CN115880791A - Parking management method - Google Patents
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- CN115880791A CN115880791A CN202111130625.6A CN202111130625A CN115880791A CN 115880791 A CN115880791 A CN 115880791A CN 202111130625 A CN202111130625 A CN 202111130625A CN 115880791 A CN115880791 A CN 115880791A
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Abstract
The invention provides a parking management method, which comprises the following steps: when a vehicle enters a parking lot, detecting the position coordinate information of the vehicle through a camera and a millimeter wave radar and completing entrance; tracking a target vehicle position within the parking area; judging whether the vehicle enters a parking space of a parking area or not according to the change of the position coordinate information of the vehicle, if so, binding the target vehicle information, the target vehicle coordinate information and the parking space information, and modifying the corresponding parking space state into occupation; when a target vehicle leaves a garage, the millimeter wave radar detects that the position coordinate information of the target vehicle changes, uploads the current vehicle coordinate data to a system background, calculates the parking time and parking cost of the target vehicle and modifies the corresponding parking space state into unoccupied state; the vehicle is delivered; according to the invention, through the cooperation of the camera and the multiple millimeter wave radars, the accurate positioning of the vehicle position and the grid management of the parking lot are realized by using less hardware equipment, and compared with an unmanned management parking lot, the hardware cost, the construction difficulty and the later maintenance cost are reduced.
Description
Technical Field
The invention relates to the technical field of parking management, in particular to a parking management method.
Background
Vehicle management is important means in the construction of wisdom community, wherein parking area management is the most important ring among the vehicle management, the car is kept in quantity in China and has brought very big difficulty for parking area management with increasing day, the parking stall quantity is not enough, the parking stall is difficult to find, parking stall management difficulty scheduling problem, traditional manual management parking area adopts the management mode of artifical guard, set up the pavilion on duty in parking area access & exit position, the vehicle is gone out and is entered into by artifical charge and clearance, traditional manual management mode has following problem: (1) The traditional parking lot management mode cannot provide real-time parking space searching; (2) The parking lot needs to be attended by specially-assigned persons, so that the labor cost is high; (3) Manual entry and exit are complicated and time-consuming, and the throughput of the parking lot is reduced; (4) Only cash payment or outlet code scanning payment is supported, so that the time consumed for leaving is increased;
the problem that the traditional parking lot management mode exists is well solved in application of the unmanned management parking lot, but the unmanned management parking lot still has the following problems: (1) A large amount of parking space guiding and vehicle searching equipment is installed, so that the cost investment is multiplied; (2) The parking space detection mode adopting the sensor detection mode has the defects of high cost, large construction amount, wide distribution range of detection points, more fault points, high later maintenance cost and the like; (3) A parking space detection mode based on a monitoring camera has the defects of high hardware price, difficult construction, high later maintenance cost and supporting of a server and software.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a parking management method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a parking management method, comprising:
when a vehicle enters a parking lot, a camera is used for capturing the vehicle and obtaining a vehicle picture for license plate recognition, vehicle information is stored, a millimeter wave radar is used for detecting the position of the vehicle at an entrance of the parking lot and generating vehicle position coordinate information, a background system is used for binding the license plate information of the current vehicle entering the parking lot with the coordinate information, and the vehicle enters the parking lot;
a plurality of millimeter wave radars cover a parking area, two millimeter wave radars are designated as a front millimeter wave radar and a rear millimeter wave radar respectively, an absolute coordinate system is constructed, and position coordinate information of the front millimeter wave radar and the rear millimeter wave radar is input in advance;
when a vehicle enters a parking area, converting position coordinate information of target vehicles identified by a front millimeter wave radar and a rear millimeter wave radar into the absolute coordinate system, and in an overlapping area of the front millimeter wave radar and the rear millimeter wave radar, when a straight line distance of the position coordinate information of the two target vehicles identified by the front millimeter wave radar and the rear millimeter wave radar in the absolute coordinate system is smaller than a set value, considering that the target vehicles identified by the front millimeter wave radar and the rear millimeter wave radar are the same target vehicle, and converting corresponding target vehicle information from the front millimeter wave radar into the rear millimeter wave radar for tracking the target vehicles in the parking area;
judging whether the vehicle enters a parking space of a parking area or not according to the change of the position coordinate information of the vehicle, if so, binding the target vehicle information, the target vehicle coordinate information and the parking space information, and modifying the corresponding parking space state into occupation;
when a target vehicle is taken out of a warehouse, the millimeter wave radar detects that the position coordinate information of the target vehicle changes, uploads the current vehicle coordinate data to a system background, calculates the parking time and parking cost of the target vehicle and modifies the corresponding parking space state into an unoccupied state;
when the target vehicle pays for the fee, the fee can be paid through the mobile phone end, the camera uploads the license plate information of the target vehicle to the background for the departure verification, and the vehicle finishes the departure.
