CN116758775A - Parking space state judging method and system - Google Patents
Parking space state judging method and system Download PDFInfo
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- CN116758775A CN116758775A CN202310394446.6A CN202310394446A CN116758775A CN 116758775 A CN116758775 A CN 116758775A CN 202310394446 A CN202310394446 A CN 202310394446A CN 116758775 A CN116758775 A CN 116758775A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000012544 monitoring process Methods 0.000 claims abstract description 26
- 230000006399 behavior Effects 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 14
- 238000003032 molecular docking Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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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
- G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
Abstract
The invention provides a parking space state judging method and system; wherein the method comprises the following steps: acquiring monitoring images of all cameras in a parking lot; determining a target vehicle positioned in a driving channel according to the monitoring image; judging the state of the corresponding parking space according to the behavior information of the target vehicle; the scheme of the invention; according to the scheme provided by the invention, the state of the corresponding parking space is analyzed according to the identified behavior information of the target vehicle in the driving channel, so that the problem that the occupation ratio of the parking space is not in accordance with the actual use requirement due to simple comparison is not needed, and the state of the parking space can be accurately judged.
Description
Technical Field
The invention relates to the technical field of parking lot management, in particular to a parking space state judging method and system.
Background
In order to provide better service for parking of people, a plurality of parking lots can display the number of remaining vehicles in the parking lot in real time at the entrance of the parking lot, so that the parking of vehicles is guided, and the congestion degree in the parking lot can be reduced. The identification and statistics of the parking space state are key links, and the identification of the parking space state by adopting an image identification technology is a mode with lower implementation cost, and is widely applied at present.
When the image recognition is adopted to recognize the parking space, the method is usually realized by comparing the ratio of the image area of the parking space to the occupation ratio of the vehicle, namely, the method judges that the parking space is occupied when the image area of the parking space is occupied beyond a certain ratio. However, the parking of vehicles in other parking spaces often occurs in an irregular manner, especially when the parking space itself is narrow, and is more susceptible to the situation that the vehicles cannot be parked actually or that the persons are difficult to get off after being parked barely. This effect is even more serious if the vehicles in the two-sided parking spaces are not normally parked.
However, the prior art has no effective solution to the above-mentioned practical problems, resulting in a situation where a free parking space is theoretically available but is practically unavailable, resulting in a poor parking experience for the user.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a parking space state judging method, a parking space state judging system, electronic equipment and a computer storage medium.
The first aspect of the invention provides a parking space state judging method, which comprises the following steps: acquiring monitoring images of all cameras in a parking lot; determining a target vehicle positioned in a driving channel according to the monitoring image; and judging the state of the corresponding parking space according to the behavior information of the target vehicle.
Preferably, the determining the target vehicle located in the driving channel according to the monitoring image includes: extracting each vehicle and the position of each vehicle in the monitoring image according to the monitoring image; and comparing the position of the vehicle with the driving channel area, and determining the target vehicle according to the comparison result.
Preferably, the determining the state of the corresponding parking space according to the behavior information of the target vehicle includes: judging whether the target vehicle is executing the positioning operation according to the behavior information of the target vehicle; judging whether the parking operation is successful or not according to the parking operation, and if the parking operation is failed, judging that the state of the corresponding parking space is non-idle.
Preferably, after determining that the target vehicle fails to get in position, the method further includes: detecting whether other target vehicles positioned in the driving channel exist in front of and behind the target vehicle, if yes, then: judging whether the head of the other target vehicle behind is opposite to the tail of the target vehicle or judging whether the head of the other target vehicle behind is opposite to the head of the target vehicle; if so, the state of the corresponding parking space is not changed.
Preferably, the determining whether the target vehicle is performing the docking operation according to the behavior information of the target vehicle includes: when the speed of the target vehicle is zero, acquiring an included angle between the head direction of the target vehicle and the driving channel, and if the included angle is greater than or equal to a first threshold value, then: and detecting whether an idle parking space exists in a rear area corresponding to the tail of the target vehicle, and if so, judging that the target vehicle is executing a parking operation.
