EP1701323A1 - Verfahren zur Parklückedetektion - Google Patents

Verfahren zur Parklückedetektion Download PDF

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Publication number
EP1701323A1
EP1701323A1 EP05290449A EP05290449A EP1701323A1 EP 1701323 A1 EP1701323 A1 EP 1701323A1 EP 05290449 A EP05290449 A EP 05290449A EP 05290449 A EP05290449 A EP 05290449A EP 1701323 A1 EP1701323 A1 EP 1701323A1
Authority
EP
European Patent Office
Prior art keywords
parking
free
free parking
image
server
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP05290449A
Other languages
English (en)
French (fr)
Inventor
Gaelle Jaupitre
Antonio Vitale
Cyril Hue
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alcatel Lucent SAS
Original Assignee
Alcatel CIT SA
Alcatel SA
Alcatel Lucent SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alcatel CIT SA, Alcatel SA, Alcatel Lucent SAS filed Critical Alcatel CIT SA
Priority to EP05290449A priority Critical patent/EP1701323A1/de
Priority to US11/362,916 priority patent/US20060220911A1/en
Priority to CNA2006100550454A priority patent/CN1828689A/zh
Publication of EP1701323A1 publication Critical patent/EP1701323A1/de
Withdrawn legal-status Critical Current

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Classifications

    • 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

Definitions

  • the invention relates to the field of methods of detecting free parking space in the parking areas so as to allow users to know in advance whether a parking area includes or not free parking spaces allowing them to park. their respective vehicles.
  • the parking spaces are predetermined and the result of the image analysis of the parking area is binary, that is to say that for each predetermined parking space, the result is " free place "or" occupied place ".
  • the result will be incorrect; either a partially occupied parking space will be marked as free, or a free parking space on two partially occupied predetermined squares will not be marked as a free parking space.
  • the invention proposes an image processing which extracts the free parking spaces and their respective lengths, whatever their arrangement with respect to the marking of the predetermined parking spaces; thus, a place of free parking located on two parking spaces predetermined predetermined partially occupied will be identified and its length. Moreover, in the absence of ground marking, each continuous length of free parking space will be identified. Free parking spaces and their lengths are used in such a way as to indicate to a user a free parking space the length of which is adequate to allow him to park his vehicle.
  • the length of free parking space is communicated directly to the user who decides directly, given the length of his vehicle, if the free parking space indicated by the server to the user by via the location of said free parking space, is adapted or not; in short, if it is sufficiently greater than the length of its vehicle to allow it to park properly.
  • this comparison between the length of the vehicle, provided by the user directly or indirectly via representative information, and the length of the free parking space is performed by the server itself which communicates then simply to the user the location of the free parking space, adaptation thereof to the length of the vehicle of the user having been previously verified by the server; for this purpose, in an option, the user can claim a personalized value of the minimum difference between the length of the free parking space and the length of his vehicle, a value that the user can choose himself, from the server, depending on his personal talent for parking maneuvers.
  • a free parking space detection method comprising: a step of sending, from a user to a server, a request for a free parking space specifying a place ; a step of taking one or more images, by at least one image picking apparatus located in the vicinity of the specified location, of a parking zone comprising several parking spaces and being associated with the apparatus; an image processing step determining the respective lengths of the free parking spaces in the parking area from one or more images of the parking area; a step of sending to the server an identifier of the image pickup apparatus, and said respective lengths of said free parking spaces; a step of sending, from the server to the user, at least one free parking space location and at least one length associated with said free parking space.
  • a free parking space detection terminal used by the free parking space detection method according to the first main mode of the invention, as well as a free parking space detection device included in the free parking detection terminal according to the first main embodiment of the invention.
  • the invention also relates to a free parking space detection terminal comprising: an image taking apparatus associated with a parking area comprising several parking spaces and able to take images of said parking area; a free parking space detection device comprising: an image processing module able to determine, from one or more images taken by the image taking apparatus, the respective lengths of the free parking spaces; in the parking area; an interface to a server, able to send an identifier of the image taking apparatus and said respective lengths of said free parking spaces.
  • the invention also relates to a free parking space detection device comprising: an image processing module able to determine, from one or more images of a parking area comprising several parking spaces; parking, the respective lengths of free parking spaces in the parking area; an interface to a server, able to send an identifier of an image taking apparatus having provided the image or images of the parking area, and said respective lengths of said free parking spaces.
  • a free parking space detection method comprising: a step of sending, from a user to a server, a request for a free parking space specifying a location and information representative of a vehicle length; a step of taking one or more images, by at least one image picking apparatus located in the vicinity of the specified location, of a parking zone comprising several parking spaces and being associated with the apparatus; an image processing step determining the respective lengths of the free parking spaces in the parking area from one or more images of the parking area; a step of sending to the server an identifier of the image pickup apparatus, and said respective lengths of said free parking spaces; a step of comparison, by the server, between on the one hand at least one of said respective lengths and on the other hand the information representative of a vehicle length, selecting at least one free parking space having a length adapted to said information representative of a vehicle length; a step of sending, from the server to the user, at least one selected free parking space location.
  • a free parking space detection terminal used by the free parking space detection method according to the second main mode of the invention, as well as a free parking space detection device included in the free parking detection terminal according to the second main embodiment of the invention.
  • the invention also relates to a free parking space detection terminal comprising: an image taking apparatus associated with a parking area comprising several parking spaces and able to take images of said parking area; a parking space detection device free device comprising: an image processing module adapted to determine, from one or more images taken by the image pickup apparatus, the respective lengths of the free parking spaces in the parking area; an interface to the server, able to send an identifier of the image pickup apparatus and said respective lengths of said free parking spaces.
  • the invention also relates to a free parking space detection device comprising: an image processing module able to determine, from one or more images of a parking area comprising several parking spaces, the lengths respective free parking spaces in the parking area; an interface to the server, able to send an identifier of an image taking apparatus having provided the image or images of the parking area, and said respective lengths of said free parking spaces.
