CN116665481A - Intelligent parking management method for linkage video positioning - Google Patents

Intelligent parking management method for linkage video positioning Download PDF

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Publication number
CN116665481A
CN116665481A CN202310650585.0A CN202310650585A CN116665481A CN 116665481 A CN116665481 A CN 116665481A CN 202310650585 A CN202310650585 A CN 202310650585A CN 116665481 A CN116665481 A CN 116665481A
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China
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channel
vehicle
information
vehicle owner
parking management
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CN202310650585.0A
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CN116665481B (en
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刘丹
杨国水
施先进
江小彪
王斌
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Hangzhou Greentown Information Technology Co ltd
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Hangzhou Greentown Information Technology Co ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses a linkage video positioning intelligent parking management method, by which a vehicle owner only needs to find any one entrance leading to an underground garage when seeking vehicles, then a vehicle seeking instruction is sent to an intelligent parking management system through an intelligent terminal by one key, the system starts a linkage video positioning technology, an optimal path of the vehicle owner from the entrance to a target parking space is planned through a preset path planning rule, and the optimal path is pushed and displayed to the vehicle owner, so that the vehicle seeking intelligent degree is high, and the vehicle seeking is very convenient and quick; in the provided path planning algorithm, the quadrant space in the mathematical concept is utilized to narrow the range of the second channel which is used as the basis of the optimal path planning for vehicle searching, thereby ensuring the accessibility from the underground exit of the appointed building to the target parking space and improving the path planning efficiency; and the optimal path planning of the segments is performed through linkage video positioning, and the corrected vehicle searching path is updated in real time, so that the accuracy and the efficiency of path planning are further improved.

Description

Intelligent parking management method for linkage video positioning
Technical Field
The application relates to the technical field of intelligent parking, in particular to an intelligent parking management method for linkage video positioning.
Background
After parking in large-scale underground parking lots such as airports, railway stations, shopping malls and the like, in order to quickly find a parking space when taking the car, the following steps are generally adopted: bearing in mind the area where the parking space is located and the number of the parking space, such as the A-zone 112, and bearing in mind the entrance to the ground space from the underground space, such as the entrance A-01R arranged in the underground space from a building unit A, and bearing in mind the exit after rising to the ground, such as the exit A-01C from the entrance A-01R to the entrance A-01C into the ground space when taking the escalator, the exit A-01C is found first, then the entrance A-01R is returned, then the A-zone is found by virtue of the memory, and the 112-number parking space is found finally.
The above-mentioned mode of searching for a parking position of a vehicle by means of memory and according to the idea of returning from the original road has the following drawbacks: 1. the memory is required to be strong, and the method is very unfriendly for people with poor memory; 2. finding the designated outlet A-01C from any point in the ground space is a difficult problem, and the vehicle searching is very inconvenient; 3. whether from the outlet A-01C to the inlet A01-R or from the inlet A01-R to the area A and after entering the area A, the vehicle goes to the 112 # parking space, wherein all the walking paths are completely memorized, completely manually planned, and a great deal of time is consumed for searching vehicles, so that the vehicle is not intelligent enough.
Disclosure of Invention
The application aims to realize quick and intelligent vehicle searching, and provides an intelligent parking management method for linkage video positioning.
To achieve the purpose, the application adopts the following technical scheme:
the intelligent parking management method for linkage video positioning comprises the following steps:
s1, a license plate recognition device recognizes license plate numbers of vehicles parked in parking spaces and makes association binding with the parking space numbers of the parked parking spaces, and generates binding information to push the binding information to an intelligent parking management system;
s2, the intelligent parking management system acquires first channel information to be entered after a vehicle owner leaves the vehicle and binds with an ID of the vehicle owner according to the parking space number carried in the binding information and based on a binding relation between the parking space number and a corresponding channel which is established in advance;
s3, when a vehicle needs to be fetched, after a vehicle owner reaches any one entrance to the underground garage, sending a vehicle searching instruction to the intelligent parking management system through the intelligent terminal;
s4, the intelligent parking management system positions the entrance where the vehicle owner is currently located according to the vehicle searching instruction so as to obtain second channel information of each second channel of possible paths after the entrance enters the underground garage and bind the second channel information with the vehicle owner ID;
and S5, the intelligent parking management system plans and updates and corrects an optimal path of the vehicle owner to a target parking space in real time according to the second channel information and the first channel information which are acquired in the step S4 and the step S2 and are related to the ID of the vehicle owner in parallel with video positioning, and pushes the planned optimal path to the vehicle owner in real time through the vehicle searching APP.
Preferably, the second channel information and the first channel information include a channel unique number and a location coordinate of a channel center site.
Preferably, the vehicle searching instruction in step S3 carries the vehicle owner ID and first positioning information of the current position of the vehicle owner.
