CN114352148B

CN114352148B - Vehicle parking detection method and device, terminal equipment and storage medium

Info

Publication number: CN114352148B
Application number: CN202111470275.8A
Authority: CN
Inventors: 褚众杰; 张英杰; 蒋难得; 胡攀攀
Original assignee: Wuhan Wanji Photoelectric Technology Co Ltd
Current assignee: Wuhan Wanji Photoelectric Technology Co Ltd
Priority date: 2021-12-03
Filing date: 2021-12-03
Publication date: 2023-09-01
Anticipated expiration: 2041-12-03
Also published as: CN114352148A

Abstract

The application is suitable for the technical field of vehicle detection, and provides a vehicle parking detection method, a vehicle parking detection device and terminal equipment. In the embodiment of the application, when a vehicle to be parked is in a parked state, a platform door is scanned by a first laser beam, and the motion state of the platform door is determined; when the motion state of the platform door meets the preset condition, scanning the platform gap through a second laser beam to determine whether the platform gap is provided with an obstacle or not; when the gap of the platform is provided with an obstacle, alarming and reminding are carried out, so that the safety of the vehicle in the running process is improved.

Description

Vehicle parking detection method and device, terminal equipment and storage medium

Technical Field

The application belongs to the technical field of vehicle detection, and particularly relates to a vehicle parking detection method, a device, terminal equipment and a storage medium.

Background

With the development of society, public travel modes such as subways and trains are more and more common in people's lives. In view of safety, waiting environment, etc., a platform door may be provided on a platform used in a public travel mode, but thus, it is often occurred that passengers or objects are caught between the platform door and a vehicle, thereby easily causing dangerous situations.

At present, aiming at the condition that passengers or objects are clamped between a platform door and a vehicle, whether an obstacle exists between the platform door and the vehicle can be detected by additionally arranging a soft lamp tube on the outer side of a stand column of the platform door, so that a driver can determine whether the obstacle exists between the platform door and the vehicle only by observing the light emitted by the lamp tube, but the method needs to observe and confirm the obstacle, so that the workload of the driver is heavy, and the safety of the vehicle in the running process is lower.

Disclosure of Invention

The embodiment of the application provides a vehicle parking detection method, a device, terminal equipment and a storage medium, which can solve the problem of lower safety in the running process of a vehicle.

In a first aspect, an embodiment of the present application provides a vehicle stop detection method, including:

when a vehicle to be parked is in a parking state, scanning a platform door through a first laser beam, and determining the motion state of the platform door;

when the motion state of the platform door meets the preset condition, scanning the platform gap through a second laser beam to determine whether the platform gap is provided with an obstacle or not;

and when the gap of the platform is provided with an obstacle, alarming and reminding are carried out.

In a second aspect, an embodiment of the present application provides a vehicle stop detection apparatus, including:

the first scanning module is used for scanning the platform door through a first laser beam when the vehicle to be parked is in a parking state, and determining the motion state of the platform door;

the second scanning module is used for scanning the platform gap through a second laser beam when the motion state of the platform door meets preset conditions, and determining whether the platform gap is provided with an obstacle or not;

and the alarm module is used for alarming and reminding when the gap of the platform is provided with an obstacle.

In a third aspect, embodiments of the present application provide a vehicle stop detection system, including at least one first lidar and at least one second lidar;

the first laser radar scans the vehicle to be parked through a third laser beam and determines the state of the vehicle to be parked;

when the vehicle to be parked is in a parked state, the first laser radar sends the parked state to the second laser radar;

the first laser radar and the second laser radar respectively scan the platform door through a first laser beam to determine the motion state of the platform door;

When the motion state of the platform door accords with a preset condition, the first laser radar and the second laser radar scan the platform gap through second laser beams respectively, and whether the platform gap is provided with an obstacle is determined;

In a fourth aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements steps of any one of the above-mentioned vehicle stop detection methods when executing the computer program.

In a fifth aspect, an embodiment of the present application provides a computer readable storage medium storing a computer program, which when executed by a processor, implements the steps of any one of the above-described vehicle stop detection methods.

In a sixth aspect, an embodiment of the present application provides a computer program product for, when run on a terminal device, causing the terminal device to perform any one of the vehicle stop detection methods of the first aspect above.

In the embodiment of the application, when the vehicle to be parked is in a parked state, the platform door is scanned by the first laser beam to determine the motion state of the platform door, and when the motion state of the platform door meets the preset condition, the platform gap is scanned by the second laser beam to determine whether the platform gap is provided with an obstacle, so that the state of the current vehicle to be parked is determined by multiple scans of the laser radar after the vehicle is parked, thereby judging whether the obstacle detection between the platform door and the vehicle can be performed, and when the obstacle is detected to be provided with the platform gap, alarming and reminding are performed to avoid a driver to observe and confirm whether the obstacle is provided by the soft lamp tube, so that the work load of the driver is reduced, and the safety of the vehicle in the running process is further improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a vehicle stop detection method provided by an embodiment of the present application;

fig. 2 is a schematic diagram of laser scanning of a four-wire laser radar according to an embodiment of the present application;

FIG. 3 is a schematic view of laser radar scanning when a vehicle enters a stop according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a first connection layout of a lidar according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a second connection layout of a lidar according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a third connection layout of a lidar according to an embodiment of the present application;

FIG. 7 is a schematic view of a scanning scenario of a platform door according to an embodiment of the present application;

fig. 8 is a schematic view of a scenario of a vehicle stop detection method provided by an embodiment of the present application;

Fig. 9 is a schematic structural view of a vehicle stop detection device provided by an embodiment of the present application;

fig. 10 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

Fig. 1 is a schematic flow chart of a vehicle stop detection method according to an embodiment of the present application, where an execution body of the method may be a terminal device, and the terminal device may be a laser radar or other devices capable of emitting laser to scan, and the embodiment uses the laser radar as an example, and as shown in fig. 1, the vehicle stop detection method may include the following steps:

Step S101, when a vehicle to be parked is in a parked state, the platform door is scanned by a first laser beam, and the motion state of the platform door is determined.

