CN112735105A - Parking lot early warning system, method and device, server and storage medium - Google Patents

Parking lot early warning system, method and device, server and storage medium Download PDF

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Publication number
CN112735105A
CN112735105A CN202011560254.0A CN202011560254A CN112735105A CN 112735105 A CN112735105 A CN 112735105A CN 202011560254 A CN202011560254 A CN 202011560254A CN 112735105 A CN112735105 A CN 112735105A
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CN
China
Prior art keywords
early warning
road
target object
alarm
position information
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Pending
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CN202011560254.0A
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Chinese (zh)
Inventor
应铭朗
李伟
马东星
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Zhejiang Dahua Technology Co Ltd
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Zhejiang Dahua Technology Co Ltd
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Priority to CN202011560254.0A priority Critical patent/CN112735105A/en
Publication of CN112735105A publication Critical patent/CN112735105A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
    • G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
    • 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
    • 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
    • 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
    • G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
    • 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
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • 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
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel

Abstract

In the embodiment of the invention, data acquisition equipment arranged in each road connected with an intersection can acquire the position information, the movement direction and the movement speed of each target object in each road connected with the intersection or acquire videos in each road in real time; and the server determines the time difference of any two target objects reaching the intersection according to the position information, the movement direction and the movement speed of each target object in each road, then judges whether an alarm condition is met or not based on the time difference, and if so, sends an alarm instruction to early warning equipment arranged at the intersection and the early warning equipment outputs alarm prompt information. A driver in the parking lot judges whether a front intersection is in danger of collision or not according to whether the early warning equipment outputs warning prompt information or not, and therefore the vehicle early warning effect is achieved.

Description

Parking lot early warning system, method and device, server and storage medium
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to a parking lot early warning system, method, device, server and storage medium.
Background
In scenes such as underground parking lots or underground garages, due to the fact that the space is small, and the number of shelters such as columns, walls and parking lots is large, sight lines of drivers are poor, and traffic lights are not available. When pedestrians or vehicles (including motor vehicles and non-motor vehicles) suddenly drive from roads on two sides or start to drive out from parking spaces on two sides, if the speed of the vehicles is too high, a driver does not find the vehicles in time, and collision accidents are easy to happen.
At present, no relevant vehicle early warning scheme exists in the underground parking lot scene.
Disclosure of Invention
The embodiment of the invention provides a parking lot early warning system, method and device, a server and a storage medium, which are used for providing a driving safety early warning scheme suitable for an underground parking lot.
The embodiment of the invention provides a parking lot early warning system, which comprises: the system comprises a server, early warning equipment arranged at an intersection and data acquisition equipment arranged in each road connected with the intersection;
the data acquisition equipment is used for acquiring the position information, the movement direction and the movement speed of each target object in each road in real time or acquiring videos in each road in real time; and sending to the server;
the server is used for receiving the position information, the movement direction and the movement speed of each target object; or receiving the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road; determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction and the movement speed of each target object in each road; judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to the early warning equipment;
and the early warning equipment is used for outputting warning prompt information when receiving the warning instruction.
Further, the data acquisition device includes at least one of an image acquisition device, an infrared detector, and a radar.
Further, the data acquisition device is specifically configured to acquire videos in each road in real time, determine position information, a movement direction, and a movement speed of each target object in each road by performing intelligent analysis on the videos, and send the position information, the movement direction, and the movement speed to the server.
Furthermore, the data acquisition equipment is also used for acquiring the length information of each target object and sending the length information to the server;
the server is specifically configured to determine a time difference between arrival at the intersection of any two target objects according to the position information, the movement direction, the movement speed, and the length information of each target object in each road.
Further, the server is further configured to determine a target alarm level according to the time difference and a preset corresponding relationship between the alarm level and time, and send an alarm instruction carrying the target alarm level to the early warning device;
and the early warning equipment is specifically used for outputting warning prompt information according to the target warning grade when the warning instruction is received.
Further, the early warning device includes at least one of an indicator light, a display screen, and a speaker.
On the other hand, the embodiment of the invention provides a parking lot early warning method, which comprises the following steps:
receiving the position information, the movement direction and the movement speed of each target object in each road, which are acquired and sent by data acquisition equipment in real time; or the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road;
determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction and the movement speed of each target object in each road; and judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to early warning equipment to enable the early warning equipment to output alarm prompt information.
Further, before determining the time difference between the arrival of any two target objects at the intersection, the method further comprises:
receiving length information of each target object acquired and sent by the data acquisition equipment;
determining the time difference between any two target objects and the intersection according to the position information, the moving direction and the moving speed of each target object in each road comprises:
and determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction, the movement speed and the length information of each target object in each road.
