WO2020211691A1

WO2020211691A1 - Vehicle monitoring method, apparatus, device and system

Info

Publication number: WO2020211691A1
Application number: PCT/CN2020/083869
Authority: WO
Inventors: 张民英; 神克乐; 邵斌; 段洪涛; 邓耀; 尹宁; 陶永亮; 罗日健; 庄耀; 林达; 汪亮; 杜浔; 龙一民
Original assignee: 阿里巴巴集团控股有限公司
Priority date: 2019-04-17
Filing date: 2020-04-09
Publication date: 2020-10-22
Also published as: CN111833637A

Abstract

A vehicle monitoring method, apparatus, device and system. The system comprises: a server, a first camera at an entrance, a second camera having a photographing range covering at least a first barrier gate, and a third camera having a photographing range covering a plurality of parking spaces. The first camera detects, in an acquired image, a license plate number of an incoming vehicle, and sends the license plate number to the server. The server sends a first notification message containing the license plate number to the second camera, determines parking space recommendation information according to images acquired by the second camera and the third camera, and notifies the vehicle of the parking space recommendation information. The second camera detects, from the acquired images, the vehicle located at the first barrier gate, and associates the license plate number with the vehicle and tracks the vehicle. The third camera tracks the vehicle according to the homography matrix between cameras. If the camera detects that the vehicle is stopped at a target parking space, a second notification message indicating a parking position of the vehicle is sent to the server to guide the parking of the vehicle.

Description

Vehicle monitoring method, device, equipment and system

This application claims the priority of the Chinese patent application filed on April 17, 2019 with the application number 201910310436.3 and the invention title "Vehicle monitoring method, device, equipment and system", the entire content of which is incorporated into this application by reference.

Technical field

The present invention relates to the field of Internet technology, and in particular to a vehicle monitoring method, device, equipment and system.

Background technique

With the improvement of people's economic level, more and more people choose to travel by car, and the growth rate of the number of vehicles on the road is rapidly increasing. The accompanying problem is parking. In order to meet people's parking needs, various indoor and outdoor parking lots have been established.

In order to meet the parking needs of the general public, many parking spaces will be set up in the parking lot. At present, in order to facilitate users to park, detectors such as infrared, ultrasonic, geomagnetism, etc. are installed in each parking space to detect whether there is a vehicle parked in the corresponding parking space, thereby guiding users who need to park to go to Free parking spaces for parking. Deploying detectors in each parking space will cost a lot in terms of cost, wiring, and data processing.

Summary of the invention

The embodiments of the present invention provide a vehicle monitoring method, device, equipment, and system to realize intelligent management of vehicles entering a parking lot.

In the first aspect, an embodiment of the present invention provides a vehicle monitoring system, including:

The server, corresponding to the first barrier in the direction of entry, is deployed at the first barrier and used to photograph the first camera of the entering vehicle, and the shooting range covers at least the first of the preset range at the first barrier A second camera, and a third camera whose shooting range covers multiple parking spaces; the overall shooting range of the second camera and the multiple third cameras covers the parking lot;

The first camera is configured to detect the license plate number of the driving-in vehicle in the collected image, and send the license plate number to the server;

The server is configured to send a first notification message containing the license plate number to the second camera, and determine parking space recommendation information according to the current images collected by the second camera and the multiple third cameras , Notify the vehicle of the parking space recommendation information;

The second camera is configured to detect the vehicle located at the first barrier in the collected image in response to the first notification message, associate the license plate number for the vehicle, and Track the vehicle;

The third camera is configured to track the vehicle according to a predetermined homography matrix between cameras;

The second camera and the third camera are further configured to send a second notification message to the server if it is detected that the vehicle has parked in a target parking space, and the second notification message includes the license plate number And the identification of the target parking space.