In this embodiment, when the laser radar determines that the vehicle to be parked is in a parked state according to the vehicle point cloud chart after the platform enters the vehicle, the laser radar may send a first laser beam to scan a platform door where the vehicle to be parked is parked, and determine a motion state of the platform door according to a laser scanning result, so that when the motion state of the platform door meets a certain condition, the next judgment is performed. Wherein, the vehicles to be parked include but are not limited to trains, subways, trams and the like; the platform door is a door arranged on the platform and comprises, but is not limited to, a fixed door, a sliding door, an emergency door and the like, wherein the sliding door is a door which can be opened in a sliding way corresponding to a door of a vehicle to be parked for passengers to come in and go out; the above-mentioned motion states of the platform door include, but are not limited to, an open state, a closed state, a fully open state, a fully closed state, etc.

It will be appreciated that, at least one platform door for passengers to get in or out exists in the above platform, and correspondingly, at least one laser radar needs to be set on the platform for scanning vehicles to be parked, when at least two platform doors exist on the platform, for example, at least two platform doors exist on platforms such as a high-speed railway platform and a subway platform, the laser radar can determine the corresponding set number according to the number of the platform doors, for example, each platform door is correspondingly set with one set mode, each interval one set mode is set with one set mode, and in particular, the number and the position of the laser radar can be set according to the requirement of a user on resource loss and the requirement of scanning precision.

Specifically, to improve scanning accuracy, the lidar may be mounted by a radar bracket at a preset position between the position where the platform door is located and the door stop position of the vehicle to be parked, for example, on a ceiling, as shown in fig. 2. The mounting height of the lidar may be determined according to the position of the platform floor, for example, within a range of 2.5m,3m from the platform floor. Furthermore, the mounting direction of the lidar may be determined according to the type of the lidar, which includes, but is not limited to, a multi-line type and a single-line type, etc., for example, when the multi-line lidar of the multi-line type is used, the multi-line lidar may take a longitudinally mounted manner so as to ensure that at least two beams of the multi-line lidar may be scanned to a user's desired position including, but not limited to, a vehicle position, a position between a platform door and a door, a platform door position, a door position, etc., as shown in fig. 2, if the currently used multi-line lidar is a four-line lidar, beam 1 in the four-line lidar may be scanned to a vehicle to be parked, beam 2 may be scanned to a door, beam 3 may be scanned to a platform door, and the angular ranges of beams 1, 2, 3, and 4 of the four-line lidar may be (-5 °, (-2 ° -0.8 °), 0 °, (0.8 °) 2 °) and 4 of the platform door in fig. 2 are the first embodiment of the laser beam scanning performed in the present example.

In an embodiment, the determining, by the lidar, that the vehicle to be parked is in a parked state according to the vehicle point cloud image after the platform enters the vehicle, may specifically include: the laser radar scans the vehicle to be parked through the third laser beam to obtain a laser scanning result, so that the state of the vehicle to be parked is determined through the laser scanning result, and when the state of the vehicle to be parked meets the preset parking condition, the vehicle to be parked is determined to be parked. Wherein, the state of the vehicle to be parked comprises, but is not limited to, an acceleration state, a deceleration state, a braking state, a parking state and the like; the first laser beam and the third laser beam may be the same laser beam in a single-line laser radar or a multi-line laser radar, and the first laser beam and the third laser beam may also be different laser beams in the multi-line laser radar, for example, the beam 4 in the four-line laser radar in fig. 2 is the first laser beam, and the beam 1 is the third laser beam.

Specifically, the laser radar acquires a vehicle point cloud image of the third laser beam for scanning the vehicle to be parked, the vehicle point cloud image is the laser scanning result, and the vehicle position of the vehicle to be parked in the acquired vehicle point cloud image is judged to identify the current state of the vehicle to be parked. And if the positions of the vehicles to be parked in the continuous first preset number of vehicle point cloud images are the same, determining that the vehicles to be parked are in a parked state.

It is understood that the laser radar for determining the state of the vehicle to be parked may be any laser radar on the platform, or may be a laser radar on the platform, where the distance between the laser radar and the parking line of the platform is less than or equal to a preset distance threshold. If the state of the vehicle to be parked is determined by the laser radar with the distance from the parking line of the platform being smaller than or equal to the preset distance threshold value, when the laser radar determines the parking state of the vehicle to be parked, the parking state of the vehicle to be parked needs to be sent to the laser radar which does not scan the state of the vehicle to be parked on the platform, namely the laser radar with the distance from the parking line of the platform being larger than the preset distance threshold value.

For example, when a vehicle to be parked enters a stop, a laser beam of a laser radar located at one side of a platform door is scanned to a carriage of the vehicle to be parked, so that a rectangle appears in a generated vehicle point cloud image, as shown in fig. 3, the rectangle in fig. 3 is the vehicle to be parked, and the triangle in fig. 3 is a scanning area of the laser radar, so that if a rectangular position in a vehicle point cloud image of an adjacent frame changes, the position of the vehicle to be parked is indicated to change, and if no rectangular position in a continuous first preset number of vehicle point cloud images changes, the vehicle to be parked is indicated to be in a stop state, wherein the first preset number is determined by the type of the laser radar; the vehicle cabin is generally drum-shaped, i.e., the middle of the cabin is convex. It will be appreciated that if a longitudinally mounted multi-line lidar is currently employed, the closest tail laser beam of the multi-line lidar, which is close to the vehicle, is used to scan the approaching vehicle to be parked, such as beam 1 in fig. 2.

In one embodiment, the laser radar with a distance to the platform parking line smaller than or equal to a preset distance threshold may further send the current state of the identified vehicle to be parked to the vehicle controller to assist the vehicle controller in parking the vehicle to be parked, and after acquiring the vehicle point cloud image of the third laser beam for scanning the vehicle to be parked, the method may further include: the lidar may determine a first distance between the vehicle to be parked and the lidar emitting the third laser beam from the obtained vehicle point cloud image, i.e. L in fig. 3, i.e. calculate a distance between the headstock and the lidar, wherein an end of the rectangle close to the lidar is determined as the headstock of the vehicle to be parked. And then acquiring a second distance between the laser radar and a preset stopping line, namely M in fig. 3. The target distance between the vehicle to be parked and the stop line is thus determined from the first distance and the second distance, which target distance may be the sum of m+l. And transmitting the target distance to a vehicle controller of the vehicle to be parked so that the vehicle controller controls the vehicle to be parked to carry out parking operation according to the target distance. Therefore, the auxiliary information during the parking operation of the vehicle to be parked is provided, so that the vehicle to be parked can better perform the parking operation, and the accuracy of parking the vehicle to be parked at the preset position is improved.

