KR102278030B1 - System for guiding the vehicles based on the vehicle tracking information acknowledged with the artificial intelligence to the parking booth - Google Patents

Abstract

An object of the present invention is to provide a system which recognizes a number, shape, size, and direction from an image of a vehicle entering a parking lot by artificial intelligence, and then recognizes an empty parking booth by the image taken of a parking booth, and guides a parking space by vehicle tracking information based on the artificial intelligence which guides a driving direction to the empty parking booth through a display in the form of an electric sign installed on a parking path.

Description

System for guiding the vehicles based on the vehicle tracking information acknowledged with the artificial intelligence to the parking booth

The present invention relates to a system for guiding to an empty parking booth while recognizing information of a vehicle entering a parking lot by artificial intelligence and tracking it.

In order to park a vehicle in a large parking lot, the driver must directly check for an empty parking booth and then park the vehicle. However, when a lot of vehicles are parked, it is very difficult to find an empty parking booth, which takes a lot of time.

In order to solve this problem, Patent Registration No. 10-1742804 (Artificial Intelligent Parking Guidance System) includes a vehicle number recognition unit for recognizing the number of a vehicle entering the parking lot; a parking guide light source in which a plurality of guide light sources and a first control circuit are installed along a parking path connected to the inside of the parking booth and the parking booth;

a parking guide sensor unit including a plurality of guide sensors and a second control circuit installed inside the parking booth and along the parking path; and

Using the vehicle number recognized by the vehicle number recognition unit and the detection result of the guide sensor, the number of the vehicle moving on the parking path, the vehicle's current location information, the traveling direction of the vehicle, and the driving of the vehicle The speed, whether the vehicle is parked in an arbitrary parking booth, and the vehicle number of the vehicle parked in the parking booth are checked and stored, and the operation of the parking guide light source is controlled according to the detection result of the guide sensor to guide an empty parking booth. and a parking guide control unit that forms a parking guide line in front of the vehicle entering the parking lot.

The parking guideline connects all parking booths that can be parked in the parking lot and the parking path;

If a parking booth capable of parking is connected, it does not disappear even if a vehicle to park passes by; generated or destroyed by activation and deactivation of the guide light source;

After the vehicle is parked in the parking booth, the part of the parking guideline that leads to the parking booth where the parking is completed is inactivated;

When the previous parking guideline is not valid due to the parking path of the preceding vehicle, an artificial intelligent parking guidance system configured to form a new parking guideline in front of the following vehicle was proposed.

However, according to this prior art, a plurality of LEDs are installed along the parking running path on the floor of the parking lot to guide the vehicle to an empty parking booth by forming a parking guideline, but for this purpose, a parking guide is provided to each parking booth on the floor of the parking lot. A number of LEDs must be installed to form a line.

Therefore, in a large-scale parking lot, many LEDs have to be installed on the floor of the parking lot, so the installation cost is greatly increased, and there is a problem that maintenance is very difficult because there is a very large possibility of damage caused by a vehicle.

<Prior art literature>

1. Registered Patent No. 10-1742804

(Artificial intelligent parking guidance system)

The present invention recognizes the number, shape, size, and direction from an image of a vehicle entering a parking lot by artificial intelligence in order to solve this conventional problem, and recognizes an empty parking booth by an image taken of the parking booth Then, the purpose of this is to provide a system for guiding a parking space by vehicle tracking information based on artificial intelligence that guides the driving direction to an empty parking booth through a display in the form of an electric sign installed on the parking path. .