Further, the sending an alarm instruction to an early warning device to enable the early warning device to output alarm prompt information includes:
and determining a target alarm grade according to the time difference and a preset corresponding relation between the alarm grade and time, and sending an alarm instruction carrying the target alarm grade to the early warning equipment to enable the early warning equipment to output alarm prompt information according to the target alarm grade.
In another aspect, an embodiment of the present invention provides a parking lot early warning device, where the device includes:
the receiving module is used for receiving the position information, the movement direction and the movement speed of each target object in each road, which are acquired and sent by the data acquisition equipment in real time; or the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road;
the early warning module is used for determining the time difference between any two target objects and the intersection according to the position information, the movement direction and the movement speed of each target object in each road; and judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to early warning equipment to enable the early warning equipment to output alarm prompt information.
Further, the receiving module is further configured to receive length information of each target object, which is acquired and sent by the data acquisition device;
the early warning module is specifically configured to determine a time difference between arrival at the intersection of any two target objects according to the position information, the movement direction, the movement speed, and the length information of each target object in each road.
Further, the early warning module is specifically configured to determine a target alarm level according to the time difference and a preset corresponding relationship between the alarm level and time, and send an alarm instruction carrying the target alarm level to the early warning device, so that the early warning device outputs alarm prompt information according to the target alarm level.
On the other hand, the embodiment of the invention provides a server, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for completing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing any of the above method steps when executing a program stored in the memory.
In another aspect, an embodiment of the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method steps of any one of the above.
The embodiment of the invention provides a parking lot early warning system, a method, a device, a server and a storage medium, wherein the system comprises: the system comprises a server, early warning equipment arranged at an intersection and data acquisition equipment arranged in each road connected with the intersection; the data acquisition equipment is used for acquiring the position information, the movement direction and the movement speed of each target object in each road in real time or acquiring videos in each road in real time; and sending to the server; the server is used for receiving the position information, the movement direction and the movement speed of each target object; or receiving the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road; determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction and the movement speed of each target object in each road; judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to the early warning equipment; and the early warning equipment is used for outputting warning prompt information when receiving the warning instruction.
In the embodiment of the invention, the data acquisition equipment arranged in each road connected with the intersection can acquire the position information, the movement direction and the movement speed of each target object in each road connected with the intersection or acquire the video in each road in real time; and the server determines the time difference of any two target objects reaching the intersection according to the position information, the movement direction and the movement speed of each target object in each road, then judges whether an alarm condition is met or not based on the time difference, and if so, sends an alarm instruction to early warning equipment arranged at the intersection and the early warning equipment outputs alarm prompt information. A driver in the parking lot judges whether a front intersection is in danger of collision or not according to whether the early warning equipment outputs warning prompt information or not, and therefore the vehicle early warning effect is achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a parking lot early warning system provided in embodiment 1 of the present invention;
fig. 2 is a schematic view of a parking lot early warning system provided in embodiment 3 of the present invention;
fig. 3 is a schematic diagram of a preparation process before parking lot early warning provided in embodiment 3 of the present invention;
fig. 4 is a schematic diagram of a parking lot early warning process provided in embodiment 3 of the present invention;
fig. 5 is a schematic view of an application scenario provided in embodiment 3 of the present invention;
fig. 6 is a schematic diagram of an early warning effect provided in embodiment 3 of the present invention;
fig. 7 is a schematic diagram of a parking lot early warning process provided in embodiment 4 of the present invention;
fig. 8 is a schematic structural diagram of a parking lot early warning device provided in embodiment 5 of the present invention;
fig. 9 is a schematic structural diagram of a server according to embodiment 6 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the attached drawings, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
fig. 1 is a schematic structural diagram of a parking lot early warning system provided in an embodiment of the present invention, where the system includes: a server 11 and a pre-warning device 22 arranged at an intersection and a data acquisition device 33 arranged in each road connected to the intersection;
the data acquisition device 33 is configured to acquire position information, a movement direction, and a movement speed of each target object in each road in real time, or acquire a video in each road in real time; and send to the server 11;
the server 11 is configured to receive the position information, the moving direction, and the moving speed of each target object; or receiving the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road; determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction and the movement speed of each target object in each road; judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to the early warning equipment 22;
and the early warning device 22 is configured to output warning prompt information when receiving the warning instruction.
The parking lot early warning system provided by the embodiment of the invention is mainly used for scenes that spaces such as underground parking lots are small, shelters such as columns, walls and parking lots are more, the sight of drivers is poorer, and no traffic light exists. Early warning equipment is arranged at each intersection of the parking lot, and data acquisition equipment is arranged in each road connected with the intersections. And the data acquisition equipment acquires data in real time. It should be noted that the number of the early warning devices and the number of the data acquisition devices in the parking lot early warning system provided by the embodiment of the present invention may be multiple, fig. 1 is only a schematic diagram, and only one early warning device and one data acquisition device are shown in fig. 1.