Preferably, in step S4, the method for positioning the entrance includes the steps of:
a1, the intelligent parking management system analyzes the first positioning information carried in the vehicle searching instruction;
a2, the intelligent parking management system matches building information of the vehicle owner according to the first positioning information;
a3, according to the pre-constructed building information and the binding relation of the corresponding monitoring devices, matching each monitoring device in the building for monitoring the entrance to the underground garage;
a4, the intelligent parking management system sends the prestored face image of the vehicle owner to each matched monitoring device, then activates each monitoring device to enter a face matching mode, each monitoring device starts to acquire each frame of face in a monitoring range in real time and matches with the issued face image,
if the matching is successful in the continuous preset time, transmitting face matching success information to the intelligent parking management system and transferring to the step A5;
if the matching is not successful within the continuous preset time, deleting the received face image and backing out the face matching mode;
and A5, matching an entry code with a binding relationship with the unique equipment number of the monitoring device carried in the face matching success information according to the binding relationship between the unique equipment number of the monitoring device and the entry code, so as to realize the positioning of the entry where the vehicle owner is currently located.
Preferably, in step S4, the method for acquiring the second channel information of each of the second channels of the possible paths after entering the underground garage from the entrance specifically includes the steps of:
b1, extracting outlet information of an underground outlet corresponding to the inlet according to the association relation between the inlet where the vehicle owner is currently located and the corresponding outlet from the inlet to an underground space, wherein the outlet information comprises positioning coordinates of a central point of a second channel which firstly crosses into a lane from the underground outlet, and is recorded as
B2, extracting the positioning coordinates of the first center locus j of any one first channel n from the first channel information acquired in the step S2, and marking the positioning coordinates as
B3 atAnd->Middle connecting line to obtain connecting line->And extend the connecting line +.>Obtaining an extension connecting line from the boundary of the electronic map of the underground garage;
b4 toIs a dot in xy-axis coordinate system and is +.>Making a perpendicular line which is perpendicular to the extending connecting line and is intersected with the intersecting point, wherein the perpendicular line extends to the boundary of the electronic map;
b5, enclosing the perpendicular line and the boundary of the electronic map, including the connecting lineAnd taking the area of the quadrant space as an area range of each second channel to be extracted, and then extracting the second channel information of each second channel from the area range.
Preferably, in step S5, the method for planning and updating and correcting the optimal path of the vehicle owner to the target parking space in real time specifically includes the steps of:
c1, marking a starting point a for each second channel extracted in the step S4 x And endpoint b x X represents the extracted x-th second channel, and the labeling method of the starting point and the ending point is as follows: the distance between the two ends of the second channelThe near end point is the starting point, and the far end point is the end point;
c2, calculating the central point of the second channel where the vehicle owner first straddles the lane from the underground exitWith the start point a of each other of said second channels x And extracting the marked starting point of the top p of the rank after sorting from small to large according to the distance value, and at +.>A first optimal path is planned between the first marking start point and the first marking start point, and is pushed and displayed to the vehicle owner through the vehicle searching APP;
c3, issuing a face image of the vehicle owner to each monitoring device for monitoring each marked starting point of the p before ranking, and activating each monitoring device for issuing the face to enter a face recognition mode;
c4, the monitoring device entering the face recognition mode carries out face matching on each acquired face and the issued face image, and if the matching is successful, the monitoring device sends a unique equipment number of the monitoring device to the intelligent parking management system;
c5, after receiving the unique equipment number, the intelligent parking management system extracts a second channel SC monitored by the monitoring device corresponding to the unique equipment number mo Endpoint b of (2) x Filtering out second channels which the vehicle owner has passed through in each second channel extracted in the step S4;
c6, calculating the end point b of each second channel remained in the filtering in the step C5 x And the first central site of the first channel extracted in step B2The distances of (2) are sorted from small to large according to the distance values to form a sorting list;
c7 according toThe sorting order of each element in the sorting list is used for sequentially judging the second channel SC mo Whether or not to correspond to the element currently participating in the judgment el The adjacent one of the two pairs of pairs,
if yes, turning to a step C8;
if not, for the second channel SC corresponding to the next element in the ordered list el Proceed and second channel SC mo Judging whether the two adjacent parts are adjacent;
c8, judging the second channel SC el Whether or not to match withThe corresponding first channels are contiguous and,
if yes, in the second channel SC mo Second channel SC el Anda second optimal path for searching vehicles at the current time point is planned between the corresponding first channels, pushed and displayed to the vehicle owners through the vehicle searching APP;
if not, returning to the step C7, and regarding a second channel SC corresponding to the next element in the ordered list el Proceed and second channel SC mo Judging whether all the elements in the ordered list are adjacent or not until the judgment of whether all the elements in the ordered list are adjacent or not is completed, and then turning to a step C9;
and C9, stopping planning the optimal path of the vehicle searching, generating planning failure information and pushing the planning failure information to the vehicle owner through the vehicle searching APP.