A system for guiding a parking space by vehicle tracking information based on artificial intelligence according to the present invention for achieving the above object,

Cameras respectively installed at a position for photographing a vehicle entering from the parking lot entrance, a position for photographing a position at which a driving path is changed in a parking lot, and a position for photographing a plurality of parking booths on one screen;

a display unit installed at a position in which the travel path is changed to display a vehicle number and a direction;

an image processing unit that receives images captured by the cameras and processes them into signals suitable for image recognition;

an image recognition unit for deep learning the image output from the image processing unit using an artificial intelligence algorithm to output a recognition result for a vehicle number, shape, size, direction, and an empty parking booth;

a controller for controlling the display state of the display unit provided in the front of the vehicle in the traveling direction by tracking the vehicle according to the result recognized by the image recognition unit;

and a communication unit that transmits the information provided from the controller to the driver's smartphone and provides the requested information transmitted to the smartphone to the controller; and

When it is recognized that the vehicle is parked in the parking booth according to the result recognized by the image recognition unit, the controller stores the vehicle information parked in the neighboring parking booth in a separate storage unit, and stores the corresponding information according to the type of the recognized vehicle. Controls the display unit to guide you to the parking booth,

In the storage unit, the recognized vehicle number and the driver's phone number are matched to form a database, and when the phone number is input through the communication unit, the controller transmits the parking booth number, location, and neighboring vehicle information to the driver's through the communication unit. It is provided to a smartphone, and it is characterized in that it is configured to store information of adjacent vehicles recognized by the image recognition unit in the storage unit.

In addition, a vehicle information display unit in the form of an electric sign is installed above each parking booth, and the controller controls the vehicle information of each parking booth recognized by the image recognition unit to be displayed on the vehicle information display unit.

Then, the controller receives the phone number and the display text input from the driver's smartphone through the communication unit, checks the presence of a vehicle number matching the phone number in the storage unit, and is installed in the parking booth where the vehicle is parked. It is characterized in that it is configured to display the display phrase on the vehicle information display unit.

According to the present invention configured as described above, the installation cost is very low by tracking the vehicle by the vehicle information and the parking booth information photographed by the camera and recognized by deep learning by artificial intelligence and guiding the vehicle to the empty parking position with the electric signboard, In addition, it has the advantage of making it very easy to check vehicle accidents such as contact accidents in the parking lot by providing information on nearby vehicles.

In addition, the vehicle information display unit in the form of an electric billboard is provided on the upper side of the parking booth to display the number of the parked vehicle so that the driver can accurately and quickly check his/her vehicle location from a distance, and additionally displays the phrase set by the driver on the vehicle information display unit It also has an advantage in that the vehicle's location can be checked more easily and quickly by a phrase that can be recognized quickly without exposing the vehicle number by displaying it through the .

1 is a view for explaining a position where a camera and an electric sign are installed according to the present invention.
Figure 2 is a view showing the form of a camera and an electric sign.
3 is a diagram for explaining a state of displaying information on an electric sign for a following vehicle;
4 is a view showing a state in which information of a vehicle parked in a parking booth and a neighboring vehicle is displayed through a vehicle information display unit.
5 is a block diagram of the present invention;
Fig. 6 is a flowchart of a process for tracking a vehicle;

The above-described objects, features and advantages will be described below in detail with reference to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains will be able to easily implement the technical idea of the present invention.

In describing the present invention, if it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

The terms used in the present invention have been selected as currently widely used general terms as possible while considering the functions in the present invention, but these may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like.

In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention.

Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

However, the embodiments of the present invention illustrated below may be modified in various other forms, and the scope of the present invention is not limited to the embodiments described below.

The embodiments of the present invention are provided to more completely explain the present invention to those of ordinary skill in the art.

1 is a view for explaining the position where the camera and the electric sign are installed according to the present invention, Figure 2 is a view showing the shape of the camera and the electric sign, and Figure 3 is to explain the state of displaying information of the electric sign for the following vehicle It is a road for

And, Fig. 4 is a view showing a state in which information of a vehicle parked in a parking booth and a neighboring vehicle is displayed through the vehicle information display unit, Fig. 5 is a block diagram of the present invention, and Fig. 6 is a process for tracking the vehicle It is a flow chart.

