WO2020124950A1 - 基于高精度室内定位技术的停车场交通事故溯源系统和方法 - Google Patents

基于高精度室内定位技术的停车场交通事故溯源系统和方法 Download PDF

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WO2020124950A1
WO2020124950A1 PCT/CN2019/087892 CN2019087892W WO2020124950A1 WO 2020124950 A1 WO2020124950 A1 WO 2020124950A1 CN 2019087892 W CN2019087892 W CN 2019087892W WO 2020124950 A1 WO2020124950 A1 WO 2020124950A1
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parking
vehicle
positioning
information
parking lot
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PCT/CN2019/087892
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English (en)
French (fr)
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王会利
武建平
姚景祺
刘兴
蔡志匡
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江苏云巅电子科技有限公司
南京邮电大学南通研究院有限公司
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Publication of WO2020124950A1 publication Critical patent/WO2020124950A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/24—Reminder alarms, e.g. anti-loss alarms
    • 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
    • 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
    • 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
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • 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
    • G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the invention relates to a traffic accident tracing technology, in particular to a parking lot traffic accident tracing system and method based on high-precision indoor positioning technology.
  • the basic functions include: paperless online parking fee payment, unmanned gate and other technologies greatly improve the operation efficiency of the parking lot, but unattended parking
  • Various problems also occur during the operation of the parking lot, especially in large underground parking lots, it is difficult to find empty parking spaces during peak hours and holidays, and it is a rare practical problem to find a car after parking, especially the malicious traffic accident escape in the parking lot , Has always been a problem that troubled unmanned parking lot management.
  • Unattended parking lots are generally monitored and managed by the following management methods.
  • sensors such as geomagnetism, occlusion, infrared, etc. in the parking space, it can detect whether the parking space is occupied, and provide guidance and indication for the users to park with the help of the red and green signal lights above the parking space;
  • Main channels in the parking lot such as entrances and elevators, post WeChat public accounts and QR codes for users to pay parking fees online in advance.
  • the above technologies are powerless for traffic accidents and malicious escape behaviors in the parking lot.
  • the main road monitoring can capture images in some scenes, due to the high cost of installation and construction, it is impossible to achieve full coverage in the parking lot, and it is impossible to identify and confirm accidents in blind spots and blind spots; Bluetooth low energy relies on high density
  • the deployment of Bluetooth iBeacon base station, with the help of the Bluetooth function of the user's mobile phone, can basically achieve forward parking guidance and reverse car search, but due to its positioning accuracy defect of 3-5 meters, it can not trace back the historical trajectory of traffic accidents as a management Evidence from law enforcement.
  • An object of the present invention is to provide a system and method for tracing a parking accident based on high-precision indoor positioning technology.
  • a car park traffic accident tracing system based on high-precision indoor positioning technology, including an indoor positioning system, a video monitoring system and a cloud service background;
  • the indoor positioning system first sets a virtual electronic fence for all occupied parking spaces in the parking lot according to the positioning information; when a vehicle enters the parking lot at the entrance of the gate, a positioning label is assigned and the vehicle is recorded in real time through the positioning label on the approaching vehicle
  • the driving track point when the driving track point invades the virtual electronic fence of the parking space of other vehicles, the cloud service background drives the corresponding positioning label and associates the license plate number information through abnormal events; the cloud service background triggers an active alarm and a video monitoring system Pick up nearby cameras based on location points, remotely and automatically capture pictures and video information; the cloud service platform associates the historical track in the parking lot of the offending vehicle with the location tag and license plate number information, as well as the image information and time information of entering and leaving the parking lot, and packing Complete evidence information collection, backup storage on local server and cloud server, and automatically send to parking lot management and traffic police law enforcement department according to system settings.
  • a method for tracing parking accidents based on high-precision indoor positioning technology includes the following steps:
  • the indoor positioning system sets a virtual electronic fence for all occupied parking spaces in the parking lot based on the positioning information
  • the unattended device When a vehicle enters the parking lot at the entrance of the gate, the unattended device will issue a positioning label, enter the garage and automatically assign the nearest empty parking space by the cloud service background, and record the driving track of the vehicle in real time through the positioning label on the entering vehicle;
  • cloud service backend When the traveling vehicle invades the virtual electronic fence of the parking space of other vehicles during the process of driving or parking, the cloud service backend will drive to lock the corresponding positioning label and associate the license plate number information through abnormal events; cloud service backend Trigger an active alarm, the video monitoring system calls nearby cameras based on the location point, remotely and automatically capture pictures and video information;
  • the cloud service back office associates the historical track in the parking lot of the offending vehicle with the location tag and license plate number information, as well as the image information and time information of entering and leaving the parking lot, packaging and collecting evidence information, and backing up storage on the local server and cloud server; finally according to the system settings It will be automatically sent to the parking lot management party and the corresponding traffic police law enforcement department.
