CN112562097A - Roadside parking management method based on Beidou positioning technology - Google Patents
Roadside parking management method based on Beidou positioning technology Download PDFInfo
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- CN112562097A CN112562097A CN202011392464.3A CN202011392464A CN112562097A CN 112562097 A CN112562097 A CN 112562097A CN 202011392464 A CN202011392464 A CN 202011392464A CN 112562097 A CN112562097 A CN 112562097A
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- 238000007726 management method Methods 0.000 title claims abstract description 94
- 238000005516 engineering process Methods 0.000 title claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
Abstract
The invention discloses a roadside parking management method based on a Beidou positioning technology.A vehicle is provided with an electronic license plate, the electronic license plate is internally provided with a wake-up unit, a Beidou positioning module and a wireless communication module, and a wake-up signal transmitting device is arranged at an entrance of a roadside parking lot; the vehicle is awakened to work when entering a roadside parking lot through the awakening unit, the position of the vehicle is obtained through the Beidou positioning module and is sent to the electronic license plate management platform, whether the vehicle parks in the roadside parking lot is detected, a parking order is generated when the vehicle parks in the roadside parking lot for timing, whether the vehicle leaves the field is monitored, the parking order is finished and a charging order is generated after the vehicle leaves the field, and therefore automatic management charging of roadside parking is achieved.
Description
Technical Field
The invention relates to the field of roadside parking management, in particular to a roadside parking management method based on the Beidou positioning technology.
Background
With the great improvement of the holding capacity of urban motor vehicles, the traditional parking garage can not meet the increasing parking requirements, the parking difficulty is the urban problem which can not be ignored, and the arrangement of parking spaces on the roads of urban non-main roads is an important solution for solving the problem. However, due to the natural openness of road parking, it is difficult to grasp the time of vehicle entering and leaving in time, and it is difficult to accurately charge and collect fees.
At present, high-level video equipment is widely adopted for parking management in urban road parking, but in practical application, the high-level video identification rate is generally low due to complex and changeable urban road environments, and great challenges are brought to parking operation management. The existing high-order video equipment needs to accurately identify the license plate, the entrance time and the exit time of a vehicle, but in practical application, the information of the vehicle is often difficult to accurately acquire due to various reasons such as shielding, angles and the like, a geomagnetic sensor can accurately detect the entrance and exit conditions of the vehicle, but the geomagnetic sensor cannot acquire identity information such as the license plate of the vehicle, a POS machine is usually needed to manually input the license plate, and unmanned management cannot be realized.
Disclosure of Invention
The invention aims to provide a roadside parking management method based on the Beidou positioning technology.
The technical scheme of the invention is as follows:
a roadside parking management method based on the Beidou positioning technology is characterized in that an electronic license plate is arranged on a vehicle, a wake-up unit, a Beidou positioning module and a wireless communication module are arranged in the electronic license plate, and a wake-up signal transmitting device is arranged at an inlet of a roadside parking lot; the roadside parking management method comprises the following steps:
step S1, when a vehicle enters the entrance of the roadside parking lot, the awakening unit of the electronic license plate detects a signal emitted by the awakening signal emitting device, so that the electronic license plate enters a working state from a dormant state, positioning coordinates are obtained, whether the vehicle is located in the roadside parking lot is judged, and the positioning coordinates and the judgment result are uploaded to the electronic license plate management platform;
s2, the electronic license plate management platform matches the positioning coordinates and the detection results with vehicle information, monitors the judgment results uploaded by the electronic license plate, and executes S3 if the judgment results show that the vehicle is located in a roadside parking lot; if the vehicle is outside the roadside parking lot as a result of the determination, executing step S8;
step S3, the electronic license plate management platform judges whether the vehicle is in a parking state, if the vehicle is in the parking state, the step S4 is executed; otherwise, returning to execute the step S2;
step S4, the electronic license plate management platform sends the vehicle information and the parking time when the vehicle starts to be in a parking state to the parking management cloud platform, and the parking management cloud platform generates a parking order to start timing by taking the parking time as a timing starting time;
s5, the electronic license plate management platform monitors the judgment result uploaded by the electronic license plate, and if the judgment result is that the vehicle is located in the roadside parking lot, the electronic license plate management platform returns to continue executing the step S5; otherwise, go to step S6;
s6, the electronic license plate uploads the information that the vehicle leaves the field to the electronic license plate management platform, and then automatically enters a dormant state;
step S7, the electronic license plate management platform sends the information that the vehicle leaves the parking lot to a parking management cloud platform, the parking management cloud platform takes the time when the electronic license plate reports the coordinate information of the vehicle in the roadside parking lot area for the last time as the timing end time of the parking order, the parking order is ended, and a charging order is generated;
and step S8, the electronic license plate management platform finishes monitoring the vehicle.