As shown in FIG. 1, the cameras (C1 to C11) and the electric signs (D1 to D7) applied to the present invention photograph the vehicle entering the entrance (IN) of the parking lot, track it, and guide it to the position of the empty parking booth. As such, in the present invention, for convenience of explanation, the form of parking areas 100 and 200 having 10 parking booths A1 to A10 (B1 to B10) is shown, but in the case of a large parking lot, a plurality of parking booths having more parking spaces are shown. A parking area may be provided.

A first camera (C1) that takes a picture of the entrance (IN) side for tracting of a vehicle entering the parking lot through the entrance (IN), is installed to photograph the location where the driving path is changed between the parking areas (100, 200) The second camera (C2), the fourth camera (C4), the tenth camera (C10), the first camera (C11), and the third camera (C3) installed at a position for photographing the driving route between the parking areas 100 and 200 and a fifth camera (C5), a sixth camera (C6), a seventh camera (C7), an eighth camera (C6), a seventh camera (C7), an eighth camera (C6), a seventh camera (C7), an eighth camera ( C8) and a ninth camera C9 are installed.

In addition, the electronic signboards D1 to D7 for guiding the tracking vehicle to the position of the empty parking booth A9 are the first camera C1, the second camera C2, the third camera C3, and the fourth camera ( C4), the fifth camera (C5), the tenth camera (C10), and the eleventh camera (C11) are installed at the positions, and are installed so that the driver can face each other when the vehicle is driving.

In addition, each of the cameras C1 to C11 and the electronic display boards D1 to D7 are preferably installed outside the driving path of the parking lot or on the upper side of the driving path so that direct damage by the vehicle does not occur.

As shown in FIG. 2, the electric signs D1 to D7 display the recognized vehicle number and the direction to the parking booth, and are preferably installed on the upper part of the driving path so that the driver can easily recognize it.

In addition, as in FIG. 3, when the preceding vehicle passes the location of the electronic sign D, the following vehicle is photographed by the camera C, and the vehicle number and the traveling direction of the following vehicle are displayed by the recognized information. do.

The present invention constructed in this way will be described.

First, the image of the parking booths A1 to A10 (B1 to B10) photographed from the sixth camera C6 to the ninth camera C9 is received from the image processing unit 300 and processed to facilitate image recognition, Image data suitable for image recognition is generated through processing such as removing noise included in an image or converting an analog signal into a digital signal.

The photographed images of the parking booths A1 to A10 (B1 to B10) output from the image processing unit 300 are input to the parking booth recognition unit 450 of the image recognition unit 400 and deep learning, so that the vehicle is not currently parked. It recognizes an empty parking booth.

At this time, the parking booth recognition unit 450 is equipped with an artificial intelligence algorithm for recognizing the state in which the vehicle is parked and not parked in the parking booth, so recognition information about the empty parking booth through deep learning is provided to the controller 500 .

In addition, the parking booth recognition unit 450 from the parking booth images taken by the sixth camera (C6), the seventh camera (C7), the eighth camera (C8), and the ninth camera (C9) is located in each parking booth. There is a unique number assigned to each parking booth, as shown in FIG. 1, which stores the assigned unique numbers (A1 to A10) (B1 to B10), or recognizes the unique number displayed on the floor of the parking booth. may be stored.

Accordingly, the controller 500 receives information about the currently vacant parking booth, that is, a unique number, and provides it to the storage unit 600, and this process is performed periodically (for example, 5 to 10 seconds) to the storage unit ( 600), the parking booth information is updated.

Thereafter, when a vehicle enters through the entrance IN, the first camera C1 captures it, and the photographed image is processed by the image processing unit 300 and then the vehicle number recognition unit of the recognition unit 400 . 410 , the vehicle type recognition unit 420 , and the vehicle tracking unit 430 are inputted.

The vehicle number recognition unit 410 is for recognizing a vehicle number by deep learning from a photographed vehicle image, and such a vehicle number recognition technology can use a known technology, as an example, Patent Registration No. 10-1496390 (Vehicle Number Recognition System), Patent Registration No. 10-281861 (Vehicle License Plate Detection and Recognition System and Method) can be used.

