CN115909792A

CN115909792A - Vehicle dynamic departure guiding method based on departure situation of reference gate

Info

Publication number: CN115909792A
Application number: CN202211566170.7A
Authority: CN
Inventors: 刘三明; 孙大峰; 刘亮明; 黄仕杰; 曾海华; 张彦
Original assignee: Shenzhen Ib Technology Development Co ltd
Current assignee: Shenzhen Ib Technology Development Co ltd
Priority date: 2022-01-14
Filing date: 2022-03-30
Publication date: 2023-04-04
Also published as: CN116052457A; CN114758521B; CN114758521A

Abstract

The invention provides a vehicle dynamic departure guiding method based on a departure situation of a reference gate, electronic equipment and a storage medium, wherein the method comprises the steps of responding to a departure operation triggered by a target vehicle, and acquiring a vehicle image of the target vehicle; determining a reference gate when the target vehicle leaves the field according to the vehicle image; estimating the arrival time of the target vehicle to the reference gate; dynamically planning a departure path of the target vehicle according to the arrival time and the departure condition of the reference gate; outputting first prompt information corresponding to the off-field path; and guiding the target vehicle to go out of the field based on the prompt information.

Description

Vehicle dynamic departure guiding method based on departure situation of reference gate

The present application is a divisional application of invention patents having application numbers "202210332790.8", application dates "2022.03.30", entitled "parking lot departure guidance method, apparatus, electronic device, and storage medium".

Technical Field

The present invention relates to the field of video data processing, and in particular, to a parking lot departure guidance method and apparatus, an electronic device, and a storage medium.

Background

With the development of internet technology, many parking lots realize automated management of the parking lots through computer intelligent systems, and the computer intelligent systems of the parking lots usually set up card readers, monitors, electronic displays, entrance and exit car stoppers and other devices at vehicle entrances and exits, and these devices manage vehicles to enter and exit the parking lots through intelligent control of computer hardware and software.

However, when a driver drives a vehicle to get out of a parking lot, especially when meeting the off-peak time, or selects the same exit to get out of the parking lot at the same time, a jam occurs in the parking lot, so that the vehicle cannot get out of the parking lot quickly.

Therefore, it is desirable to provide a method and a device for guiding the leaving of a parking lot to solve the above-mentioned technical problems.

Disclosure of Invention

The embodiment of the invention provides a parking lot departure guiding method and device, which can reduce the time for a vehicle to leave a parking lot and further improve the departure efficiency.

The embodiment of the invention provides a parking lot departure guiding method, which comprises the following steps:

responding to an off-site operation triggered by a target vehicle, and acquiring a payment state and a vehicle image of the target vehicle;

determining a reference gate when the target vehicle leaves the field according to the payment state;

estimating the arrival time of the target vehicle to the reference gate;

dynamically planning a departure path of the target vehicle according to the arrival time, the departure priority and the departure condition of the reference gate;

outputting first prompt information corresponding to the field-off path;

and guiding the target vehicle to go out of the field based on the prompt information.

In the method for guiding the departure of the parking lot according to the present invention, the dynamically planning the departure path of the target vehicle according to the arrival time, the departure priority, and the departure situation of the reference gate includes:

when the departure priority is a first priority, determining candidate gates when the target vehicle leaves the field according to the arrival time and the positions of the reference gates;

according to the field departure condition of the candidate gate, dynamically planning the field departure path of the target vehicle

In the parking lot departure guidance method according to the present invention, the dynamically planning the departure path of the target vehicle according to the departure situation of the candidate gate includes:

acquiring the processing rate of each candidate gate, and;

acquiring the number of vehicles reaching the candidate gate within the time of path planning;

calculating the state transition information of the candidate gate for processing the vehicle departure on the basis of the processing rate and the number of the vehicles;

extracting state transition characteristics corresponding to the state transition information;

calculating the steady-state probability corresponding to the candidate gate according to the state transition characteristics;

determining the corresponding processing quantity of the candidate gate when the target vehicle leaves the field based on the steady-state probability;

and dynamically planning the departure path of the target vehicle according to the processing quantity corresponding to each candidate gate.

In the method for guiding the departure of the parking lot according to the present invention, the determining the processing number of the candidate gate when the target vehicle leaves the parking lot based on the steady-state probability includes:

determining the maximum queuing number n1 of the gates s1, and;

determining the maximum queuing number n2 of the gates s 2;

according to a first preset formula, calculating the number E (L) of the vehicle departures processed by the gate s1 in a preset time ₁ ) The first preset formula is as follows:

and;

according to a second preset formula, calculating the number E (L) of the processing vehicle departure of the gate s2 in a preset time ₂ ) The second preset formula is as follows:

wherein n is ₁ For maximum number of queues into gate s1, n ₂ For the maximum number of queues entering gate s2, i is the number of vehicles entering gate s1, π _ij The steady-state probability is the steady-state probability that the number of vehicles entering a gate s1 is i and the number of vehicles entering a gate s2 is j in the current system;

based on the quantity E (L) ₁ ) And the quantity E (L) ₂ ) Calculating the partition coefficient of the current vehicle flow by adopting a third preset formula, wherein the third preset formula is as follows: α = E (L) ₁ )/E(L ₂ ) Wherein α is a division coefficient of the vehicle flow;

determining a number E (L) based on the segmentation coefficients ₁ ) And the quantity E (L) ₂ ) Initial split ratio therebetween;

determining a segmentation parameter corresponding to the gate s1 and a segmentation parameter corresponding to the gate s2 according to the initial splitting ratio;

and determining the processing quantity corresponding to the gate s1 when the target vehicle leaves the field and determining the processing quantity corresponding to the gate s2 when the target vehicle leaves the field according to the segmentation parameters corresponding to the gate s1 and the segmentation parameters corresponding to the gate s 2.

detecting the processing quantity of the candidate gates;

determining that the processing quantity is smaller than or equal to a preset value as a target gate;

when the processing quantity is larger than a preset value, returning to the step of detecting the processing quantity of the candidate gate until a target gate is determined;

and planning an off-site path of the target vehicle to the target gate.