The data acquisition device is used for acquiring the position information, the movement direction and the movement speed of each target object in each road connected with the intersection. Wherein the data acquisition device comprises at least one of an image acquisition device, an infrared detector, and a radar.
If the data acquisition equipment is image acquisition equipment, the image acquisition equipment can be arranged above the center or at two sides of each road, and also can be arranged at the intersection to monitor the road condition. The image acquisition equipment acquires the video of each road. In the embodiment of the invention, if the image acquisition device has the function of intelligently analyzing the video, the data acquisition device is specifically used for acquiring the video in each road in real time, determining the position information, the motion direction and the motion speed of each target object in each road through intelligently analyzing the video, and sending the position information, the motion direction and the motion speed to the server. If the image acquisition equipment does not have the function of intelligently analyzing the video, the data acquisition equipment acquires the video in each road in real time and sends the video to the server; and the server receives the video in each road, and intelligently analyzes the video to determine the position information, the movement direction and the movement speed of each target object in each road.
If the data acquisition device is an infrared detector, the infrared detector may be disposed on both sides of or directly above each road. And determining the position information, the movement direction and the movement speed of each target object in each road through the infrared detector. In the embodiment of the invention, the number of the infrared detectors is not limited, as long as the data acquisition can be realized according to the infrared detectors. If the data acquisition device is a radar, the radar may be placed on both sides of or directly above each road. And determining the position information, the movement direction and the movement speed of each target object in each road through radar. In the embodiment of the invention, the number of the radars is not limited, and the data acquisition can be realized according to the radars.
It should be noted that the position information, the movement direction, and the movement speed of each target object may be acquired based on the infrared detector and the radar, the target object may be a pedestrian, a motor vehicle, a non-motor vehicle, or the like, if the type of the target object needs to be determined, the infrared detector or the radar may be used in combination with an image acquisition device, the image acquisition device acquires a video, and the image acquisition device or the server may determine the type of the target object by performing intelligent analysis on the video.
And after the data acquisition equipment acquires the position information, the movement direction and the movement speed of each target object in each road in real time, the data acquisition equipment transmits the acquired data to the server. And the server determines the time difference between any two target objects to reach the intersection according to the position information, the movement direction and the movement speed of each target object in each road. Specifically, the server can determine the distance between each target object and the intersection according to the position information of each target object in each road and the installation position information of the data acquisition device, and can determine the time from each target object to the intersection according to the distance between each target object and the intersection, the movement direction and the movement speed of each target object, and further determine the time difference between any two target objects reaching the intersection.
The server stores an alarm condition in advance, wherein the alarm condition is that the time difference between any two target objects arriving at the intersection is less than 5 seconds. The server judges whether the time difference between the arrival of any two target objects at the intersection is less than 5 seconds, if so, the server determines that the alarm condition is met, and sends an alarm instruction to the early warning equipment at the moment. And when the early warning equipment receives the warning instruction, warning prompt information is output.
In an embodiment of the invention, the early warning device comprises at least one of an indicator light, a display screen and a speaker. If the early warning equipment is an indicator light, the early warning equipment can send out preset warning indicator light after receiving the warning instruction. If the early warning equipment is a display screen, after the early warning equipment receives the warning instruction, warning prompt information can be displayed, wherein text information used for indicating warning or warning icon information and the like can be displayed. If the early warning equipment is a loudspeaker, the early warning equipment can send out warning prompt tones after receiving the warning instructions.
In the embodiment of the invention, the data acquisition equipment arranged in each road connected with the intersection can acquire the position information, the movement direction and the movement speed of each target object in each road connected with the intersection, or acquire the video in each road in real time and send the video to the server, the server determines the time difference of any two target objects reaching the intersection according to the position information, the movement direction and the movement speed of each target object in each road, then judges whether the alarm condition is met or not based on the time difference, if so, the server sends the alarm instruction to the early warning equipment arranged at the intersection, and the early warning equipment outputs the alarm prompt information. A driver in the parking lot judges whether a front intersection is in danger of collision or not according to whether the early warning equipment outputs warning prompt information or not, and therefore the vehicle early warning effect is achieved.
Example 2:
in order to make the time difference between any two target objects reaching the intersection more accurate, on the basis of the above embodiment, in the embodiment of the present invention, the data acquisition device is further configured to acquire length information of each target object, and send the length information to the server;
the server is specifically configured to determine a time difference between arrival at the intersection of any two target objects according to the position information, the movement direction, the movement speed, and the length information of each target object in each road.