In the second aspect, an embodiment of the present invention provides a vehicle monitoring system, including:

The server, corresponding to the barrier gate in the driving direction, is deployed at the barrier gate and used to photograph the first camera of the entering vehicle, and the shooting range covers multiple second cameras in the parking lot. Among the multiple second cameras The shooting range of at least one second camera covers the preset range at the barrier, and adjacent second cameras have overlapping areas;

The first camera is configured to detect the license plate number of the entering vehicle in the collected image, and send the license plate number to the server;

The server is configured to send a first notification message containing the license plate number to the at least one second camera, so that the at least one second camera detects the entering vehicle in the collected images, and is The vehicle entering the vehicle is associated with the license plate number;

The multiple second cameras are used to track the entering vehicle, and when detecting that the entering vehicle has stopped at the target parking space, send a second notification message to the server, and the second The notification message includes the license plate number and the identification of the target parking space.

In a third aspect, an embodiment of the present invention provides a vehicle monitoring method applied to a server, and the method includes:

Receiving the license plate number of the entering vehicle sent by the first camera, the first camera being deployed at the first barrier in the entering direction of the parking lot;

Sending a first notification message containing the license plate number to a second camera, so that after the second camera detects the entering vehicle in the collected images, it associates the entering vehicle with the license plate number; The shooting range of the second camera at least covers a preset range outside the first barrier;

Receive a second notification message sent by the second camera or the third camera, where the second notification message includes the license plate number and the identifier of the target parking space where the incoming vehicle stops; wherein, the third camera The shooting range of covers multiple parking spaces, and the second camera and the third camera track the entering vehicle to determine the identification of the target parking space.

In a fourth aspect, an embodiment of the present invention provides a vehicle monitoring device, including:

A receiving module, configured to receive the license plate number of the entering vehicle sent by the first camera, the first camera being deployed at the first barrier in the entering direction of the parking lot;

The sending module is configured to send a first notification message containing the license plate number to a second camera, so that after the second camera detects the entering vehicle in the collected images, it is associated with the entering vehicle The license plate number; the shooting range of the second camera covers at least a preset range outside the first barrier;

The receiving module is further configured to receive a second notification message sent by the second camera or the third camera, where the second notification message includes the license plate number and the identification of the target parking space where the incoming vehicle stops Wherein, the shooting range of the third camera covers multiple parking spaces, and the second camera and the third camera track the entering vehicle to determine the identification of the target parking space.

In a fifth aspect, an embodiment of the present invention provides an electronic device, including: a first memory and a first processor; wherein executable code is stored in the first memory, and when the executable code is When the processor is executed, the first processor can at least implement the vehicle monitoring method described in the third aspect.

The embodiment of the present invention provides a non-transitory machine-readable storage medium having executable code stored on the non-transitory machine-readable storage medium, and when the executable code is executed by a processor of an electronic device, The processor can at least implement the vehicle monitoring method described in the third aspect.

In a sixth aspect, an embodiment of the present invention provides a vehicle monitoring method applied to a server, and the method includes:

Receiving the license plate number of the entering vehicle sent by the first camera, the first camera being deployed at the barrier of the entering direction of the parking lot;

Sending a first notification message containing the license plate number to a second camera, so that after the second camera detects the entering vehicle in the collected images, it associates the entering vehicle with the license plate number; The shooting range of the second camera covers the preset range outside the barrier and each parking space in the parking lot;

Receive a second notification message sent by the second camera, where the second notification message includes the license plate number and the identification of the target parking space where the incoming vehicle parks, wherein the second camera responds to the driving Enter the vehicle for tracking to determine the identification of the target parking space.

In a seventh aspect, an embodiment of the present invention provides a vehicle monitoring device, including:

The receiving module is configured to receive the license plate number of the entering vehicle sent by the first camera, the first camera being deployed at the barrier of the entering direction of the parking lot;

The sending module is configured to send a first notification message containing the license plate number to a second camera, so that after the second camera detects the entering vehicle in the collected images, it is associated with the entering vehicle The license plate number; the shooting range of the second camera covers the preset range outside the barrier and each parking space in the parking lot;

The receiving module is further configured to receive a second notification message sent by the second camera, the second notification message including the license plate number and the identification of the target parking space where the incoming vehicle parks, wherein The second camera tracks the entering vehicle to determine the identification of the target parking space.

In an eighth aspect, an embodiment of the present invention provides an electronic device, including: a second memory and a second processor; wherein executable code is stored in the second memory, and when the executable code is When the processor is executed, the second processor is caused to execute the vehicle monitoring method described in the sixth aspect.