Furthermore, the working state of the electronic license plate is a timing detection state, in the state, the electronic license plate acquires the positioning coordinates once every first preset time interval, and detects whether the vehicle is located in the roadside parking lot once when the positioning coordinates are acquired every time.
Further, in step S1, the method for determining whether the vehicle is located in the roadside parking lot includes:
arranging a beacon transmitter in a roadside parking lot, arranging a beacon receiving module in an electronic license plate, detecting whether the beacon receiving module of the electronic license plate can receive information sent by the beacon transmitter, and if the information sent by the beacon transmitter can be received, judging that a vehicle is positioned in the roadside parking lot and keeping a working state; if the information sent by the beacon transmitter is not received, entering an off-site detection state, detecting whether the beacon receiving module can receive the information sent by the beacon transmitter once every second preset time, and if the information is continuously detected for a preset number of times, and the detection result is that the information sent by the beacon transmitter is not received by the beacon receiving module, judging that the vehicle is positioned outside the roadside parking lot; otherwise, the vehicle is judged to be positioned in the roadside parking lot and returns to the working state.
Further, the beacon transmitter is a bluetooth beacon device, and the beacon receiving module is a bluetooth receiving module.
Further, at least three bluetooth beacon devices are arranged in the roadside parking lot, in step S3, when the variation amplitude of the intensity of the signal transmitted by each bluetooth beacon device received by the bluetooth receiving module within the preset time is smaller than the preset amplitude threshold value, the electronic license plate determines that the vehicle is in the parking state, and uploads the information that the vehicle is parked to the electronic license plate management platform, and the electronic license plate management platform determines that the vehicle is in the parking state after receiving the information.
Further, an attitude sensor is disposed in the electronic license plate, in step S3, the electronic license plate determines whether the vehicle is in a parking state according to data detected by the attitude sensor, and when the electronic license plate determines that the vehicle is in the parking state, the electronic license plate uploads information that the vehicle is parked to the electronic license plate management platform, and the electronic license plate management platform determines that the vehicle is in the parking state after receiving the information.
Furthermore, the awakening unit comprises an RFID electronic tag, a current detection module and an MCU control module, the awakening signal transmitting device is an electronic tag reader, when the electronic tag reader sends out a radio frequency signal to read information of the electronic tag, the current detection module detects induced current generated when the electronic tag is read, and sends an awakening signal to the MCU control module, and the MCU control module controls the electronic license plate to enter a working state.
Further, in step S7, after receiving the information that the vehicle has left the parking lot, the electronic license plate management platform first detects whether the last location coordinate sent by the electronic license plate is located in the roadside parking lot, and if the last location coordinate is located outside the roadside parking lot, sends the information that the vehicle has left the parking lot to the parking management cloud platform; and if the positioning coordinates are located in the roadside parking lot, the electronic license plate management platform uploads abnormal reminding information containing the vehicle information to the parking management cloud platform, and parking conditions of the vehicle are verified by parking lot management personnel.
Has the advantages that: according to the invention, the license plate awakening device is arranged at the entrance of the roadside parking lot, when a vehicle enters the roadside parking lot, the electronic license plate enters a working state, the positioning coordinate is uploaded, the position of the vehicle is detected, whether the vehicle parks in the roadside parking lot is detected through the Beidou positioning technology, and whether the vehicle leaves the field is detected through a beacon information detection mode after parking, so that automatic management and charging of roadside parking are realized.
Drawings
FIG. 1 is a block diagram of an electronic license plate employed in the present invention;
fig. 2 is a flowchart of a roadside parking management method based on the beidou positioning technology according to a preferred embodiment of the present invention.
Detailed Description
In order to make the technical solutions in the embodiments of the present invention better understood and make the above objects, features and advantages of the embodiments of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the term "connected" is to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, or a communication between two elements, or may be a direct connection or an indirect connection through an intermediate medium, and a specific meaning of the term may be understood by those skilled in the art according to specific situations.