  • the significant advantages of the present invention are: (1) The present invention only needs to deploy one positioning system to complete the functions of the traditional multiple systems, which can greatly reduce the cost; (2) The existing video with the parking lot The rapid integration of monitoring and gateway management reduces costs, shortens the deployment implementation period, reduces costs, and is low-carbon and environmentally friendly; (3) Fully automatic, non-dead-angle tracking and tracing of accidents and escape accidents in the parking lot, the process is fully automated, and no manual participation is required. Cover management blind spots and avoid the drawbacks of manual management.
  • Figure 1 is a functional block diagram of the parking lot traffic accident tracing system.
  • Figure 2 is the specific execution flowchart of the accident traceability tracking system.
  • a parking accident tracing system based on high-precision indoor positioning technology includes an indoor positioning system, a video monitoring system, and a cloud service background;
  • the indoor positioning system first sets a virtual electronic fence for all occupied parking spaces in the parking lot according to the positioning information.
  • the virtual electronic fence takes a single parking space as the standard range; when a vehicle enters the parking lot at the entrance of the gate, a positioning label is issued , The real-time recording of the vehicle's driving trajectory through the positioning tags on the approaching vehicle, when the driving trajectory points invade the virtual electronic fence of the parking spaces of other vehicles, the cloud service background drives to lock the corresponding positioning tags and associate the license plate number through abnormal events Information; the cloud service background triggers an active alarm, the video surveillance system calls nearby cameras based on the location point, and automatically captures pictures and video information remotely; the cloud service platform correlates the historical trajectory in the parking lot of the vehicle that caused the accident based on the positioning label and license plate number information As well as the image information and time information of entering and leaving the parking lot, the evidence information is packaged and collected, backed up and stored on the local server and cloud server, and automatically sent to the parking lot management party and traffic police law enforcement department according to the system settings.
  • the indoor positioning system includes a positioning tag, a positioning base station, a data communication relay, and a corresponding location resolution server;
  • the positioning tag is used to measure the distance of a base station near itself in real time;
  • the positioning base station is used to cooperate with the positioning tag to measure the tag and the nearby positioning base station in real time
  • the distance of the positioning tag is obtained through the wireless channel and relayed to the location resolution server through data communication relay;
  • the location resolution server is used to calculate the real-time distance information between the positioning tag and the base station according to the pre-calibrated indoor coordinate system Give the coordinates of the real-time position of the corresponding label.
  • the positioning accuracy of the indoor positioning system is 10 cm.
  • the indoor positioning system has built-in acceleration and angular velocity sensors, and when the change value of the acceleration or angular velocity of the target vehicle exceeds a set threshold, a reminder of abnormal status is sent to the background of the cloud service.
  • the cloud service backend will notify the owners of the vehicles involved in the accident and the crashed vehicles in the form of APP messages, text messages, or automatic voice calls of traffic accident incidents, locations, reference processing results, processing timelines, and corresponding management and law enforcement department consultation calls.
  • the background of the cloud service includes a data storage subsystem, a control instruction subsystem, a data processing subsystem, and a data forwarding subsystem.
  • the data storage subsystem is used to store the historical trajectory of all vehicles, traffic accident location information, and the corresponding Vehicle information;
  • the control command subsystem is used to issue corresponding control commands to the video monitoring system according to the current driving status of the vehicle;
  • the data processing subsystem is used to analyze the parking history track data, entry and exit time points, and abnormal vehicle status in all parking lots The data is sorted and stored from the time dimension and the space dimension according to the set rules;
  • the data forwarding subsystem is used to send the evidence information to the parking lot management party and the corresponding traffic police law enforcement department, and at the same time, the traffic accident events, locations, and reference processing results , Handling of limitation of time and consultation calls of corresponding management and law enforcement agencies, in the form of APP messages, text messages or automatic voice calls to notify the owners of the vehicle in question and the vehicle that was hit.
  • the video monitoring system includes a camera, data communication relay, and video processing system background; the video processing system background is used to cooperate with the indoor positioning system, receive control commands from the cloud service background, and call nearby cameras to obtain live images through traffic accident location points Information and store it locally and in the cloud in association with traffic accident location points and tag ID information.
  • the video surveillance system also includes a mechanical rotating pan-tilt head, which is used to drive the high-definition camera to align the accident location.
