CN113780183A - Standard parking determination method and device for shared vehicles and computer equipment - Google Patents
Standard parking determination method and device for shared vehicles and computer equipment Download PDFInfo
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- G06T7/13—Edge detection
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G06T2207/30248—Vehicle exterior or interior
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Abstract
The embodiment of the application discloses a method and a device for determining standard parking of shared vehicles and computer equipment. The method is applied to a server, parking marks are arranged at parking spots, the shared vehicle is provided with a camera, and the method comprises the following steps: when a vehicle returning request is received, acquiring an image which is acquired by the shared vehicle through the camera and comprises a parking identifier; obtaining the endpoint coordinates of the parking mark based on the image; determining whether the orientation of the current parking position is correct or not according to the endpoint coordinates; if the orientation is correct, acquiring a standard endpoint coordinate; and if the endpoint coordinates are matched with the standard endpoint coordinates, determining that the shared vehicle parks according to the standard. The standard parking determining method for the shared vehicle improves the accuracy of determining the standard parking of the user.
Description
Technical Field
The application relates to the field of shared vehicles, in particular to a standard parking determination method and device of a shared vehicle and computer equipment.
Background
The shared vehicle brings traffic convenience to people and also brings the problem of disorderly parking and disorderly placing, and in the prior art, a user is specified to park by arranging a large number of parking piles, but whether the parking of the user meets the parking specification cannot be accurately determined. Therefore, how to improve the accuracy of the parking specification determination of the user is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
An object of the present application is to provide a method, an apparatus, and a computer device for determining a standard parking of a shared vehicle, so as to solve the problem of how to improve the accuracy of determining the standard parking of a user.
In a first aspect, an embodiment of the present application provides a method for determining a standard parking of a shared vehicle, where the method is applied to a server, a parking spot is provided with a parking identifier, the shared vehicle is provided with a camera, and the method includes:
when a vehicle returning request is received, acquiring an image which is acquired by the shared vehicle through the camera and comprises a parking identifier;
obtaining the endpoint coordinates of the parking mark based on the image;
determining whether the orientation of the current parking position is correct or not according to the endpoint coordinates;
if the orientation is correct, acquiring a standard endpoint coordinate;
and if the endpoint coordinates are matched with the standard endpoint coordinates, determining that the shared vehicle parks according to the standard.
In the embodiment of the application, firstly, the endpoint coordinates of the parking mark are obtained according to the image which is acquired by the camera and comprises the parking mark; secondly, determining whether the orientation of the current parking position is correct or not according to the endpoint coordinates; finally, after the correct direction is determined, whether the shared vehicle is normally parked or not is further determined by judging whether the endpoint coordinates are matched with the standard endpoint coordinates or not, so that the accuracy of determining the normal parking of the user is improved.
In an optional implementation, after obtaining the standard endpoint coordinates, the method further includes:
if the endpoint coordinates are not matched with the standard endpoint coordinates, acquiring reference point coordinates of a preset number;
determining a current parking distance according to the endpoint coordinate and the reference point coordinate, wherein the current parking distance is a distance between the camera and the parking mark;
and determining whether the shared vehicle is normally parked according to the current parking distance.
In the embodiment of the application, if the endpoint coordinate is not matched with the standard endpoint coordinate, the current parking distance is determined through the endpoint coordinate and the reference point coordinate, whether the shared vehicle parks in a standard mode or not is determined according to the current parking distance, and compared with the case that the endpoint coordinate is not matched with the standard endpoint coordinate, the shared vehicle is directly determined to park in an unnormalized mode, and the accuracy of determining parking in a standard parking mode of a user is improved.
In an optional embodiment, the determining whether the shared vehicle is normally parked according to the current parking distance includes:
if the current parking distance is within a first preset parking distance range, determining that the shared vehicle parks according to the standard;
and if the current parking distance is not within the first preset parking distance range, determining that the shared vehicle does not normally park.
In an optional embodiment, the determining the current parking distance according to the endpoint coordinate and the reference point coordinate includes:
determining a first reference point coordinate and a second reference point coordinate from the preset number of reference point coordinates, wherein the first reference point coordinate and the second reference point coordinate are respectively located on two sides of the endpoint coordinate and are the reference point coordinates closest to the endpoint coordinate;
and determining the current parking distance according to a first reference parking distance corresponding to the first reference point coordinate and a second reference parking distance corresponding to the second reference point coordinate, wherein the first reference parking distance is the distance between the first reference point coordinate and the parking mark, and the second reference parking distance is the distance between the second reference point coordinate and the parking mark.