The application has the following beneficial effects:
1. when searching, the vehicle owner only needs to find any one entrance leading to the underground garage, then a vehicle searching instruction is sent to the intelligent parking management system through a key by the intelligent terminal, the intelligent parking management system starts to link the video positioning technology, and the optimal path of the vehicle owner from the entrance to the parking space is drawn out through a preset path planning rule and pushed and displayed to the vehicle owner, so that the vehicle searching intelligent degree is high, and the vehicle searching is very convenient and quick;
2. in the provided path planning algorithm, the quadrant space in the mathematical concept is utilized to narrow the range of the second channel which is used as the basis of the optimal path planning of the vehicle searching, so that the accessibility from the underground exit of the appointed building to the target parking space is ensured, and the optimal path planning efficiency of the vehicle searching is improved;
3. by linking video positioning and carrying out segmented optimal path planning, the vehicle searching path is updated and corrected in real time in a successive approximation mode, so that the accuracy of path planning is improved, and the efficiency of path planning is improved.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below. It is evident that the drawings described below are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a diagram showing steps in an intelligent parking management method for coordinated video positioning according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an intelligent parking management system performing optimal path planning when a vehicle owner seeks.
Detailed Description
The technical scheme of the application is further described below by the specific embodiments with reference to the accompanying drawings.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the application, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the application correspond to the same or similar components; in the description of the present application, it should be understood that, if the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for convenience in describing the present application and simplifying the description, rather than indicating or implying that the apparatus or elements being referred to must have a specific orientation, be constructed and operated in a specific orientation, so that the terms describing the positional relationships in the drawings are merely for exemplary illustration and should not be construed as limiting the present patent, and that the specific meaning of the terms described above may be understood by those of ordinary skill in the art according to specific circumstances.
In the description of the present application, unless explicitly stated and limited otherwise, the term "coupled" or the like should be interpreted broadly, as it may be fixedly coupled, detachably coupled, or integrally formed, as indicating the relationship of components; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between the two parts or interaction relationship between the two parts. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
The intelligent parking management method for positioning the linkage video provided by the embodiment of the application, as shown in fig. 1, comprises the following steps:
s1, a license plate recognition device recognizes license plate numbers of vehicles parked in parking spaces and makes association binding with the parking space numbers of the parked parking spaces, and generates binding information to push the binding information to an intelligent parking management system;
at present, a plurality of license plate recognition devices with high precision are available on the market, and can be applied to the scene of the application to recognize license plate numbers of vehicles parked in parking spaces as long as the license plate recognition precision is high enough. In order to realize the intelligent vehicle searching function of the follow-up linkage video, the application improves the technology of the purchased license plate recognition device and realizes the butt joint of the license plate recognition device and a data interface of a specially developed intelligent parking management system. The license plate recognition device is also implanted with the information of the parking positions of each parking position, such as 3 parking positions A, B, C, which are arranged next to each other in sequence, a license plate recognition device is used for recognizing the license plate number of the vehicle parked in the 3 parking positions, the license plate recognition device is arranged right opposite to the parking position A and implanted with the information of the parking positions of A, B, C three parking positions, such as 110 of the parking position A, 111 of the parking position B, and 112 of the parking position C. The method for identifying the parking space number corresponding to the parking space where the vehicle is parked by the license plate identification device comprises the following steps: the license plate recognition device can be used for rapidly matching the parking space number 110 of the parking space of the vehicle according to the binding relation between the right angle and the parking space number of the parking space A when the license plate recognition device is used for recognizing the license plate number of the parking space A shot at the right angle, such as Zhe BXXX when the license plate number of the parking space B shot at the right angle is deviated from the right angle, such as 30 degrees, and rapidly matching the parking space number 111 of the parking space of the vehicle according to the binding relation between the deviation 30 degrees and the parking space number of the parking space B. The data expression form of the binding information generated by the license plate recognition device is, for example, "Zhe AXXXXX-A district 112 parking space".
After binding the parking space number and the license plate number is completed, the steps are carried out:
s2, the intelligent parking management system acquires first channel information to be entered after a vehicle owner leaves the vehicle and binds with an ID of the vehicle owner according to the parking space number carried in the binding information and based on a binding relation between the parking space number and a corresponding channel which is established in advance;
in the step, the process of acquiring the first channel information and binding with the owner ID is as follows:
after an owner logs in the car searching APP through the intelligent terminal, the intelligent parking management system gives the unique car owner ID of the parking space, after the car owner binds the license plate number of the owner after the car searching APP, the car searching APP generates a binding relation between the bound license plate number and the car owner ID and sends the binding relation to the intelligent parking management system, and the binding relation is stored in the database by the intelligent parking management system. When the vehicle passageway gate enters the underground garage, the road gate sends the identified license plate number to the system, and the system matches the corresponding owner ID in the database according to the license plate number.
After receiving binding information of license plate numbers and parking space numbers sent by a license plate recognition device, the intelligent parking management system acquires first channel information with binding relation with the parking space numbers of parked parking spaces, and then binds the first channel information with an owner ID.