In one embodiment, when the vehicle to be parked is parked, the vehicle controller may determine according to the target distance sent by the laser radar, and when the target distance accords with the first preset range, the vehicle controller controls the vehicle to be parked to decelerate; when the target distance accords with a second preset range, the vehicle controller detects the driving distance of the vehicle to be parked, and when the driving distance of the vehicle to be parked is detected to be equal to the preset distance, the vehicle controller controls the vehicle to brake, so that the laser radar assists the vehicle to be parked to carry out parking operation by sending distance information between the current vehicle and a parking line.

In one embodiment, when the vehicle to be parked is parked, the vehicle controller may further monitor by the laser radar to send a control signal to assist the vehicle to be parked in parking, that is, when the laser radar detects that the target distance accords with the first preset range, the laser radar sends a deceleration signal to the vehicle controller, so that the vehicle controller controls the vehicle to be parked to decelerate; when the laser radar detects that the target distance accords with a second preset range, the laser radar sends a braking signal to the vehicle controller so that the vehicle controller detects the running distance of the vehicle to be parked, and when the vehicle to be parked is detected to have the running distance equal to the preset distance, the vehicle controller controls the vehicle to brake, so that the laser radar assists the vehicle to be parked to carry out parking operation by sending a control signal.

In one embodiment, the lidar and the vehicle controller may be connected by at least one of ethernet networking or CAN bus.

Specifically, when the lidars are connected in a CAN bus manner, the lidars need to be provided with CAN ports, so that the lidars are connected with a CAN bus of the vehicle controller through cables, as shown in fig. 4, 12 lidars exist in fig. 4, and can_h ports and can_l ports of each lidar are respectively connected with a can_h bus and a can_l bus of the vehicle controller through cables.

Specifically, when the lidars are connected in an ethernet networking manner, the lidars need to be provided with a network port, a preset number of lidars can be selected as a group and connected to the switch through a network cable, and then the switch is connected with the vehicle controller, as shown in fig. 5, 12 lidars exist in fig. 5, every 3 lidars are a group, every 3 lidars are connected to the multi-port switch through the network cable, and each multi-port switch connected with the 3 lidars is connected with the vehicle controller in series through the network cable.

Specifically, when the lidars are cooperatively connected in an ethernet networking manner and a CAN bus manner, the lidars need to be provided with network ports, a preset number of lidars CAN be selected as a group and connected to the switch through a network cable, then connected with the network-to-CAN device through the switch, and further connected with the CAN bus of the vehicle controller through a cable by the network-to-CAN device, as shown in fig. 6, 12 lidars exist in fig. 6, every 3 lidars are in a group, every 3 lidars are connected to the multi-port switch through the network cable, and then each multi-port switch connected with the 3 lidars is respectively connected with each network-to-CAN device, and then the can_h port and the can_l port of the network-to-CAN device are respectively connected with the can_h bus and the can_l bus of the vehicle controller through cables.

In one embodiment, the determining the motion state of the platform door may include: the laser radar obtains a platform door point cloud image of a platform door scanned by a first laser beam, as shown in fig. 7, the platform door in the platform door point cloud image in fig. 7 comprises a fixed door, a sliding door 1 and a sliding door 2, and mark lines of the platform door are a left vertical line of the sliding door 1 and a right vertical line of the sliding door 2. The moving direction of the marking line of the platform door is determined according to the platform door point cloud chart, and the moving direction comprises the moving direction of the platform door in an open state and the moving direction of the platform door in a closed state. If the marking line moves towards the first preset position, the first preset position is the position A in fig. 7, the motion state of the platform door is determined to be an open state; if the marking line is moved in the direction of the second preset position, which is the position B in fig. 7, the motion state of the platform door is determined to be the closed state. In addition, if the marking line is located at the first preset position, the motion state of the platform door is determined to be a completely opened state, and if the marking line is located at the second preset position, the motion state of the platform door is determined to be a completely closed state.

It will be appreciated that the scanning surface of the lidar is tapered, the middle of the platform door is glass, the laser light will not be reflected, only the metal frame at the edge of the platform door will reflect the laser light, the fixed door and the sliding door in the platform door are not in the same plane when the platform door is in the open state, the closed state or the fully open state, and the fixed door and the sliding door in the platform door are in the same plane only when the platform door is in the fully closed state, so that the vertical line in the cloud of the platform door point obtained from the first laser beam determines the position of the platform door and the movement state of the platform door, and the vertical line in the cloud of the platform door point is the metal frame at the edge of the platform door, for example, the left vertical line of the sliding door 1 and the right vertical line of the sliding door 2 in fig. 7.

In one embodiment, in the open state or the closed state of the platform door, if the positions of the marking lines of the platform door in the continuous second preset number of platform door point cloud charts are the same, which indicates that an abnormal condition exists in the open process or the closed process of the platform door, and further the sliding door in the platform door cannot move at a certain position, an alarm reminding is performed to remind a field worker to process according to the abnormal information reported in the laser radar alarm reminding process, wherein the abnormal information comprises the number of the platform door with the abnormality and the abnormality reason, and the abnormal reason is that the sliding door cannot move at a certain position in the open process or the closed process of the platform door in the embodiment.

In one embodiment, if the platform door is not opened within a preset time when the vehicle to be parked is in a parking state, that is, the marking line does not move to a first preset position, to indicate that the platform door is opened abnormally, an alarm prompt is performed to prompt a field worker to process according to the abnormality information reported in the laser radar alarm prompt process, wherein the abnormality information comprises the number of the abnormal platform door and the abnormality reason, and the abnormality reason is that the platform door is opened abnormally in the embodiment.