In the embodiment of the application, the current parking distance is determined through the first reference parking distance corresponding to the first reference point coordinate and the second reference parking distance corresponding to the second reference point coordinate, and the accuracy rate of determining the current parking distance is improved.
In an optional embodiment, the determining whether the current parking position is correctly oriented according to the endpoint coordinates includes:
determining the center line of the parking mark according to the endpoint coordinates;
acquiring a longitudinal axis of an image coordinate system corresponding to the image;
if the centerline matches the longitudinal axis, determining that the orientation is correct;
if the centerline does not match the longitudinal axis, determining that the orientation is incorrect.
In the embodiment of the application, whether the direction is correct or not is judged according to whether the center line of the parking mark is matched with the longitudinal axis or not, and the accuracy rate of judging whether the direction of the current parking position is correct or not is improved.
In an optional embodiment, the obtaining, based on the image, the endpoint coordinates of the parking identifier includes:
carrying out gray scale format conversion on the image to obtain a converted image;
carrying out binarization processing on the converted image to obtain a binarized image;
filtering the binary image to obtain a filtered image;
carrying out edge detection on the filtered image to obtain edge information;
performing edge detection with the largest area on the edge information to obtain edge coordinates of the parking identifier;
and acquiring the endpoint coordinates of the parking identifier from the edge coordinates.
In the embodiment of the application, the accuracy of the edge coordinate of the parking mark is improved by sequentially performing gray scale format conversion, binarization processing, filtering processing, edge detection and edge detection with the largest area on an image.
In an optional embodiment, the obtaining the standard endpoint coordinates includes:
acquiring the current parking point position information of the shared vehicle;
and acquiring standard endpoint coordinates according to the current parking spot position information.
In the embodiment of the application, the corresponding standard endpoint coordinate is selected according to the current parking point position information of the shared vehicle, and the accuracy of the standard endpoint coordinate is improved, so that the accuracy of the standard parking determination of the user is improved.
In a second aspect, an embodiment of the present application provides a normative parking determination device for a shared vehicle, which is applied to a server, a parking spot is provided with a parking identifier, the shared vehicle is provided with a camera, and the device includes:
the image acquisition module is used for acquiring images which are acquired by the shared vehicle through the camera and comprise parking marks when a vehicle returning request is received;
an endpoint coordinate obtaining module, configured to obtain an endpoint coordinate of the parking identifier based on the image;
the orientation determining module is used for determining whether the orientation of the current parking position is correct or not according to the endpoint coordinates;
the standard endpoint coordinate acquisition module is used for acquiring a standard endpoint coordinate if the orientation is correct;
and the standard parking determining module is used for determining the standard parking of the shared vehicle if the endpoint coordinates are matched with the standard endpoint coordinates.
In a third aspect, a computer device is provided, the computer device comprising a memory and a processor, the memory storing a computer program, the computer program, when executed by the processor, implementing the method for determining a normative parking of a shared vehicle according to the first aspect.
In a fourth aspect, a computer-readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, implements the method of determining a normative parking of a shared vehicle as defined in the first aspect.
Drawings
In order to more clearly explain the technical solutions of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of protection of the present application. Like components are numbered similarly in the various figures.
FIG. 1 is a block diagram illustrating a flowchart of steps of a method for determining normative parking of shared vehicles according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a parking sign provided by an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a circle parking mark construction endpoint provided by an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating an elliptical parking mark construction endpoint provided by an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating reference point coordinates and endpoint coordinates provided by embodiments of the present application;
FIG. 6 is a schematic diagram illustrating a parking sign change provided by an embodiment of the present application;
FIG. 7 is a block diagram illustrating a parking spot provided by an embodiment of the present application;
fig. 8 is a block diagram showing a structural schematic diagram of a normative parking determination device for shared vehicles according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present application, are intended to indicate only specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments.
Example 1
Referring to fig. 1, fig. 1 is a schematic block diagram illustrating a flow of steps of a normative parking determination method for shared vehicles according to an embodiment of the present application.
As shown in fig. 1, a method for determining a standard parking of a shared vehicle provided by an embodiment of the present application may be applied to a server, a parking spot is provided with a parking identifier, the shared vehicle is provided with a camera, and the method includes S110 to S150.