The first channel information includes a channel unique number and positioning information (positioning coordinates) of a channel center site. The definition of the first channel is described below:
referring to fig. 2, assuming that the parking space of the vehicle owner is "parking space 1" in fig. 2, the vehicle owner must walk "channel 1" or "channel 2" in fig. 2 when the vehicle owner parks off the vehicle and enters the building or ground space, and then "channel 1" and "channel 2" are the first channels. To implement the following intelligent vehicle seeking function, it is necessary to acquire the channel information of each first channel, including the channel unique number of the first channel and the positioning information of the channel center point, for example, the channel unique number of "channel 1" shown in fig. 2 may be encoded as "TD0001", and the channel center point thereof is expressed asWherein n represents the nth first channel and j represents the central site j,/-of the first channel>The positioning information of the system is the positioning coordinates of the underground garage.
It should be noted that, for the positioning of each first channel, the existing indoor positioning technology with high precision may be adopted, and a specific positioning method is not described.
After the binding of the first channel information and the owner ID is completed, the steps are shifted to:
s3, when a vehicle needs to be fetched, after a vehicle owner reaches any one entrance to the underground garage, sending a vehicle searching instruction to the intelligent parking management system through the intelligent terminal;
the car searching instruction carries the ID of the car owner and the first positioning information of the current position of the car owner. The car owner is endowed with a unique car owner ID after logging in the car searching APP, so that the car searching APP can quickly acquire the car owner ID after pressing a car searching button by one key in a display interface provided by the car searching APP.
The positioning accuracy of the traditional positioning technology can only reach the building level, for example, a large mall has A, B, C, D four buildings, and the traditional positioning technology can only position the building where the vehicle owner is currently located, but cannot realize accurate positioning on the entrance where the vehicle owner is currently located in the specific building. The first position information of the vehicle owner is the positioning coordinate of the vehicle owner positioned by the intelligent terminal through the building level positioning technology.
However, if the accurate positioning of the specific position of the entrance where the vehicle owner is currently located cannot be achieved, the channel information of each second channel leading to the parking space from the entrance to the underground garage cannot be matched, and then the intelligent parking management system cannot conduct vehicle searching optimal path planning in advance, and the function of one-key vehicle searching is invalid, so that the accurate positioning of the entrance where the vehicle owner is currently located is very important. Although there are also some high-precision indoor positioning technologies at present, a large number of positioning sensors are arranged indoors to realize accurate positioning of a vehicle owner indoors, but the application cost is very high, so that it is not practical or necessary to popularize the existing high-precision indoor positioning technology to all airports, high-speed rail stations, markets and other places in the whole country or a certain city. Therefore, a new indoor positioning method is needed, and the application cost is not too high while the indoor positioning is performed at the high precision of the inlet position. In order to solve the problem, the linkage video realizes the indoor accurate positioning of the position of the inlet, and the specific method comprises the following steps:
after sending the vehicle searching instruction, the intelligent terminal shifts to the steps:
s4, the intelligent parking management system locates an entrance where a vehicle owner is currently located according to the vehicle searching instruction so as to obtain second channel information after entering the underground garage from the entrance and bind the second channel information with the ID of the vehicle owner;
the method for positioning the entrance where the vehicle owner is currently located specifically comprises the following steps:
a1, the intelligent parking management system analyzes first positioning information carried in a vehicle searching instruction;
a2, the intelligent parking management system matches building information, such as building numbers, of the current car owner according to the first positioning information;
a3, according to the pre-constructed building information and the binding relation of the corresponding monitoring devices, matching each monitoring device in the building for monitoring each entrance to the underground garage;
a4, the intelligent parking management system sends the prestored face image of the vehicle owner to each matched monitoring device, then each monitoring device is activated to enter a face matching mode, each monitoring device starts to collect each frame of face in a monitoring range in real time and matches with the issued face image,
if the matching is successful in the continuous preset time, transmitting face matching success information to the intelligent parking management system;
if the matching is unsuccessful within the continuous preset time, deleting the received face image of the vehicle owner and pushing out a face matching mode;
after receiving the car searching command, the intelligent parking management system firstly extracts the car owner ID carried in the car searching command, and then rapidly matches the face image of the car owner from the face database according to the binding relation between the pre-constructed car owner ID and the face image, and then sends the face image to each monitoring device.
In the application, the face image is sent to each monitoring device, and the face matching by each monitoring device has the following beneficial effects: if each monitoring device sends face images acquired in real time to the intelligent parking management system, the intelligent parking management system has long image data transmission time in face matching, the system is required to issue face matching mode exit instructions to each monitoring device after face matching, a large amount of data interaction is required between the two devices, errors are easy to occur, and long data transmission time and a large amount of data interaction can influence timeliness and accuracy of entrance positioning. Therefore, the intelligent parking management system only needs to send out the face image of the vehicle owner and activate each monitoring device in the appointed building leading to the underground garage to enter the face matching mode after receiving the vehicle searching instruction from the lower part of the face matching function to each monitoring device, so that the data transmission and interaction quantity are greatly reduced, and the monitoring device is not required to be controlled to exit the face matching mode, thereby being beneficial to improving the timeliness and accuracy of positioning the entrance.