  • the present invention also provides a method for tracing a car park traffic accident based on the above tracing system, including the following steps:
  • the indoor positioning system sets a virtual electronic fence for all occupied parking spaces in the parking lot based on the positioning information
  • the unattended device When a vehicle enters the parking lot at the entrance of the gate, the unattended device will issue a positioning label, enter the garage and automatically assign the nearest empty parking space by the cloud service background, and record the driving track of the vehicle in real time through the positioning label on the entering vehicle;
  • cloud service backend When the traveling vehicle invades the virtual electronic fence of the parking space of other vehicles during the process of driving or parking, the cloud service backend will drive to lock the corresponding positioning label and associate the license plate number information through abnormal events; cloud service backend Trigger an active alarm, the video monitoring system calls nearby cameras based on the location point, remotely and automatically capture pictures and video information;
  • the cloud service back office associates the historical track in the parking lot of the offending vehicle with the location tag and license plate number information, as well as the image information and time information of entering and leaving the parking lot, packaging and collecting evidence information, and backing up storage on the local server and cloud server; finally according to the system settings It will be automatically sent to the parking lot management party and the corresponding traffic police law enforcement department.
  • the whole process is completed automatically without manual participation, avoiding the possibility of subjective errors and fraud caused by traditional manual participation, ensuring the openness of the evidence, fairness and objectivity, and providing strong data support for management and law enforcement.
  • the present invention Based on the deployment of a high-precision indoor positioning system in an unattended parking lot, the present invention focuses on the functions of daily parking guidance, reverse car search, peak shunting, etc., and focuses on the problem of maliciously escaping traffic accidents in the parking lot.
  • a complete solution, the entire process of the program is fully intelligent and automated, and is not limited by time and space.
  • a parking accident tracing system based on high-precision indoor positioning technology includes a high-precision indoor positioning system, a video monitoring system, and a cloud service background;
  • the high-precision positioning system is mainly composed of positioning tags, positioning base stations, data communication relays and corresponding location resolution servers;
  • the video monitoring system mainly includes local high-definition cameras, data communication relays and video processing system background;
  • the cloud service background is used to position Point-associated positioning system and video monitoring system, remotely issue captured image commands, receive relevant evidence data uploaded by the video system and positioning system, and further organize it into the evidence chain format agreed by the system and send it to the management and law enforcement departments;
  • the positioning system uses the positioning label MEMS state sensor is embedded to lock out the sudden abnormal state of the vehicle, and related to the license plate number information reporting system to complete the track record and historical track restoration of the vehicles driving in the parking lot.
  • the location point refers to the coordinates of the location point of the target in the underground parking lot, and specifically refers to the precise location point of the accident of the vehicle that caused the accident.
  • the sudden abnormal state of the vehicle refers to the abnormal speed and state of the vehicle that caused the accident, that is, it is derived from the abnormal change of the position point.
  • the speed of the vehicle changes sharply after the collision, such as: sudden stop and acceleration after the collision.
  • the abnormal state of the vehicle intruding into the virtual electronic fence of the parking space of other vehicles.
  • the positioning system first sets virtual electronic fences for all occupied parking spaces in the parking lot based on precise positioning information.
  • the virtual electronic fences use a single parking space as the standard range, and the high-precision indoor positioning system sets the virtual electronic fences according to the assigned parking space range in advance.
  • the positioning information comes from the indoor positioning system calibrated in advance.
  • Each point in the parking lot has a corresponding coordinate point.
  • the parking space is composed of a set of closed coordinate points; when a vehicle enters the empty parking space, the electronic fence is activated.
  • the location label assigned to the vehicle will determine whether the vehicle enters the current empty parking space; when a vehicle enters the parking lot at the entrance of the gate, the unattended device will issue a location label, enter the garage and be backed by the cloud service Automatically assign the nearest empty parking space, and guide to the corresponding empty parking space according to the indoor navigation map on the mobile phone APP.
  • the vehicle's driving trajectory is recorded in real time through the high-precision indoor positioning label on the approach vehicle.
  • the background system When the driving vehicle is in the process of traveling or parking, when the driving track point invades the virtual electronic fence of the parking space of other vehicles, the background system will immediately lock the corresponding positioning label and associate the license plate number information through the abnormal event; the driving track point is the vehicle distribution positioning
  • the tag determines the location point of the target vehicle in real time, and determines that the track point intrudes into the virtual electronic fence. At this time, the vehicle is regarded as a whole.
  • the cloud service background will set the size of the vehicle according to the vehicle model, and then use the vehicle to the front 1/3 as the positioning point ,
  • the corresponding outside coordinate position point is estimated according to the vehicle specifications, so a certain range centered on this point enters the virtual electronic fence to judge the intrusion.
  • the cloud background management triggers an active alarm in the background, calls the video monitoring subsystem to automatically call the nearby high-definition camera based on the location point, and remotely and automatically controls the capture of pictures and video information; then, the cloud service background associates the vehicle that caused the accident based on the location label and license plate number information.
  • the historical track in the parking lot and the high-definition image information and time information of entering and leaving the parking lot are packaged to complete the evidence information collection, and the storage is backed up on the local server and cloud server; finally, it is automatically sent to the parking lot management party and the corresponding traffic police law enforcement department according to the system settings .
  • the cloud service background includes a data storage subsystem, a control instruction subsystem, a data processing subsystem, and a data forwarding subsystem.