It can be seen from the above scheme that in order to realize parking guidance for vehicles in the parking lot, it is only necessary to deploy the first camera to detect entering vehicles at the first gate of the entrance and a small number of cameras to monitor the overall situation of the parking lot at high altitude. (That is, the above-mentioned second camera and third camera). Specifically, when the first camera detects that a vehicle has entered, it detects the license plate number of the vehicle in the collected images, and then informs the server. The server further informs the second camera covering the first barrier to lock and track the incoming vehicle, and the server recognizes the currently free parking spaces in the parking lot based on the images currently collected by the second camera and the third camera, In order to recommend a parking space for the entering vehicle to realize parking guidance for the vehicle. Based on the notification from the server, the second camera recognizes the vehicle at the first barrier in the currently captured image, which is the current vehicle, and compares the license plate number recognized by the first camera with the image captured by itself The vehicle in the link is associated, so that the second camera knows the license plate number of the currently entering vehicle. If the incoming vehicle moves within the shooting range of the second camera, the second camera can track the vehicle, and if the vehicle moves out of the shooting range of the second camera and enters the shooting range of a third camera Range, then the third camera can obtain the license plate number of the vehicle based on the homography matrix between the third camera and the second camera, so that the third camera can also track the vehicle within its own shooting range. If at a certain moment, a camera (may be the second camera or the third camera) finds that the vehicle has entered a certain parking space, then the camera sends the vehicle's license plate number and the parking space identification to the server , So that the server records the parking information of the vehicle, so that subsequent users can query the location of the vehicle.

In summary, in the embodiment of the present invention, only a few cameras with a wide shooting range (at least covering multiple parking spaces) need to be deployed to realize the functions of parking guidance, vehicle tracking, and parking position recording of the vehicle. Simple to implement and low cost.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is a schematic diagram of the composition of a vehicle monitoring system provided by an embodiment of the present invention;

2 is a schematic diagram of the working process of a vehicle monitoring system provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of a camera coverage scenario for a parking lot provided by an embodiment of the present invention;

4 is a flowchart of a vehicle monitoring method provided by an embodiment of the present invention;

Figure 5 is a flowchart of another vehicle monitoring method provided by an embodiment of the present invention;

6 is a schematic diagram of the composition of another vehicle monitoring system provided by an embodiment of the present invention;

FIG. 7 is a flowchart of another vehicle monitoring method provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram of a principle of identifying a vehicle contact phenomenon according to an embodiment of the present invention;

FIG. 9 is a flowchart of another vehicle monitoring method provided by an embodiment of the present invention;

10 is a schematic structural diagram of a vehicle monitoring device provided by an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of electronic equipment corresponding to the vehicle monitoring device provided by the embodiment shown in FIG. 10;

FIG. 12 is a schematic structural diagram of another vehicle monitoring device provided by an embodiment of the present invention;

FIG. 13 is a schematic structural diagram of an electronic device corresponding to the vehicle monitoring device provided in the embodiment shown in FIG. 12.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms of "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, "multiple" Generally contains at least two.

Depending on the context, the words "if" and "if" as used herein can be interpreted as "when" or "when" or "in response to determination" or "in response to detection". Similarly, depending on the context, the phrase "if determined" or "if detected (statement or event)" can be interpreted as "when determined" or "in response to determination" or "when detected (statement or event) )" or "in response to detection (statement or event)".

It should also be noted that the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a commodity or system that includes a series of elements not only includes those elements, but also includes those elements that are not explicitly listed. Other elements of, or also include elements inherent to this commodity or system. If there are no more restrictions, the element defined by the sentence "includes a..." does not exclude the existence of other identical elements in the commodity or system that includes the element.

In addition, the sequence of steps in the following method embodiments is only an example, and is not strictly limited.

Figure 1 is a schematic diagram of the composition of a vehicle monitoring system provided by an embodiment of the present invention. As shown in Figure 1, the vehicle monitoring system includes:

A server, corresponding to the first barrier in the direction of entry, a first camera deployed at the first barrier for shooting entering vehicles, and the shooting range at least covers the second camera with a preset range at the first barrier, and A third camera covering multiple parking spaces.