S110: and when a vehicle returning request is received, acquiring the images including the parking marks, which are acquired by the shared vehicle through the camera.
Specifically, the server includes an identification device and a background device that performs wireless remote interaction with the identification device, and the like, where the identification device is a device that can acquire, process, and identify an image, and in this embodiment, the identification device is a camera. And the user sends a car returning request to the server through the mobile terminal. And after receiving the car returning request sent by the mobile terminal, the server sends a camera opening instruction to the shared vehicle. And after the shared vehicle receives the camera opening instruction, the shared vehicle opens the camera to collect the image comprising the parking identifier and sends the collected image comprising the parking identifier to the server. The server receives the images including the parking marks, which are acquired by the shared vehicles through the cameras.
Further, please refer to fig. 2, and fig. 2 shows a schematic view of a parking mark according to an embodiment of the present application. It should be understood that, in this embodiment, the parking indicator is taken as an example, and the shape of the parking indicator may also be a square, a circle, an ellipse, and the like, which is not limited herein.
S120: and obtaining the endpoint coordinates of the parking mark based on the image.
In this embodiment, if the parking marker is a polygon such as a rectangle, a square, a triangle, etc., the endpoint coordinates of the parking marker are obtained based on the image; if the parking mark is a graph without end points, such as a circle, an ellipse and the like, a polygon is constructed based on the characteristics of the graph, and the constructed polygon end points are used as the end point coordinates of the graph.
By way of example, please refer to fig. 3 to 4 together, fig. 3 shows a schematic diagram of a circular parking mark building end point provided in the embodiment of the present application, and fig. 4 shows a schematic diagram of an elliptical parking mark building end point provided in the embodiment of the present application. And if the parking mark is a circle, constructing a square EFGH according to the diameter AB of the circle O parallel to the horizontal axis of the image coordinate system corresponding to the image and the diameter CD parallel to the vertical axis of the image coordinate system corresponding to the image, and taking the coordinates of four end points of the square E, F, G, H as the end point coordinates corresponding to the parking mark. If the parking mark is an ellipse, constructing a rectangular PQRS according to the major axis JK and the minor axis MN of the ellipse I, and taking the coordinates of four end points of the rectangle P, Q, R, S as the end point coordinates corresponding to the parking mark.
In an optional embodiment, the obtaining, based on the image, the endpoint coordinates of the parking identifier includes:
carrying out gray scale format conversion on the image to obtain a converted image;
carrying out binarization processing on the converted image to obtain a binarized image;
filtering the binary image to obtain a filtered image;
carrying out edge detection on the filtered image to obtain edge information;
performing edge detection with the largest area on the edge information to obtain edge coordinates of the parking identifier;
and acquiring the endpoint coordinates of the parking identifier from the edge coordinates.
Specifically, firstly, the server reads image information in the image by using an immead function, wherein the immead function is a function in a computer language and is used for reading data in a picture file; secondly, a cvtColor function is used for the image, the image is converted from RGB to a gray scale format, and a converted image is obtained, wherein the cvtColor function is used for converting the image from one color space to another color space, and the type of data can be ensured to be unchanged in the conversion process, namely the data type and the bit depth of the converted image are consistent with those of the source image; secondly, using a threshold function for the converted image to carry out binarization processing on the converted image to obtain a binarized image, wherein the threshold function is used for binarizing image information by traversing pixel points in a gray level image, and the processed image only has two color values; fourthly, a media Blur function is used for the binary image to carry out filtering processing on the binary image to obtain a filtering image, wherein the media Blur function uses a median filter to carry out smoothing processing on one picture, the picture is input from src, and the result is output from dst; fifth, a Canny function is applied to the filtered image to perform edge detection on the filtered image,obtaining edge information, wherein the Canny function can use a Canny algorithm to carry out edge detection on the input image; sixthly, performing edge detection with the largest area on the edge information by using a findContours function to obtain edge coordinates of the parking mark, wherein the findContours function is used for searching a contour from a binary image; finally, obtaining the end point coordinate of the parking mark from the edge coordinate, namely obtaining the end point coordinate U (X) from the edge coordinateU，YU)、V(XV，YV)、W(XW，YW) And Z (X)Z，YZ)。
S130: and determining whether the orientation of the current parking position is correct or not according to the endpoint coordinates.