In one embodiment, if the platform door is not closed within the preset time when the vehicle to be parked is in the completely opened state, that is, the marking line does not move to the second preset position, to indicate that the platform door is closed abnormally, an alarm prompt is performed to prompt a field worker to process according to the abnormality information reported in the laser radar alarm prompt process, where the abnormality information includes the number of the abnormal platform door and the abnormality reason, and the abnormality reason is that the platform door is closed abnormally in this embodiment.

In one embodiment, when scanning the platform door by the first laser beam, it may further comprise: the laser radar can emit a fourth laser beam, so that the door of the vehicle to be parked is scanned through the fourth laser beam, the movement state of the door is determined according to a laser scanning result, namely, the movement state of the door is determined according to a door point cloud picture of the door scanned through the fourth laser beam, and further judgment is performed. Wherein, the vehicle door is a door which corresponds to the sliding door of the platform door and can be opened for passengers to get in and out; the motion state of the vehicle door includes, but is not limited to, an open state, a closed state, a fully open state, a fully closed state, etc.; the fourth laser beam, the third laser beam, and the first laser beam may be the same laser beam or may be different laser beams, as the case may be.

Specifically, if the vehicle door and the platform door do not need to be detected at the same time, the laser radar can be a single-line laser radar, and different scanning positions are scanned in time intervals; if the vehicle door and the platform door need to be detected simultaneously, the laser radar is a multi-line laser radar, a certain laser beam in the multi-line laser radar is set as a position corresponding to the scanning of the first laser beam, and another laser beam in the multi-line laser radar is set as a position corresponding to the scanning of the fourth laser beam; the third laser beam may be the same laser beam as either the first laser beam or the fourth laser beam, or may be different from both the first laser beam and the fourth laser beam, for example, the beam 4 in the four-line laser radar in fig. 2 is the first laser beam, the beam 1 is the third laser beam, and the beam 2 is the fourth laser beam.

It will be appreciated that the door of the vehicle to be parked is drum-shaped and the door is open outwardly, so that when the door is in the open, fully open or closed condition, the door and the outside of the cabin are not in the same plane, but only when the door is in the fully closed condition, the door and the outside of the cabin are in the same plane, so that the position of the door and the movement condition of the door can be determined from the vertical line in the door point cloud, which is the metal rim at the edge of the door, obtained from the fourth laser beam.

In one embodiment, the determining the motion state of the vehicle door may include: the laser radar determines the moving direction of the marking line of the vehicle door according to the vehicle door point cloud chart, wherein the moving direction comprises the moving direction of the vehicle door in an open state and the moving direction of the vehicle door in a closed state. If the marking line moves towards the direction of the third preset position, determining that the motion state of the vehicle door is an opening state; and if the marking line moves towards the fourth preset position, determining that the motion state of the vehicle door is a closed state. In addition, if the marking line is positioned at the third preset position, the motion state of the vehicle door is determined to be a fully opened state, and if the marking line is positioned at the fourth preset position, the motion state of the vehicle door is determined to be a fully closed state.

In one embodiment, in the open state or the closed state of the vehicle door, if the positions of the marking lines of the vehicle door in the continuous second preset number of vehicle door point cloud charts are the same, it is indicated that an abnormal condition exists in the open process or the closed process of the vehicle door, and therefore the vehicle door cannot move in a certain position in the sliding process of the vehicle door, alarm reminding is performed to remind a field worker of processing abnormal information reported to the vehicle controller according to the laser radar alarm reminding process, the abnormal information comprises abnormal vehicle door numbers and abnormal reasons, and the abnormal reasons include that the vehicle door cannot move in a certain position in the open process or the closed process of the vehicle door in the embodiment.

In one embodiment, if the door is not opened within a preset time when the vehicle to be parked is in a parking state, that is, the marking line does not move to a third preset position, an alarm prompt is performed to prompt on-site staff to process according to the abnormality information reported in the laser radar alarm prompt process, wherein the abnormality information comprises the abnormal door number and the abnormality reason, and the abnormality reason is such as abnormal door opening in the embodiment.

In one embodiment, if the door is not closed within a preset time when the vehicle to be parked is in a completely opened state, that is, the marking line does not move to a fourth preset position, an alarm prompt is performed to prompt a field worker to process according to the abnormality information reported in the laser radar alarm prompt process, wherein the abnormality information comprises the number of the abnormal door and the abnormality reason, and the abnormality reason is such as abnormal door closing in the embodiment.

In one embodiment, the platform door on the platform and the door after the vehicle to be parked are opened at the same time sometimes, so the laser radar can determine the position deviation of the door and the platform door at the same time according to the door point cloud chart and the platform door point cloud chart, judge the position deviation, and if the position deviation obtained in the continuous third preset number of platform door point cloud charts and the door point cloud chart is greater than the preset deviation threshold value, indicate that the platform door or the door may have faults or the corresponding controllers of the two have abnormality, but the abnormal conditions do not affect the operation, perform early warning reminding to remind on-site staff to overhaul the corresponding abnormality reasons in the early warning information according to the early warning information of the laser radar, wherein the early warning information comprises the number of the platform door with abnormality, the number of the door and the abnormality reason, and the abnormality reason such as the position deviation of the door and the platform door in the embodiment. In addition, the deviation between the positions of the vehicle door and the platform door corresponding to each moment and the preset normal position corresponding to each moment can be compared, and the deviation is compared with the deviation threshold value to judge whether early warning reminding is needed or not.

In one embodiment, the platform door on the platform and the door after the vehicle to be parked are not simultaneously opened, so the laser radar can determine the position deviation of the door and the platform door at the same time according to the door point cloud image and the platform door point cloud image in the completely opened state and/or the completely closed state, judge the position deviation, and if the position deviation obtained in the platform door point cloud image and the door point cloud image in the continuous third preset number of completely opened states and/or the completely closed state is greater than the preset deviation threshold value, the condition that the platform door or the door can possibly have faults or the corresponding controllers of the two doors have faults is indicated, but the operation is not influenced by the abnormal conditions, early warning reminding is carried out, so that on-site staff is reminded to carry out maintenance treatment on the corresponding abnormality reasons in the early warning information according to the early warning information reported in the early warning process of the laser radar for a proper time, and the occurrence of the faults of the vehicle or the platform door is avoided. The early warning information includes the number of the platform door with the abnormality, the number of the door and the reason of the abnormality, such as the position deviation of the door and the platform door in the embodiment.