In addition, the image processed by the image processing unit 300 is input to the vehicle type recognition unit 420 to recognize the type of vehicle by deep learning, and the shape and size of the vehicle are recognized. It may be a van, a truck, a vehicle for the disabled, and the like, and the size may be a large car, a medium-sized car, a small car, a light car, and the like.

In particular, in the case of a vehicle with a disability, it is possible to determine whether a vehicle is a vehicle with a disability by recognizing the parking permit for the disabled exposed through the vehicle's front window, that is, the windshield.

A technology for recognizing such a vehicle shape can also use a known technology, and as an example, registered Patent No. 10-1996101 (Intelligent Light Vehicle Identification System, and Standalone-based Intelligent Vehicle Number Recognition System employing the same), Registration Technologies such as Patent No. 10-1321597 (image analysis-based vehicle recognition and unmanned settlement system) can be used.

In addition, the vehicle is tracked by vehicle information photographed from each camera (C1 to C9) and recognized by the vehicle number recognition unit 410 and the vehicle type recognition unit 420. As shown in FIG. 6, the vehicle number The vehicle information is recognized by the current image frame of the vehicle recognized by the recognition unit 410 and the vehicle type recognition unit 420, and the vehicle information of the current image frame and the previous image frame are compared with the previous image frame of the vehicle. IOU (Intersection Over Union) is calculated from the vehicle information of

IOU is used as a metric value in the computer vision field. It is a technology that provides normalized values regardless of the height and width of the tracking target, and is a widely used technology in the tracking field.

Therefore, the coordinate median is calculated from the vehicle information of the current image frame and the previous image frame, respectively, and the IOU is calculated using the calculated coordinate median value. If the IOU is greater than 0, the distance moved by the difference value is calculated. .

Accordingly, when the moved distance is greater than the set value, the rotation angle of the vehicle is calculated.

The rotation angle of the vehicle is for tracking the movement of the vehicle by changing the direction on the driving path in the parking lot. When the angle is greater than the set value, the histogram of the current image frame and the previous image frame is compared to determine whether the vehicle is consistent. .

That is, when the angle, that is, the driving direction is greater than the set value, it is determined that the vehicle is rotating on the driving path, and the degree of matching is calculated from the histogram of the current image frame and the previous image frame to recognize the direction change state of the vehicle being tracked.

Therefore, when the same vehicle being tracked rotates, the state in which the vehicle changes direction in the direction of rotation is continuously tracked by the change of the histogram. is determined, and tracking information for the driving and direction change is provided to the controller 500 .

The technology for tracking the vehicle by the vehicle tracking 430 may use the above-mentioned technology of the present invention, or may use a known technology.

Therefore, the controller 500 is photographed from the first camera C1 in order to guide the vehicle entering the entrance IN to the empty parking booth A9, and recognition information on the recognized vehicle number, shape, and size is It receives input from the recognition unit 400 and displays the vehicle number and direction through the first electric sign D1.

That is, the control is performed so that the vehicle number and information about going straight are displayed on the first electric sign D1.

Thereafter, the second camera C2 is recognized by the recognition unit 400 by photographing the corresponding vehicle entering the entrance IN and moving straight ahead, and the controller 500 accordingly transmits the vehicle through the second electric sign D2. It is controlled to display the number and left turn, and it is tracked whether the vehicle has turned left based on the information photographed and recognized by the second camera C2 and the third camera C3.

When the vehicle turns left and enters between the parking areas 100 and 200, the vehicle is tracked from the images captured by the third camera C3 and the sixth camera C6, and the vehicle approaches the parking booth A9. If recognized, the controller 500 will guide the correct parking booth by displaying the arrival at the corresponding parking booth A9 through the third electronic sign D3 along with the vehicle number.