In this embodiment, whether the direction of the current parking position is correct is determined according to the endpoint coordinates, and whether the shared vehicle is parked regularly is further determined according to whether the direction is correct, so that the accuracy of determining parking normatively for the user.
In an optional embodiment, the determining whether the current parking position is correctly oriented according to the endpoint coordinates includes:
determining the center line of the parking mark according to the endpoint coordinates;
acquiring a longitudinal axis of an image coordinate system corresponding to the image;
if the centerline matches the longitudinal axis, determining that the orientation is correct;
if the centerline does not match the longitudinal axis, determining that the orientation is incorrect.
Specifically, the preset regular image includes a triangle, a polygon, a circle, an ellipse, and the like.
As an example, still taking the parking identifier described in fig. 2 as an example, the endpoint coordinate U (x) is usedu，yu)、V(xv，yv)、W(xw，yw) And Z (x)z，yz) According to a midpoint coordinate calculation formula, the midpoint coordinate of the UV is calculated to be
The midpoint coordinate of WZ is
Obtaining the slope by substituting the UV midpoint coordinate and the WZ midpoint coordinate into a slope calculation formula
If k is 0, the center line of the parking mark is
Acquiring the vertical axis of the image coordinate system corresponding to the image as 0, and judging
If the value of (a) is within a preset range, determining that the center line is matched with the longitudinal axis to further determine that the orientation is correct, and if the value of (b) is not within the preset range, determining that the center line is not matched with the longitudinal axis to further determine that the orientation is incorrect. The image coordinate system corresponding to the image is a rectangular coordinate system constructed by taking the central point of the image as an origin.
If the slope k is not 0 and is not within the predetermined slope range, if k is not equal to 0, and
[-tan5°，tan5°]determining that the centerline does not match the longitudinal axis, thereby determining that the orientation is incorrect. If the slope k is not 0 and is within a predetermined slope range, such as k ≠ 0, and k ∈ tan5 °, tan5 °]Substituting the value of the slope k and the midpoint coordinate of UV into y-kx + b to obtain an expression of the center line of the parking identifier, making y-0, solving the abscissa of the intersection point of the expression of the center line of the parking identifier and the x axis, and if the absolute value of the abscissa is within the preset range, determining that the center line is matched with the longitudinal axis, and further determining that the orientation is correct; if the absolute value of the abscissa is not within a preset range, determining the absolute valueThe centerline does not match the longitudinal axis, thereby determining that the orientation is incorrect.
S140: and if the orientation is correct, acquiring the coordinates of the standard endpoint.
In this embodiment, the standard endpoint coordinate is an endpoint coordinate of the parking identifier obtained by calibrating by the staff after the standard parking spot is used for standard parking. And if the orientation is correct, the server acquires the standard endpoint coordinates.
It is noted that the distances between the parking marks of different parking spots and the standard parking position may be different, which may result in low accuracy of the standard endpoint coordinates, thereby reducing the accuracy of the determination of the standard parking position for the user. Therefore, in order to improve the accuracy of the standard endpoint coordinates and thus improve the accuracy of the parking specification determination of the user, the acquiring the standard endpoint coordinates includes:
acquiring the current parking point position information of the shared vehicle;
and acquiring standard endpoint coordinates according to the current parking spot position information.
Specifically, the shared vehicle sends the position information of the shared vehicle to the server every first preset time, and if the server determines that the orientation of the shared vehicle is correct, the position information within a second preset time interval with the current time is acquired as the current parking position information of the shared vehicle, wherein the second preset time is less than or equal to the first preset time. The server stores the corresponding relation between the parking position information and the standard endpoint coordinates, and acquires the corresponding standard endpoint information according to the current parking position information. And selecting the corresponding standard endpoint coordinate according to the current parking point position information of the shared vehicle, and improving the accuracy of the standard endpoint coordinate, thereby improving the accuracy of determining the standard parking of the user.
In an optional embodiment, before acquiring the image including the parking marker, the method further includes:
when a calibration request is received, acquiring a standard image of the shared vehicle, which comprises a standard parking identifier, acquired by the camera;
and obtaining the standard endpoint coordinates of the standard parking mark based on the standard image.