As shown in fig. 1, in the embodiment of the present invention, an electronic license plate is installed on a vehicle, a beacon transmitter is installed in a roadside parking lot, and a wakeup signal transmitting device is installed at an entrance of the roadside parking lot; the electronic license plate is preferably provided with a wakeup unit, a Beidou positioning module, a beacon receiving module and a wireless communication module, the wakeup unit is preferably provided with an RFID electronic tag, a current detection module and an MCU control module, the RFID electronic tag is electrically connected with the current detection module, and the current detection module, the Beidou positioning module, the beacon receiving module and the wireless communication module are all electrically connected with the MCU control module.
As shown in fig. 2, a preferred embodiment of the roadside parking management method based on the beidou positioning technology of the present invention includes the following steps:
step S1, when the vehicle enters the entrance of the roadside parking lot, the electronic tag reader sends out a radio frequency signal to read the information of the RFID electronic tag and generates an induced current in the RFID electronic tag, the current detection module sends a wake-up signal to the MCU control module after detecting the induced current generated when the electronic tag is read, and the MCU control module controls the electronic license plate to enter a working state. In a working state, the electronic license plate acquires the positioning coordinates, judges whether the vehicle is located in a roadside parking lot or not, and uploads the positioning coordinates and the judgment result to the electronic license plate management platform.
In order to reduce the power consumption of the electronic license plate, the wireless communication module preferably uses an NB-IOT (Narrow Band Internet of Things) module, such as: a WH-GN100 module may be employed; the Beidou positioning module and the beacon receiving module are preferably modules with low power consumption modes, such as: the Beidou positioning module can adopt a WH-GN100 module, and the beacon receiving module can adopt an E104-BT5005A Bluetooth module. The working state of the electronic license plate is preferably a timing detection state, in the state, the NB-IOT module, the Beidou positioning module and the beacon receiving module work in a low power consumption mode at ordinary times, the MCU control module controls the Beidou positioning module and the beacon receiving module to work once every first preset time (for example, 5 minutes) so as to obtain a primary positioning coordinate, and the beacon receiving module detects whether a primary vehicle is located in a roadside parking lot; uploading the positioning coordinates and the judgment result to an electronic license plate management platform through an NB-IOT module; and then, the NB-IOT module, the Beidou positioning module and the beacon receiving module recover a low power consumption mode.
The method for judging whether the vehicle is positioned in the roadside parking lot comprises the following steps:
the electronic license plate detects whether a beacon receiving module of the electronic license plate can receive information sent by a beacon transmitter, and if the electronic license plate can receive the information sent by the beacon transmitter, the electronic license plate judges that the vehicle is positioned in a roadside parking lot and keeps a working state; if the information sent by the beacon transmitter is not received, entering an off-site detection state, detecting whether the beacon receiving module can receive the information sent by the beacon transmitter once every second preset time (for example, 1 minute), and if the information is continuously detected for a preset number of times, and the detection result is that the beacon receiving module does not receive the information sent by the beacon transmitter, judging that the vehicle is positioned outside the roadside parking lot; otherwise, the vehicle is judged to be positioned in the roadside parking lot and returns to the working state.
Step S2, the electronic license plate management platform matches the positioning coordinates and the detection results with vehicle information (license plate information corresponding to an electronic license plate needs to be input in advance in the electronic license plate management platform, and the electronic license plate management platform can automatically bind with the corresponding vehicle information after receiving the information uploaded by the electronic license plate), monitors the judgment result uploaded by the electronic license plate, and executes step S3 if the judgment result is that the vehicle is located in a roadside parking lot; if the vehicle is outside the roadside parking lot as a result of the determination, it means that the vehicle has passed through the road segment only during the traveling process and is not parked in the parking space, and the step S8 is executed without generating a parking order.
Step S3, the electronic license plate management platform judges whether the vehicle is in a parking state, if the vehicle is in the parking state, the vehicle is shown to be parked on the parking space, and step S4 is executed to generate a parking order; otherwise, the process returns to step S2 to continue detecting whether the vehicle is off the field.
The method for judging whether the vehicle is in the parking state comprises the following steps: the method comprises the steps that at least three Bluetooth beacon devices are arranged in a roadside parking lot, when the variation amplitude of the intensity of signals transmitted by the Bluetooth beacon devices received by a Bluetooth receiving module in a preset time is smaller than a preset amplitude threshold value, an electronic license plate judges that a vehicle is in a parking state, information that the vehicle is parked is uploaded to an electronic license plate management platform, and the electronic license plate management platform judges that the vehicle is in the parking state after receiving the information.