  • the invention also relates to the server cooperating with the free parking space detection terminal according to the second main embodiment of the invention for implementing the free parking space detection method according to the second main embodiment of the invention.
  • the invention also relates to a free parking space detection server comprising: a comparison module adapted to perform a comparison between one or more respective lengths of free parking spaces and secondly information representative of a vehicle length provided by a user, selecting at least one free parking space having a length adapted to said information representative of a vehicle length; an interface to a user, able to send at least one selected free parking space location.
  • the parking area associated with a parking space detection terminal is a parking area comprising several parking spaces arranged along one or more lines so that the length of the places is parallel to the parking space. line in which the said places are situated, each line being continuous or discontinuous and being lined at least on one side by a traffic carriageway, the length of the parking spaces being parallel to the carriageway which borders the line in which the said places are located.
  • the method of detecting free parking space according to the invention is particularly well suited to the detection of parking space in this type of parking area. In practice, a common example of this type of parking area is the parking spaces located on the side or sides of a street in an urban area.
  • FIG. 1 schematically represents a parking space area at which, for example, the free parking space detection method according to the invention can be implemented.
  • the lines 2 are discontinuous because of the presence of obstacles, such as an adjacent lane 5, a garage exit 6, or flower boxes 7.
  • the free parking space detection terminals 8 are preferably located on the sidewalks 3, and may consist of by the lampposts to which are then added some additional features. Thus even at night, the illumination necessary for the image pickup apparatus of the detection terminal exists, it is then provided by the lighting of the street lamp.
  • the image taking apparatus is either a video camera or a relatively frequent image camera.
  • the image taking and the image processing are done in the detection terminal which only sends back to the server the result of the image processing and not the images themselves which would require too much bandwidth at the level of the resources telecommunication network connecting the detection terminals to the server. Sending images for centralized processing of images remains possible but would be much more expensive in terms of operation.
  • FIG. 2 diagrammatically represents the progress of the steps of the method of detecting free parking space according to the invention.
  • An imaging step 31 is performed by the image pickup apparatus of the detection terminal.
  • the image-taking apparatus takes one or more images of the parking zone to which the image-taking apparatus is associated.
  • a step 32 of image processing is performed by the detection device of the detection terminal.
  • the image processing step 32 comprises successively: an image analysis function differentiating between, on the one hand, the image zones corresponding to a category of free parking spaces and, on the other hand, the zones image corresponding to a category of occupied parking spaces; a function for extracting the positions and extents of at least one category from the image areas; a calculation function for at least one category of the image areas, incorporating a perspective correction dependent on the position and extent of said image areas and the height with respect to the ground of the recording apparatus; image, and determining the respective lengths of the free parking spaces.
  • the user-to-server sending step in which the user sends his free parking space request specifying a location, and in the context of the second main embodiment of the invention also information representative of a vehicle length, which may for example be either the actual length of the vehicle is more simply the model of the vehicle.
  • a step 33 of sending to server is performed.
  • the detection terminal sends to the server on the one hand an identifier of the image taking apparatus having taken the image or images of the parking area with which it is associated so as to allow the location of the parking area as well as that the respective lengths of the free parking spaces of the parking area so as to allow their use by the server.
  • the server sends the user at least one location of free parking place corresponding to the place specified by the user in his request as well as the length of the free parking space.
  • the server sends one or more locations of free parking space with several lengths of free parking space so as to allow the user to make his choice based on his vehicle. Otherwise, if the length or lengths of free parking space sent by the server are unsuitable for the vehicle of the user, it may ask the server to increase the length of the next free parking spaces proposed.
  • the server performs a comparison step 34 between on the one hand one or more lengths of free parking space and on the other hand the representative information of the length of the user's vehicle, so as to send the user only free parking space locations whose length is sufficiently greater than the length of the user's vehicle to allow the user to park properly.
  • the step 35 of sending server to user then includes only the sending of one or more locations of parking spaces located in the vicinity of the place specified by the user in his request, without sending length of place free parking.
  • the image processing step may in particular be carried out in three different ways.
  • the image processing step makes a comparison between, on the one hand, the images taken by the apparatus image taking over time and secondly one or more reference images corresponding to the parking area having all its free parking spaces.
  • the reference images may for example be three in number, one at day, one at night, the third at an intermediate point between day and night.
  • the image processing step performs a shape recognition of the vehicles occupying the occupied parking spaces so as to determine the free parking spaces.
  • the image processing step realizes a movement recognition of the parking vehicles in the parking spaces so as to determine the free parking spaces.
  • the images are destroyed after processing and not stored.
  • no storage memory is needed at the detection terminal.
  • this option should help remove the scruples.
  • the shadows, on the free parking spaces, by the vehicles located on the occupied parking spaces are essentially shadows depending on the height of the vehicles since the image taking apparatus is located substantially in the axis of the line of parking spaces of the parking area.
  • vehicle heights can be very variable which makes the processing step more complex.
  • the shadows, on the free parking spaces, by the vehicles located on the occupied parking spaces are essentially shadows depending on the width of the vehicles since the image taking apparatus is located largely off the axis of the line of parking spaces in the parking area.
  • the vehicle widths are much less variable than their heights, which makes the processing step easier and therefore the free parking space detection method more interesting.
EP05290449A 2005-02-28 2005-02-28 Verfahren zur Parklückedetektion Withdrawn EP1701323A1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP05290449A EP1701323A1 (de) 2005-02-28 2005-02-28 Verfahren zur Parklückedetektion
US11/362,916 US20060220911A1 (en) 2005-02-28 2006-02-28 Parking space detection method
CNA2006100550454A CN1828689A (zh) 2005-02-28 2006-02-28 停车位检测方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP05290449A EP1701323A1 (de) 2005-02-28 2005-02-28 Verfahren zur Parklückedetektion