Specifically, the staff sends a calibration request to the server through the mobile terminal. And after receiving the calibration request sent by the mobile terminal, the server sends a camera opening instruction to the shared vehicle. After the shared vehicle receives the camera opening instruction, the camera is opened to obtain an image comprising a standard parking identifier, and the process of obtaining the standard endpoint coordinate of the standard parking identifier based on the standard image is consistent with the process of obtaining the endpoint coordinate of the parking identifier based on the image, and the process is not repeated herein.
It can be understood that, in order to improve the calibration accuracy of the standard endpoint coordinate, multiple calibration may be performed after the standard parking spot is parked in a standard manner, so as to obtain multiple calibration endpoint coordinates, the calibration endpoint coordinate which is obviously different from other calibration endpoint coordinates in the calibration process by a relatively large amount is removed, so as to obtain multiple normal calibration endpoint coordinates, and the calibration endpoint coordinate with the smallest variance value among the multiple normal calibration endpoint coordinates is selected as the standard endpoint coordinate. Wherein, if the parking sign is rectangle or square, the error threshold may be set as the diagonal of the rectangle or square multiplied by five percent.
And the staff sends the position information of each parking point and the corresponding standard endpoint coordinate to the server through computer equipment, and the server receives and stores the corresponding relation between the position information of the parking point and the standard endpoint coordinate.
S150: and if the endpoint coordinates are matched with the standard endpoint coordinates, determining that the shared vehicle parks according to the standard.
In this embodiment, if the difference between the abscissa of the endpoint coordinate and the abscissa of the standard endpoint coordinate is within a preset abscissa difference, and the difference between the ordinate of the endpoint coordinate and the ordinate of the standard endpoint coordinate is within a preset ordinate difference, determining that the endpoint coordinate matches the standard endpoint coordinate, and further determining that the shared vehicle is parked regularly; and if the difference value between the abscissa of the endpoint coordinate and the abscissa of the standard endpoint coordinate is not within a preset abscissa difference value, or the difference value between the ordinate of the endpoint coordinate and the ordinate of the standard endpoint coordinate is not within a preset ordinate difference value, determining that the endpoint coordinate is not matched with the standard endpoint coordinate.
On the basis of the above embodiment, in order to further improve the accuracy of determining the parking specification of the user, after the obtaining the coordinates of the standard endpoint, the method further includes:
if the endpoint coordinates are not matched with the standard endpoint coordinates, acquiring reference point coordinates of a preset number;
determining a current parking distance according to the endpoint coordinate and the reference point coordinate, wherein the current parking distance is a distance between the camera and the parking mark;
and determining whether the shared vehicle is normally parked according to the current parking distance.
Specifically, after calibrating a plurality of reference point coordinates, the worker also calibrates the parking distance corresponding to each reference point coordinate, and uploads the reference point coordinates and the corresponding parking distance to the server through the computer device. The server receives and stores the reference point coordinates and the corresponding parking distances. The method comprises the steps that a worker marks a plurality of reference points on a straight line which passes through the center point of the parking mark and is perpendicular to the parking mark at one time, and the parking positions of the reference points comprise parking position points in front of and behind a standard parking position. The calibration process of the reference point coordinate is consistent with the calibration process of the standard endpoint coordinate and the calibration process of the endpoint coordinate of the parking marker, which is not described herein again.
It can be understood that, considering that there may be a certain error in the orientation and distance when calibrating the reference point coordinates, all the reference point coordinates may be repeatedly calibrated twice or more, data that obviously violates imaging rules and has a large error in the calibration process is removed, and the reference point coordinate with the smallest variance value among the normal reference point coordinates is selected as the final reference point coordinate.
Further, in this embodiment, in order to avoid the influence caused by the excessive lens distortion, it is preferable that the image collected by the central target surface of the camera is accurately calibrated and restored by an effective algorithm, or the distortion of the lens such as a wide angle or a fish eye is accurately calibrated and restored, wherein the central target surface is an imaging sensor of the camera.
In an optional embodiment, the determining the current parking distance according to the endpoint coordinate and the reference point coordinate includes:
determining a first reference point coordinate and a second reference point coordinate from the preset number of reference point coordinates, wherein the first reference point coordinate and the second reference point coordinate are respectively located on two sides of the endpoint coordinate and are the reference point coordinates closest to the endpoint coordinate;
and determining the current parking distance according to a first reference parking distance corresponding to the first reference point coordinate and a second reference parking distance corresponding to the second reference point coordinate, wherein the first reference parking distance is the distance between the first reference point coordinate and the parking mark, and the second reference parking distance is the distance between the second reference point coordinate and the parking mark.