Of course, an attitude sensor may be disposed in the electronic license plate, and the attitude detector is preferably a low-power-consumption attitude sensor adopting a gap operation mode, such as: an MPU6050 module may be employed; the electronic license plate management platform receives the information and judges that the vehicle is in a parking state.
And S4, the electronic license plate management platform sends the vehicle information and the parking time when the vehicle starts to be in the parking state to the parking management cloud platform, the parking management cloud platform generates a parking order to start timing by taking the parking time as the timing starting time, and the step S5 is executed.
S5, the electronic license plate management platform monitors the judgment result uploaded by the electronic license plate, if the judgment result is that the vehicle is located in the roadside parking lot, the vehicle is still in a parking state, the step S5 is returned to be executed, and monitoring is continued; otherwise, it indicates that the vehicle has finished parking and left the field, and step S6 is executed.
S6, the electronic license plate uploads the information that the vehicle leaves the field to the electronic license plate management platform, and then automatically enters a dormant state; in the dormant state, the NB-IOT module, the Beidou positioning module and the beacon receiving module all work in a low power consumption mode so as to reduce the power consumption of the electronic license plate.
And step S7, the electronic license plate management platform sends the information that the vehicle leaves the parking lot to the parking management cloud platform, the parking management cloud platform takes the time when the electronic license plate reports the coordinate information of the vehicle in the roadside parking lot area for the last time as the timing ending time of the parking order, the parking order is ended and a charging order is generated, and fee deduction or fee urging is carried out in an APP mode or the like.
In order to avoid errors in field departure judgment caused by faults of the Bluetooth receiving device or other reasons, after the electronic license plate management platform receives information that a vehicle leaves the field, the electronic license plate management platform can firstly detect whether a positioning coordinate sent by the electronic license plate for the last time is located in a roadside parking lot, if the positioning coordinate is located outside the roadside parking lot, the field departure detection result of the electronic license plate is correct, and the information that the vehicle leaves the field is sent to the parking management cloud platform; if the positioning coordinates are located in the roadside parking lot, it is indicated that the departure detection result of the electronic license plate is wrong, the electronic license plate management platform uploads abnormal reminding information containing the vehicle information to the parking management cloud platform, and parking conditions of the vehicle are verified by parking lot management personnel through checking parking lot monitoring and other modes.
And step S8, the electronic license plate management platform finishes monitoring the vehicle.
In this embodiment, set up license plate awakening device at the entrance in roadside parking area, make its electron license plate get into operating condition when the vehicle gets into roadside parking area, upload location coordinate and detect the vehicle position, detect whether the vehicle parks in roadside parking area through big dipper location technology to detect whether the vehicle leaves the field through the mode of detecting beacon information after the parking, thereby realize the automatic management charging to roadside parking.
The undescribed parts of the present invention are consistent with the prior art, and are not described herein.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures made by using the contents of the present specification and the drawings can be directly or indirectly applied to other related technical fields, and are within the scope of the present invention.
Claims (8)
1. A roadside parking management method based on the Beidou positioning technology is characterized in that an electronic license plate is arranged on a vehicle, a wake-up unit, a Beidou positioning module and a wireless communication module are arranged in the electronic license plate, and a wake-up signal transmitting device is arranged at an inlet of a roadside parking lot; the roadside parking management method comprises the following steps:
step S1, when a vehicle enters the entrance of the roadside parking lot, the awakening unit of the electronic license plate detects a signal emitted by the awakening signal emitting device, so that the electronic license plate enters a working state from a dormant state, positioning coordinates are obtained, whether the vehicle is located in the roadside parking lot is judged, and the positioning coordinates and the judgment result are uploaded to the electronic license plate management platform;
s2, the electronic license plate management platform matches the positioning coordinates and the detection results with vehicle information, monitors the judgment results uploaded by the electronic license plate, and executes S3 if the judgment results show that the vehicle is located in a roadside parking lot; if the vehicle is outside the roadside parking lot as a result of the determination, executing step S8;
step S3, the electronic license plate management platform judges whether the vehicle is in a parking state, if the vehicle is in the parking state, the step S4 is executed; otherwise, returning to execute the step S2;
step S4, the electronic license plate management platform sends the vehicle information and the parking time when the vehicle starts to be in a parking state to the parking management cloud platform, and the parking management cloud platform generates a parking order to start timing by taking the parking time as a timing starting time;
s5, the electronic license plate management platform monitors the judgment result uploaded by the electronic license plate, and if the judgment result is that the vehicle is located in the roadside parking lot, the electronic license plate management platform returns to continue executing the step S5; otherwise, go to step S6;
s6, the electronic license plate uploads the information that the vehicle leaves the field to the electronic license plate management platform, and then automatically enters a dormant state;
step S7, the electronic license plate management platform sends the information that the vehicle leaves the parking lot to a parking management cloud platform, the parking management cloud platform takes the time when the electronic license plate reports the coordinate information of the vehicle in the roadside parking lot area for the last time as the timing end time of the parking order, the parking order is ended, and a charging order is generated;
and step S8, the electronic license plate management platform finishes monitoring the vehicle.