Step S102, when the motion state of the platform door meets the preset condition, scanning the platform gap through the second laser beam to determine whether the platform gap has an obstacle.

In this embodiment, when the lidar determines that the motion state of the platform door meets the preset condition according to the platform door point cloud chart, the lidar may send out a second laser beam to scan the platform gap between the platform door and the door after the vehicle to be parked is parked, and determine whether the platform gap has an obstacle according to the laser scanning result. Wherein the preset conditions include, but are not limited to, the platform door being in a fully opened state and the platform door being in a fully closed state; the second laser beam, the fourth laser beam, the third laser beam, and the first laser beam may be the same laser beam or may be different laser beams, as the case may be.

Specifically, if the vehicle door, the platform door and the platform gap do not need to be detected at the same time, the laser radar can be a single-line laser radar, and different scanning positions are scanned in time intervals; if it is necessary to detect the door, the platform door and the platform gap at the same time, for example, the platform door scans the platform gap in a completely opened state, the laser radar is a multi-line laser radar, one laser beam in the multi-line laser radar is set as a position corresponding to the second laser beam scanning, another laser beam in the multi-line laser radar is set as a position corresponding to the first laser beam scanning, another laser beam in the multi-line laser radar is set as a position corresponding to the fourth laser beam scanning, and the third laser beam may use the same laser beam as any one of the second laser beam, the first laser beam or the fourth laser beam, or may use a laser beam different from the second laser beam, the first laser beam or the fourth laser beam. For example, in the four-line laser radar of fig. 2, the beam 4 is a first laser beam, the beam 1 is a third laser beam, the beam 2 is a fourth laser beam, and the beam 3 is a second laser beam.

In one embodiment, determining whether the gap between stations is an obstacle may include: the laser radar obtains a gap point cloud image of scanning a gap of a platform by a second laser beam, judges the obtained gap point cloud image, determines that the gap of the platform is provided with an obstacle if a first target point exists in a continuous fourth preset number of gap point cloud images and the distance between the first target points in the adjacent gap point cloud images is smaller than the first preset distance, and therefore improves the detection accuracy of fine objects, such as detecting the rope loss of a child, and if the child is not on the bus, the rope loss prevention is already in the gap of the platform, and if the first target point in the current gap point cloud image is the rope loss prevention, the time of single point existence exceeds the time of the fourth preset number of gap point cloud images, and the rope loss prevention is proved to exist.

Specifically, if a first target point exists in the current frame gap point cloud picture, counting is started, if the distance between a single point coordinate appearing in the next frame gap point cloud picture and the first target point existing in the current frame gap point cloud picture is smaller than a first preset distance, the counting is increased by one, until the counting exceeds a fourth preset number, the counting is indicated to exceed the upper limit that the single point can stay in the gap, and then an obstacle exists.

Correspondingly, when the first target point is already present, if the distance between the single-point coordinate present in the current frame gap point cloud picture and the first target point present in the previous frame gap point cloud picture is greater than or equal to the first preset distance, the count is decremented by one until the count is smaller than the sixth preset number, which indicates that the currently possible obstacle has disappeared or is about to leave, and no tracking is performed any more. It is understood that the fourth preset number is greater than the sixth preset number.

In one embodiment, determining whether the gap between stations is an obstacle may include: the laser radar obtains a gap point cloud image of scanning the gap of the platform by the second laser beam, judges the obtained gap point cloud image, determines that the gap of the platform is blocked if a second target point with continuous sequence numbers exists in a preset area of the gap point cloud image and the number of the second target points with continuous sequence numbers is larger than a fifth preset number, and reduces interference of certain substances, such as dust interference, because the dust is not an obstacle affecting a vehicle and the floatability of the dust is larger, if the second target point in the current gap point cloud image is dust, the time of the dust continuously staying in the preset area does not exceed the time corresponding to the scanning of the fifth preset number. It can be understood that the point cloud image is scanned once at intervals of a certain rotation step length within a preset rotation range of the laser radar, and then the point cloud image is generated according to a scanning result obtained by each scanning to realize detection of the surrounding environment of the laser radar, and the sequence number is a value determined according to the number of times of scanning, for example, if a second target point in the gap point cloud image is a scanning result obtained by first scanning, the sequence number of the second target point is 1; if the second target point in the gap point cloud image is the scanning result obtained by the tenth scanning, the sequence number of the second target point is 10.

The rotation range of the laser radar is set to be 0-270 degrees, the rotation step length is set to be 0.33 degrees, and if a second target point exists in a scanning result obtained by scanning the platform gap by the laser radar sending out laser beams for the first time, the second target point with the sequence number of 1 is generated in the gap point cloud picture; after rotating by 0.33 degrees, if a second target point exists in a scanning result obtained by scanning the platform gap by the laser beam emitted by the laser radar for the second time, generating a second target point with the sequence number of 2 in the gap point cloud picture; after rotating by 0.33 degrees, if a second target point exists in a scanning result obtained by scanning the platform gap by sending out laser beams for the third time, generating a second target point with the sequence number of 3 in the gap point cloud picture; after rotating by 0.33 degrees, if a second target point does not exist in a scanning result obtained by scanning the platform gap by sending out laser beams for the fourth time, generating relevant information in the gap point cloud picture; after rotating by 0.33 degrees, if a second target point exists in a scanning result obtained by scanning the platform gap by the laser radar for the fifth time, generating a second target point with the sequence number of 5 in a gap point cloud picture, wherein the second target point with the sequence numbers of 1, 2, 3 and 5 exists in the gap point cloud picture, and if the fifth preset number of 2 is set, if the second target points with the sequence numbers of 1, 2, 3 and 5 are all in a preset area, the number of the second target points with the sequence numbers of continuous in the preset area is larger than the fifth preset number, so that the platform gap is provided with an obstacle; if only the second target point with the sequence number 3 in the second target points with the sequence numbers 1, 2, 3 and 5 is not in the preset area, the number of the second target points with the continuous sequence numbers in the preset area is equal to the fifth preset number, so that no obstacle exists in the platform gap. When the fifth preset number is set to 3, no matter the second target points with the sequence numbers of 1, 2, 3 and 5 are not in the preset area, the number of the second target points with the continuous sequence numbers in the preset area is only smaller than or equal to the fifth preset number, so that no obstacle exists in the gap between the stations.