In the present embodiment, the average of the first reference stopping distance and the second reference stopping distance is taken as the current stopping distance.
Specifically, referring to fig. 5, fig. 5 is a schematic diagram illustrating coordinates of a reference point and coordinates of an endpoint according to an embodiment of the present disclosure. As shown in fig. 5, the slave U1、U2、U3、U4、U5Selecting a reference point U which is positioned at the left side of the endpoint coordinate U and is closest to the endpoint coordinate U from the five reference point coordinates2As a first reference point U2Selecting a reference point U which is positioned at the right side of the endpoint coordinate U and is closest to the endpoint coordinate U3As a second reference point U3Further determining the coordinates of the first reference point
And second reference point coordinates
According to the first reference point coordinates
Corresponding first reference parking distance
And second reference point coordinates
Corresponding second reference parking distance
Determining the current stopping distance as
On the basis of the above embodiment, in order to further improve the accuracy of determining that a user parks in a normative parking space, the determining whether the shared vehicle parks in a normative parking space according to the current parking distance includes:
if the current parking distance is within a first preset parking distance range, determining that the shared vehicle parks according to the standard;
and if the current parking distance is not within the first preset parking distance range, determining that the shared vehicle does not normally park.
In this embodiment, the staff sends each parking point position information and the corresponding first preset parking distance to the server through the computer device, and the server receives and stores the corresponding relationship between the parking point position information and the first preset parking distance. And after the current parking distance is determined, the server acquires a corresponding first preset parking distance according to the position information of the current parking point.
As an example, if the first preset parking distance range is 0.8m to 1m and the current parking distance is 0.8m, determining that the shared vehicle parks according to the standard; and determining that the shared vehicle is not parked in a standard way when the current parking distance is 1.2 m.
It is understood that the shared vehicle is on a straight line passing through the center point of the parking marker and perpendicular to the parking marker, and the parking marker moves downward in the image and is enlarged as the current parking distance decreases. Referring to fig. 6, fig. 6 is a schematic diagram illustrating a change of the parking indicator according to an embodiment of the present application. As shown in fig. 6, the B parking mark 410 is a parking mark corresponding to a standard current parking distance, the a parking mark 420 is a parking mark corresponding to a current parking distance smaller than the standard current parking distance, and the C parking mark 430 is a parking mark corresponding to a current parking distance greater than the standard current parking distance.
Alternatively, if the reference point coordinates are less calibrated, the distance range between the first reference parking distance and the second reference parking distance may be used as the current parking distance range. If the current parking distance range is within a second preset parking distance range, determining that the shared vehicle does not normally park; and if the current parking distance range is not within the second preset parking distance range, determining that the shared vehicle parks according to the standard.
As an example, if the second preset parking distance range is 0.6m to 1m and the current parking distance range is 0.8m to 1.1m, determining that the shared vehicle is not parked in a standard manner; the current parking distance range is 0.8 m-1.1 m, and the shared vehicle is determined to be parked in an unregulated manner; and determining that the shared vehicle is normally parked when the current parking distance range is 0.6-0.8 m.
Optionally, in order to guide the user to park the vehicle, please refer to fig. 7 together, and fig. 7 shows a schematic block diagram of a parking spot provided in an embodiment of the present application. As shown in fig. 7, the parking spot is provided with a parking sign 510, a front wheel parking notice frame 520, a parking orientation indication 530, and a rear wheel parking notice frame 540. Therefore, the parking information can be intuitively seen by the parking person at the parking spot, so that the parking person can perform standard parking according to the parking information, and the technical effect of guiding the parking standard of the user is realized.
The embodiment of the application provides a standard parking determination method for shared vehicles, which is applied to a server, a parking spot is provided with a parking mark, the shared vehicles are provided with cameras, and the method comprises the following steps: when a vehicle returning request is received, acquiring an image which is acquired by the shared vehicle through the camera and comprises a parking identifier; obtaining the endpoint coordinates of the parking mark based on the image; determining whether the orientation of the current parking position is correct or not according to the endpoint coordinates; if the orientation is correct, acquiring a standard endpoint coordinate; and if the endpoint coordinates are matched with the standard endpoint coordinates, determining that the shared vehicle parks according to the standard. After the direction is determined to be correct, whether the shared vehicle is normally parked or not is further determined by judging whether the endpoint coordinates are matched with the standard endpoint coordinates or not, so that the accuracy of parking-normative determination of the user is improved.