  • the data storage subsystem is used to store the historical trajectory and special location information of all vehicles and corresponding vehicle information;
  • the control instruction sub The system is mainly used to issue corresponding control commands to the parking local system according to the pre-designed command system according to the current vehicle driving status, such as entering and exiting the parking lot, collision abnormalities in the parking lot, etc.
  • the data processing subsystem is mainly used to According to the set rules, the parking history trajectory data, entry and exit time points, and vehicle abnormal state data in all parking lots are classified and stored from the time dimension and the space dimension for later index query;
  • the data forwarding subsystem is used to use the evidence information Send to the parking lot management party and the corresponding traffic police law enforcement department, and at the same time notify the vehicle of the accident in the form of an APP message, text message or automatic voice call of the traffic accident incident, location, reference processing result, processing time limit, and the
  • the positioning label of the high-precision indoor positioning system is used to measure the distance of the base station near it in real time for further real-time positioning; the positioning base station is used to cooperate with the positioning label to measure the distance between the label and the nearby positioning base station in real time, and is responsible for obtaining the ranging information of the positioning label through the wireless channel It is further transmitted to the location resolution server through the local network, and is also responsible for forwarding the parameters of the label firmware upgrade and positioning frequency set issued by the host computer system to the corresponding label; the data communication relay is used to send the real-time ranging information uploaded by the base station to The location resolution server, at the same time, realizes the parameters such as the label firmware upgrade and positioning frequency setting issued from the location resolution server; the location resolution server is used to provide real-time ranging information between the label and the base station, and further to the indoor coordinate system according to the pre-calibration. Coordinates of the real-time position of the corresponding label are displayed to achieve real-time positioning.