Furthermore, partial overlapping exists between two adjacent millimeter wave radars in the parking area, and the overlapping is used for connecting and tracking a plurality of millimeter wave radar targets.
Further, the millimeter wave radar and the camera at the entrance of the parking lot are provided with the same identification area.
Further, the frequency band of the millimeter wave radar is 24GHz. Further, the set value is 0.5m.
Furthermore, the camera adopts a high-definition wide dynamic CMOS and a TIDSP, and the highest peak value calculation capacity is 6.4GHz.
Compared with the prior art, the invention has the beneficial effects that:
through camera, a plurality of millimeter wave radar in coordination, utilize millimeter wave radar to replace photoelectric sensor and video monitoring equipment simultaneously, use less hardware equipment to realize accurate location of vehicle position and parking area grid management, compare unmanned management parking area and reduced hardware cost, the construction degree of difficulty and later maintenance cost.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a target vehicle entry map of the present invention;
FIG. 3 is a diagram of a target vehicle egress according to the present invention;
fig. 4 is a parking area vehicle map of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example (b): the embodiment provides a parking management method,
the invention comprises the following steps:
the millimeter wave radar and the camera at the entrance of the parking lot are provided with the same identification area, when a vehicle enters the parking lot, the camera is used for capturing the vehicle and acquiring a vehicle picture for license plate identification, vehicle information is stored, the millimeter wave radar is used for detecting the position of the vehicle at the entrance of the parking lot and generating vehicle position coordinate information, the background system is used for binding the license plate information and the coordinate information of the current vehicle entering the parking lot, and the vehicle enters the parking lot;
a plurality of millimeter wave radars cover a parking area, two millimeter wave radars are designated as a front millimeter wave radar and a rear millimeter wave radar respectively, an absolute coordinate system is constructed, and position coordinate information of the front millimeter wave radar and the rear millimeter wave radar is input in advance;
when a vehicle enters a parking area, converting position coordinate information of target vehicles identified by a front millimeter wave radar and a rear millimeter wave radar into the absolute coordinate system, and in an overlapping area of the front millimeter wave radar and the rear millimeter wave radar, when the linear distance of the position coordinate information of the two target vehicles identified by the front millimeter wave radar and the rear millimeter wave radar in the absolute coordinate system is less than 0.5m, considering that the target vehicles identified by the front millimeter wave radar and the rear millimeter wave radar are the same target vehicle, and converting corresponding target vehicle information from the front millimeter wave radar into the rear millimeter wave radar for tracking the target vehicles in the parking area;
judging whether the vehicle enters a parking space of a parking area or not according to the change of the position coordinate information of the vehicle, if so, binding the target vehicle information, the target vehicle coordinate information and the parking space information, and modifying the corresponding parking space state into occupation;
when a target vehicle is taken out of a warehouse, the millimeter wave radar detects that the position coordinate information of the target vehicle changes, uploads the current vehicle coordinate data to a system background, calculates the parking time and parking cost of the target vehicle and modifies the corresponding parking space state into an unoccupied state;
when the target vehicle pays for the fee, the fee can be paid through the mobile phone end, the camera uploads the license plate information of the target vehicle to the background for the departure verification, and the vehicle finishes the departure.