After the face matching is successful, the steps are carried out:
and A5, matching the portal code with the binding relation with the unique equipment number of the monitoring device carried in the successful face matching information according to the binding relation between the unique equipment number of the monitoring device and the portal code, so as to realize the accurate positioning of the portal where the vehicle owner is currently located.
For example, if the monitoring device a that is matched to the face is used for monitoring the entrance B, the unique device number of the monitoring device a is SB001A, and the entrance code of the bound entrance is RK0001B, the intelligent parking management system can directly match the entrance code monitored by the monitoring device with the number SB0001A that is successfully matched to the face of the vehicle owner into the entrance code of RK0001B according to the binding relationship of SB 0001A-RK 0001B.
After accurate positioning of the entrance where the vehicle owner is currently located is achieved, second channel information of each second channel possibly passing through after the entrance where the vehicle owner enters the underground garage is required to be obtained and bound with the ID of the vehicle owner. The purpose of the second channel is to define the scope of the optimal path plan.
The definition of the second channel is described below in connection with fig. 2:
in FIG. 2, the "entrance" shown in the D building is, for example, the exits A-01C described in the background, and the "exit" shown is, for example, the entrances A-01R described in the background. The entrance of the car master-slave D span enters the underground space of the underground garage from the elevator to the exit, and at the moment, if a car owner does not find the parking space purposefully, the car owner can pass through the path 7-6-3-4-1 or the path 7-6-5-4-1. Such a search mode relies entirely on memory, is very time-consuming and not intelligent enough. Therefore, in order to realize the optimal planning of the vehicle searching path, the number of underground passages which a vehicle owner may pass through needs to be limited by technical means. In the application, quadrants are used for limiting the number of second channels possibly passing through from an underground outlet of a building to a parking space, and the method comprises the following specific steps:
in step S2, the intelligent parking management system acquiresThe first channel information includes location coordinates of a center site of the first channel. Whereas the location of the underground exits of the building in the underground space is determined and known, the channel from the exit of the building in the underground is also already known, for example, the second channel from the underground exit of the D-building shown in fig. 2 is channel 7, which is known, and the location coordinates of the central site of channel 7 are also known. Assume that the central site of channel 7 isThe 112 th parking space under the B-span underground of the main car enters the channel 1 (the first channel) after getting off, then ascends to the ground from the underground outlet of the B-span, and the central site of the channel 1 is assumed to be +.>During seeking, there is no doubt->And->In fact, the car owner can go straight for one path from the exit of the D building and then turn right to enter the channel 6, turn left to enter the channel 3, turn left to enter the channel 4, and finally turn left to enter the channel 1 to find a parking space, or go straight for a period of time from the exit of the D building and then pass through the channel 6 to enter the channel 2, then turn right to enter the channel 4, and then enter the channel 1, or go straight for the exit of the D building and then cross the 113 parking spaces to directly find the 112 parking spaces after seeing the 113 parking spaces under the underground of the B building, so that the car searching paths are various, how to quickly plan the optimal path for searching the car becomes an important technical problem to be solved, and the key of quickly planning the optimal path is to limit the range of a possible second channel to be passed through, on the premise that the 112 parking spaces are reachable, the smaller the planned optimal path length is, and the more effective for searching the car is. In order to reduce the range of the second channel which is used as the basis of the planning of the optimal path for searching vehicles and combine the parking space layout structure of the underground space, the application provides a method for utilizing the quadrant space in the mathematical conceptThe range of the second channel is limited, so that the access from the underground outlet of the appointed building to the target parking space is ensured, and the planning efficiency of the optimal path for vehicle searching is improved.