  • the background of the video processing system of the video surveillance system is used to cooperate with the high-precision indoor positioning system, receive control commands from the cloud service background, call nearby cameras through specific locations to obtain live image information, and store them locally in association with the location and tag ID information And the cloud, so as to quickly track the index for later traceability.
  • the video surveillance system also includes a mechanical rotating gimbal, which is used to drive the high-definition camera to align the accident location.
  • the present invention proposes a method for the escape of vehicles in blind spots and blind areas in large underground parking lots with the help of the original video monitoring and gate control system.
  • Indoor historical trajectory restoration, parking space virtual electronic fence and location-based video security system collect the corresponding vehicle image information, restore the accident scene according to the historical trajectory and time, complete the entire accident evidence information collection and evidence chain closure, and automatically report to parking
  • the field management department and the higher law enforcement department send the accident information to the mobile phone of the owner of the accident and the crashed vehicle in the form of APP messages, text messages, voice calls, etc.

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Abstract

本发明公开了一种基于高精度室内定位技术的停车场交通事故溯源系统和方法，针对无人值守停车场内的交通事故恶意逃逸的管理难题，提出一种基于UWB高精度室内定位技术实现对无人值守停车场内的恶意逃逸交通事故进行精准溯源追踪，同时以精准位置点位索引，借助远程操控高清摄像头抓拍现场的高清图片、视频信息，结合时间维不可逆性还原肇事历史轨迹和事故现场，自动完成现场证据信息采集，闭合证据链，最大限度保证停车用户的生命财产安全，全自动管控大大提升管理效率，减轻传统依靠事后人工模拟还原分析的负担，为车主、管理方提供更为人性化、智能化的服务。

Description

基于高精度室内定位技术的停车场交通事故溯源系统和方法 技术领域
本发明涉及交通事故溯源技术，具体涉及一种基于高精度室内定位技术的停车场交通事故溯源系统和方法。
背景技术
伴随着经济的飞速发展，人们出行条件不断改善，私家汽车已经成为有车一族的第二生活空间，但伴随着各种机动车，尤其是私家车的井喷式增长，城市停车场建设并没有同步跟上，停车难、难停车等问题已经成为城市规划建设一项亟待解决的难题。全自动无人值守停车场正是为了满足这一需求应运而生，基本功能包括：无纸化在线停车费缴纳，无人闸道等技术大大提高了停车场的运转效率，但无人值守停车场在运营过程中也出现了各种各样的问题，尤其是在大型地下停车场中，高峰时期、节假日找空车位难，停完后找车难得现实问题，尤其是停车内恶意交通事故逃逸，一直是困扰无人值守停车场管理方的难题。无人值守停车场一般通过以下管理手段来实现监控、管理。
(1)停车场闸道出入口后台联网，安装高清摄像头识别车牌，抬杆进场或者放行；
(2)主干道、交叉口安装高清摄像头，监控车辆有序停放，防止恶意占道等行为；
(3)采用低功耗蓝牙定位技术实现停车场内停车引导和反向找车，提高用户出行效率；
(4)通过在车位上安装地磁、遮挡、红外等传感器，感知车位是否占用，借助车位上方的红、绿信号灯为待停车用户提供导引、指示作用；