The present invention provides a parking lot departure guidance method, further comprising:

and when the dynamic planning times corresponding to the target vehicle are larger than the preset times, selecting a target gate meeting preset conditions from the reference gates, and planning an off-site path from the target vehicle to the target gate.

when the departure priority is a second priority, determining a buffer gate in the reference gates;

guiding the target vehicle to the buffer gate according to the second prompt message;

and when the payment state of the target vehicle is updated from the non-payment state to the payment state before the target vehicle drives out of the buffer lane corresponding to the buffer gate, planning an off-site path of the target vehicle driving to the payment gate.

In the parking lot departure guidance method, when the departure priority is a second priority, a buffer gate is determined in the reference gate, and an indicator lamp outputs second prompt information indicating that the target vehicle enters the buffer gate; the buffer gate is arranged in a spacious area of the parking lot, and the interval between the indicator light and the buffer gate is larger than a first set value;

when the target vehicle is before driving out of a buffer lane corresponding to the buffer gate, the payment state of the target vehicle is updated from the non-payment state to the payment state, the indicator lamp is controlled to output third prompt information, the third prompt information indicates that the target vehicle enters the payment gate, the interval between the indicator lamp and the payment gate is larger than a second set value, and the distance between the payment gate and the buffer gate is larger than a third set value;

and planning an off-site path from the target vehicle to the paid gate after the payment state is updated.

In the parking lot departure guidance method according to the present invention, the determining a reference gate when the target vehicle leaves the parking lot according to the payment status and the vehicle image includes:

determining the departure state of the target vehicle based on the payment state;

and distributing a reference gate when the target vehicle leaves the field according to the leaving state and the vehicle image.

In the departure guidance method for a parking lot according to the present invention, the estimating of the arrival time of the target vehicle at the reference gate includes:

acquiring a parking lot image;

and estimating the arrival time of the target vehicle to the reference gate according to the vehicle image and the parking lot image.

The embodiment of the present invention further provides a parking lot departure guiding device, which includes:

the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for responding to an off-site operation triggered by a target vehicle and acquiring a payment state and a vehicle image of the target vehicle;

the determining module is used for determining a reference gate when the target vehicle leaves the field according to the payment state;

the estimation module is used for estimating the arrival time of the target vehicle to the reference gate;

and the guiding module is used for guiding the target vehicle to leave according to the arrival time, the vehicle image and the departure situation of the reference gate.

The embodiment of the invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the parking lot departure guiding method when executing the program.

The embodiment of the invention also provides a storage medium, wherein processor executable instructions are stored in the storage medium, and the instructions are loaded by one or more processors to execute the parking lot departure guiding method.

Compared with the prior art, the departure guiding method and the departure guiding device of the parking lot of the invention are used for acquiring the payment state and the vehicle image of the target vehicle in response to the departure operation triggered by the target vehicle, determining the reference gate when the target vehicle leaves the parking lot according to the payment state, then estimating the arrival time of the target vehicle to the reference gate, and finally guiding the target vehicle to leave the parking lot according to the arrival time, the vehicle image and the departure condition of the reference gate.

Drawings

Fig. 1 is a schematic view of a conventional parking lot departure guidance method;

fig. 2 is a flowchart of an outbound guidance method for a parking lot according to the present invention;

fig. 3 to 7 are schematic views illustrating a scene of an embodiment of the departure guiding apparatus of a parking lot according to the present invention;

fig. 8 is another flowchart of the parking lot departure guidance method according to the present invention;

fig. 9 is a schematic structural view of an embodiment of the departure guidance apparatus for a parking lot according to the present invention;

fig. 10 is a schematic structural diagram of a guidance module of an embodiment of the departure guidance apparatus for a parking lot according to the present invention;

fig. 11 is a schematic view of a working environment structure of an electronic device where the departure guidance apparatus of the parking lot of the present invention is located.

Detailed Description

Referring to the drawings, wherein like reference numbers refer to like elements, the principles of the present invention are illustrated as being implemented in a suitable computing environment. The following description is based on illustrated embodiments of the invention and should not be taken as limiting the invention with regard to other embodiments that are not detailed herein.

In the description that follows, embodiments of the invention are described with reference to steps and symbols of operations performed by one or more computers, unless otherwise indicated. It will thus be appreciated that those steps and operations, which are referred to herein several times as being computer-executed, include being manipulated by a computer processing unit in the form of electronic signals representing data in a structured form. This manipulation transforms the data or maintains it at locations in the computer's memory system, which may reconfigure or otherwise alter the computer's operation in a manner well known to those skilled in the art. The data maintains a data structure that is a physical location of the memory that has particular characteristics defined by the data format. However, while the principles of the invention have been described in language specific to above, it is not intended to be limited to the specific details shown, since one skilled in the art will recognize that various steps and operations described below may be implemented in hardware.

The departure guiding method and the departure guiding device of the parking lot can be arranged in any electronic equipment and are used for acquiring the payment state and the vehicle image of the target vehicle, determining the reference gate when the target vehicle leaves the parking lot according to the payment state, predicting the arrival time of the target vehicle reaching the reference gate, and guiding the target vehicle to leave the parking lot according to the arrival time, the vehicle image and the departure condition of the reference gate. Including, but not limited to, personal computers, server computers, multiprocessor systems, consumer electronics, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like. The departure guiding device of the parking lot is preferably a data processing terminal or a server for vehicle data processing, determines a reference gate when a target vehicle leaves the parking lot based on the payment state of the target vehicle, estimates the arrival time of the target vehicle when the target vehicle arrives at the reference gate, and finally guides the target vehicle to leave the parking lot according to the arrival time, the vehicle image and the departure condition of the reference gate.