Example 2
Referring to fig. 8, fig. 8 is a block diagram illustrating a structural schematic diagram of a normative parking determination device for shared vehicles according to an embodiment of the present application. The normative parking determination apparatus 200 for a shared vehicle may be applied to a server, a parking spot is provided with a parking identifier, the shared vehicle is provided with a camera, and the normative parking determination apparatus 200 for a shared vehicle includes an image acquisition module 210, an endpoint coordinate obtaining module 220, an orientation determination module 230, a standard endpoint coordinate acquisition module 240, and a normative parking determination module 250.
The image obtaining module 210 is configured to obtain an image including a parking identifier when the server receives a car return request;
the endpoint coordinate obtaining module 220 is configured to obtain an endpoint coordinate of the parking identifier based on the image;
the orientation determining module 230 is configured to determine whether the orientation of the current parking position is correct according to the endpoint coordinates;
the standard endpoint coordinate obtaining module 240 is configured to obtain a standard endpoint coordinate if the orientation is correct;
the normative parking determination module 250 is configured to determine that the shared vehicle is normative parking if the endpoint coordinates match the standard endpoint coordinates.
Optionally, the normative parking determination apparatus 200 for shared vehicles further includes:
a reference point coordinate obtaining module, configured to obtain reference point coordinates of a preset number if the endpoint coordinates are not matched with the standard endpoint coordinates;
the parking distance determining module is used for determining the current parking distance according to the endpoint coordinate and the reference point coordinate, wherein the current parking distance is the distance between the camera and the parking mark;
the normative parking determination module 250 is further configured to determine whether the shared vehicle is normative parking according to the current parking distance.
Optionally, the normative parking determination module 250 is specifically configured to:
if the current parking distance is within a first preset parking distance range, determining that the shared vehicle parks according to the standard;
and if the current parking distance is not within the first preset parking distance range, determining that the shared vehicle does not normally park.
Optionally, the parking distance determination module includes:
a reference point coordinate determination submodule, configured to determine a first reference point coordinate and a second reference point coordinate from the preset number of reference point coordinates, where the first reference point coordinate and the second reference point coordinate are located on two sides of the endpoint coordinate respectively and are closest to the endpoint coordinate;
and the current parking distance determining submodule is used for determining the current parking distance according to a first reference parking distance corresponding to the first reference point coordinate and a second reference parking distance corresponding to the second reference point coordinate, wherein the first reference parking distance is the distance between the first reference point coordinate and the parking mark, and the second reference parking distance is the distance between the second reference point coordinate and the parking mark.
Optionally, the parking identifier is a preset rule image, and the standard endpoint coordinate obtaining module 240 includes:
the center line determining submodule is used for determining the center line of the parking mark according to the endpoint coordinates;
the longitudinal axis obtaining sub-module is used for obtaining a longitudinal axis of an image coordinate system corresponding to the image;
an orientation correctness determination module for determining that the orientation is correct if the centerline matches the longitudinal axis;
an incorrect orientation determination module to determine that the orientation is incorrect if the centerline does not match the longitudinal axis.
Optionally, the endpoint coordinate obtaining module 220 includes:
the conversion submodule is used for carrying out gray scale format conversion on the image to obtain a converted image;
a binarization processing submodule for performing binarization processing on the converted image to obtain a binarized image;
the filtering processing submodule is used for carrying out filtering processing on the binary image to obtain a filtering image;
the edge detection submodule is used for carrying out edge detection on the image to obtain edge information;
the edge detection submodule is also used for carrying out edge detection with the largest area on the edge information to obtain edge coordinates of the parking mark;
and the end point coordinate acquisition submodule is used for acquiring the end point coordinate of the parking identifier from the edge coordinate.
Optionally, the standard endpoint coordinate obtaining module 240 is specifically configured to:
acquiring the current parking point position information of the shared vehicle;
and acquiring standard endpoint coordinates according to the current parking spot position information.
The above device is used for executing the method provided in embodiment 1, and the implementation principle and technical effect are similar, which are not described herein again.
The embodiment of the application also discloses computer equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer program realizes the normative parking determination method of the shared vehicle according to the embodiment 1 when the processor executes the computer program.