(5)停车场内出入口、电梯口等主要通道张贴微信公众号、二维码等方式供用户提前在线缴纳停车费用。
以上技术对于停车场内的交通事故、恶意逃逸行为都无能为力。虽然主干道监控能拍摄到部分场景下的影像，但由于安装施工造价成本太高而无法做到停车场内全覆盖，对于监控死角、盲区的事故无法认定、确认；低功耗蓝牙依靠高密度的部署蓝牙iBeacon基站，借助用户手机蓝牙功能，对于正向停车引导和反向找车基本能够实现，但由于其3-5米的定位精度缺陷，也无法追溯还原交通事故的历史轨迹，作为管理执法处理的佐证。
发明内容
本发明的目的在于提供一种基于高精度室内定位技术的停车场交通事故溯源系统 和方法。
实现本发明目的的技术方案为：一种基于高精度室内定位技术的停车场交通事故溯源系统，包括室内定位系统、视频监控系统以及云服务后台；
室内定位系统首先对停车场内的所有已占用车位根据定位信息设定虚拟电子围栏；当闸道进口处有车辆进入停车场时，配发定位标签，通过进场车辆上的定位标签实时记录车辆的行驶轨迹，当行驶轨迹点侵入其它车辆已停车位的虚拟电子围栏范围内时，云服务后台通过异常事件驱动锁定相应的定位标签并关联车牌号信息；云服务后台触发主动报警，视频监控系统基于位置点调取附近的摄像头，远程自动抓取图片、视频信息；云服务平台基于定位标签、车牌号信息关联肇事车辆的停车场内的历史轨迹以及进出停车场的图像信息和时间信息，打包完成证据信息采集，在本地服务器和云端服务器备份存储，并按照系统设定自动发送给停车场管理方和交警执法部门。
一种基于高精度室内定位技术的停车场交通事故溯源方法，包括以下步骤：
室内定位系统对停车场内的所有已占用车位根据定位信息设定虚拟电子围栏；
当闸道进口处有车辆进入停车场时，无人值守装置配发定位标签，进入车库并由云服务后台自动指派就近空车位，通过进场车辆上的定位标签实时记录车辆的行驶轨迹；
当行驶车辆在行进过程或者泊车过程中，行驶轨迹点侵入其它车辆已停车位的虚拟电子围栏范围内时，云服务后台通过异常事件驱动锁定相应的定位标签并关联车牌号信息；云服务后台触发主动报警，视频监控系统基于位置点调取附近的摄像头，远程自动抓取图片、视频信息；
云服务后台基于定位标签、车牌号信息关联肇事车辆的停车场内的历史轨迹以及进出停车场的图像信息和时间信息，打包完成证据信息采集，在本地服务器和云端服务器备份存储；最后按照系统设定自动发送给停车场管理方和相应交警执法部门。
与现有技术相比，本发明的显著优点为：(1)本发明只需部署一套定位系统即可完成传统多套系统的功能，能大大降低成本；(2)与停车场现有视频监控、闸道管理快速融合，降低成本，缩短部署实施周期，降低成本，低碳环保；(3)对于停车场内肇事逃逸事故全自动、无死角追踪溯源，过程全自动操控，无需人工参与，覆盖管理盲区、规避人工管理弊端。
附图说明
图1为停车场交通事故溯源系统原理框图。
图2为事故溯源追踪系统具体执行流程图。
具体实施方式
如图1所示，一种基于高精度室内定位技术的停车场交通事故溯源系统，包括室内定位系统、视频监控系统以及云服务后台；
室内定位系统首先对停车场内的所有已占用车位根据定位信息设定虚拟电子围栏，所述虚拟电子围栏以单个车位为标准范围；当闸道进口处有车辆进入停车场时，配发定位标签，通过进场车辆上的定位标签实时记录车辆的行驶轨迹，当行驶轨迹点侵入其它车辆已停车位的虚拟电子围栏范围内时，云服务后台通过异常事件驱动锁定相应的定位标签并关联车牌号信息；云服务后台触发主动报警，视频监控系统基于位置点调取附近的摄像头，远程自动抓取图片、视频信息；云服务平台基于定位标签、车牌号信息关联肇事车辆的停车场内的历史轨迹以及进出停车场的图像信息和时间信息，打包完成证据信息采集，在本地服务器和云端服务器备份存储，并按照系统设定自动发送给停车场管理方和交警执法部门。
进一步的，室内定位系统包括定位标签、定位基站、数据通讯中继和相应的位置解析服务器；定位标签用于实时测定自身附近基站的距离；定位基站用于配合定位标签实时测定标签与附近定位基站的距离，通过无线通道获取定位标签的测距信息并通过数据通讯中继传输至位置解析服务器；位置解析服务器用于根据定位标签与基站之间的实时测距信息，按照预先标定的室内坐标系统给出相应标签的实时位置点坐标。
进一步的，所述室内定位系统的定位精度为10cm。
进一步的，室内定位系统内嵌加速度和角速度传感器，当目标车辆的加速度或角速度变化值超过设定阈值，向云服务后台发送状态异常提醒。
进一步的，云服务后台将交通事故事件、地点、参考处理结果、处理时效以及相应管理、执法部门的咨询电话，以APP消息、短信或自动语音电话的形式通知肇事车辆和被撞车辆车主。
进一步的，所述云服务后台包括数据存储子系统、控制指令子系统、数据处理子系统和数据转发子系统，数据存储子系统用于存储所有车辆的历史轨迹和交通事故位置点信息以及相应的车辆信息；控制指令子系统用于根据当前车辆行驶状态，下发相应的控制指令到视频监控系统；数据处理子系统用于对所有停车场内的停车历史轨迹数据、进出时间点、车辆异常状态数据，按照设定好的规则，从时间维和空间维进行分类存储； 数据转发子系统用于将证据信息发送给停车场管理方和相应交警执法部门，同时将交通事故事件、地点、参考处理结果、处理时效以及相应管理、执法部门的咨询电话，以APP消息、短信或自动语音电话的形式通知肇事车辆和被撞车辆车主。
进一步的，视频监控系统包括摄像头、数据通讯中继、视频处理系统后台；视频处理系统后台用于配合室内定位系统，接收来自云服务后台的控制指令，通过交通事故位置点调用附近摄像头获取现场影像信息，并与交通事故位置点以及标签ID信息关联存储到本地和云端。
进一步的，视频监控系统还包括机械旋转云台，用于驱动高清摄像机对准事故位置。