The current parking lot departure guiding method is to arrange a sign in the parking lot in advance, wherein the sign is used for indicating an exit of the parking lot, but the exit is not indicated to contain a plurality of gates, and the vehicle queuing condition at the exit cannot be displayed.

Referring to fig. 1, fig. 1 is a schematic plan view of a parking lot, wherein a sign (not shown) is disposed at a predetermined position of the parking lot, a sign z1 is disposed in an area A1 where a target vehicle S is located, the sign z1 indicates that an exit closest to the area A1 is an exit a, and a sign z2 corresponding to the area A2 indicates that an exit of the area A2 is an exit b, where the exit a includes a gate A1, a gate A2, and a gate a3, and the exit b includes a gate b1, a gate b2, and a gate b3, where the gate A1 and the gate A2 have a mechanical failure, only the gate a3 is in a normal operating state, and the gate b1, the gate b2, and the gate b3 are all in a normal operating state, and at this time, a vehicle congestion occurs at the exit a and no vehicle at the exit b performs an exit operation.

The invention provides a factory-leaving guiding scheme for a parking lot, which can guide a target vehicle to leave the parking lot based on the arrival time of the target vehicle to a gate, a vehicle image of the target vehicle and the departure situation of the gate, and avoid the departure situation of a large number of vehicles from the same gate, so that the time for the vehicle to leave the parking lot can be reduced, and the departure efficiency is improved.

Referring to fig. 2, fig. 2 is a flowchart illustrating an outbound guiding method of a parking lot according to an embodiment of the present invention. The departure guidance method for a parking lot of the present embodiment may be implemented using the electronic device, and includes:

step 101, responding to an off-site operation triggered by a target vehicle, and acquiring a payment state and a vehicle image of the target vehicle;

step 102, determining a reference gate when the target vehicle leaves the field according to the vehicle image;

103, estimating the arrival time of the target vehicle to the reference gate;

and 104, guiding the target vehicle to go out of the field according to the arrival time, the payment state and the departure condition of the reference gate.

The parking lot departure guidance method according to the present embodiment will be described in detail below.

In step 101, the payment status includes a paid status and an unpaid status, and in some embodiments, the payment status may further include a payment exempting status, the vehicle image is a whole or partial image of the target vehicle captured by the image capturing device, and the vehicle image may carry information such as a color, a vehicle type, and a license plate of the vehicle, so as to facilitate subsequent positioning of the vehicle.

In step 102, the gate is a passage blocking device, the gate of the parking lot mainly comprises a processing device, a blocking body and a camera, the blocking body is used for blocking vehicles from passing, the camera is used for collecting vehicle information of the vehicles, and when the vehicle information passes verification, the processing device controls the blocking body to be opened so that the vehicles leave the parking lot. In the scheme of the invention, different gates can be allocated to different vehicles according to the payment state, for example, the gate of the paid vehicle is the gate closest to the vehicle, so that the vehicle can leave the field quickly; the gate machine fixed by the vehicle of this type is allocated, for example, a gate machine for manual payment, a user is not required to execute a complicated payment process on the electronic device, and a rapid departure is realized through the gate machine for manual payment, that is, optionally, in some embodiments, step 102 may specifically include:

(11) Determining a position of the target vehicle based on the vehicle image;

(12) Allocating a reference gate when the target vehicle leaves the field according to the position of the target vehicle

It is understood that the number of the reference gates may be one or more, for example, the reference gates when the target vehicle leaves the field are determined as gate a, gate b and gate c, that is, one of the gates when the target vehicle leaves the field may be selected as the gate when the target vehicle leaves the field. It will be appreciated that in actual use there will also be situations where the gate is damaged, and therefore the reference gate is not the optimal gate for subsequent target vehicle departures.

In step 103, the Estimated Time of Arrival (ETA) is a basic function in the map software, and it performs the following functions: given a route and departure time on the map, the time required to finish the route is estimated, so that a parking lot image can be acquired, and the arrival time of the target vehicle at the reference gate is estimated according to the parking lot image and the vehicle image, that is, optionally, in some embodiments, step 103 may specifically include:

(21) Acquiring a parking lot image;

(22) And estimating the arrival time of the target vehicle to the reference gate according to the vehicle image and the parking lot image.

Specifically, the current position of the target vehicle may be used as a starting point, the position of the reference gate may be used as an end point, a route from the target vehicle to the reference gate is determined based on the starting point and the end point, and finally, the route is input into the estimation model, and the estimation model estimates the arrival time of the target vehicle at the reference gate. The estimation model may be preset, and may be a Deep residual network (ResNet) or an inclusion convolution neural network model, where ResNet is taken as an example, and ResNet introduces a core concept called "identity short Connection". The inspiration is from the following sources: for a relatively shallow network that achieves saturation accuracy, when several congruent mapping layers are added later (i.e., y = x), the error does not increase as a result. That is, deeper networks should not introduce an error rise on the training set. It should be noted that, when the arrival time of the target vehicle at the reference gate is estimated, the input of the model may be further increased, for example, when the target vehicle travels to the route of the reference gate, the departure condition of the other vehicles is input into the estimation model, so as to improve the accuracy of the estimated arrival time and facilitate the subsequent guidance of the departure of the target vehicle.