Publications (1)

Publication Number Publication Date
EP1701323A1 true EP1701323A1 (de) 2006-09-13

Family

ID=34941971

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05290449A Withdrawn EP1701323A1 (de) 2005-02-28 2005-02-28 Verfahren zur Parklückedetektion

Country Status (3)

Country Link
US (1) US20060220911A1 (de)
EP (1) EP1701323A1 (de)
CN (1) CN1828689A (de)

Cited By (8)

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Publication number Priority date Publication date Assignee Title
EP2138653A2 (de) * 2008-06-23 2009-12-30 PMS GmbH Parkraummanagement
FR2942341A1 (fr) * 2009-02-16 2010-08-20 Ruben Taieb Chercher une place
EP2447927A1 (de) 2010-10-26 2012-05-02 Bmob Sagl System und Verfahren zur Schätzung der Verfügbarkeit und/oder der Belegung von Autoparkplätzen in einem bestimmten Gebiet zu einer bestimmten Zeit
WO2013139454A1 (de) * 2012-03-20 2013-09-26 Schlauerparken Ug Verfahren zur anzeige von parkplätzen
US9275547B2 (en) 2013-11-08 2016-03-01 International Business Machines Corporation Prediction of free parking spaces in a parking area
WO2016131622A1 (de) * 2015-02-17 2016-08-25 Robert Bosch Gmbh Parksensorsystem zur dynamischen parkplatzzuweisung
WO2017021601A1 (fr) * 2015-08-03 2017-02-09 Renault S.A.S Dispositif et procede de detection de place de stationnement libre pour un vehicule automobile
US20220326711A1 (en) * 2021-04-13 2022-10-13 Waymo Llc Evaluating pullovers for autonomous vehicles