The method for limiting the range of the second channel as the basis of vehicle searching optimal path planning by using the quadrant space comprises the following steps:
b1, extracting the outlet information of the underground outlet (such as A-01R) corresponding to the inlet according to the association relation between the inlet (such as A-01C) where the vehicle owner is currently located and the corresponding outlet (such as A-01R) from the inlet to the underground space, wherein the outlet information comprises the positioning coordinates of the central point of the second channel which firstly crosses into the lane from the underground outlet, and is recorded asFor example, if the second lane where the vehicle owner first straddles the lane from the exit of the building D shown in FIG. 2 is lane 7, in this step, the positioning coordinate of the center point i of lane 7 is first extracted and denoted as +.>
B2, extracting the positioning coordinates of the first center locus j of any one first channel n from the first channel information acquired in the step S2, and marking the positioning coordinates asFor example, the first channel bound with the number 112 in fig. 2 includes channel 1 and channel 2, and in this step, it is enough to extract channel 1 or channel 2 at will;
b3 atAnd->Middle connecting line to obtain connecting line->And extend the connecting line +.>Obtaining an extension connecting line from the boundary of the electronic map of the underground garage; for example, if in step B2, the first channel arbitrarily selected by the system is channel 1, then connecting the central site of channel 7 with the central site of channel 1 to obtain a connection line, and then extending the connection line to obtain an extended connection line 100 extending to the boundary of the electronic map shown in fig. 2;
b4 toIs a dot in xy-axis coordinate system and is +.>A perpendicular line 200 intersecting and perpendicular to the extension connection line 100 shown in fig. 2 for the intersection point, the perpendicular line 200 extending to the boundary of the electronic map;
b5, surrounding the vertical line and the boundary of the electronic map and comprising a connecting lineThe area of the quadrant space is used as the area range of each second channel to be extracted, and then the second channel information of each second channel is extracted from the area range. For example, as shown in FIG. 2, the connecting line +.>The quadrant space is the second quadrant space, and 2 areas are enclosed by the boundaries of the vertical lines and the electronic map, namely, in fig. 2, the area enclosed by the vertical lines 200 on the left side and the area enclosed on the right side of the electronic map, but the area range for extracting the second channel must include connecting lines->The quadrant space in which the second channel information is located, i.e. the second quadrant space must be included, is determined as the area where the vertical line in fig. 2 encloses the left side of the electronic map. Second pass for extracting second channelThe second channel information of each second channel in the area can be quickly extracted after the channel information is determined, as in fig. 2, if the first channel arbitrarily extracted in the step B2 is channel 1, the second channels in the area range enclosed by the vertical line 200 at the left side of the electronic map are channel 7, channel 8, channel 6, channel 5, channel 2, channel 3 and channel 9; if the first channel arbitrarily extracted in step B2 is channel 2, the second channels of the vertical line 200 in the area range enclosed on the left side of the electronic map are channel 7, channel 8, channel 6, channel 5, channel 1, channel 3 and channel 9.
After obtaining the second channel information of each second channel serving as the basis of vehicle searching optimal path planning and binding the second channel information with the ID of the vehicle owner, the intelligent parking management method for linkage video positioning provided by the embodiment is transferred to the steps of:
and S5, according to the second channel information and the first channel information of the associated vehicle owner ID acquired in the step S4 and the step S2, connecting with the video positioning, planning and updating and correcting the optimal path of the vehicle owner to the target parking space in real time, and pushing the planned optimal path to the vehicle owner in real time through the vehicle searching APP.
The scheme for planning and updating the optimal path of the correction vehicle owner to the target parking space in real time specifically comprises the following steps:
c1, marking a starting point a for each second channel extracted in the step S4 x And endpoint b x X represents the extracted x second channel, and the labeling method of the starting point and the ending point is as follows: distance between two ends of the second channelThe near end point is the starting point, and the far end point is the end point; for example, endpoint a of channel 2 in fig. 2 2 Distance->Near, and its end point b 2 Distance->Far, endpoint a 2 As the start point of the second channel, the end point b 2 As the second oneThe end point of the channel; according to the labeling rule, the starting point a of the channel 5 5 And endpoint b 5 As shown in fig. 2, the labeling methods of the starting point and the ending point of the other second channels are the same, and will not be described again;
c2, calculating the central point of the second channel of the vehicle owner first crossing into the lane from the underground outletWith the start point a of each other second channel x And extracting the marked starting point of the top p of the rank after sorting from small to large according to the distance value, and at +.>A first optimal path is planned between the first marking start point and the first marking start point, and is pushed and displayed to the vehicle owner through the vehicle searching APP; for example, as shown in FIG. 2, if it is +.>Is the nearest start point a of channel 2 2 The system will be +>And a starting point a 2 An optimal walking path is planned. For another example, if it is the central site in channel 7Is the start point a of the channel 6 6 The system will be +>And a starting point a 6 An optimal walking path is planned between, the optimal walking path is from +.>Starting forward until the first passage opening turns left and then going straight to the starting point a 6 Due to the electronic map of the underground garageEach channel is of a cured layout, thus from +.>Go to the starting point a 6 The left-hand or right-hand turn or the straight-forward movement of the path crossing is known in the process, so that the first optimum path is very easy to plan without great technical difficulties. However, there is a case that the owner should first follow +.>The point being e.g. going to the start a of the channel 2 2 However, the owner does not walk according to the planned first optimal path, but from +.>The point goes to the starting point a of the channel 6 6 At this time, the planned first optimal path is not valid, and needs to be planned again, but the path planning takes time if the waiting vehicle owner has reached the starting point a 6 And then re-planning, wherein delay is generated when the re-planned updated route is pushed to the vehicle owner, and in order to solve the problem, the method for planning and updating and correcting the optimal path of the vehicle owner to the target parking space in real time is carried out in the following steps:
c3, issuing a face image of the vehicle owner to each monitoring device for monitoring each marked starting point of the p before ranking, and activating each monitoring device for issuing the face to enter a face recognition mode;
c4, the monitoring device entering the face recognition mode carries out face matching on each acquired face and the issued face image, and if the matching is successful, the monitoring device sends the unique equipment number of the monitoring device to the intelligent parking management system;
c5, after receiving the unique equipment number, the intelligent parking management system extracts a second channel SC monitored by the monitoring device corresponding to the unique equipment number mo Endpoint b of (2) x Filtering out the second channels which the vehicle owner has passed through in each second channel extracted in the step S4; such as in the master-slave fig. 2The spot walks to approach the aisle 2 (second aisle SC mo ) The origin a of (a) 2 Is used to monitor the starting point a 2 If the monitoring device of (2) recognizes the face, the system extracts the end point b of the channel 2 2 And the channel 7 and the channel 6 which the car owner has passed through are filtered, and only the remaining channels 4, 2, 5, 3 and 8 are filtered to continue to serve as the basis of path updating planning;
c6, calculating the end point b of each second channel remained in the filtering of the step C5 x And the first central site of the first channel extracted in step B2The distances of (2) are sorted from small to large according to the distance values to form a sorting list; for example, endpoint b of channel 3 in FIG. 2 3 End point b of channel 4 4 Central site to first channel->Is closest, rank first in parallel in the ordered list;
c7, according to the ordering sequence of each element in the ordering list, judging the second channel SC in sequence mo Whether or not to correspond to the element currently participating in the judgment el Adjacent (for example, in step C5, the second channel SC monitored by the monitoring device corresponding to the unique equipment number received by the system mo For channel 2 shown in FIG. 2, the element currently participating in the judgment corresponds to the second channel SC el If it is channel 4, it is determined that channel 2 is adjacent to channel 4, if it is channel 3, it is determined that channel 2 is not adjacent to channel 3),
if yes, turning to a step C8;
if not, the second channel SC corresponding to the next element in the ordered list el Proceed and second channel SC mo Judging whether the two adjacent parts are adjacent;
c8, judging the second channel SC el Whether or not to match withThe corresponding first channels are contiguous and,
if yes, in the second channel SC mo Second channel SC el Andplanning a second optimal path for searching vehicles at the current time point between the corresponding first channels, pushing and displaying the second optimal path to a vehicle owner through a vehicle searching APP;
if not, returning to the step C7, and performing the second channel SC corresponding to the next element in the ordered list el Proceed and second channel SC mo Judging whether all elements in the ordered list are adjacent or not until the judgment of whether all elements in the ordered list are adjacent or not is completed, and then turning to the step C9;
and C9, stopping planning the optimal path of the vehicle searching, generating planning failure information and pushing the planning failure information to the vehicle owner through the vehicle searching APP.
It should be noted that, in the layout of the underground garage structure shown in fig. 2, since the distance span from building D to the target parking space (e.g. 112 th parking space) of building B is the maximum of the separation between the channel 6 and the channel 4, under such distance span, a slave parking space can be basically planned according to the above steps C1-C8To->If the span is larger, for example, there is a channel 10 on the left side of the channel 4 in fig. 2, and there are a plurality of buildings F between the channel 4 and the channel 10, and the target parking space is near the building F, then in step C9, the second channel SC currently traveled by the vehicle owner is used mo Is +.>The third can be planned further by the method provided in steps C2-C8And the optimal path and a fourth optimal path … … until a vehicle searching optimal path which can reach the target parking space is planned.
It should be understood that the above description is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be apparent to those skilled in the art that various modifications, equivalents, variations, and the like can be made to the present application. However, such modifications are intended to fall within the scope of the present application without departing from the spirit of the present application. In addition, some terms used in the description and claims of the present application are not limiting, but are merely for convenience of description.

Claims (6)

1. The intelligent parking management method for linkage video positioning is characterized by comprising the following steps:
s1, a license plate recognition device recognizes license plate numbers of vehicles parked in parking spaces and makes association binding with the parking space numbers of the parked parking spaces, and generates binding information to push the binding information to an intelligent parking management system;
s2, the intelligent parking management system acquires first channel information to be entered after a vehicle owner leaves the vehicle and binds with an ID of the vehicle owner according to the parking space number carried in the binding information and based on a binding relation between the parking space number and a corresponding channel which is established in advance;
s3, when a vehicle needs to be fetched, after a vehicle owner reaches any one entrance to the underground garage, sending a vehicle searching instruction to the intelligent parking management system through the intelligent terminal;
s4, the intelligent parking management system positions the entrance where the vehicle owner is currently located according to the vehicle searching instruction so as to obtain second channel information of each second channel of possible paths after the entrance enters the underground garage and bind the second channel information with the vehicle owner ID;
and S5, the intelligent parking management system plans and updates and corrects an optimal path of the vehicle owner to a target parking space in real time according to the second channel information and the first channel information which are acquired in the step S4 and the step S2 and are related to the ID of the vehicle owner in parallel with video positioning, and pushes the planned optimal path to the vehicle owner in real time through the vehicle searching APP.
2. The intelligent parking management method of linked video localization of claim 1, wherein the second channel information and the first channel information comprise a channel unique number and localization coordinates of a channel center point.
3. The intelligent parking management method of linkage video positioning according to claim 1, wherein the car searching instruction in step S3 carries the car owner ID and first positioning information of the current location of the car owner.