If the vehicle passes the parking booth A9 and changes direction while continuing to proceed, the vehicle can be recognized again and guided to the same parking booth or another nearby parking booth through the electronic display board, and this algorithm is described above By continuously performing the above-mentioned process, optimal parking booth guidance can be achieved.

Of course, if the recognized result is a van or truck, it will guide you to the location of a wide parking booth, and if it is a light vehicle or a vehicle with a disability, it will guide you to a dedicated parking booth. , the controller 500 is to control the display of the electric signs D1 to D5 to guide whether the corresponding parking booth is empty by the information recognized by the parking booth recognition unit 450 .

In addition, when the corresponding vehicle passes the electronic sign D as shown in FIG. 3 during the process of tracking the vehicle, the controller 500 recognizes the following vehicle and displays the vehicle number and direction to guide it. It will control the electric sign (D).

In addition, when the parking booth recognition unit 450 recognizes that the vehicle is parked in the corresponding parking booth A9 by the image photographed by the sixth camera C6, the proximity vehicle recognition unit 440 is a neighboring vehicle. The information of the vehicle number is recognized and provided to the controller 500 , and the controller 500 stores it in the storage unit 600 .

This is to check if a contact accident occurs by a vehicle parked in the neighboring parking booths (A8, 10). When the driver requests information on the neighboring vehicle through his/her smartphone, it is provided. To this end, in the storage unit 600, the vehicle number and the driver's smartphone information (eg, phone number) are matched to form a database.

That is, when a vehicle driver who frequently uses a parking lot registers a vehicle number and a phone number in advance and stores it in the storage unit 600, when his or her vehicle is parked in the parking booth, the driver by the proximity vehicle recognition unit 440 It recognizes the number of a neighboring vehicle together with its own vehicle number and stores it in the storage unit 600 , and the communication unit 700 receives a data provision request through the driver's smartphone.

Accordingly, the controller 500 checks the vehicle number matched with the driver's phone number stored in the storage unit 600 , and then provides the neighboring vehicle number to the driver's smartphone through the communication unit 700 .

As a result, when a phone number is input from the driver's smartphone, the controller 500 provides information on a parking booth number and a parking location along with neighboring vehicle information to the driver's smartphone through the communication unit 700 .

In the above description, the smartphone information phone number has been described as an example, but when the parking lot app is installed on the smartphone, it may be information such as an ID.

On the other hand, the vehicle information display unit ND in the form of an electric sign is installed in the upper portion of each of the parking booths A1 to A10 (B1 to B10), and the vehicle information display unit ND provides information on the vehicle parked in the corresponding parking booth. , which allows the driver to immediately check the location of his/her vehicle through the vehicle information display unit (ND) in a large parking lot.

That is, in the parking lot, it is very difficult to check your own vehicle from a distance because the license plate number is hidden by the parked vehicles, but the vehicle information display unit ND installed above the parking booths A1 to A10 (B1 to B10) You can easily check the location of your vehicle through

To this end, when the vehicle is parked in the corresponding parking booth A9 by the parking booth recognition unit 450 , the controller 500 recognizes the vehicle number recognized by the vehicle number recognition unit 410 and the vehicle tracking unit 430 . It is displayed through the corresponding vehicle information display unit ND.

In other words, when it is recognized that the vehicle is parked in the parking booth A9 by the sixth camera C6 and the parking booth recognition unit 550 , the controller 500 controls the vehicle information display unit ND of the parking booth through the vehicle information display unit ND. It will display the number of the parked vehicle.

At this time, since the unique numbers of the parking booths A6 to A10 photographed from the sixth camera C6 are already set and stored in the storage unit 600 , it is assumed that the tracted vehicle is parked in the specific booth A9 . When recognized, the controller 500 displays the number of the recognized vehicle through the vehicle information display unit ND installed in the corresponding parking booth A9.