如图2所示，本发明还提供一种基于上述溯源系统的停车场交通事故溯源方法，包括以下步骤：
室内定位系统对停车场内的所有已占用车位根据定位信息设定虚拟电子围栏；
当闸道进口处有车辆进入停车场时，无人值守装置配发定位标签，进入车库并由云服务后台自动指派就近空车位，通过进场车辆上的定位标签实时记录车辆的行驶轨迹；
当行驶车辆在行进过程或者泊车过程中，行驶轨迹点侵入其它车辆已停车位的虚拟电子围栏范围内时，云服务后台通过异常事件驱动锁定相应的定位标签并关联车牌号信息；云服务后台触发主动报警，视频监控系统基于位置点调取附近的摄像头，远程自动抓取图片、视频信息；
云服务后台基于定位标签、车牌号信息关联肇事车辆的停车场内的历史轨迹以及进出停车场的图像信息和时间信息，打包完成证据信息采集，在本地服务器和云端服务器备份存储；最后按照系统设定自动发送给停车场管理方和相应交警执法部门。整个过程全部自动完成，无需人工参与，规避了传统人工参与导致主观错误、舞弊的可能性，保证证据的公开、公正客观性，为管理和执法提供强有力的数据支撑。
本发明通过在无人值守停车场内部署高精度室内定位系统，满足日常停车引导、反向找车、高峰分流等功能的基础上，重点针对停车场内恶意逃逸交通事故的难题，提出一套完整解决方案，整个方案过程全部智能化、自动化操作实现，不受时间、空间限制。
下面结合实施例对本发明进行详细说明。
实施例
如图1所示，一种基于高精度室内定位技术的停车场交通事故溯源系统，包括高精度室内定位系统、视频监控系统以及云服务后台；
高精度定位系统主要由定位标签、定位基站、数据通讯中继以及相应的位置解析服务器成；视频监控系统主要包括本地高清摄像头、数据通讯中继和视频处理系统后台；云服务后台用于以位置点关联定位系统和视频监控系统，远程下达抓拍影像指令、接收视频系统和定位系统上传的相关证据资料，进一步整理成系统约定的证据链格式发送给管理方和执法部门；定位系统通过定位标签内嵌MEMS状态传感器，锁定车辆突发异常状态，关联车牌号信息上报系统，完成停车场内行驶车辆的轨迹记录、历史轨迹还原工作。所述位置点即地下停车场内目标所处的位置点坐标，具体指肇事车辆发生事故的精确位置点。所述车辆突发异常状态是指肇事车辆的速度、状态异常，即由位置点异常变化推演出来的，车辆发生碰撞后车速急剧变化，如：碰撞后突然停下、加速，笼统的可以讲肇事车辆侵入其它车辆已停车车位虚拟电子围栏的异常状态。通过在车载定位标签内部集成加速度、角速度MEMS传感器，当目标车辆的加速度、角速度急剧变化，超过系统设定的阈值后则判定为状态异常。
定位系统首先对停车场内的所有已占用车位根据精准定位信息设定虚拟电子围栏，虚拟电子围栏以单个车位为标准范围，高精度室内定位系统事先根据已划定车位范围设定虚拟电子围栏，其定位信息来自于事先标定的室内定位系统，停车场内每个点都有对应的坐标点，停车位是由一组闭合的坐标点构成的；当有车辆进入空车位时激活该电子围栏，反之则撤销；此时通过车辆上配发的定位标签判断车辆是否进入当前空车位；当闸道进口处有车辆进入停车场时，无人值守装置配发定位标签，进入车库并由云服务后台自动指派就近空车位，按照手机APP上的室内导航地图引导至相应的空车位；接下来，通过进场车辆上的高精度室内定位标签实时记录车辆的行驶轨迹，当行驶车辆在行进过程或者泊车过程中，行驶轨迹点侵入其它车辆已停车位的虚拟电子围栏范围内时，则后台系统通过异常事件驱动马上锁定相应的定位标签并关联车牌号信息；所述行驶轨迹点即车辆配发定位标签实时确定目标车辆的位置点，判断轨迹点侵入虚拟电子围栏，此时车辆看做一个整体，云服务后台会根据车型设定车辆的规格大小，然后以车辆靠车头1/3处为定位点，根据车辆规格估算相应的外侧坐标位置点，因此是以该点为中心的一定范围进入虚拟电子围栏来判断侵入。云后台管理后台触发主动报警，调用视频监控子系统自动基于位置点调取附近的高清摄像头，远程自动操控抓取图片、视频信息；然后，云服务后台基于定位标签、车牌号信息关联肇事车辆的停车场内的历史轨迹以及进出停车场的高清图像信息和时间信息，打包完成证据信息采集，在本地服务器和云端服 务器备份存储；最后按照系统设定自动发送给停车场管理方和相应交警执法部门。
云服务后台包括数据存储子系统、控制指令子系统、数据处理子系统和数据转发子系统，数据存储子系统用于存储所有车辆的历史轨迹和特殊位置点信息以及相应的车辆信息；控制指令子系统主要用来根据当前车辆行驶状态，如：进出停车场、停车场内碰撞异常等，按照预先设计好的指令系统下发相应的控制指令到停车本地系统；数据处理子系统用于主要用于对所有停车场内的停车历史轨迹数据、进出时间点、车辆异常状态数据，按照设定好的规则，从时间维和空间维进行分类存储，以便后期查询索引；数据转发子系统用于将证据信息发送给停车场管理方和相应交警执法部门，同时将交通事故事件、地点、参考处理结果、处理时效以及相应管理、执法部门的咨询电话，以APP消息、短信或自动语音电话的形式通知肇事车辆和被撞车辆车主。
高精度室内定位系统的定位标签用于实时测定自身附近基站的距离以便进一步实时定位；定位基站用于配合定位标签实时测定标签与附近定位基站的距离，负责通过无线通道获取定位标签的测距信息并进一步通过本地网络传输至位置解析服务器，同时负责转发上位机系统下发的标签固件升级、定位频率设定等参数到相应标签；数据通讯中继用于将基站上传的实时测距信息发送至位置解析服务器，同时实现从位置解析服务器下发的标签固件升级、定位频率设定等参数；位置解析服务器用于根据标签与基站之间的实时测距信息，进一步按照预先标定的室内坐标系统给出相应标签的实时位置点坐标，实现实时定位。