4. The intelligent parking management method for linked video positioning as set forth in claim 3, wherein in step S4, the method for positioning the entrance includes the steps of:
a1, the intelligent parking management system analyzes the first positioning information carried in the vehicle searching instruction;
a2, the intelligent parking management system matches building information of the vehicle owner according to the first positioning information;
a3, according to the pre-constructed building information and the binding relation of the corresponding monitoring devices, matching each monitoring device in the building for monitoring the entrance to the underground garage;
a4, the intelligent parking management system sends the prestored face image of the vehicle owner to each matched monitoring device, then activates each monitoring device to enter a face matching mode, each monitoring device starts to acquire each frame of face in a monitoring range in real time and matches with the issued face image,
if the matching is successful in the continuous preset time, transmitting face matching success information to the intelligent parking management system and transferring to the step A5;
if the matching is not successful within the continuous preset time, deleting the received face image and backing out the face matching mode;
and A5, matching an entry code with a binding relationship with the unique equipment number of the monitoring device carried in the face matching success information according to the binding relationship between the unique equipment number of the monitoring device and the entry code, so as to realize the positioning of the entry where the vehicle owner is currently located.
5. The intelligent parking management method according to any one of claims 1 to 4, wherein in step S4, the method for acquiring the second channel information of each of the second channels of the possible paths after entering the underground garage from the entrance specifically comprises the steps of:
b1, extracting outlet information of an underground outlet corresponding to the inlet according to the association relation between the inlet where the vehicle owner is currently located and the corresponding outlet from the inlet to an underground space, wherein the outlet information comprises positioning coordinates of a central point of a second channel which firstly crosses into a lane from the underground outlet, and is recorded as
B2, extracting the positioning coordinates of the first center locus j of any one first channel n from the first channel information acquired in the step S2, and marking the positioning coordinates as
B3 atAnd->Middle connecting line to obtain connecting line->And extend the connecting line +.>Obtaining an extension connecting line from the boundary of the electronic map of the underground garage;
b4 toIs a dot in xy-axis coordinate system and is +.>Making a perpendicular line which is perpendicular to the extending connecting line and is intersected with the intersecting point, wherein the perpendicular line extends to the boundary of the electronic map;
b5, enclosing the perpendicular line and the boundary of the electronic map, including the connecting lineAnd taking the area of the quadrant space as an area range of each second channel to be extracted, and then extracting the second channel information of each second channel from the area range.
6. The intelligent parking management method according to claim 5, wherein in step S5, the method for planning and updating and correcting the optimal path of the vehicle owner to the target parking space in real time specifically comprises the steps of:
c1, marking a starting point a for each second channel extracted in the step S4 x And endpoint b x X represents the extracted x-th second channel, and the labeling method of the starting point and the ending point is as follows: the distance between the two ends of the second channelThe near end point is the starting point, and the far end point is the end point;
c2, calculating the central point of the second channel where the vehicle owner first straddles the lane from the underground exitAnd each ofStarting point a of the other second channel x And extracting the marked starting point of the top p of the rank after sorting from small to large according to the distance value, and at +.>A first optimal path is planned between the first marking start point and the first marking start point, and is pushed and displayed to the vehicle owner through the vehicle searching APP;
c3, issuing a face image of the vehicle owner to each monitoring device for monitoring each marked starting point of the p before ranking, and activating each monitoring device for issuing the face to enter a face recognition mode;
c4, the monitoring device entering the face recognition mode carries out face matching on each acquired face and the issued face image, and if the matching is successful, the monitoring device sends a unique equipment number of the monitoring device to the intelligent parking management system;
c5, after receiving the unique equipment number, the intelligent parking management system extracts a second channel SC monitored by the monitoring device corresponding to the unique equipment number mo Endpoint b of (2) x Filtering out second channels which the vehicle owner has passed through in each second channel extracted in the step S4;
c6, calculating the end point b of each second channel remained in the filtering in the step C5 x And the first central site of the first channel extracted in step B2The distances of (2) are sorted from small to large according to the distance values to form a sorting list;
c7, according to the ordering sequence of each element in the ordering list, judging the second channel SC in sequence mo Whether or not to correspond to the element currently participating in the judgment el The adjacent one of the two pairs of pairs,
if yes, turning to a step C8;
if not, for the second channel SC corresponding to the next element in the ordered list el Proceed and second channel SC mo Judging whether the two adjacent parts are adjacent;
c8, judging the second channel SC el Whether or not to match withThe corresponding first channels are contiguous and,
if yes, in the second channel SC mo Second channel SC el Anda second optimal path for searching vehicles at the current time point is planned between the corresponding first channels, pushed and displayed to the vehicle owners through the vehicle searching APP;
if not, returning to the step C7, and regarding a second channel SC corresponding to the next element in the ordered list el Proceed and second channel SC mo Judging whether all the elements in the ordered list are adjacent or not until the judgment of whether all the elements in the ordered list are adjacent or not is completed, and then turning to a step C9;
and C9, stopping planning the optimal path of the vehicle searching, generating planning failure information and pushing the planning failure information to the vehicle owner through the vehicle searching APP.
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