Step S103, when the gap of the platform has an obstacle, alarming and reminding are carried out.

In the embodiment, the identification of the obstacle can be realized only through the installed laser radar, so that the cost is reduced, and the stability and safety of the identification of the obstacle are improved.

Specifically, as shown in fig. 8, N lidars exist in fig. 8, serial numbers are named from 1 to N, the hatched portion of fig. 8 is a region where the lidars can scan, when a vehicle to be parked is a train, and a four-wire lidar is provided for every other platform door, after the train enters a station, the light beam 1 of the four-wire lidar scans the train, and the scanned target distance between the train and a parking line is sent to the train controller, so that the train controller controls the train to slow down according to the target distance and the current speed of the train, and starts braking when the target distance accords with a second preset range. And when the four-wire laser radar scans that the position of the train is unchanged, determining that the train is in a stop state. After a certain time, the states of the train door and the platform door are determined by respectively scanning the train door and the platform door by utilizing the light beams 2 and 4 of the four-wire laser radar, and if any one of the train door and the platform door is still in a closed state, alarming and reminding are carried out. If the train door and the platform door are in a door opening state, the positions of the train door and the platform door are continuously monitored, and early warning and reminding are carried out when the position deviation meets a certain condition. After the train door and the platform door are in the door opening state for a certain time, judging whether the train door and the platform door are in the complete opening state again, and judging whether scanning results corresponding to the complete opening state, the closing state and the complete closing state meet certain conditions in sequence through the means. After the train door and the platform door are in a completely closed state, scanning each position of a platform gap by utilizing a light beam 3 of the four-wire laser radar to judge whether an obstacle exists or not, and reporting a normal signal of a train controller if the obstacle does not exist; and if the obstacle exists, alarming and reminding are carried out.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

Fig. 9 is a schematic structural diagram of a vehicle stop detection device according to an embodiment of the present application, and as shown in fig. 9, the vehicle stop detection device may include:

The first scanning module 901 is configured to scan the platform door through a first laser beam when the vehicle to be parked is in a parking state, and determine a motion state of the platform door.

And the second scanning module 902 is configured to scan the platform gap with a second laser beam when the motion state of the platform door meets a preset condition, and determine whether the platform gap has an obstacle.

The alarm module 903 is configured to alarm when an obstacle exists in the gap between the platforms.

In one embodiment, the vehicle stop detection device may further include:

the first point cloud image acquisition module is used for acquiring a vehicle point cloud image of a third laser beam for scanning the vehicle to be parked.

The state determining module is used for determining that the vehicles to be parked are in a parked state if the positions of the vehicles to be parked in the continuous first preset number of vehicle point cloud images are the same.

In one embodiment, the vehicle stop detection device may further include:

and the distance determining module is used for determining a first distance between the vehicle to be parked and the laser radar emitting the third laser beam according to the vehicle point cloud image.

The distance acquisition module is used for acquiring a second distance between the laser radar and a preset parking line.

And the target distance determining module is used for determining the target distance between the vehicle to be parked and the parking line according to the first distance and the second distance.

And the control module is used for sending the target distance to a vehicle controller of the vehicle to be parked so that the vehicle controller controls the vehicle to be parked to carry out parking operation according to the target distance.

In one embodiment, the first scanning module 901 may include:

and the first cloud image acquisition unit is used for acquiring a platform door point cloud image of the platform door scanned by the first laser beam.

And the direction determining unit is used for determining the moving direction of the marking line of the platform door according to the platform door point cloud image.

And the first state determining unit is used for determining that the motion state of the platform door is an open state if the marking line moves towards the direction of the first preset position.

And the second state determining unit is used for determining that the motion state of the platform door is a closed state if the marking line moves towards the second preset position.

In one embodiment, the first scanning module 901 may further include:

and the alarm unit is used for carrying out alarm reminding when the positions of the marking lines in the continuous second preset number of platform door point cloud pictures are the same in the opening state or the closing state.

In one embodiment, the vehicle stop detection device may further include:

the second point cloud image acquisition module is used for scanning the door of the vehicle to be parked through the fourth laser beam and acquiring a door point cloud image of the door scanned by the fourth laser beam.

And the deviation determining module is used for determining the position deviation of the lower door and the platform door at the same moment according to the door point cloud picture and the platform door point cloud picture.

And the early warning module is used for carrying out early warning and reminding if the position deviation obtained in the continuous third station door point cloud pictures and the station door point cloud pictures with the preset number is larger than a preset deviation threshold value.

In one embodiment, the second scanning module 902 may include:

and the second point cloud image acquisition unit is used for acquiring a gap point cloud image of scanning the gap of the platform by the second laser beam.

And the first obstacle determining unit is used for determining that the platform gap is provided with an obstacle if the first target points exist in the continuous fourth preset number of gap point cloud pictures and the distance between the first target points in the adjacent gap point cloud pictures is smaller than the first preset distance.

In one embodiment, the second scanning module 902 may further include:

And the third point cloud image acquisition unit is used for acquiring a gap point cloud image of scanning the gap of the platform by the second laser beam.

And the second obstacle determining unit is used for determining that the station gap has obstacles if the second target points with continuous sequence numbers exist in the preset area of the gap point cloud picture and the number of the second target points with continuous sequence numbers is larger than the fifth preset number.

Corresponding to a vehicle stop detection method described above, embodiments of the present application provide a vehicle stop detection system that may include at least one first lidar and at least one second lidar.

The first laser radar scans the vehicle to be parked through a third laser beam, and determines the state of the vehicle to be parked.

When the vehicle to be parked is in a parked state, the first laser radar sends the parked state to the second laser radar.

The first laser radar and the second laser radar scan the platform door through the first laser beam respectively, and the motion state of the platform door is determined.