Among them, the above-mentioned server may be a server deployed locally in the parking lot, or a server located in the cloud, or both. When both are used, optionally, the local server can be used to receive information sent by locally deployed devices, such as cameras, and send the received information to a server in the cloud for processing.

In fact, the overall shooting range of the second camera and the multiple third cameras covers the parking lot.

In this embodiment, the above-mentioned parking lot may be an outdoor parking lot. Of course, some indoor parking lots may also be applicable.

This embodiment mainly introduces the scene of guiding the vehicle to enter the parking lot.

In order to realize the parking guidance function for vehicles, the first camera used to take pictures of entering vehicles is deployed at the first barrier at the entrance of the parking lot. The first camera may have a communication module to realize a communication connection with the server.

In addition to the first camera, at a suitable location in the parking lot, one or more cameras that can monitor the entire parking lot are also deployed, that is, the second camera and the third camera described above.

In the outdoor parking lot scene, a higher support pole can be erected at a suitable position in the parking lot, and a camera can be placed on the support pole to form the above-mentioned second camera or third camera. In addition, the combination of the second camera and the third camera Adjusting the angle of the field of view can enable the second camera and the third camera to have a wider shooting range, such as covering multiple parking spaces. In this way, in fact, it is generally only necessary to deploy cameras far less than the number of parking spaces at high altitudes to form full coverage of the parking lot.

That is to say, in the embodiment of the present invention, in addition to the cameras deployed at the barriers of the parking lot, other cameras covering scenes in the parking lot, such as the second camera and the third camera, are deployed at higher positions, much higher than The cameras deployed at the barriers are like the first camera.

It is worth noting that in a special situation, the aforementioned third camera may not exist in the parking lot, that is, only the first camera and the second camera are deployed. For example, if the parking lot is very small, or the shooting range of the second camera covers the entire parking lot, the third camera does not need to be deployed at this time. In addition, it is also possible to deploy only one third camera. In this case, one second camera and one third camera can achieve full coverage of the parking lot.

In a more common application scenario, a second camera can be deployed (of course, more than one second camera can also be deployed) to cover at least the preset range outside the first barrier. Of course, the second camera covers the preset Outside the scope, it can also cover multiple parking spaces or other areas in the parking lot. The reason for deploying a second camera covering the preset range at the first barrier is to lock the vehicle at the entrance when a vehicle intends to enter the parking lot.

The locking of a vehicle means that when a vehicle enters the field of view of the second camera, the second camera can identify the vehicle in the captured image and associate the vehicle with a unique identifier—the license plate number.

However, because the second camera has a high deployment position and a large shooting range, it is more difficult to identify the license plate number of the currently approaching vehicle in the image collected by the second camera. To this end, a solution is provided to assist the second camera to obtain the license plate number of the vehicle through the first camera at the first barrier.

In an optional embodiment, the roles of the first camera, the second camera, the third camera, and the server in the parking guidance process may be:

The first camera is used to detect the license plate number of the approaching vehicle in the collected images and send the license plate number to the server.

The server is configured to send a first notification message containing the license plate number to the second camera, and determine the parking space recommendation information according to the respective images currently collected by the second camera and the multiple third cameras, and notify the parking space recommendation information to the vehicle.

The second camera is used to respond to the first notification message to detect a vehicle located at the first barrier in the collected image, associate the vehicle with the license plate number, and track the vehicle.

The third camera is used to track the vehicle according to a predetermined homography matrix between cameras.

The second camera and the third camera are also used to send a second notification message to the server if it is detected that the vehicle has stopped at the target parking space. The second notification message includes the license plate number and the identification of the target parking space.

The detailed working process of the first camera, the second camera, the third camera, and the server in the parking guidance process in the above embodiment will be described below in conjunction with FIG. 2.