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JP4501983B2 (ja) * 2007-09-28 2010-07-14 アイシン・エィ・ダブリュ株式会社 駐車支援システム、駐車支援方法、駐車支援プログラム
CN101741887B (zh) * 2008-11-13 2015-05-06 中国移动通信集团上海有限公司 一种发布位置引导信息的方法、系统及设备
WO2010132677A1 (en) * 2009-05-13 2010-11-18 Rutgers, The State University Vehicular information systems and methods
BR112012028141A2 (pt) * 2010-05-05 2019-09-24 Toussaint Gisela processo para a determinação de local de estacionamento próximo do veículo e sistema adequado de assistência ao veículo.
DE102010038966A1 (de) * 2010-08-05 2012-02-09 Robert Bosch Gmbh Verfahren und Vorrichtung zum Unterstützen eines Einparkvorgangs eines Fahrzeugs
EP2851872A1 (de) * 2010-11-05 2015-03-25 Grid Smarter Cities Ltd System und Verfahren zur Implementierung einer Ausnahme für eine Parkbeschränkung
US9129524B2 (en) 2012-03-29 2015-09-08 Xerox Corporation Method of determining parking lot occupancy from digital camera images
US20130265419A1 (en) * 2012-04-06 2013-10-10 Xerox Corporation System and method for available parking space estimation for multispace on-street parking
CN103065494B (zh) * 2012-04-12 2015-04-22 华南理工大学 一种基于计算机视觉的空闲停车位检测方法
DE102013004493A1 (de) * 2013-03-14 2014-09-18 Schlauerparken Ug Verfahren zur Anzeige von Parkplätzen
US10096246B2 (en) * 2013-04-26 2018-10-09 Itron Networked Solutions, Inc. Using lighting and other streetside devices to indicate parking space availability and navigation information
KR20150022436A (ko) * 2013-08-23 2015-03-04 주식회사 만도 주차 제어 장치, 방법 및 시스템
US8923565B1 (en) * 2013-09-26 2014-12-30 Chengdu Haicun Ip Technology Llc Parked vehicle detection based on edge detection
US9449236B2 (en) * 2013-11-04 2016-09-20 Xerox Corporation Method for object size calibration to aid vehicle detection for video-based on-street parking technology
US10713945B2 (en) * 2015-02-09 2020-07-14 David Chan Method of guiding a user to a suitable parking spot
EP3274978A1 (de) * 2015-03-23 2018-01-31 Philips Lighting Holding B.V. Parkleitsystem mit leuchte
DE102015225413A1 (de) * 2015-12-16 2017-06-22 Robert Bosch Gmbh Verfahren zur Erkennung von Falschparkern
TWI585722B (zh) * 2016-03-08 2017-06-01 雲派科技有限公司 停車管理系統及與其雙向通訊之資訊提示系統
CN107945554A (zh) * 2016-10-12 2018-04-20 阿尔派株式会社 停车支援装置以及停车支援方法
CN109215375B (zh) * 2017-07-04 2020-11-13 昊翔电能运动科技(昆山)有限公司 无人机寻车位方法及装置
CN107730985A (zh) * 2017-10-18 2018-02-23 冯迎安 一种无人机寻车位系统及其控制方法
CN107610523A (zh) * 2017-10-18 2018-01-19 冯迎安 一种车位自动监控报警方法
CN109087525B (zh) * 2018-08-01 2021-05-07 熵基科技股份有限公司 一种用于导航空闲车位的方法、系统及装置
US10733891B2 (en) * 2018-11-05 2020-08-04 Toyota Motor Engineering & Manufacturing North America, Inc. Parking lot assistant
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CN113870613B (zh) * 2021-10-14 2022-09-30 中国第一汽车股份有限公司 停车位确定方法、装置、电子设备及存储介质

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2138653A2 (de) * 2008-06-23 2009-12-30 PMS GmbH Parkraummanagement
EP2138653A3 (de) * 2008-06-23 2012-11-28 PMS GmbH Parkraummanagement
FR2942341A1 (fr) * 2009-02-16 2010-08-20 Ruben Taieb Chercher une place
EP2447927A1 (de) 2010-10-26 2012-05-02 Bmob Sagl System und Verfahren zur Schätzung der Verfügbarkeit und/oder der Belegung von Autoparkplätzen in einem bestimmten Gebiet zu einer bestimmten Zeit
WO2013139454A1 (de) * 2012-03-20 2013-09-26 Schlauerparken Ug Verfahren zur anzeige von parkplätzen
US9275547B2 (en) 2013-11-08 2016-03-01 International Business Machines Corporation Prediction of free parking spaces in a parking area
US9483944B2 (en) 2013-11-08 2016-11-01 International Business Machines Corporation Prediction of free parking spaces in a parking area
WO2016131622A1 (de) * 2015-02-17 2016-08-25 Robert Bosch Gmbh Parksensorsystem zur dynamischen parkplatzzuweisung
WO2017021601A1 (fr) * 2015-08-03 2017-02-09 Renault S.A.S Dispositif et procede de detection de place de stationnement libre pour un vehicule automobile
FR3039812A1 (fr) * 2015-08-03 2017-02-10 Renault Sa Dispositif et procede de detection de place de stationnement libre pour un vehicule automobile.
US20220326711A1 (en) * 2021-04-13 2022-10-13 Waymo Llc Evaluating pullovers for autonomous vehicles
US11947356B2 (en) * 2021-04-13 2024-04-02 Waymo Llc Evaluating pullovers for autonomous vehicles

Also Published As

Publication number Publication date
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US20060220911A1 (en) 2006-10-05

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