In step 104, the image feature of the vehicle image may be extracted, the difficulty level of the target vehicle reaching each reference gate may be determined based on the image feature, and finally, the target vehicle may be guided to leave based on the difficulty level and the departure situation of the reference gate, for example, referring to fig. 3, the reference gates corresponding to the target vehicle are gate a and gate b, both gate a and gate b are in idle state, it can be seen from the figure that the target vehicle needs to pass through a corner of 90 degrees when reaching gate a, and does not need to pass through a corner when reaching gate b, and the arrival time of the target vehicle when reaching gate a is 30 seconds, and the arrival time of the target vehicle when reaching gate a is 50 seconds, and if the target vehicle is a truck, the difficulty level of passing through a corner of 90 degrees is greater than that of a common home, in this case, the target vehicle may be guided to leave from gate b; if the target vehicle is a car, the target vehicle is guided to leave the field from the gate a.

In addition, the departure priority of the target vehicle can also be determined through image features, for example, for rescue vehicles such as fire trucks and ambulances, the departure priority is higher than that of other types of vehicles, so in a multi-vehicle departure scene, the rescue vehicle is preferentially scheduled to leave the departure, that is, optionally, in some embodiments, step 104 may specifically include:

(31) Identifying a vehicle characteristic of the vehicle image;

(32) Outputting an departure priority of the target vehicle based on the vehicle characteristics;

(33) And guiding the target vehicle to go out of the field according to the arrival time, the departure priority and the departure condition of the reference gate.

For example, vehicle features of a vehicle image may be recognized through a trained target detection model, specifically, feature extraction may be performed on the vehicle image by using an Anchor Reference Module (ARM) in the target detection model to obtain vehicle features of the vehicle image under multiple scales, where the vehicle features may include license plate features, vehicle type features, and vehicle weight features, for example, image features of the vehicle image under three scales of image dimensions 40 × 40, 20 × 20, and 10 × 10 are extracted to obtain image features corresponding to the three image dimensions, then, based on the vehicle features, an departure priority of the target vehicle is output, for example, in a state that the target vehicle is paid, the recognized license plate feature is "military xxxx", the vehicle type feature is a van vehicle, and the vehicle type feature is an military vehicle, then, the departure priority of the target vehicle is output as a first level, and finally, the target vehicle is guided to go out quickly according to arrival time, the departure priority, and a departure situation of a reference gate; for another example, only the vehicle type feature and the vehicle type feature are recognized, but the license plate feature is not recognized, so that the departure priority of the target vehicle can be output according to the vehicle type feature and the vehicle weight feature.

Further, in some embodiments, the departure path may be dynamically planned according to the arrival time, the departure priority, and the departure situation of the reference gate, and the target vehicle may be guided to depart from the field based on the departure path, that is, optionally, in some embodiments, the step "guiding the target vehicle to depart from the field according to the arrival time, the departure priority, and the departure situation of the reference gate" may specifically include:

(41) Dynamically planning a departure path of the target vehicle according to the arrival time, the departure priority and the departure condition of the reference gate;

(42) Outputting prompt information corresponding to the off-field path;

(43) And guiding the target vehicle to go out of the field based on the prompt information.

For example, an electronic sign may be installed in each parking space of the parking lot in advance, when a target vehicle needs to leave the parking lot, a leaving path and license plate information of the target vehicle are displayed on the sign, so that a vehicle owner can know the leaving path, and finally, the vehicle owner can control the target vehicle to execute the vehicle leaving operation based on the prompt information.

For another example, the departure path may be sent to a mobile phone of the vehicle owner, so that the vehicle owner may control the target vehicle to perform the vehicle departure operation based on the prompt information, and of course, the prompt information may also be output in other manners, which is not limited herein.

It should be noted that, in some embodiments, in order to further improve the departure efficiency, the priority corresponding to the vehicle of the special vehicle type may be set as the first priority, the priority corresponding to the vehicle of the paid general vehicle type may be set as the first priority, and the priority corresponding to the vehicle of the unpaid general vehicle type may be set as the second priority, where the special vehicle type refers to a vehicle that is responsible for special service, hangs a special vehicle number plate, and is equipped with an alarm and a sign lamp.

If it is detected that the departure priority of the target vehicle is the first priority, the gate corresponding to the target vehicle may be assigned, and then the departure path of the target vehicle may be planned to guide the departure of the target vehicle, that is, optionally, in some embodiments, the step "dynamically planning the departure path of the target vehicle according to the arrival time, the departure priority, and the departure condition of the reference gate" may specifically include:

(51) When the departure priority is the first priority, determining candidate gates when the target vehicle leaves the field according to the arrival time and the positions of the reference gates;

(52) And dynamically planning the departure path of the target vehicle according to the departure condition of the candidate gate.

Alternatively, in some embodiments, when the departure priority is the first priority, the departure path of the target vehicle may be dynamically planned using a markov decision, for example, referring to fig. 4, the owner triggers the departure operation through a small program, the server corresponding to the parking system assigns a candidate gate for the departure of the vehicle C, which is the gate s1 and the gate s2, to the vehicle C, and then the server obtains the processing rate of the gate s1 and the processing rate of the gate s2, and then obtains the number of vehicles arriving at the gate s1 and the number of vehicles arriving at the gate s2 within the same time (i.e., the time for planning the departure path), so that the state transition information A2 for the gate s1 to process the departure of the vehicle and the state transition information A2 for the gate s2 may be calculated, and based on the extracted state transition characteristics, the state transition characteristics corresponding to the state transition information A1 and the state transition characteristics corresponding to the state transition information A2 are extracted, and the number of vehicles in the departure time is determined based on the preset formula, and the number of vehicles in the time after the exit is determined, and the exit time is determined as follows:

wherein n is ₁ For maximum number of queues into gate s1, n ₂ For the maximum number of queues into gate s2, i is the number of vehicles entering gate s1, π _ij The steady state probability is the number of vehicles entering gate s1, i, while the number of vehicles entering gate s2, j, in the current system.