FIG. 2 is a schematic diagram of the working process of a vehicle monitoring system provided by an embodiment of the present invention. As shown in FIG. 2, it may include the following steps:

201. The first camera detects the license plate number of the approaching vehicle in the collected image.

202. The first camera sends the recognized license plate number to the server.

The first camera continues to capture images, and detects whether there is a vehicle that wants to enter the parking lot in the currently captured image. When it detects that there is an entering vehicle in the captured image, it further identifies the entry of the vehicle. number plate. Among them, the method of vehicle and license plate number recognition can adopt the method in the prior art. When the license plate number of the entering vehicle is recognized, the license plate number is sent to the server.

203. The server sends a first notification message containing the license plate number of the vehicle to the second camera.

204. The server controls the opening of the first barrier.

205. The server determines the parking space recommendation information according to the images currently collected by the second camera and the multiple third cameras, and notifies the parking space recommendation information to the vehicle.

After the server receives the license plate number sent by the first camera, on the one hand, it sends the first notification message containing the license plate number to the second camera. On the other hand, it can control the opening of the first barrier to allow the vehicle to enter. On the one hand, in order to realize parking guidance for the entering vehicle, the server also needs to determine the free parking space in the current parking lot, so as to provide parking space recommendation information for the entering vehicle.

Among them, the determination of the parking space recommendation information can be achieved in the following ways:

According to the homography matrix between the cameras, splice the images collected by the second camera and multiple third cameras at the same time, determine the free parking space from the spliced images, and determine the parking space recommendation information according to the free parking space .

In practical applications, in order to achieve full coverage of the parking lot, the second camera and the multiple third cameras often have a certain overlap area between the two adjacent cameras, such as the second camera shown in Figure 3 (Indicated by camera A) and a third camera (indicated by camera B), the respective shooting ranges have overlapping areas. The index for measuring the overlap area between cameras can be a homography matrix. Therefore, after the cameras are initially deployed, the homography matrix between the cameras can be calibrated.

The method of homography matrix calibration can adopt the method of the prior art. It is only emphasized here that when camera A and camera B have overlapping areas, taking camera A as an example, camera B and the homography matrix corresponding to camera B can be recorded in camera A and the server that have overlapping areas.

Based on this, taking Fig. 3 as an example, after the server obtains the images captured by camera A and camera B at the current moment, it learns the homography matrix between camera A and camera B according to the above-mentioned records. The matrix can realize the stitching of the images taken by the two cameras. Specifically, the image captured by camera A can be projected onto the image captured by camera B through the homography matrix to complete the image stitching.

The result of image splicing is the global image of the current parking lot, from which the server can identify free parking spaces. Specifically, the server only needs to identify whether there are vehicle characteristics in the image area corresponding to each parking space from the stitched image to realize the identification of the idle parking space.

After identifying the free parking spaces, the server can filter out the parking spaces closest to the currently entering vehicle from the free parking spaces, and generate parking space recommendation information corresponding to the selected parking spaces. The parking space recommendation information may be, for example, how many vacancies are in a certain area, etc.

It is understandable that when the server notifies the parking space recommendation information to the vehicle, it actually notifies the user corresponding to the vehicle, namely the driver.

In an optional embodiment, the vehicle monitoring system may further include: at least one guide screen, so that the server may display parking space recommendation information through the at least one guide screen, so as to implement parking guidance for the user.

Optionally, the vehicle can be guided to a certain free parking space by controlling the guide light on the path to a certain free parking space to flash or keep on.

Optionally, the parking space recommendation information can also be sent to the user's terminal device (such as a mobile phone) or a vehicle-mounted terminal. The parking space recommendation information can also be sent to the prompt terminal allocated to the user when the user enters the parking lot. Based on this, in practical applications, when the user arrives at the entrance of the parking lot by car, he can also collect or input user related information through the corresponding hardware device, such as the user’s mobile phone number, the identification of the prompt terminal assigned to the user, etc. The user information and the license plate number can be uploaded to the server together, so that the server can establish the corresponding relationship between the license plate number and the user information.

206. In response to the first notification message, the second camera detects a vehicle located at the first barrier in the collected image, associates the vehicle with the license plate number in the first notification message, and tracks the vehicle.

207. If the vehicle enters the overlapping area of the second camera and the third camera, the third camera obtains the license plate number of the vehicle from the second camera according to the homography matrix between the second camera and the collected image Middle is the vehicle's license plate number, and the vehicle is tracked.