In the vehicle entrance and vehicle payment exit stages, a millimeter wave radar and a camera are adopted to perform cooperative work to complete the identification and tracking of the vehicle;
the frequency bands allocated to the millimeter wave radar at the present stage are mainly 24GHz and 77GHz, the millimeter wave radar adopted by the invention is 24GHz, the millimeter wave radar can be used for monitoring moving targets, vehicles invading the perimeter can be effectively detected, information such as target position, size and speed is reported, a maximum of 16 targets can be tracked at one time, the effective distance of detection can reach 100-150m, the moving speed of the targets can be detected to be 0-5m, the driving speed of the vehicles in a parking lot accords with the speed range which can be monitored by the radar, meanwhile, the radar can filter the interference of vegetation such as trees and grass, and can configure targets such as filter persons, birds and dogs on the minimum threshold value of the radar, so that the interference generated by other objects in the process of tracking the targets by the radar is prevented, the targets are more accurately positioned, and the series of operation calculation is completed by the radar itself without any algorithm processing by upper computer software.
The millimeter wave radar used in the invention has the characteristic of short wavelength, has small requirements on the size specification of a system component (such as an antenna) for processing millimeter wave signals, and only needs low power consumption.
The video monitoring adopted by the invention is provided with a license plate recognition camera, the camera converts an optical image signal into an electric signal for convenient storage or transmission, a license plate recognition function is added into the camera, light reflected on a license plate is collected by a camera lens and focused on a light receiving surface of a camera device, the light is converted into a computer through the camera device to obtain a corresponding video signal, and the corresponding license plate number is obtained through analysis of a license plate recognition algorithm. The license plate recognition camera integrates the functions of license plate recognition, camera shooting, front-end storage, light supplement and the like, adopts a high-definition wide dynamic CMOS and a TI DSP, and has peak value calculation capacity up to 6.4GHz. Based on the automatic exposure control algorithm of the license plate, the method has the advantages of excellent imaging, high performance, multiple functions, high adaptability, strong stability and the like. The types of the identification license plates supported by the license plate identification function are common blue plates, black plates, yellow plates, double-layer yellow plates, police license plates, novel armed police license plates, novel military license plates, license plates of a museum, license plates of a port and Australian city and the like.
In the vehicle entrance stage, the radar and the camera monitor the same area, when the vehicle reaches the entrance area, the camera acquires license plate information, and the radar acquires the ID value, the vehicle position information and the speed information of a moving target, namely the vehicle. When the ID of the vehicle does not disappear in the radar detection area, the ID value cannot be changed, so that the license plate information, the ID value of the vehicle, the vehicle position information and the speed information are bound, and the information fusion of the radar and the video monitoring is realized cooperatively;
in the vehicle tracking stage, in order to realize the coverage radar detection of all lanes of the parking lot, a multi-radar cooperation technology is adopted; a small part of overlapping between two radars is required to be used for connecting and tracking multiple radar targets, and the multi-radar cooperative detection is realized;
the conversion of the ID of the radar detection is achieved by a small overlap between the two radars. Since each radar recognizes that the same vehicle ID is opaque, it is necessary to convert the vehicle information between a plurality of radars. Firstly, an absolute coordinate system is required to be constructed, the position coordinates of two radars (a front radar and a rear radar are divided according to the front and rear sequence of vehicle identification) are recorded in the system in advance, and the coordinates of a target identified by the radars are converted into the absolute coordinate system; then, in a small overlapping area of the two radars, when the linear distance of the absolute coordinates of the two targets identified by the two radars is less than 0.5m, the two targets respectively identified by the two radars are considered as the same target, and the vehicle information is converted into the rear radar from the front radar, so that the multi-radar target connection and tracking are realized.