For gate s2, the target processing amount in the preset time can be calculated by the following formula:

wherein n is ₁ For maximum number of queues into gate s1, n ₂ For the maximum number of queues entering gate s2, i is the number of vehicles entering gate s1, π _ij The steady state probability is the number of vehicles entering gate s1, i, while the number of vehicles entering gate s2, j, in the current system.

Then, according to the target processing amount, a partition coefficient of the current vehicle flow is determined, which may specifically be as follows:

α＝E(L ₁ )/E(L ₂ )

where α is a division coefficient of the vehicle flow. When the number of the candidate gates is greater than or equal to 2, the target processing number of each candidate gate may be compared, so as to obtain a segmentation coefficient for segmenting the vehicle stream, the segmentation coefficients are used as segmentation information, then, an initial splitting ratio between the target processing number of each candidate gate is extracted from the segmentation information, and the segmentation parameters corresponding to the candidate gates are determined according to the initial splitting ratio, for example, for the gate s1 and the gate s2, when the initial splitting ratio is 1, the segmentation coefficient corresponding to the processing queue may be 0.5 and 0.5, that is, the vehicle stream is averagely allocated to the gate s1 and the gate s2, when the processing number of the gate s1 increases, the vehicles which need to leave the field subsequently are allocated according to a certain ratio, such as 0.1.9, that 90% of the vehicles are allocated to the gate s2, and according to the allocation result, the leaving path of the target vehicle is planned.

Optionally, in some embodiments, the step of "dynamically planning the departure path of the target vehicle according to the departure situation of the candidate gate" may specifically include: detecting the processing quantity of the candidate gates; determining the processed quantity less than or equal to a preset value as a target gate; when the processing quantity is larger than the preset value, returning to the step of detecting the processing quantity of the candidate gate until the target gate is determined; and planning an off-site path from the target vehicle to the target gate.

It should be noted that, because the markov decision is a dynamic planning process, in an actual planning process, multiple times of planning may occur, so that the target vehicle is always looking for an optimal gate to leave, thereby affecting the efficiency of vehicle leaving, and therefore, in some embodiments, the planning times may be preset, that is, optionally, in some embodiments, the method may specifically include: and when the dynamic planning times corresponding to the target vehicle are greater than the preset times, selecting the target gate meeting the preset conditions from the reference gates, and planning the off-site path from the target vehicle to the target gate. The preset times may be 5 times, 2 times or 1 time, and may be specifically set according to actual situations, which is not described herein.

In addition, for the case that the departure priority is the second priority, that is, for the vehicle of the unpaid general vehicle type, the target vehicle may be guided to the buffer gate, so as to realize departure through the buffer gate, that is, the step "dynamically planning the departure path of the target vehicle according to the arrival time, the departure priority and the departure condition of the reference gate" may specifically include:

(61) When the departure priority is the second priority, determining a buffer gate in the reference gates according to the arrival time and the departure condition of the reference gates;

(62) And planning an off-field path of the target vehicle to the buffer gate.

Referring to fig. 5, when the departure priority of the target vehicle C is the second priority, that is, the target vehicle C is not paid, at this time, the target vehicle is guided to the buffer gate H, when the target vehicle travels to the buffer gate H, the buffer gate H is opened, the target vehicle C enters the buffer lane S after passing through the buffer gate H, the prompt information of paying may be set in the buffer lane S, when the target vehicle C finishes paying before exiting the buffer lane S, the departure priority of the target vehicle C may be updated to the first priority, and then the corresponding departure operation is performed, and the departure process with the departure priority being the first priority is described again with reference to the foregoing embodiment, which is not repeated here.

Optionally, in some embodiments, referring to fig. 6, a paid gate Q may be disposed near the buffer gate H, when the target vehicle C completes payment before driving out of the buffer lane S, the target vehicle C is instructed to leave the field through the paid gate Q, optionally, an indicator lamp L may be disposed before the buffer gate H, when the unpaid vehicle drives to the indicator lamp L, the indicator lamp L instructs the target vehicle C to drive to the buffer gate H, when the target vehicle C completes payment before driving out of the buffer lane S, the target vehicle C is instructed to drive to the paid gate Q to realize leaving the field, it should be noted that a camera P may be further disposed before the buffer gate H, and the indicator lamp L is disposed between the camera P and the buffer gate H, so that the user may enter the buffer lane S without feeling, thereby, the experience of the user in controlling the vehicle to leave the field may be improved.

The arrangement of the indicator lamp and the buffer gate can set a corresponding buffer lane in a specific spacious area of the parking lot, so that the unpaid vehicle can enter the buffer lane without feeling, and the situation that the unpaid vehicle blocks a channel of the paid gate is avoided, therefore, the time for the unpaid vehicle to leave can be reduced, and the leaving efficiency of the paid vehicle is improved; meanwhile, after the toll of the unpaid vehicle is finished, the toll gate Q can be used for realizing quick departure without determining the corresponding candidate gate again, so that the departure efficiency of the unpaid vehicle can be improved.