Preferably, the determining whether the positioning is successful according to the positioning operation includes: if the target vehicle stops at the corresponding parking space, the successful parking is judged; if the included angle between the head of the target vehicle and the driving channel is larger than or equal to a second threshold value, but the target vehicle does not stop at the corresponding parking space, the entering failure is judged.
Preferably, the determining that the target vehicle is performing the docking operation includes: and judging whether the target vehicle is positioned at the intersection of the driving channel, if so, judging whether the entrance duration of the target vehicle is greater than a second threshold value, and if not, judging that the target vehicle is executing the entering operation.
The second aspect of the invention provides a parking space state judging system, which comprises a processing module, a storage module and an acquisition module, wherein the processing module is connected with the storage module and the acquisition module; wherein the memory module is configured to store executable computer program code; the acquisition module is used for at least acquiring monitoring images of all cameras in the parking lot and transmitting the monitoring images to the processing module; the processing module is configured to perform the method as described above by invoking the executable computer program code in the storage module.
A third aspect of the present invention provides an electronic device comprising: a memory storing executable program code; a processor coupled to the memory; the processor invokes the executable program code stored in the memory to perform the method of any one of the preceding claims.
A fourth aspect of the invention provides a computer storage medium having stored thereon a computer program which, when executed by a processor, performs a method as claimed in any one of the preceding claims.
In the scheme of the invention, monitoring images of all cameras in a parking lot are obtained; determining a target vehicle positioned in a driving channel according to the monitoring image; and judging the state of the corresponding parking space according to the behavior information of the target vehicle. According to the scheme provided by the invention, the state of the corresponding parking space is analyzed according to the identified behavior information of the target vehicle in the driving channel, so that the problem that the occupation ratio of the parking space is not in accordance with the actual use requirement due to simple comparison is not needed, and the state of the parking space can be accurately judged.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a parking space state judging method disclosed by the embodiment of the invention.
Fig. 2 is a schematic structural diagram of a parking space status determination system according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments are shown, although the exemplary embodiments may be practiced in various specific ways. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art.
The structures, capabilities, effects, or other features described in a particular embodiment may be incorporated in one or more other embodiments in any suitable manner without departing from the spirit of the present invention.
In describing particular embodiments, specific details of construction, performance, effects, or other features are set forth in order to provide a thorough understanding of the embodiments by those skilled in the art. It is not excluded, however, that one skilled in the art may implement the present invention in a particular situation in a solution that does not include the structures, properties, effects, or other characteristics described above.
The flow diagrams in the figures are merely exemplary flow illustrations and do not represent that all of the elements, operations, and steps in the flow diagrams must be included in the aspects of the invention, nor that the steps must be performed in the order shown in the figures. For example, some operations/steps in the flowcharts may be decomposed, some operations/steps may be combined or partially combined, etc., and the order of execution shown in the flowcharts may be changed according to actual situations without departing from the gist of the present invention.
The block diagrams in the figures generally represent functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The same reference numerals in the drawings denote the same or similar elements, components or portions, and thus repeated descriptions of the same or similar elements, components or portions may be omitted hereinafter. It will be further understood that, although the terms first, second, third, etc. may be used herein to describe various devices, elements, components or portions, these devices, elements, components or portions should not be limited by these terms. That is, these phrases are merely intended to distinguish one from the other. For example, a first device may also be referred to as a second device without departing from the spirit of the invention. Furthermore, the term "and/or," "and/or" is meant to include all combinations of any one or more of the items listed.
Embodiment one: referring to fig. 1, fig. 1 is a flow chart of a parking space state determining method according to an embodiment of the invention. As shown in fig. 1, the parking space state determining method according to the embodiment of the invention includes the following steps: acquiring monitoring images of all cameras in a parking lot; determining a target vehicle positioned in a driving channel according to the monitoring image; and judging the state of the corresponding parking space according to the behavior information of the target vehicle.
In the embodiment of the invention, as described in the background art, the prior art adopts a manner of comparing the occupied proportion of the parking space area to determine the parking space state is unreliable. In view of this, the invention analyzes the state of the corresponding parking space according to the identified behavior information of the target vehicle in the driving channel, and further, the problem that the occupation ratio of the parking space is not in accordance with the actual use requirement is not needed to be simply compared, and the state of the parking space can be more accurately judged.