In the embodiment of the present invention, the data acquisition device is further configured to acquire length information of each target object, wherein the image acquisition device, the infrared detector and the radar may acquire the length information of each target object. And then sending the acquired length information of each target object to a server. And the server is specifically used for determining the time difference between any two target objects arriving at the intersection according to the position information, the movement direction, the movement speed and the length information of each target object in each road.
Suppose that two vehicles drive to the same intersection on two mutually crossed roads, the speeds are V1 and V2, the distances from the intersection are S1 and S2, and the vehicle length is L.
If S1/V1< S2/V2, determining the time difference DeltaT as S2/V2- (S1+ L)/V1; if S1/V1> -S2/V2, the time difference DeltaT is determined to be S1/V1- (S2+ L)/V2.
If the target object is an automobile, the condition that the head of one automobile collides with the tail of another automobile is considered when the time difference is determined due to the fact that the length information of the target object is considered, so that the time difference between any two determined target objects and the intersection is more accurate, and early warning is more accurate.
Example 3:
in order to improve the early warning experience of the driver, on the basis of the above embodiments, in the embodiments of the present invention, the server is further configured to determine a target warning level according to the time difference and a preset corresponding relationship between the warning level and time, and send a warning instruction carrying the target warning level to the early warning device;
and the early warning equipment is specifically used for outputting warning prompt information according to the target warning grade when the warning instruction is received.
In the embodiment of the invention, the server stores the corresponding relation between the preset alarm level and the time, for example, the high-level early warning level is 0 to 3 seconds, the slight early warning level is 3 to 10 seconds, no early warning is performed for more than 10 seconds, and the like.
The server can determine the target alarm level according to the time difference between any two target objects arriving at the intersection and the corresponding relation between the preset alarm level and the time, for example, if the time difference between any two target objects arriving at the intersection is 2 seconds, the target alarm level is determined to be the advanced early warning level. And then sending an alarm instruction carrying a target alarm grade to the early warning equipment. And when the early warning equipment receives the warning instruction, warning prompt information is output according to the target warning grade.
If the early warning equipment is an indicator light, the early warning equipment can send out preset warning indicator light after receiving the warning instruction. Specifically, different alarm lights can be preset at different alarm levels, so that the driver can be warned in different degrees. If the early warning equipment is a display screen, the early warning equipment can display warning prompt information and a target warning grade after receiving a warning instruction. If the early warning equipment is a loudspeaker, the early warning equipment can send out warning prompt tones after receiving the warning instructions. Specifically, different alarm prompt tones can be preset for different alarm levels, so that the driver can be warned to different degrees.
The parking lot early warning scheme provided by the embodiment of the invention is explained in detail below with reference to the accompanying drawings.
Fig. 2 is a schematic view of a parking lot early warning system according to an embodiment of the present invention, and as shown in fig. 2, the system mainly includes: data acquisition equipment, server, early warning equipment.
The data acquisition equipment: comprises one or more of image acquisition equipment, an infrared detector and a radar. Wherein the radar may be a microwave radar. The data acquisition equipment is used for acquiring information of target objects (including vehicles and pedestrians), and mainly comprises: position, length, direction of movement, speed, etc. The data acquisition devices are usually installed above or at both sides of the center of the road, and may or may not be at the intersection, so the monitoring range of a plurality of data acquisition devices generally covers the whole road of the whole parking lot.
A server: the system mainly comprises the following modules: the map display device comprises a map module, a data receiving module, a data processing module, a data storage module and an instruction control module.
A map module: and the map information in charge of the parking lot comprises lanes, parking spaces, positions and orientations of the acquisition devices, positions and orientations of the early warning devices and the like.
A data receiving module: and the data acquisition device is responsible for receiving the data acquired by the data acquisition device.
A data processing module: the system is responsible for processing data acquired by the data acquisition equipment, identifying and analyzing the motion states of vehicles and pedestrians, combining map information and then prejudging the safety state of each road.
A data storage module: and the data acquisition device is responsible for storing the data acquired by the data acquisition device and the processed result data.
The instruction control module: and sending an alarm instruction to the early warning equipment according to the data processing result.
The server may be installed in a computer room or in the cloud.
Early warning equipment: the early warning device comprises one or more of an indicator light, a display screen and a loudspeaker, and can support early warning in various forms such as lamplight, characters, sound and the like.
The early warning equipment is usually installed at places such as intersections, fire doors and the like where the sight is poor and traffic accidents are easy to happen.