For example, when the target vehicle c enters the prompt area A1, the camera p in the recognition area A1 recognizes the license plate of the target vehicle c, so as to determine that the target vehicle c is a paid vehicle or an unpaid vehicle. When the target vehicle c is a paid vehicle, the indicator lamp L outputs prompt information of 'please turn left and leave' so that a user can control the target vehicle c to turn left according to the prompt information and drive into the leaving lane S1, and meanwhile, the paid gate Q is turned on so as to enable the paid vehicle to leave; when the target vehicle c is an unpaid vehicle, the indicator lamp L outputs prompt information of 'please turn right and leave the field', the user can control the target vehicle c to turn right according to the prompt information and drive into the buffer lane S2, at the moment, the buffer brake T is in a closed state to prevent the target vehicle c from going together, in addition, a payment two-dimensional code can be further arranged on the wall of the buffer lane S2, prompt information of 'please scan the code to pay' can be further arranged below the payment two-dimensional code to prompt the user to pay, after the payment is finished, the buffer brake H is opened, so that the target vehicle c finishes the payment before driving out of the buffer lane S2, and when the target vehicle c finishes the payment and drives to the prompt area A1 again, at this time, after the license plate of the target vehicle c is recognized by the prompt area A1, the target vehicle c is determined to be a paid vehicle, and at this time, the indicator lamp L outputs prompt information of 'please turn left to leave the field', wherein the indicator lamp L has a certain distance from the buffer gate H and the paid gate Q respectively, specifically, the interval between the indicator lamp L and the buffer gate H is greater than a first set value, the interval between the indicator lamp L and the paid gate Q is greater than a second set value, and the interval between the paid gate Q and the buffer gate H is greater than a third set value, so that the indication operation is more efficient, a user can enter the leaving lane S1 or the buffer lane S2 without feeling, and the validity of the gate operation on the indication operation is avoided; meanwhile, the paid gate Q is far away from the buffer gate H so as to prevent the unpaid vehicle from directly driving into the paid gate Q, so that the unpaid vehicle blocks the paid gate Q, and the flow of the paid vehicle and the unpaid vehicle is divided, so that the vehicle leaving efficiency is improved.

Optionally, a payment prompt T may be set at the buffer gate H, where the payment prompt T may be a two-dimensional payment code, a text prompt, or a voice prompt, so that when a vehicle that is not paying travels to the buffer gate H, a user may pay according to the payment prompt T, after the payment is completed, the buffer gate H is opened, so that the vehicle that is not paying completes payment before leaving the buffer lane S2, and after the vehicle that is not paying completes payment, a fast leaving may be implemented by the payment gate Q, so that a leaving efficiency of the vehicle that is not paying may be improved.

Optionally, referring to fig. 7, the target vehicle c1 is an unpaid vehicle, the target vehicle c2 is a paid vehicle, specifically, the target vehicle c1 and the target vehicle c2 sequentially drive into the prompt area A1, for the target vehicle c1, the indicator light L outputs prompt information of "please turn right to leave the field", the user can control the target vehicle c1 to turn right according to the prompt information and drive into the buffer lane S2, and the user can complete payment according to the prompt information set in the buffer lane S2, so that the target vehicle c1 completes payment before driving out of the buffer lane S2; and aiming at the target vehicle c2, the indicator light L outputs prompt information of 'please turn left and leave the field', the user can control the target vehicle c2 to turn left according to the prompt information and drive into the leaving lane S1, and meanwhile, the paid gate Q is turned on so as to facilitate the paid vehicle to leave the field.

In addition, when the target vehicle c1 finishes paying and travels to the prompt area A1 again, the target vehicle c2 has already finished the operation of leaving, it can be seen that the state of unpaid of the target vehicle c1 does not cause any influence on the leaving of the paid target vehicle c2, meanwhile, the recognition operation of the camera P for the paying state is not sensitive to both the user of the target vehicle c1 and the user of the target vehicle c2, the indication lamp L outputs a corresponding prompt according to the recognition result of the camera P, the user can enter the leaving lane S1 or the buffer lane S2 without the sense, and the situation that the unpaid vehicle directly travels into the paid gate Q to cause the unpaid vehicle to block the paid gate Q is avoided, and the flow separation of the paid vehicle and the unpaid vehicle is realized, thereby, the efficiency of vehicle leaving is improved.

This completes the departure guidance process of the parking lot of the present embodiment.

The departure guiding method of the parking lot of the embodiment determines a reference gate when a target vehicle leaves the parking lot based on a vehicle image of the target vehicle, estimates the arrival time of the target vehicle to the reference gate, and finally guides the target vehicle to depart according to the arrival time, the payment state and the departure condition of the reference gate.

The embodiment of the present invention further provides a departure guidance method for a parking lot, wherein the departure guidance device for the parking lot is integrated in a server, please refer to fig. 8, and the specific process is as follows:

step 201, a server responds to an off-site operation triggered by a target vehicle to acquire a payment state and a vehicle image of the target vehicle;

step 202, the server determines a reference gate when the target vehicle leaves the field according to the vehicle image;

step 203, the server predicts the arrival time of the target vehicle to the reference gate;

and step 204, guiding the target vehicle to go out of the field by the server according to the arrival time, the payment state and the departure condition of the reference gate.

Therefore, the server can guide the target vehicle to go out of the parking lot based on the arrival time of the target vehicle to the gate, the vehicle image of the target vehicle and the departure situation of the gate, and avoid the situation that a large number of vehicles leave the parking lot from the same gate, so that the time for the vehicle to leave the parking lot can be shortened, and the departure efficiency is improved

Referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of the present invention, which can be implemented by using the above-mentioned exiting guiding method of the parking lot. The departure guidance device 30 of the parking lot of the embodiment includes an obtaining module 301, a determining module 302, an estimating module 303, and a guidance module 304, which are specifically as follows:

the acquisition module 301 is configured to acquire a payment state and a vehicle image of a target vehicle in response to an departure operation triggered for the target vehicle.

The determining module 302 is configured to determine a reference gate when the target vehicle leaves the field according to the vehicle image.

The estimation module 303 is configured to estimate an arrival time of the target vehicle at the reference gate.

And the guiding module 304 is used for guiding the target vehicle to go out of the field according to the arrival time, the payment state and the departure condition of the reference gate.

Optionally, in some embodiments, the determining module 302 may specifically be configured to: determining the position of the target vehicle based on the vehicle image, and allocating a reference gate when the target vehicle leaves the field according to the position of the target vehicle

Optionally, in some embodiments, the estimation module 303 may be specifically configured to: and acquiring a parking lot image, and estimating the arrival time of the target vehicle to the reference gate according to the vehicle image and the parking lot image.