2. The roadside parking management method based on the Beidou positioning technology as set forth in claim 1, wherein the working state of the electronic license plate is a timing detection state, in the state, the electronic license plate acquires the positioning coordinates once every first preset time interval, and detects whether the vehicle is located in the roadside parking lot once every time the positioning coordinates are acquired.
3. The roadside parking management method based on the Beidou positioning technology of claim 1, wherein in the step S1, the method for judging whether the vehicle is located in the roadside parking lot is as follows:
arranging a beacon transmitter in a roadside parking lot, arranging a beacon receiving module in an electronic license plate, detecting whether the beacon receiving module of the electronic license plate can receive information sent by the beacon transmitter, and if the information sent by the beacon transmitter can be received, judging that a vehicle is positioned in the roadside parking lot and keeping a working state; if the information sent by the beacon transmitter is not received, entering an off-site detection state, detecting whether the beacon receiving module can receive the information sent by the beacon transmitter once every second preset time, and if the information is continuously detected for a preset number of times, and the detection result is that the information sent by the beacon transmitter is not received by the beacon receiving module, judging that the vehicle is positioned outside the roadside parking lot; otherwise, the vehicle is judged to be positioned in the roadside parking lot and returns to the working state.
4. The roadside parking management method based on the Beidou positioning technology as set forth in claim 3, wherein the beacon transmitter is a Bluetooth beacon device, and the beacon receiving module is a Bluetooth receiving module.
5. The roadside parking management method based on the Beidou positioning technology, as set forth in claim 4, characterized in that at least three Bluetooth beacon devices are arranged in the roadside parking lot, in the step S3, when the variation amplitude of the intensity of the signal transmitted by each Bluetooth beacon device received by the Bluetooth receiving module within the preset time is smaller than the preset amplitude threshold, the electronic license plate judges that the vehicle is in the parking state, and uploads the information that the vehicle is parked to the electronic license plate management platform, and the electronic license plate management platform judges that the vehicle is in the parking state after receiving the information.
6. The roadside parking management method based on the Beidou positioning technology as set forth in claim 1, wherein an attitude sensor is arranged in the electronic license plate, in the step S3, the electronic license plate judges whether the vehicle is in a parking state or not according to data detected by the attitude sensor, when the electronic license plate judges that the vehicle is in the parking state, information that the vehicle is parked is uploaded to the electronic license plate management platform, and the electronic license plate management platform judges that the vehicle is in the parking state after receiving the information.
7. The roadside parking management method based on the Beidou positioning technology as set forth in claim 1, wherein the wake-up unit comprises an RFID electronic tag, a current detection module and an MCU control module, the wake-up signal transmitting device is an electronic tag reader, when the electronic tag reader sends out a radio frequency signal to read information of the electronic tag, the current detection module detects induced current generated when the electronic tag is read, and sends a wake-up signal to the MCU control module, and the MCU control module controls the electronic license plate to enter a working state.
8. The roadside parking management method based on the Beidou positioning technology of claim 1, wherein in the step S7, after the electronic license plate management platform receives the information that the vehicle has left the field, it firstly detects whether the positioning coordinate sent by the electronic license plate for the last time is located in the roadside parking lot, and if the positioning coordinate is located outside the roadside parking lot, the information that the vehicle has left the field is sent to the parking management cloud platform; and if the positioning coordinates are located in the roadside parking lot, the electronic license plate management platform uploads abnormal reminding information containing the vehicle information to the parking management cloud platform, and parking conditions of the vehicle are verified by parking lot management personnel.
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| CN114283585A (en) * | 2021-03-30 | 2022-04-05 | 厦门云之拓科技有限公司 | Roadside parking identification method and device |
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