Fig. 3 is a schematic diagram of a preparation process before parking lot early warning provided by the embodiment of the present invention, and as shown in fig. 3, the preparation process includes drawing a parking lot map, marking the position and orientation of each data acquisition device, marking the position and orientation of an early warning device, and then starting an early warning process.
Fig. 4 is a schematic diagram of a parking lot early warning process according to an embodiment of the present invention, in which data is collected by data collection equipment, a server receives data collected by the data collection equipment, the server processes the data collected by the data collection equipment, the server stores original data and a data processing result, an early warning instruction is sent according to the data processing result, and the early warning equipment receives an alarm instruction and generates alarm prompt information according to the instruction.
Taking fig. 5 as an example for explanation, fig. 5 is a schematic diagram of a parking lot, where AB is 30 meters away, BC is 20 meters away, and AD and DG are 20 meters away. The position and orientation of the acquisition device is marked. The data acquisition devices are A, B, C, G, H, I in the eastern position and C, F, I, J, K, L in the northern position, and the effective acquisition distance of each data acquisition device is 40 meters. This covers all roads of fig. 5. Early warning devices are installed in the east, south, west and north directions of intersection A, B, C, D, E, F, G, H, I.
The early warning device can be a display screen which respectively displays the road safety state of the current road junction driving forward, left and right and the distance to the nearest vehicle or pedestrian. As shown in fig. 6 below, indicating that the vehicle is safe to turn left; the straight running is dangerous, and the pedestrian passes through the front 5 m; the right turn needs to be paid attention to safety, and a vehicle is arranged at the position of 10 meters of the right turn.
Vehicle and pedestrian information on the road is collected.
The north-facing pick-up device C finds that the vehicle a 25 meters away from the point C travels south at Va m/s.
And C, the acquisition device facing north finds that the vehicle b at a distance of 12 meters from the point C travels south at the speed of Vb m/s.
The acquisition device of the A east direction finds that the vehicle c 8 meters away from the point A drives to the east direction at the speed of Vc m/s.
And the collection device of the east-oriented vehicle B finds that the vehicle d 2 meters away from the point B travels to the east at the speed of Vd m/s.
The C east-facing pick-up device finds that the e-car 10 meters away from the C point is driving east at Ve m/s.
The acquisition device facing north K finds that the vehicle f at a distance of 20 meters from the point K travels south at a speed of Vf m/s.
The acquisition device of L north direction finds that the vehicle g at 2 meters distance from the L point is driving south at the speed Vg m/s.
The acquisition device facing north I finds that the vehicle h2 which is 28 meters away from the point I just drives into the road from the parking space.
The length of the collected vehicles is 5 meters, and the width of the collected vehicles is 2 meters.
The safety state of each road is calculated to indicate the running of the vehicle. According to the moving direction and the speed of the vehicle, assuming that the speed of the vehicle is unchanged, the time difference of two vehicles passing through a certain place in the future in a short time is calculated, and the influence of the vehicle length needs to be considered in the calculation process due to the fact that the vehicle length of the vehicle is long. And giving safety early warnings of different levels according to the time difference. It should be noted that the moving state of a vehicle at the same time may affect the safety state of multiple roads. According to the safety early warnings of different levels, the instruction control module sends different control instructions to the early warning equipment, and the early warning equipment generates early warning prompt information according to the instructions.
Suppose that two vehicles drive to the same intersection on two mutually crossed roads, the speeds are V1 and V2 respectively, the distances from the intersection are S1 and S2 respectively, and the vehicle length is L.
If S1/V1< S2/V2, S2/V2- (S1+ L)/V1;
if S1/V1> -S2/V2, Δ T-S1/V1- (S2+ L)/V2.
If the Delta T < ═ T1 is regarded as high-level early warning of danger, the corresponding indication mark of the early warning device displays red color and simultaneously displays the distance between the opposite vehicle and the intersection.
If the distance between the delta T and the T1 is greater than the distance between the delta T and the T2, the early warning device considers the early warning to be a slight early warning, and the corresponding indicator mark of the early warning device displays yellow and simultaneously displays the distance between the opposite vehicle and the intersection.
If the delta T is greater than T2, the early warning is relieved, and corresponding indication marks of the early warning device are displayed in green.
Assuming that the vehicle 1 is traveling in the direction of the road on the road, it is detected when the vehicle 2 has just started to enter the road from a parking space on both sides, or is preparing to move the vehicle into a parking space. At this time, the vehicle speed of the vehicle 2 in the road direction is 0, the distance S3 between the vehicle 1 and the vehicle 2 is calculated, and the speed of the vehicle 2 is V2, so that Δ T becomes S3/V2. Similarly, the early warning of different levels is generated according to the comparison between the delta T and the threshold value until the vehicle 2 completely exits the parking space and runs along the lane direction, or the vehicle 2 completely enters the parking space and stops, so that the early warning can be relieved. Assuming that two vehicles are on the same road and travel in the same direction or in opposite directions, the driver can clearly see other vehicles at the moment, and the prompt in the early warning device is not needed. The same method is used for calculation if the vehicle is a non-motor vehicle or a pedestrian. If the reverse operation occurs, the judgment is carried out according to the actual running direction of the vehicle, but not the direction of the vehicle head.