Specifically, when the vehicle enters the overlapping area between the second camera and the third camera, for the third camera, since it has not obtained the license plate information of the vehicle before, in the image collected by the third camera, the The vehicle is not associated with license plate information. Therefore, when the third camera detects that the captured image contains a vehicle that has newly entered its shooting range and is not associated with a license plate number, it is determined that it needs to lock the vehicle and track the vehicle. At this time, the third camera determines the homography matrix corresponding to the vehicle based on the locally stored homography matrix (for example, the homography matrix with the second camera) and the first coordinate of the vehicle in the local coordinate system. Another camera (ie, the second camera) corresponds to the second coordinate, and then queries the license plate number of the vehicle corresponding to the second coordinate from the other camera, and then associates the license plate number for the vehicle in the local coordinate system.

208. If the third camera detects that the vehicle has parked at the target parking space, it sends a second notification message to the server. The second notification message includes the license plate number of the vehicle and the target parking space identifier.

In this embodiment, it is assumed that the third camera finds that the vehicle has entered a certain parking space in the process of tracking the above-mentioned vehicle, and this parking space is called the target parking space. Then the third camera and the identification of the target parking space The license plate number of the vehicle is sent to the server.

In practical applications, after the second camera and the third camera are deployed, their shooting range is fixed. Take the above-mentioned third camera as an example. After the deployment is completed, there are no vehicles parked in the parking lot. At this time, the third camera can be turned on to collect an image. At this time, the image contains each parking space within the shooting range of the third camera , The position coordinates of each parking space in the image can be determined, and the corresponding parking space identifier can be associated with each position coordinate, so that the third camera knows the position of each parking space within its coverage. Based on this, the third camera can learn the identification of the target parking space where the vehicle is parked.

209. The server generates a parking record, and the parking record includes a license plate number, a target parking spot identifier, and a parking start time.

Wherein, the parking start time may be the time when the server generates the parking record. The parking record can be used to calculate parking fees when the vehicle leaves the parking lot.

In summary, by deploying a small number of cameras at a higher position in the parking lot, and deploying cameras to detect incoming vehicles at the entrance barrier of the parking lot, through the linkage of the high-altitude camera and the camera at the entrance barrier, It can easily realize the parking guidance of the vehicle.

In the foregoing embodiment, it can be seen from steps 201-205 that the server can recommend parking space information for the vehicle when it enters the parking lot. The recommendation result at this time is obtained based on the current parking space availability in the parking lot. However, there is actually a situation where a certain parking space a is recommended for the vehicle at time T1, and at a certain time T2 a short time later, other vehicles in the parking lot leave another parking space b, and the parking space b Compared with the previous parking space a, it is closer to the vehicle that has entered. At this time, the server can update the parking space recommendation information sent to the vehicle and recommend parking space b to the vehicle.

Of course, it can be understood that the server performs splicing according to the images collected by the second camera and each third camera at time T2, and determines the free parking space b in the spliced images.

In the above embodiments, the server recommends parking spaces for incoming vehicles. In fact, in another optional embodiment, it is not necessary to recommend parking spaces for incoming vehicles. Drive into the vehicle to identify the parking space where it is parked. Based on the recognition result, the user can be guided to quickly locate the parking position of his vehicle when the user needs to leave the parking lot.

Accordingly, in this embodiment, the vehicle monitoring system may include:

The server, corresponding to the barrier gate in the direction of entry (that is, the first barrier in the previous article), is deployed at the barrier gate to capture the first camera of the entering vehicle, and the shooting range covers multiple second cameras in the parking lot. Wherein, the shooting range of at least one second camera among the plurality of second cameras covers a preset range at the barrier, and adjacent second cameras have overlapping areas.

It can be understood that the camera whose shooting range does not cover the preset range outside the barrier gate among the plurality of second cameras is the third camera in the foregoing embodiment.

In this embodiment, the functions of the above components are as follows:

The first camera is used to detect the license plate number of the entering vehicle in the collected images and send the license plate number to the server.

The server is configured to send a first notification message containing the license plate number to the at least one second camera, so that the at least one second camera detects an entering vehicle in the collected images, and associates the license plate with the entering vehicle number.