The camera of the present invention may be any type of camera in the prior art, for example, a rifle bolt, a ball machine, etc., which is not limited by the present invention.
Preferably, the determining the target vehicle located in the driving channel according to the monitoring image includes: extracting each vehicle and the position of each vehicle in the monitoring image according to the monitoring image; and comparing the position of the vehicle with the driving channel area, and determining the target vehicle according to the comparison result.
In the embodiment of the invention, the vehicle target is firstly identified from the monitoring image, but the identified vehicle comprises the vehicle moving in the driving channel and the parked vehicle positioned on the parking space, so that the invention further compares the position of each identified vehicle with the driving channel area, and can determine which vehicles are the target vehicles positioned on the driving channel according to the comparison result.
The driving lane area according to the present invention may be an area defined manually in advance in the monitored image or may be identified in real time, and the present invention is not limited to this.
Preferably, the determining the state of the corresponding parking space according to the behavior information of the target vehicle includes: judging whether the target vehicle is executing the positioning operation according to the behavior information of the target vehicle; judging whether the parking operation is successful or not according to the parking operation, and if the parking operation is failed, judging that the state of the corresponding parking space is non-idle.
In the embodiment of the invention, when the vehicle performs the entering operation and the space occupied by the adjacent vehicle is not obvious, a driver can hardly determine whether the space is reasonable or not through visual inspection, so that the vehicle can be checked through the trial entering operation. Therefore, the invention analyzes the availability of the parking space by analyzing whether the target vehicle is successfully parked, namely, if the target vehicle is failed to be parked, the parking space is in an idle state objectively, but the vehicle cannot be parked due to the crowded reasons and the like, and the state of the corresponding parking space is judged to be non-idle. Accordingly, the number of remaining parking spaces is correspondingly reduced when the remaining parking space state is counted.
Preferably, after determining that the target vehicle fails to get in position, the method further includes: detecting whether other target vehicles positioned in the driving channel exist in front of and behind the target vehicle, if yes, then: judging whether the head of the other target vehicle behind is opposite to the tail of the target vehicle or judging whether the head of the other target vehicle behind is opposite to the head of the target vehicle; if so, the state of the corresponding parking space is not changed.
In the embodiment of the invention, in an actual parking scene, some drivers with poor driving level can give up parking in a parking space with certain difficulty at present due to promotion of other vehicles. In view of the actual situation, after the target vehicle fails to get in place, the invention further judges whether the target vehicle has vehicles waiting to pass in front and behind, namely, the rear vehicle head is opposite to the tail of the target vehicle, or the front vehicle head is opposite to the front of the target vehicle, if the vehicles exist, the reason for indicating that the target vehicle fails to get in place is probably not parking space narrow, but is promoted by other vehicles, and at this time, the invention does not change the state of the parking space. Therefore, the invention can also screen target vehicles with failed parking, and filter out the situations which cannot be used for accurately judging that the failure of parking is caused by the parking stall, thereby improving the accuracy of judging the state of the parking stall.
Preferably, the determining whether the target vehicle is performing the docking operation according to the behavior information of the target vehicle includes: when the speed of the target vehicle is zero, acquiring an included angle between the head direction of the target vehicle and the driving channel, and if the included angle is greater than or equal to a first threshold value, then: and detecting whether an idle parking space exists in a rear area corresponding to the tail of the target vehicle, and if so, judging that the target vehicle is executing a parking operation.
In the embodiment of the invention, when judging whether the vehicle is in the parking operation, the invention judges based on the included angle between the head direction of the target vehicle and the driving channel, further considers whether an idle parking space exists in the rear area of the vehicle tail, and can judge that the target vehicle is about to execute the parking operation at the moment if the two conditions are met.
Preferably, the determining whether the positioning is successful according to the positioning operation includes: if the target vehicle stops at the corresponding parking space, the successful parking is judged; if the included angle between the head of the target vehicle and the driving channel is larger than or equal to a second threshold value, but the target vehicle does not stop at the corresponding parking space, the entering failure is judged.