视频监控系统的视频处理系统后台用于配合高精度室内定位系统，接收来自云服务后台的控制指令，通过特定位置点调用附近摄像头获取现场影像信息，并与位置点以及标签ID信息关联存储到本地和云端，以便后期溯源追责快速查询索引。视频监控系统还包括机械旋转云台，用于驱动高清摄像机对准事故位置。
本发明通过在现有无人值守停车场部署高精度室内定位系统，借助原有的视频监控和闸道控制系统，针对大型地下停车场内的监控死角、盲区肇事车辆逃逸现象，提出一种通过室内历史轨迹还原、车位虚拟电子围栏以及基于位置点关联视频安防系统采集相应肇事车辆影像信息，根据历史轨迹和时间还原肇事现场，完成整个事故的证据信息采集和证据链闭合，自动报送给停车场管理部门和上级执法部门，并以APP消息、短信、语音电话等形式将事故信息发送至肇事和被撞车辆车主手机上，自动完成地下停车场内的交通肇事预处理，最大限度降低广大人民的生命财产安全，提升了无人值守停车场的 管理和出行效率；规避了传统依赖人工监控、管理的主观臆断和徇私舞弊等弊端，保证证据信息的客观公正和法律的公平。对不良驾驶行为、恶意肇事逃逸的侥幸车主构成一种无形威慑，倡导文明有序的智能化停车环境。

Claims (10)

  1. 一种基于高精度室内定位技术的停车场交通事故溯源系统，其特征在于，包括室内定位系统、视频监控系统以及云服务后台；
    室内定位系统首先对停车场内的所有已占用车位根据定位信息设定虚拟电子围栏；当闸道进口处有车辆进入停车场时，配发定位标签，通过进场车辆上的定位标签实时记录车辆的行驶轨迹，当行驶轨迹点侵入其它车辆已停车位的虚拟电子围栏范围内时，云服务后台通过异常事件驱动锁定相应的定位标签并关联车牌号信息；云服务后台触发主动报警，视频监控系统基于位置点调取附近的摄像头，远程自动抓取图片、视频信息；云服务平台基于定位标签、车牌号信息关联肇事车辆的停车场内的历史轨迹以及进出停车场的图像信息和时间信息，打包完成证据信息采集，在本地服务器和云端服务器备份存储，并按照系统设定自动发送给停车场管理方和交警执法部门。
  2. 根据权利要求1所述的基于高精度室内定位技术的停车场交通事故溯源系统，其特征在于，所述虚拟电子围栏以单个车位为标准范围。
  3. 根据权利要求1所述的基于高精度室内定位技术的停车场交通事故溯源系统，其特征在于，室内定位系统包括定位标签、定位基站、数据通讯中继和相应的位置解析服务器；
    定位标签用于实时测定自身附近基站的距离；定位基站用于配合定位标签实时测定标签与附近定位基站的距离，通过无线通道获取定位标签的测距信息并通过数据通讯中继传输至位置解析服务器；位置解析服务器用于根据定位标签与基站之间的实时测距信息，按照预先标定的室内坐标系统给出相应标签的实时位置点坐标。
  4. 根据权利要求3所述的基于高精度室内定位技术的停车场交通事故溯源系统，其特征在于，所述室内定位系统的定位精度为10cm。
  5. 根据权利要求3所述的基于高精度室内定位技术的停车场交通事故溯源系统，其特征在于，室内定位系统内嵌加速度和角速度传感器，当目标车辆的加速度或角速度变化值超过设定阈值，向云服务后台发送状态异常提醒。
  6. 根据权利要求1所述的基于高精度室内定位技术的停车场交通事故溯源系统，其特征在于，云服务后台将交通事故事件、地点、参考处理结果、处理时效以及相应管理、执法部门的咨询电话，以APP消息、短信或自动语音电话的形式通知肇事车辆和被撞车辆车主。
  7. 根据权利要求6所述的基于高精度室内定位技术的停车场交通事故溯源系统， 其特征在于，所述云服务后台包括数据存储子系统、控制指令子系统、数据处理子系统和数据转发子系统，数据存储子系统用于存储所有车辆的历史轨迹和交通事故位置点信息以及相应的车辆信息；控制指令子系统用于根据当前车辆行驶状态，下发相应的控制指令到视频监控系统；数据处理子系统用于对所有停车场内的停车历史轨迹数据、进出时间点、车辆异常状态数据，按照设定好的规则，从时间维和空间维进行分类存储；数据转发子系统用于将证据信息发送给停车场管理方和相应交警执法部门，同时将交通事故事件、地点、参考处理结果、处理时效以及相应管理、执法部门的咨询电话，以APP消息、短信或自动语音电话的形式通知肇事车辆和被撞车辆车主。
  8. 根据权利要求1所述的基于高精度室内定位技术的停车场交通事故溯源系统，其特征在于，视频监控系统包括摄像头、数据通讯中继、视频处理系统后台；视频处理系统后台用于配合室内定位系统，接收来自云服务后台的控制指令，通过交通事故位置点调用附近摄像头获取现场影像信息，并与交通事故位置点以及标签ID信息关联存储到本地和云端。
  9. 根据权利要求8所述的基于高精度室内定位技术的停车场交通事故溯源系统，其特征在于，视频监控系统还包括机械旋转云台，用于驱动高清摄像机对准事故位置。
  10. 一种基于权利要求1-9任意一项所述系统的停车场交通事故溯源方法，其特征在于，包括以下步骤：
    室内定位系统对停车场内的所有已占用车位根据定位信息设定虚拟电子围栏；
    当闸道进口处有车辆进入停车场时，无人值守装置配发定位标签，进入车库并由云服务后台自动指派就近空车位，通过进场车辆上的定位标签实时记录车辆的行驶轨迹；
    当行驶车辆在行进过程或者泊车过程中，行驶轨迹点侵入其它车辆已停车位的虚拟电子围栏范围内时，云服务后台通过异常事件驱动锁定相应的定位标签并关联车牌号信息；云服务后台触发主动报警，视频监控系统基于位置点调取附近的摄像头，远程自动抓取图片、视频信息；
    云服务后台基于定位标签、车牌号信息关联肇事车辆的停车场内的历史轨迹以及进出停车场的图像信息和时间信息，打包完成证据信息采集，在本地服务器和云端服务器备份存储；最后按照系统设定自动发送给停车场管理方和相应交警执法部门。
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