Optionally, in some embodiments, please refer to fig. 10, fig. 10 is a schematic structural diagram of a guiding module of an embodiment of the departure guiding apparatus of the parking lot of the present invention, and the guiding module 304 may specifically include an identification unit 3041, an output unit 3042, and a guiding unit 3043.

The recognition unit 3041 is configured to recognize a vehicle feature of the vehicle image; the output unit 3042 is configured to output the departure priority of the target vehicle based on the vehicle characteristics and the payment state; the guiding unit 3043 is configured to guide the target vehicle to go out of the field according to the arrival time, the departure priority, and the departure situation of the reference gate.

Optionally, in some embodiments, the guiding unit 3043 may specifically include:

the planning subunit is used for dynamically planning the departure path of the target vehicle according to the arrival time, the departure priority and the departure condition of the reference gate;

the output subunit is used for outputting prompt information corresponding to the off-field path;

and the guiding subunit is used for guiding the target vehicle to go out of the field based on the prompt information.

Optionally, in some embodiments, the planning subunit may be specifically configured to: when the departure priority is the first priority, determining candidate gates when the target vehicle leaves the field according to the arrival time and the positions of the reference gates; and dynamically planning the departure path of the target vehicle according to the departure condition of the candidate gate.

Optionally, in some embodiments, the planning subunit may be further specifically configured to: detecting the processing quantity of the candidate gates; determining the processed quantity smaller than or equal to a preset value as a target gate; when the processing quantity is larger than the preset value, returning to the step of detecting the processing quantity of the candidate gate until a target gate is determined; and planning an off-site path of the target vehicle to the target gate.

Optionally, in some embodiments, the planning subunit may be further specifically configured to: and when the dynamic planning times corresponding to the target vehicle are larger than the preset times, selecting the target gate meeting the preset conditions from the reference gates, and planning the off-site path from the target vehicle to the target gate.

Optionally, in some embodiments, the planning subunit may be further specifically configured to: when the departure priority is the second priority, determining a buffer gate in the reference gates according to the arrival time and the departure condition of the reference gates; and planning an off-field path of the target vehicle to the buffer gate.

This completes the process of guiding the vehicle to exit by the exit guide device 30 of the parking lot of the present embodiment.

The specific operation principle of the departure guidance apparatus for a parking lot of this embodiment is the same as or similar to that described in the above embodiment of the departure guidance method for a parking lot, and please refer to the detailed description in the above embodiment of the departure guidance method for a parking lot.

The departure guiding device of the parking lot responds to departure operation triggered by a target vehicle, the payment state and the vehicle image of the target vehicle are obtained, the reference gate when the target vehicle leaves the parking lot is determined according to the vehicle image, the arrival time of the target vehicle arriving at the reference gate is estimated, and finally the target vehicle is guided to depart according to the arrival time, the payment state and the departure condition of the reference gate, so that the condition that a large number of vehicles leave the parking lot from the same gate can be avoided, the time of the vehicles leaving the parking lot can be reduced, and the departure efficiency is improved.

The terms "component," "module," "system," "interface," "process," and the like as used herein are generally intended to refer to a computer-related entity: hardware, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of illustration, both an application running on a controller and the controller can be a component. One or more components can reside within a process and/or thread of execution and a component may be localized on one computer and/or distributed between two or more computers.

Fig. 11 and the following discussion provide a brief, general description of an operating environment of an electronic device in which the video data transmission apparatus of the present invention may be implemented. The operating environment of FIG. 11 is only one example of a suitable operating environment and is not intended to suggest any limitation as to the scope of use or functionality of the operating environment. Example electronic devices 1012 include, but are not limited to, wearable devices, head-mounted devices, personal computers, server computers, hand-held or laptop devices, mobile devices (such as mobile phones, personal Digital Assistants (PDAs), media players, and the like), multiprocessor systems, consumer electronics, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.

Although not required, embodiments are described in the general context of "computer readable instructions" being executed by one or more electronic devices. Computer readable instructions may be distributed via computer readable media (discussed below). Computer readable instructions may be implemented as program modules, such as functions, objects, application programming interfaces (AP I), data structures, etc., that perform particular tasks or implement particular abstract data types. Typically, the functionality of the computer readable instructions may be combined or distributed as desired in various environments.

Fig. 11 illustrates an example of an electronic device 1012 comprising one or more embodiments of the video data transmission apparatus of the present invention. In one configuration, electronic device 1012 includes at least one processing unit 1016 and memory 1018. Depending on the exact configuration and type of electronic device, memory 1018 may be volatile (such as RAM), non-volatile (such as ROM, flash memory, etc.) or some combination of the two. This configuration is illustrated in fig. 1 by dashed line 1014.

In other embodiments, electronic device 1012 may include additional features and/or functionality. For example, device 1012 may also include additional storage (e.g., removable and/or non-removable) including, but not limited to, magnetic storage, optical storage, and the like. Such additional storage is illustrated in FIG. 11 by storage 1020. In one embodiment, computer readable instructions to implement one or more embodiments provided herein may be in storage 1020. Storage 1020 may also store other computer readable instructions to implement an operating system, an application program, and the like. Computer readable instructions may be loaded in memory 1018 for execution by processing unit 1016, for example.

The term "computer readable media" as used herein includes computer storage media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions or other data. Memory 1018 and storage 1020 are examples of computer storage media. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by electronic device 1012. Any such computer storage media may be part of electronic device 1012.

Electronic device 1012 may also include communication connection(s) 1026 that allow electronic device 1012 to communicate with other devices. Communication connection(s) 1026 may include, but is not limited to, a modem, a Network Interface Card (NIC), an integrated network interface, a radio frequency transmitter/receiver, an infrared port, a USB connection, or other interfaces for connecting electronic device 1012 to other electronic devices. The communication connection 1026 may comprise a wired connection or a wireless connection. Communication connection(s) 1026 may transmit and/or receive communication media.

