exists in the target area or not according to the image data of the target area.
For example, if no vehicle target is collected by the laser radar in a plurality of continuous time collection periods, but a suspected target is collected by the millimeter wave radar, it may be determined that information about the suspected target exists in the target area, and then it is determined whether the target is a vehicle target by combining image data of the target area collected by the camera. The situation may occur that the vehicle is a dark vehicle, and the detection capability of the laser radar on a dark target is reduced; and the false alarm of the millimeter wave radar can be caused by the non-vehicle target, so that whether the target is the vehicle target or not can be clearly judged by further combining the image data.
Further, the processor 24 is specifically configured to acquire image data of the target area acquired by the camera if the target area is not identified according to the radar data of the target area and the target area is identified according to the point cloud data of the target area; and confirming whether the vehicle exists in the target area or not according to the image data of the target area.
For example, if the laser radar detects a stationary vehicle target but the millimeter wave radar does not acquire a suspected target in a plurality of continuous time acquisition periods, it may be determined that the suspected target information exists in the target area, and then it is determined comprehensively by combining the image data of the target area acquired by the camera whether the target is a vehicle target. This situation may occur when the vehicle is a stationary target and the detection rate of the stationary target by the millimeter wave radar is not good.
Further, the system may further include: the preprocessing module 25 is configured to preprocess the point cloud data of the target region, such as sampling, partitioning, clustering, and the like; finally, obtaining the pose, the outline and other information of the vehicle target; at this time, the step of judging whether the vehicle target exists in the target area according to the point cloud data of the target area comprises the following steps: and judging whether a vehicle target exists in the target area according to the preprocessed point cloud data. At this time, the processor 24 is specifically configured to determine whether a vehicle target exists in the target area according to the preprocessed point cloud data.
According to the parking management system based on the multiple types of sensors, whether vehicles exist in a target area or not is judged comprehensively by utilizing radar data acquired by a millimeter wave radar and point cloud data acquired by a laser radar, vehicle target information is acquired, image data of the target area acquired by a camera is further fused, and vehicle parking information of the vehicles is acquired. Thereby realized obtaining data and synthesize the parking management who carries out the vehicle through multiple sensor, and then can avoid carrying out parking management through single sensor and exist receive the environmental impact great, data acquisition not accurate enough problem, consequently promoted the accuracy and the accuracy of parking management.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The various illustrative logical blocks, or elements, described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, a storage medium may be coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may be located in a user terminal. In the alternative, the processor and the storage medium may reside in different components in a user terminal.
In one or more exemplary designs, the functions described above in connection with the embodiments of the invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media that facilitate transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store program code in the form of instructions or data structures and which can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Additionally, any connection is properly termed a computer-readable medium, and, thus, is included if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wirelessly, e.g., infrared, radio, and microwave. Such discs (disk) and disks (disc) include compact disks, laser disks, optical disks, DVDs, floppy disks and blu-ray disks where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included in the computer-readable medium.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A parking management method based on multiple types of sensors is characterized by comprising the following steps:
acquiring radar data of a target area acquired by a millimeter wave radar and point cloud data of the target area acquired by a laser radar;
judging whether a vehicle target exists in the target area or not according to the radar data of the target area and the point cloud data of the target area and acquiring target information;
if the target area has the vehicle, acquiring vehicle parking information of the vehicle according to the target information and the image data of the target area acquired by the camera;
and parking management is carried out on the vehicle according to the vehicle parking information.
2. The multi-type sensor-based parking management method according to claim 1, wherein the step of determining whether the target area has the vehicle target according to the radar data of the target area and the point cloud data of the target area comprises:
if the vehicle target exists in the target area according to the radar data of the target area and the point cloud data of the target area, judging whether the target identified by the millimeter wave radar and the target identified by the laser radar are the same target;
and if the target areas are the same, confirming that the vehicles exist in the target areas.
3. The multi-type sensor-based parking management method according to claim 2, wherein the step of determining whether the target identified by the millimeter wave radar and the target identified by the laser radar are the same target comprises;
similarity judgment is carried out on the vehicle targets identified by the two radars according to a preset rule;
and if the similarity of the targets identified by the two radars meets the preset condition, determining that the two radars are the same target.
4. The multi-type sensor-based parking management method according to claim 1, wherein the step of determining whether the target area has the vehicle target according to the radar data of the target area and the point cloud data of the target area comprises:
if the target area is identified to have a target according to the radar data of the target area and the point cloud data of the target area does not identify the target in the target area, acquiring image data of the target area acquired by a camera;
and confirming whether the vehicle exists in the target area or not according to the image data of the target area.
5. The multi-type sensor-based parking management method according to claim 1, wherein the step of determining whether the target area has the vehicle target according to the radar data of the target area and the point cloud data of the target area comprises:
if the target area has the target according to the radar data of the target area and the target area has the target according to the point cloud data of the target area, acquiring image data of the target area acquired by a camera;
and confirming whether the vehicle exists in the target area or not according to the image data of the target area.
6. A multi-type sensor based parking management system, the system comprising:
the millimeter wave radar is used for acquiring radar data of the target area;
the laser radar is used for acquiring point cloud data of a target area;
the camera is used for acquiring image data of a target area;
the processor is used for judging whether a vehicle target exists in the target area or not according to the radar data of the target area and the point cloud data of the target area and acquiring target information; if the target area has the vehicle, acquiring vehicle parking information of the vehicle according to the target information and the image data of the target area acquired by the camera; and parking management is carried out on the vehicle according to the vehicle parking information.
7. The multi-type sensor-based parking management system of claim 6,
the processor is specifically configured to determine whether the target identified by the millimeter wave radar and the target identified by the laser radar are the same target if it is determined that the target area has the vehicle target according to both the radar data of the target area and the point cloud data of the target area; and if the target areas are the same, confirming that the vehicles exist in the target areas.
8. The multi-type sensor-based parking management system of claim 7,
the processor is specifically used for carrying out similarity judgment on the two targets identified by the radar through a preset rule; and if the similarity of the targets identified by the two radars meets the preset condition, determining that the two radars are the same target.
9. The multi-type sensor-based parking management system of claim 6,
the processor is specifically configured to acquire image data of a target area acquired by a camera if the target area is identified according to radar data of the target area and the target area is not identified according to point cloud data of the target area; and confirming whether the vehicle exists in the target area or not according to the image data of the target area.
10. The multi-type sensor-based parking management method according to claim 6,
the processor is specifically configured to acquire image data of a target area acquired by a camera if the target area is not identified according to radar data of the target area and the target area is identified according to point cloud data of the target area; and confirming whether the vehicle exists in the target area or not according to the image data of the target area.
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| CN202010338832 | 2020-05-07 | ||
| CN202010338832X | 2020-05-07 |
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| CN202010562450.5A Pending CN111739338A (en) | 2020-05-07 | 2020-06-18 | Parking management method and system based on multiple types of sensors |
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| CN112906536A (en) * | 2021-02-08 | 2021-06-04 | 爱泊车美好科技有限公司 | Parking lot abnormity recognition system based on vehicle owner gesture |
| CN114495512A (en) * | 2021-12-24 | 2022-05-13 | 武汉万集光电技术有限公司 | Vehicle information detection method and system, electronic device and readable storage medium |
| CN114863695A (en) * | 2022-05-30 | 2022-08-05 | 中邮建技术有限公司 | Overproof vehicle detection system and method based on vehicle-mounted laser and camera |
| WO2024001356A1 (en) * | 2022-06-30 | 2024-01-04 | 比亚迪股份有限公司 | Vehicle detection method, and controller, program and storage medium |
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