The following decisions can be made in light of the above description:
according to map information, c vehicles and f vehicles drive towards the direction of the intersection D, delta T < ═ T1, at the moment, the early warning indication of the direction north (the f vehicles are visible) of the intersection D is red, and the vehicles are displayed at the position of 10m on the right road; and in the early warning device for the west direction (the vehicle is visible) at the intersection D, the early warning indications in the front direction, the left direction and the right direction are all red, and the condition that the vehicle is arranged at the position 7m on the left road is displayed.
According to map information, d vehicles and f vehicles drive towards the direction of the intersection E, the distance delta T is greater than T1, the distance delta T < becomeequal to T2, at the moment, the early warning device of the direction north of the intersection E (the f vehicles are visible) is yellow in early warning indication in the front direction, the left direction and the right direction, and the position 13m of a right road is displayed; and E, the early warning indication in the front direction, the left direction and the right direction of the early warning device in the west direction (the vehicle d can be seen) at the intersection is yellow, and the condition that the vehicle is arranged at the position of 40m of the left road is displayed.
According to map information, the vehicle E and the vehicle F both drive towards the direction of the intersection E, the Delta T is greater than T2, at the moment, the early warning indication of the intersection F towards the north (the vehicle F is visible) is green, and the early warning indication of the front direction, the left direction and the right direction is green, so that the condition that the vehicle is located 5m away from the right road is displayed; and F, the early warning indication in the west direction (the vehicle is visible) of the intersection is green in the front direction, the left direction and the right direction, and the condition that the vehicle is on the left road at the position of 60m is displayed.
And f, the motion state of the vehicle affects the vehicles c, d and e, and only the early warning levels caused by the influence are different.
According to the map information, the vehicles a and B run in the same direction on the same road, and the early warning device of the intersection B in the north direction (the vehicle a can be seen) does not need to give an early warning in the forward direction according to the principle of 2.5.3. And displaying that a vehicle is positioned at 2m of the left road.
According to map information, the distance between the g vehicle and the H2 vehicle is 12 meters, and the distance delta T is calculated to be 12/Vg according to the principle of 2.5.2 to obtain the distance delta T1 and the distance delta T < equalto T2, so that the early warning indication of the H intersection in the north direction (the g vehicle is visible) is yellow, and the front 12m of the H intersection is displayed.
If the intersection G only detects that the vehicle c drives towards the intersection G, the early warning indication is green.
If the coming vehicle is not detected in all directions at the intersection A, the early warning indication is green. The warning indication is green by default.
If the vehicle d is in reverse (the moving direction of the vehicle is the tail direction of the vehicle), the driver cannot see the early warning indication at the position B, and at the moment, the voice early warning can be started.
The parking lot early warning system provided by the embodiment of the invention integrates data acquisition equipment in the whole parking place by using the map and the mark, forms a complete parking lot traffic network map, and effectively monitors the parking lot traffic network map.
The method comprises the steps of monitoring the motion states of vehicles and pedestrians in real time, carrying out prejudgment on the road safety state according to the motion tracks of the vehicles and the pedestrians, and providing driving safety identification indication early warning in real time.
The early warning is bidirectional, both vehicles can sense the early warning information, and the early warning is divided into various modes such as different grades and lamplight, characters, sound and the like. The system can monitor and warn vehicles (motor vehicles and non-motor vehicles) and pedestrians. The vehicle can be monitored and early warned when driving forward or backing.
Example 4:
fig. 7 is a schematic diagram of a parking lot early warning process provided in an embodiment of the present invention, where the process includes the following steps:
s101: receiving the position information, the movement direction and the movement speed of each target object in each road, which are acquired and sent by data acquisition equipment in real time; or the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road;
s102: determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction and the movement speed of each target object in each road; and judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to early warning equipment to enable the early warning equipment to output alarm prompt information.
The parking lot early warning method provided by the embodiment of the invention is applied to a server.
Before determining the time difference between the arrival of any two target objects at the intersection, the method further comprises:
receiving length information of each target object acquired and sent by the data acquisition equipment;
determining the time difference between any two target objects and the intersection according to the position information, the moving direction and the moving speed of each target object in each road comprises:
and determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction, the movement speed and the length information of each target object in each road.