When the motion state of the platform door accords with a preset condition, the first laser radar and the second laser radar scan the platform gap through second laser beams respectively, and whether the platform gap is provided with an obstacle is determined.

In this embodiment, the first lidar may be a lidar whose distance from the stop line of the platform is less than or equal to a preset distance threshold, and the second lidar may be a lidar whose distance from the stop line of the platform is greater than the preset distance threshold. The distance threshold may be set according to a user requirement.

For example, as shown in fig. 8, if the distance between the above-mentioned lidar 1 and the parking line is equal to the above-mentioned distance threshold, the vehicle parking detection system includes only one first lidar, that is, lidar 1, and accordingly, lidars 2 to N are second lidars. When the vehicle to be parked is a train and a four-wire laser radar is arranged on every other platform door, after the train enters a station, the light beam 1 of the laser radar 1 scans the train and sends the target distance between the scanned train and a parking line to the train controller, so that the train controller controls the train to decelerate according to the target distance and the current speed of the train, and starts to brake when the target distance accords with a second preset range. When the laser radar 1 scans that the position of the train has not changed, it is determined that the train is in a stopped state, and the stopped state of the train is transmitted to the laser radars 2 to N. After a certain time, the states of the train door and the platform door are determined by respectively scanning the train door and the platform door by using the light beams 2 and 4 of the laser radars 1 to N, and if any one of the train door and the platform door is still in a closed state, alarming and reminding are carried out. If the train door and the platform door are in a door opening state, the positions of the train door and the platform door are continuously monitored, and early warning and reminding are carried out when the position deviation meets a certain condition. After the train door and the platform door are in the door opening state for a certain time, judging whether the train door and the platform door are in the complete opening state again, and judging whether scanning results corresponding to the complete opening state, the closing state and the complete closing state meet certain conditions in sequence through the means. Finally, after the train door and the platform door are in a completely closed state, scanning whether barriers exist at each position of the platform gap by utilizing the light beams 3 of the laser radars 1 to N, and reporting a train controller normal signal if the barriers do not exist; and if the obstacle exists, alarming and reminding are carried out.

In one embodiment, the first lidar acquires a vehicle point cloud image of the vehicle to be parked scanned by a third laser beam; and if the positions of the vehicles to be parked are the same in the continuous first preset number of vehicle point cloud images, determining that the vehicles to be parked are in a parked state.

In one embodiment, the first laser radar determines a first distance between the vehicle to be parked and the laser radar emitting the third laser beam according to the vehicle point cloud image; acquiring a second distance between the laser radar and a preset stopping line; determining a target distance between the vehicle to be parked and the parking line according to the first distance and the second distance; and sending the target distance to a vehicle controller of the vehicle to be parked so that the vehicle controller controls the vehicle to be parked to carry out parking operation according to the target distance.

In one embodiment, the first lidar and the second lidar respectively acquire a platform door point cloud image of the first laser beam for scanning the platform door; determining the moving direction of the marking line of the platform door according to the platform door point cloud image; if the marking line moves towards the direction of the first preset position, determining that the motion state of the platform door is an opening state; if the marking line moves toward the second preset position, the motion state of the platform door is determined to be a closed state.

In one embodiment, in the open state or the closed state, if the positions of the marking lines in the continuous second preset number of station door point cloud charts are the same, the first lidar and the second lidar respectively perform alarm reminding.

In one embodiment, the first laser radar and the second laser radar scan the door of the vehicle to be parked through a fourth laser beam respectively, and obtain a cloud image of a door point of the fourth laser beam for scanning the door; determining the position deviation of the vehicle door and the platform door at the same time according to the vehicle door point cloud picture and the platform door point cloud picture; and if the position deviation obtained in the continuous third station door point cloud pictures and the station door point cloud pictures in the preset number is larger than a preset deviation threshold value, early warning and reminding are carried out.

In one embodiment, the first laser radar and the second laser radar respectively acquire a gap point cloud image of the second laser beam for scanning the gap of the platform; if the first target points exist in the continuous fourth preset number of gap point cloud pictures and the distance between the first target points in the adjacent gap point cloud pictures is smaller than the first preset distance, determining that the gap of the platform has an obstacle.

In one embodiment, the first laser radar and the second laser radar respectively acquire a gap point cloud image of the second laser beam for scanning the gap of the platform; and if the second target points with continuous sequence numbers exist in the preset area of the gap point cloud picture, and the number of the second target points with continuous sequence numbers is larger than a fifth preset number, determining that the gap of the platform has an obstacle.

In the embodiment of the application, the first laser radar scans the vehicle to be parked through the third laser beam, determines the state of the vehicle to be parked, and sends the parked state to the second laser radar when the vehicle to be parked is in the parked state. The first laser radar and the second laser radar scan the platform door through the first laser beam respectively to determine the motion state of the platform door, when the motion state of the platform door accords with preset conditions, the first laser radar and the second laser radar scan the platform gap through the second laser beam to determine whether the platform gap has an obstacle, so that the state of the vehicle to be parked is determined through multiple scans of the first laser radar and the second laser radar in the vehicle parking process and after the vehicle is parked, whether the obstacle detection between the platform door and the vehicle can be further judged, and when the obstacle exists in the platform gap is detected, alarm reminding is carried out to avoid a driver to observe and confirm whether the obstacle exists through a soft lamp tube, the working load of the driver is reduced, and the safety of the vehicle in the running process is further improved.

It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus, modules and systems described above may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

Fig. 10 is a schematic structural diagram of a terminal device according to an embodiment of the present application. For convenience of explanation, only portions relevant to the embodiments of the present application are shown.

As shown in fig. 10, the terminal device 10 of this embodiment includes: at least one processor 100 (only one shown in fig. 10), a memory 101 coupled to the processor 100, and a computer program 102, such as a vehicle stop detection program, stored in the memory 101 and executable on the at least one processor 100. The processor 100, when executing the computer program 102, implements the steps of the respective embodiments of the vehicle stop detection method, such as steps S101 to S103 shown in fig. 1. Alternatively, the processor 100 may implement the functions of the modules in the above-described embodiments of the apparatus, such as the functions of the modules 901 to 903 shown in fig. 9, when executing the computer program 102.