In addition, it is possible to change the information displayed on the vehicle information display unit (ND) through the driver's smartphone. As mentioned above, the storage unit 600 matches the phone number, vehicle number, and unique number of the parked parking booth. Therefore, a display phrase, for example, a company name, a driver's name, a phrase or symbol informing the driver, is received from the driver's smartphone through the communication unit 700, and then the driver's phone number stored in the storage unit 600 and The matching vehicle number is checked, the parking booth where the corresponding vehicle is parked is checked, and information input from the driver's smartphone is displayed through the vehicle information display unit (ND) installed in the corresponding parking booth.

That is, when the display text is transmitted from the driver's smartphone, the controller 500 displays the display text through the vehicle information display unit ND of the parking booth where the driver's vehicle is parked, so that the driver can more intuitively control his or her vehicle. This can be seen from a distance.

As described above in detail a specific part of the content of the present invention, for those of ordinary skill in the art, it is clear that this specific description is only a preferred embodiment, and the scope of the present invention is not limited thereby. something to do.

Accordingly, it is intended that the substantial scope of the present invention be defined by the appended claims and their equivalents.

100,200: parking area
300: image processing unit
400: recognition unit
410: vehicle number recognition unit
420: vehicle rectification recognition unit
430: tracking unit
440: proximity vehicle recognition unit
450: parking booth recognition unit
500 : controller
600: storage
700: communication department
A, B : Parking booth
C: camera
D: display

Claims (3)

Cameras respectively installed at a position for photographing a vehicle entering from the entrance of a parking lot, a position for photographing a position at which a driving path is changed in a parking lot, and a position for photographing a plurality of parking booths on one screen;
a display unit installed at a position where the driving path is changed to display a vehicle number and a direction;
an image processing unit that receives images captured by the cameras and processes them into signals suitable for image recognition;
Deep learning the image output from the image processing unit with an artificial intelligence algorithm to output the recognition result for the vehicle number, shape, size, direction, and empty parking booth, but the corresponding vehicle information by the current image frame of the recognized vehicle Recognizes, compares it with the previous image frame of the vehicle, calculates the coordinate median value from the vehicle information of the current image frame and the vehicle information of the previous image frame, respectively, and calculates an Intersection Over Union (IOU) by the calculated median coordinate value If the IOU is greater than 0, the distance traveled is calculated by the difference value. If the moved distance is greater than the set value, the vehicle rotation angle is calculated. If the rotation angle is greater than the set value, the current image frame and the previous image an image recognition unit that compares the histograms of the frames to determine whether they match, recognizes the direction change state of the vehicle being tracked, tracks the vehicle according to the recognized result, and outputs a recognition result for driving and direction change of the vehicle;
a controller for controlling the display state of the display unit provided in the front of the vehicle in the traveling direction by tracking the vehicle according to the result recognized by the image recognition unit;
and a communication unit that transmits the information provided from the controller to the driver's smartphone and provides the requested information transmitted to the smartphone to the controller; and
When it is recognized that the vehicle is parked in the parking booth according to the result recognized by the image recognition unit, the controller stores the vehicle information parked in the neighboring parking booth in a separate storage unit, and stores the corresponding information according to the type of the recognized vehicle. Controls the display unit to guide you to the parking booth,
In the storage unit, the recognized vehicle number and the driver's phone number are matched to form a database, and when the phone number is input through the communication unit, the controller transmits the parking booth number, location, and neighboring vehicle information to the driver's through the communication unit. Provided to a smartphone, and configured to store information of adjacent vehicles recognized by the image recognition unit in the storage unit,
A vehicle information display unit in the form of an electric sign is installed above each parking booth, and the controller controls the vehicle information of each parking booth recognized by the image recognition unit to be displayed on the vehicle information display unit,
The controller receives the phone number input from the driver's smartphone through the communication unit, the company name, the driver's name, and a phrase or symbol to inform the driver himself, and whether there is a vehicle number matching the phone number in the storage unit After checking, the system for guiding a parking space by vehicle tracking information, characterized in that configured to display the display text transmitted from the driver's smartphone on the vehicle information display unit installed in the parking booth in which the vehicle is parked. delete delete

Images