In the embodiment of the present invention, it is required to be described that whether the target vehicle is parked in the corresponding parking space is determined by the following method: judging whether the time length of the target vehicle in the corresponding parking space reaches a first preset time length, judging whether a person drives out of the vehicle within a second preset time length, if so, judging whether the target vehicle is parked in the corresponding parking space, and if not, judging that the target vehicle is not parked in the corresponding parking space.
Wherein, after the vehicle successfully parks into the parking space, the vehicle should be stably located in the parking space for a certain period of time (for example, 5 s), and a driver or a passenger should walk out of the vehicle, and the parking space is an actually available idle parking space only when the two conditions are met. For example, although the vehicle is parked for 5 seconds in the parking space, because the parking space is too much occupied, passengers in the vehicle cannot walk out, and the parking space is not practically usable, the parking space can be set to be in a non-idle state at the moment, and the problem that the parking space which can be actually parked is not available after the vehicle is guided to enter the parking space can be avoided.
Preferably, the determining that the target vehicle is performing the docking operation includes: and judging whether the target vehicle is positioned at the intersection of the driving channel, if so, judging whether the entrance duration of the target vehicle is greater than a third threshold value, and if not, judging that the target vehicle is executing the entering operation.
In the embodiment of the invention, when a vehicle stops at the intersection of a driving channel to observe a forward route, if the included angle is larger than the first threshold value and an idle parking space exists in the rear area corresponding to the tail of the vehicle, the vehicle is easy to misjudge to execute the entering operation. In view of this, the present invention further judges the time period of the vehicle entering the parking lot, and if it has entered the parking lot for a long time, it can basically be judged that it is to leave the parking lot, not to enter the parking lot; if the parking lot is just entering the parking lot, the idle parking lot at the rear of the parking lot to be parked can be primarily judged, and of course, in order to further improve the judgment accuracy of the parking lot entering operation, further behavior recognition can be performed on the parking lot. Therefore, the scheme of the invention can accurately distinguish and identify which vehicles are vehicles to be subjected to the positioning operation, and further follow-up behavior tracking is carried out on the vehicles, so that the number of tracking targets can be effectively reduced, and the processing load is reduced.
Embodiment two: referring to fig. 2, fig. 2 is a schematic structural diagram of a parking space status determining system according to an embodiment of the present invention. As shown in fig. 2, the parking space state judging system of the embodiment of the invention comprises a processing module (101), a storage module (102) and an acquisition module (103), wherein the processing module (101) is connected with the storage module (102) and the acquisition module (103); wherein, the liquid crystal display device comprises a liquid crystal display device,
-said storage module (102) for storing executable computer program code; the acquisition module (103) is used for at least acquiring monitoring images of all cameras in the parking lot and transmitting the monitoring images to the processing module (101); the method is characterized in that: the processing module (101) is configured to perform the method according to embodiment one by invoking the executable computer program code in the storage module (102).
The specific function of the parking space state determination system in this embodiment refers to the first embodiment, and since the system in this embodiment adopts all the technical solutions of the first embodiment, at least the system has all the beneficial effects brought by the technical solutions of the first embodiment, and will not be described in detail herein.
Embodiment III: referring to fig. 3, fig. 3 is an electronic device according to an embodiment of the present invention, including: a memory storing executable program code; a processor coupled to the memory; the processor invokes the executable program code stored in the memory to perform the method as described in embodiment one.
Embodiment four: the embodiment of the invention also discloses a computer storage medium, and a computer program is stored on the storage medium, and when the computer program is run by a processor, the computer program executes the method in the embodiment one.
The computer readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. The computer program, when executed by one or more data processing devices, enables the computer readable medium to carry out the above-described method of the present invention, namely: the configuration service management provided by the service end generates a configuration file related to the domain name; when the domain name fault occurs during the service requesting process, the client side updates the configuration file to realize the automatic switching of domain name access.