The term "computer readable media" may include communication media. Communication media typically embodies computer readable instructions or other data in a "modulated data signal" such as a carrier wave or other transport mechanism and includes any information delivery media. The term "modulated data signal" may include signals that: one or more of the signal characteristics may be set or changed in such a manner as to encode information in the signal.

Electronic device 1012 may include input device(s) 1024 such as keyboard, mouse, pen, voice input device, touch input device, infrared camera, video input device, and/or any other input device. Output device(s) 1022 such as one or more displays, speakers, printers, and/or any other output device may also be included in device 1012. Input device 1024 and output device 1022 may be connected to electronic device 1012 via a wired connection, wireless connection, or any combination thereof. In one embodiment, an input device or an output device from another electronic device may be used as input device 1024 or output device 1022 for electronic device 1012.

The components of electronic device 1012 may be connected by various interconnects, such as a bus. Such interconnects may include Peripheral Component Interconnect (PCI), such as PCI express, universal Serial Bus (USB), firewire (IEEE 13104), optical bus structures, and so forth. In another embodiment, components of electronic device 1012 may be interconnected by a network. For example, memory 1018 may be comprised of multiple physical memory units located in different physical locations interconnected by a network.

Those skilled in the art will realize that storage devices utilized to store computer readable instructions may be distributed across a network. For example, electronic device 1030 accessible via network 1028 may store computer readable instructions to implement one or more embodiments of the present invention. Electronic device 1012 may access electronic device 1030 and download a part or all of the computer readable instructions for execution. Alternatively, electronic device 1012 may download pieces of the computer readable instructions, as needed, or some instructions may be executed at electronic device 1012 and some at electronic device 1030.

Various operations of embodiments are provided herein. In one embodiment, the one or more operations may constitute computer readable instructions stored on one or more computer readable media, which when executed by an electronic device, will cause the computing device to perform the operations. The order in which some or all of the operations are described should not be construed as to imply that these operations are necessarily order dependent. Those skilled in the art will appreciate alternative orderings having the benefit of this description. Moreover, it should be understood that not all operations are necessarily present in each embodiment provided herein.

Also, although the disclosure has been shown and described with respect to one or more implementations, equivalent alterations and modifications will occur to others skilled in the art based upon a reading and understanding of this specification and the annexed drawings. The present disclosure includes all such modifications and alterations, and is limited only by the scope of the appended claims. In particular regard to the various functions performed by the above described components (e.g., elements, resources, etc.), the terms used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (e.g., that is functionally equivalent), even though not structurally equivalent to the disclosed structure which performs the function in the herein illustrated exemplary implementations of the disclosure. In addition, while a particular feature of the disclosure may have been disclosed with respect to only one of several implementations, such feature may be combined with one or more other features of the other implementations as may be desired and advantageous for a given or particular application. Furthermore, to the extent that the terms "includes," has, "" contains, "or variants thereof are used in either the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term" comprising.

Each functional unit in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Each apparatus or system described above may perform the method in the corresponding method embodiment.

In summary, although the present invention has been disclosed with reference to the above embodiments, the numbers in the preceding embodiments are used for convenience of description only, and do not limit the sequence of the embodiments of the present invention. Furthermore, the above embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, therefore, the scope of the present invention shall be limited by the appended claims.

Claims

1. A dynamic vehicle departure guiding method based on the departure situation of a reference gate is characterized by comprising the following steps:

acquiring a vehicle image of a target vehicle in response to an off-field operation triggered for the target vehicle;

determining a reference gate when the target vehicle leaves the field according to the vehicle image;

estimating the arrival time of the target vehicle to the reference gate;

dynamically planning a departure path of the target vehicle according to the arrival time and the departure condition of the reference gate;

outputting first prompt information corresponding to the field-off path;

2. The method of claim 1, wherein said dynamically planning a departure path for said target vehicle based on said arrival time and a departure condition of said reference gate comprises:

determining candidate gate machines when the target vehicle leaves the field according to the arrival time and the positions of the reference gate machines;

and dynamically planning the departure path of the target vehicle according to the departure condition of the candidate gate.

3. The method of claim 2, wherein said dynamically planning the departure path of the target vehicle based on departure conditions of the candidate gates comprises:

acquiring the processing rate of each candidate gate, and;

4. The method of claim 3, wherein the candidate gates include gate s1 and gate s2, and wherein determining the corresponding number of processes of the candidate gate when the target vehicle is away from the field based on the steady-state probability comprises:

determining the maximum queuing number n1 of the gate s1, and;

determining the maximum queuing number n2 of the gates s 2;

calculating the number E (L1) of the vehicle departure processed by the gate s1 in the preset time according to a first preset formula:

and;

calculating the number E (L2) of the vehicle departure processed by the gate s2 in the preset time according to a second preset formula, wherein the second preset formula is as follows:

wherein n1 is the maximum queuing number entering the gate s1, n2 is the maximum queuing number entering the gate s2, and i is the entering gateNumber of vehicles, n, of s1 _ij The steady-state probability is the steady-state probability that the number of vehicles entering a gate s1 is i and the number of vehicles entering a gate s2 is j in the current system;

based on the quantity E (L) ₁ ) And the quantity E (L) ₂ ) Calculating the segmentation coefficient of the current vehicle flow by adopting a third preset formula, wherein the third preset formula is as follows: α = E (L) ₁ )/E(L ₂ ) Wherein α is a division coefficient of the vehicle flow;

determining a quantity E (L) based on the segmentation coefficients ₁ ) And the quantity E (L) ₂ ) Initial split ratio therebetween;