In the process of warehousing and ex-warehouse of the vehicle, the conversion of the vehicle between a physical space and a network virtual space is realized by adopting a radar detection technology. Taking a vehicle warehousing process as an example, firstly, an absolute coordinate system needs to be constructed, coordinates of the position of the radar are recorded in the system in advance, and target position information detected by the radar is converted into the absolute coordinate system. And then, a fixed parking coordinate area is specified in the absolute coordinate system according to the position of the garage, when the absolute coordinate of the target is in the fixed parking coordinate area and the radar detects that the vehicle speed is 0, the vehicle is considered to enter the garage successfully, the vehicle information is input into the system, the charging is started, and the occupied parking space is displayed in the system.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. A parking management method, comprising:
when a vehicle enters a parking lot, a camera is used for capturing the vehicle and obtaining a vehicle picture for license plate recognition, vehicle information is stored, a millimeter wave radar is used for detecting the position of the vehicle at an entrance of the parking lot and generating vehicle position coordinate information, a background system is used for binding the license plate information of the current vehicle entering the parking lot with the coordinate information, and the vehicle enters the parking lot;
a plurality of millimeter wave radars cover a parking area, two millimeter wave radars are designated as a front millimeter wave radar and a rear millimeter wave radar respectively, an absolute coordinate system is constructed, and position coordinate information of the front millimeter wave radar and the rear millimeter wave radar is input in advance;
when a vehicle enters a parking area, converting position coordinate information of target vehicles identified by a front millimeter wave radar and a rear millimeter wave radar into the absolute coordinate system, and in an overlapping area of the front millimeter wave radar and the rear millimeter wave radar, when a straight line distance of the position coordinate information of the two target vehicles identified by the front millimeter wave radar and the rear millimeter wave radar in the absolute coordinate system is smaller than a set value, considering that the target vehicles identified by the front millimeter wave radar and the rear millimeter wave radar are the same target vehicle, and converting corresponding target vehicle information from the front millimeter wave radar into the rear millimeter wave radar for tracking the target vehicles in the parking area;
judging whether the vehicle enters a parking space of a parking area or not according to the change of the position coordinate information of the vehicle, if so, binding the target vehicle information, the target vehicle coordinate information and the parking space information, and modifying the corresponding parking space state into occupation;
when a target vehicle leaves a garage, the millimeter wave radar detects that the position coordinate information of the target vehicle changes, uploads the current vehicle coordinate data to a system background, calculates the parking time and parking cost of the target vehicle and modifies the corresponding parking space state into unoccupied state;
when the target vehicle pays for the fee, the fee can be paid through the mobile phone end, the camera uploads the license plate information of the target vehicle to the background for the departure verification, and the vehicle finishes the departure.
2. The parking management method according to claim 1, wherein there is a partial overlap between two adjacent millimeter wave radars in the parking area for target engagement and tracking of multiple millimeter wave radars.
3. A parking management method according to claim 1, characterized in that: the millimeter wave radar and the camera at the entrance of the parking lot are provided with the same identification area.
4. A parking management method according to claim 1, characterized in that: the frequency band of the millimeter wave radar is 24GHz.
5. A parking management method according to claim 1, characterized in that: the set value is 0.5m.
6. A parking management method according to claim 6, wherein: the camera adopts a high-definition wide dynamic CMOS and a TIDSP, and the highest peak value computing capacity is 6.4GHz.
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| CN202111130625.6A CN115880791A (en) | 2021-09-26 | 2021-09-26 | Parking management method |
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| CN202111130625.6A CN115880791A (en) | 2021-09-26 | 2021-09-26 | Parking management method |
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|---|---|---|---|---|
| JP2009202610A (en) * | 2008-02-26 | 2009-09-10 | Hitachi Ltd | Parking assist system |
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| CN110796896A (en) * | 2019-11-29 | 2020-02-14 | 江苏集萃智能传感技术研究所有限公司 | Parking lot parking space state monitoring system and monitoring method |
| CN110796748A (en) * | 2019-09-27 | 2020-02-14 | 广东艾科智泊科技股份有限公司 | Open type parking lot parking identification method and system based on millimeter wave radar |
| CN112598925A (en) * | 2020-12-08 | 2021-04-02 | 北京精英路通科技有限公司 | Parking management method and device, computer equipment and storage medium |
| CN113192337A (en) * | 2021-07-01 | 2021-07-30 | 长沙莫之比智能科技有限公司 | Parking space detection method based on millimeter wave radar |
-
2021
- 2021-09-26 CN CN202111130625.6A patent/CN115880791A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009202610A (en) * | 2008-02-26 | 2009-09-10 | Hitachi Ltd | Parking assist system |
| CN209433561U (en) * | 2018-11-23 | 2019-09-24 | 北京猎户智芯科技有限公司 | A kind of vehicle identification system of sensing linkage |
| CN110515073A (en) * | 2019-08-19 | 2019-11-29 | 南京慧尔视智能科技有限公司 | The trans-regional networking multiple target tracking recognition methods of more radars and device |
| CN110796748A (en) * | 2019-09-27 | 2020-02-14 | 广东艾科智泊科技股份有限公司 | Open type parking lot parking identification method and system based on millimeter wave radar |
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