From the above description of embodiments, those skilled in the art will readily appreciate that the exemplary embodiments described herein may be implemented in software, or may be implemented in software in combination with necessary hardware. Thus, the technical solution according to the embodiments of the present invention may be embodied in the form of a software product, which may be stored in a computer readable storage medium (may be a CD-ROM, a usb disk, a mobile hard disk, etc.) or on a network, comprising several instructions to cause a data processing device (may be a personal computer, a server, or a network device, etc.) to perform the above-described method according to the present invention.
The computer readable medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
In summary, the present invention may be implemented in a method, system, electronic device, or computer readable medium that executes a computer program. Some or all of the functions of the present invention may be implemented in practice using a general purpose data processing device such as a microprocessor or Digital Signal Processor (DSP).
The above-described specific embodiments further describe the objects, technical solutions and advantageous effects of the present invention in detail, and it should be understood that the present invention is not inherently related to any particular computer, virtual device or electronic apparatus, and various general-purpose devices may also implement the present invention. The foregoing description of the embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. The parking space state judging method is characterized by comprising the following steps of: acquiring monitoring images of all cameras in a parking lot; determining a target vehicle positioned in a driving channel according to the monitoring image; and judging the state of the corresponding parking space according to the behavior information of the target vehicle.
2. The parking space state determination method according to claim 1, wherein: the determining the target vehicle in the driving channel according to the monitoring image comprises the following steps: extracting each vehicle and the position of each vehicle in the monitoring image according to the monitoring image; and comparing the position of the vehicle with the driving channel area, and determining the target vehicle according to the comparison result.
3. The parking space state determination method according to claim 1 or 2, characterized in that: the determining the state of the corresponding parking space according to the behavior information of the target vehicle comprises the following steps: judging whether the target vehicle is executing the positioning operation according to the behavior information of the target vehicle; judging whether the parking operation is successful or not according to the parking operation, and if the parking operation is failed, judging that the state of the corresponding parking space is non-idle.
4. A parking space status determination method according to claim 3, wherein: after judging that the target vehicle fails to enter the position, the method further comprises the following steps: detecting whether other target vehicles positioned in the driving channel exist in front of and behind the target vehicle, if yes, then: judging whether the head of the other target vehicle behind is opposite to the tail of the target vehicle or judging whether the head of the other target vehicle behind is opposite to the head of the target vehicle; if so, the state of the corresponding parking space is not changed.
5. The parking space state determination method according to claim 4, wherein: the determining whether the target vehicle is executing the docking operation according to the behavior information of the target vehicle comprises the following steps: when the speed of the target vehicle is zero, acquiring an included angle between the head direction of the target vehicle and the driving channel, and if the included angle is greater than or equal to a first threshold value, then: and detecting whether an idle parking space exists in a rear area corresponding to the tail of the target vehicle, and if so, judging that the target vehicle is executing a parking operation.
6. The parking space state determination method according to claim 4 or 5, characterized in that: the step of judging whether the positioning operation is successful according to the positioning operation comprises the following steps: if the target vehicle stops at the corresponding parking space, the successful parking is judged; if the included angle between the head of the target vehicle and the driving channel is larger than or equal to a second threshold value, but the target vehicle does not stop at the corresponding parking space, the entering failure is judged.
7. The parking space state determination method according to claim 5, wherein: the determining that the target vehicle is executing the docking operation includes: and judging whether the target vehicle is positioned at the intersection of the driving channel, if so, judging whether the entrance duration of the target vehicle is greater than a third threshold value, and if not, judging that the target vehicle is executing the entering operation.
8. The parking space state judging system comprises a processing module, a storage module and an acquisition module, wherein the processing module is connected with the storage module and the acquisition module; wherein the memory module is configured to store executable computer program code; the acquisition module is used for at least acquiring monitoring images of all cameras in the parking lot and transmitting the monitoring images to the processing module; the method is characterized in that: the processing module for performing the method of any of claims 1-7 by invoking the executable computer program code in the storage module.
9. An electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the method is characterized in that: the processor invokes the executable program code stored in the memory to perform the method of any of claims 1-7.
10. A computer storage medium having a computer program stored thereon, characterized in that: the computer program, when executed by a processor, performs the method of any of claims 1-7.
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