Illustratively, the computer program 102 may be partitioned into one or more modules that are stored in the memory 101 and executed by the processor 100 to perform the present application. The one or more modules may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 102 in the terminal device 10. For example, the computer program 102 may be divided into a first scanning module 901, a second scanning module 902, and an alarm module 903, where the specific functions of the modules are as follows:

The first scanning module 901 is used for scanning the platform door through a first laser beam when the vehicle to be parked is in a parking state, and determining the motion state of the platform door;

a second scanning module 902, configured to scan the platform gap with a second laser beam when the motion state of the platform door meets a preset condition, and determine whether the platform gap has an obstacle;

The terminal device 10 may include, but is not limited to, a processor 100, a memory 101. It will be appreciated by those skilled in the art that fig. 10 is merely an example of the terminal device 10 and is not intended to limit the terminal device 10, and may include more or fewer components than shown, or may combine certain components, or may include different components, such as input-output devices, network access devices, buses, etc.

The processor 100 may be a central processing unit (Central Processing Unit, CPU), and the processor 100 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 101 may in some embodiments be an internal storage unit of the terminal device 10, such as a hard disk or a memory of the terminal device 10. The memory 101 may also be an external storage device of the terminal device 10 in other embodiments, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the terminal device 10. Further, the memory 101 may also include both an internal storage unit and an external storage device of the terminal device 10. The memory 101 is used for storing an operating system, an application program, a Boot Loader (Boot Loader), data, other programs, and the like, such as program codes of the computer programs. The above-described memory 101 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units described above is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. The computer program comprises computer program code, and the computer program code can be in a source code form, an object code form, an executable file or some intermediate form and the like. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A vehicle stop detection method, characterized by comprising:

when the motion state of the platform door meets preset conditions, scanning a platform gap through a second laser beam to determine whether the platform gap is provided with an obstacle or not;

when the gap of the platform has an obstacle, alarming and reminding are carried out;

when scanning the platform door by the first laser beam, further comprising:

scanning a door of the vehicle to be parked through a fourth laser beam, acquiring a door point cloud picture of the door scanned by the fourth laser beam, and determining the motion state of the door through the door point cloud picture;

Determining the position deviation of the vehicle door and the platform door at the same time according to the vehicle door point cloud image and the platform door point cloud image;

and if the position deviation obtained in the continuous third station door point cloud pictures and the station door point cloud pictures in the preset number is larger than a preset deviation threshold value, early warning and reminding are carried out.

2. The vehicle stop detection method according to claim 1, characterized by further comprising:

acquiring a vehicle point cloud image of a third laser beam for scanning the vehicle to be parked;

and if the positions of the vehicles to be parked in the continuous first preset number of vehicle point cloud images are the same, determining that the vehicles to be parked are in a parked state.

3. The vehicle stop detection method according to claim 2, further comprising, after acquiring a vehicle point cloud image in which the vehicle to be stopped is scanned by a third laser beam:

determining a first distance between the vehicle to be parked and a laser radar emitting the third laser beam according to the vehicle point cloud image;

acquiring a second distance between the laser radar and a preset parking line;

determining a target distance between the vehicle to be parked and the parking line according to the first distance and the second distance;

And sending the target distance to a vehicle controller of the vehicle to be parked so that the vehicle controller controls the vehicle to be parked to carry out parking operation according to the target distance.

4. The vehicle stop detection method according to claim 1, wherein the determining the motion state of the platform door includes:

acquiring a platform door point cloud image of the first laser beam for scanning the platform door;

determining the moving direction of the marking line of the platform door according to the platform door point cloud image;

if the marking line moves towards the direction of the first preset position, determining that the motion state of the platform door is an opening state;

and if the marking line moves towards the second preset position, determining that the motion state of the platform door is a closed state.

5. The vehicle stop detection method according to claim 4, characterized by comprising:

and in the open state or the closed state, if the positions of the marking lines in the continuous second preset number of platform door point cloud pictures are the same, alarming and reminding are carried out.

6. The vehicle stop detection method according to any one of claims 1 to 5, wherein the determining whether the station clearance has an obstacle includes:

Acquiring a gap point cloud image of the second laser beam for scanning the gap of the platform;

if the first target points exist in the continuous fourth preset number of gap point cloud pictures and the distance between the first target points in the adjacent gap point cloud pictures is smaller than the first preset distance, determining that the gap of the platform has an obstacle.

7. The vehicle stop detection method according to any one of claims 1 to 5, wherein the determining whether the station clearance has an obstacle includes:

and if the second target points with continuous sequence numbers exist in the preset area of the gap point cloud picture, and the number of the second target points with continuous sequence numbers is larger than a fifth preset number, determining that the gap of the platform is provided with an obstacle.

8. A vehicle stop detection device characterized by comprising:

The alarm module is used for alarming and reminding when the gap of the platform is provided with an obstacle;

the vehicle stop detection device further includes:

the second point cloud image acquisition module is used for scanning a door of a vehicle to be parked through a fourth laser beam, acquiring a door point cloud image of the door scanned by the fourth laser beam, and determining the motion state of the door through the door point cloud image;

the deviation determining module is used for determining the position deviation of the door and the platform door at the same moment according to the door point cloud picture and the platform door point cloud picture;

9. A vehicle stop detection system comprising at least one first lidar and at least one second lidar;

when the motion state of the platform door accords with a preset condition, the first laser radar and the second laser radar scan a platform gap through second laser beams respectively, and whether the platform gap is provided with an obstacle is determined;

the first laser radar and the second laser radar respectively scan the vehicle door of the vehicle to be parked through a fourth laser beam, a vehicle door point cloud image of the fourth laser beam for scanning the vehicle door is obtained, and the motion state of the vehicle door is determined through the vehicle door point cloud image; determining the position deviation of the vehicle door and the platform door at the same time according to the vehicle door point cloud image and the platform door point cloud image; and if the position deviation obtained in the continuous third station door point cloud pictures and the station door point cloud pictures in the preset number is larger than a preset deviation threshold value, early warning and reminding are carried out.

10. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of a vehicle stop detection method according to any one of claims 1 to 5 when the computer program is executed.