The sending of the alarm instruction to the early warning device to enable the early warning device to output the alarm prompt information includes:
and determining a target alarm grade according to the time difference and a preset corresponding relation between the alarm grade and time, and sending an alarm instruction carrying the target alarm grade to the early warning equipment to enable the early warning equipment to output alarm prompt information according to the target alarm grade.
Example 5:
fig. 8 is a schematic structural diagram of a parking lot early warning device according to an embodiment of the present invention, where the device includes:
the receiving module 81 is configured to receive the position information, the moving direction, and the moving speed of each target object in each road, which are acquired and sent by the data acquisition device in real time; or the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road;
the early warning module 82 is configured to determine a time difference between arrival at the intersection of any two target objects according to the position information, the movement direction, and the movement speed of each target object in each road; and judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to early warning equipment to enable the early warning equipment to output alarm prompt information.
The receiving module 81 is further configured to receive length information of each target object, which is acquired and sent by the data acquisition device;
the early warning module 82 is specifically configured to determine a time difference between arrival at the intersection of any two target objects according to the position information, the movement direction, the movement speed, and the length information of each target object in each road.
The early warning module 82 is specifically configured to determine a target alarm level according to the time difference and a preset corresponding relationship between the alarm level and time, and send an alarm instruction carrying the target alarm level to the early warning device, so that the early warning device outputs alarm prompt information according to the target alarm level.
Example 6:
on the basis of the foregoing embodiments, an embodiment of the present invention further provides a server, as shown in fig. 9, including: the system comprises a processor 301, a communication interface 302, a memory 303 and a communication bus 304, wherein the processor 301, the communication interface 302 and the memory 303 complete mutual communication through the communication bus 304;
the memory 303 has stored therein a computer program which, when executed by the processor 301, causes the processor 301 to perform the steps of:
receiving the position information, the movement direction and the movement speed of each target object in each road, which are acquired and sent by data acquisition equipment in real time; or the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road;
determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction and the movement speed of each target object in each road; and judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to early warning equipment to enable the early warning equipment to output alarm prompt information.
Based on the same inventive concept, the embodiment of the invention also provides a server, and as the problem solving principle of the server is similar to that of the parking lot early warning method, the implementation of the server can refer to the implementation of the method, and repeated parts are not repeated.
The server provided by the embodiment of the invention can be a desktop computer, a portable computer, a smart phone, a tablet computer, a Personal Digital Assistant (PDA), a network side device and the like.
The communication bus mentioned in the above server may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface 302 is used for communication between the above-described server and other devices.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Alternatively, the memory may be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a central processing unit, a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like.
When the processor executes the program stored in the memory in the embodiment of the invention, the position information, the movement direction and the movement speed of each target object in each road, which are acquired and sent in real time by the data acquisition equipment, are received; or the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road; determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction and the movement speed of each target object in each road; and judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to early warning equipment to enable the early warning equipment to output alarm prompt information. A driver in the parking lot judges whether a front intersection is in danger of collision or not according to whether the early warning equipment outputs warning prompt information or not, and therefore the vehicle early warning effect is achieved.
Example 7:
on the basis of the foregoing embodiments, an embodiment of the present invention further provides a computer storage readable storage medium, in which a computer program executable by a server is stored, and when the program runs on the server, the server is caused to execute the following steps:
receiving the position information, the movement direction and the movement speed of each target object in each road, which are acquired and sent by data acquisition equipment in real time; or the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road;
determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction and the movement speed of each target object in each road; and judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to early warning equipment to enable the early warning equipment to output alarm prompt information.
Based on the same inventive concept, embodiments of the present invention further provide a computer-readable storage medium, and since a principle of solving a problem when the processor executes the computer program stored in the computer-readable storage medium is similar to that of the parking lot early warning method, implementation of the computer program stored in the computer-readable storage medium by the processor may refer to implementation of the method, and repeated details are not repeated.
The computer-readable storage medium may be any available medium or data storage device that can be accessed by a processor in a server, including but not limited to magnetic memory such as floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc., optical memory such as CDs, DVDs, BDs, HVDs, etc., and semiconductor memory such as ROMs, EPROMs, EEPROMs, non-volatile memory (NAND FLASH), Solid State Disks (SSDs), etc.