The embodiment of the application also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the computer program realizes the normative parking determination method of the shared vehicle according to the embodiment 1.
Although the present application is disclosed above, the present application is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present disclosure, and it is intended that the scope of the present disclosure be defined by the appended claims.
Claims (10)
1. The standard parking determination method for the shared vehicle is applied to a server, a parking spot is provided with a parking mark, the shared vehicle is provided with a camera, and the method comprises the following steps:
when a vehicle returning request is received, acquiring an image which is acquired by the shared vehicle through the camera and comprises a parking identifier;
obtaining the endpoint coordinates of the parking mark based on the image;
determining whether the orientation of the current parking position is correct or not according to the endpoint coordinates;
if the orientation is correct, acquiring a standard endpoint coordinate;
and if the endpoint coordinates are matched with the standard endpoint coordinates, determining that the shared vehicle parks according to the standard.
2. The method of claim 1, wherein after obtaining the standard endpoint coordinates, further comprising:
if the endpoint coordinates are not matched with the standard endpoint coordinates, acquiring reference point coordinates of a preset number;
determining a current parking distance according to the endpoint coordinate and the reference point coordinate, wherein the current parking distance is a distance between the camera and the parking mark;
and determining whether the shared vehicle is normally parked according to the current parking distance.
3. The method of claim 2, wherein the determining whether the shared vehicle is regularly parked based on the current parking distance comprises:
if the current parking distance is within a first preset parking distance range, determining that the shared vehicle parks according to the standard;
and if the current parking distance is not within the first preset parking distance range, determining that the shared vehicle does not normally park.
4. The method of claim 2, wherein determining a current stopping distance based on the endpoint coordinates and the reference point coordinates comprises:
determining a first reference point coordinate and a second reference point coordinate from the preset number of reference point coordinates, wherein the first reference point coordinate and the second reference point coordinate are respectively located on two sides of the endpoint coordinate and are the reference point coordinates closest to the endpoint coordinate;
and determining the current parking distance according to a first reference parking distance corresponding to the first reference point coordinate and a second reference parking distance corresponding to the second reference point coordinate, wherein the first reference parking distance is the distance between the first reference point coordinate and the parking mark, and the second reference parking distance is the distance between the second reference point coordinate and the parking mark.
5. The method of claim 1, wherein the parking indicator is a preset regular image, and the determining whether the current parking position is oriented correctly according to the endpoint coordinates comprises:
determining the center line of the parking mark according to the endpoint coordinates;
acquiring a longitudinal axis of an image coordinate system corresponding to the image;
if the centerline matches the longitudinal axis, determining that the orientation is correct;
if the centerline does not match the longitudinal axis, determining that the orientation is incorrect.
6. The method of claim 1, wherein obtaining endpoint coordinates of the parking marker based on the image comprises:
carrying out gray scale format conversion on the image to obtain a converted image;
carrying out binarization processing on the converted image to obtain a binarized image;
filtering the binary image to obtain a filtered image;
carrying out edge detection on the filtered image to obtain edge information;
performing edge detection with the largest area on the edge information to obtain edge coordinates of the parking identifier;
and acquiring the endpoint coordinates of the parking identifier from the edge coordinates.
7. The method of claim 1, wherein the obtaining standard endpoint coordinates comprises:
acquiring the current parking point position information of the shared vehicle;
and acquiring standard endpoint coordinates according to the current parking spot position information.
8. A normative parking determination device for shared vehicles, applied to a server, a parking spot provided with a parking sign, the shared vehicles provided with a camera, the device comprising:
the image acquisition module is used for acquiring images which are acquired by the shared vehicle through the camera and comprise parking marks when a vehicle returning request is received;
an endpoint coordinate obtaining module, configured to obtain an endpoint coordinate of the parking identifier based on the image;
the orientation determining module is used for determining whether the orientation of the current parking position is correct or not according to the endpoint coordinates;
the standard endpoint coordinate acquisition module is used for acquiring a standard endpoint coordinate if the orientation is correct;
and the standard parking determining module is used for determining the standard parking of the shared vehicle if the endpoint coordinates are matched with the standard endpoint coordinates.
9. A computer arrangement, characterized in that the computer arrangement comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, implements the method of normative parking determination of shared vehicles as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the normative parking determination method for shared vehicles according to any one of claims 1 to 7.
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