The computer program is stored in a computer readable storage medium provided in the embodiment of the invention, and when executed by a processor, the computer program realizes receiving the position information, the movement direction and the movement speed of each target object in each road, which are acquired and transmitted in real time by a data acquisition device; or the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road; determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction and the movement speed of each target object in each road; and judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to early warning equipment to enable the early warning equipment to output alarm prompt information. A driver in the parking lot judges whether a front intersection is in danger of collision or not according to whether the early warning equipment outputs warning prompt information or not, and therefore the vehicle early warning effect is achieved.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (14)

1. A parking lot warning system, the system comprising: the system comprises a server, early warning equipment arranged at an intersection and data acquisition equipment arranged in each road connected with the intersection;
the data acquisition equipment is used for acquiring the position information, the movement direction and the movement speed of each target object in each road in real time or acquiring videos in each road in real time; and sending to the server;
the server is used for receiving the position information, the movement direction and the movement speed of each target object; or receiving the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road; determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction and the movement speed of each target object in each road; judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to the early warning equipment;
and the early warning equipment is used for outputting warning prompt information when receiving the warning instruction.
2. The system of claim 1, wherein the data acquisition device comprises at least one of an image acquisition device, an infrared detector, and a radar.
3. The system according to claim 1, wherein the data acquisition device is specifically configured to acquire a video in each road in real time, determine position information, a movement direction, and a movement speed of each target object in each road through intelligent analysis of the video, and send the position information, the movement direction, and the movement speed to the server.
4. The system of claim 1, wherein the data acquisition device is further configured to acquire length information of each target object and send the length information to the server;
the server is specifically configured to determine a time difference between arrival at the intersection of any two target objects according to the position information, the movement direction, the movement speed, and the length information of each target object in each road.
5. The system of claim 1, wherein the server is further configured to determine a target alarm level according to the time difference and a preset corresponding relationship between the alarm level and time, and send an alarm instruction carrying the target alarm level to the early warning device;
and the early warning equipment is specifically used for outputting warning prompt information according to the target warning grade when the warning instruction is received.
6. The system of claim 1, wherein the early warning device comprises at least one of an indicator light, a display screen, and a speaker.
7. A parking lot early warning method is characterized by comprising the following steps:
receiving the position information, the movement direction and the movement speed of each target object in each road, which are acquired and sent by data acquisition equipment in real time; or the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road;
determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction and the movement speed of each target object in each road; and judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to early warning equipment to enable the early warning equipment to output alarm prompt information.
8. The method of claim 7, wherein prior to said determining the time difference between arrival of said any two target objects at said intersection, said method further comprises:
receiving length information of each target object acquired and sent by the data acquisition equipment;
determining the time difference between any two target objects and the intersection according to the position information, the moving direction and the moving speed of each target object in each road comprises:
and determining the time difference between any two target objects to reach the intersection according to the position information, the movement direction, the movement speed and the length information of each target object in each road.
9. The method of claim 7, wherein sending an alert instruction to an early warning device to cause the early warning device to output alert prompt information comprises:
and determining a target alarm grade according to the time difference and a preset corresponding relation between the alarm grade and time, and sending an alarm instruction carrying the target alarm grade to the early warning equipment to enable the early warning equipment to output alarm prompt information according to the target alarm grade.
10. A parking lot warning device, the device comprising:
the receiving module is used for receiving the position information, the movement direction and the movement speed of each target object in each road, which are acquired and sent by the data acquisition equipment in real time; or the video in each road, and intelligently analyzing the video to determine the position information, the motion direction and the motion speed of each target object in each road;
the early warning module is used for determining the time difference between any two target objects and the intersection according to the position information, the movement direction and the movement speed of each target object in each road; and judging whether an alarm condition is met or not according to the time difference, and if so, sending an alarm instruction to early warning equipment to enable the early warning equipment to output alarm prompt information.
11. The apparatus according to claim 10, wherein the receiving module is further configured to receive length information of each target object collected and transmitted by the data collecting device;
the early warning module is specifically configured to determine a time difference between arrival at the intersection of any two target objects according to the position information, the movement direction, the movement speed, and the length information of each target object in each road.
12. The apparatus according to claim 10, wherein the early warning module is specifically configured to determine a target alarm level according to the time difference and a preset corresponding relationship between the alarm level and time, and send an alarm instruction carrying the target alarm level to the early warning device, so that the early warning device outputs alarm prompt information according to the target alarm level.
13. A server is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing the communication between the processor and the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 7-9 when executing a program stored in the memory.
14. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any of the claims 7-9.
CN202011560254.0A 2020-12-25 2020-12-25 Parking lot early warning system, method and device, server and storage medium Pending CN112735105A (en)

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US20170278397A1 (en) * 2016-03-25 2017-09-28 Panasonic intellectual property Management co., Ltd Terminal device and method for terminal device
CN108335521A (en) * 2017-01-18 2018-07-27 罗伯特·博世有限公司 Method, system and parking lot for alerting the traffic participant in parking lot
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