A plurality of second cameras are used to track the entering vehicle, and when it is detected that the entering vehicle has stopped at the target parking space, a second notification message is sent to the server. The second notification message includes the license plate number and the target parking space Bit identification.

Wherein, the process of multiple cameras tracking the entering vehicle can refer to the description in the foregoing embodiment, which is not repeated here.

FIG. 4 is a flowchart of a vehicle monitoring method provided by an embodiment of the present invention, which may be executed by the server in the foregoing embodiment. As shown in FIG. 4, the method may include the following steps:

401. Receive the license plate number of the entering vehicle sent by the first camera, and the first camera is deployed at the first barrier in the entering direction of the parking lot.

402. Send a first notification message containing the license plate number to the second camera, so that after the second camera detects an entering vehicle in the collected images, it associates the entering vehicle with the license plate number; the shooting range of the second camera is at least Cover the preset range outside the first barrier.

403. Receive a second notification message sent by the second camera or the third camera, where the second notification message includes the license plate number and the identification of the target parking space where the incoming vehicle stops; wherein the shooting range of the third camera covers multiple parking spaces , The second camera and the third camera track the incoming vehicle to determine the identification of the target parking space.

FIG. 5 is a flowchart of another vehicle monitoring method provided by an embodiment of the present invention, which may be executed by the server in the foregoing embodiment. As shown in FIG. 5, the method may include the following steps:

501. Receive the license plate number of the entering vehicle sent by the first camera, and the first camera is deployed at the first barrier in the entering direction of the parking lot.

502. Send a first notification message containing the license plate number to the second camera, so that the second camera detects an entering vehicle in the collected images, and associates the entering vehicle with the license plate number; the shooting range of the second camera is at least Cover the preset range outside the first barrier.

503. Determine parking space recommendation information according to the images currently collected by the second camera and the third camera, and notify the parking space recommendation information to the incoming vehicle, where the shooting range of the third camera covers multiple parking spaces.

Specifically, the server can determine the parking space recommendation information according to the following methods: according to the homography matrix between the cameras, splicing the images collected by the second camera and the third camera at the same time; determining the free ones from the spliced images Parking space; according to the free parking space to determine the recommended parking space.

Among them, the server can notify the parking space recommendation information to the incoming vehicle in the following manner:

The parking space recommendation information is displayed through at least one guide screen, or the parking space recommendation information is sent to the user terminal corresponding to the entering vehicle.

In addition, optionally, after the server sends the aforementioned parking space recommendation information to the entering vehicle, if at a certain time, it can determine the free parking space closer to the entering vehicle from the stitched image corresponding to that time. Then the parking space recommendation information is updated according to the closer free parking space, and the updated parking space recommendation information is sent to the incoming vehicle.

504. Receive a second notification message sent by the second camera or the third camera, where the second notification message includes the license plate number and the identification of the target parking space where the entering vehicle is parked, where the second camera and the third camera pair the entering vehicle Perform tracking to determine the identity of the target parking spot.

For the detailed execution process of the server in the embodiments shown in FIG. 4 to FIG. 5, reference may be made to the description in the foregoing related embodiments, which is not repeated here.

Based on the foregoing embodiment, it is possible to realize the identification of the parking space where the entering vehicle stops in the parking lot. The following describes the process of the vehicle leaving the parking lot in conjunction with the following embodiments.

In an optional embodiment, the user may send a vehicle query request to the server through the query device, assuming that the vehicle query request includes the license plate number of the vehicle that has entered in the foregoing. After receiving the query request, the server determines the identifier of the target parking space corresponding to the license plate number, and outputs the identifier of the target parking space or the navigation route to the target parking space to the query device. Among them, as mentioned above, the server records the correspondence between the license plate number of the vehicle and the target parking space. Based on this, the server can query and obtain the identification of the target parking space.

Based on this, as shown in Figure 6, the vehicle monitoring system may also include a query device.

In actual applications, the aforementioned query device may be a terminal device of a user corresponding to the vehicle, or may also be a terminal device deployed in a parking lot.

In other words, the user can install the client provided by the parking lot in his mobile phone, or there is a startup item of a small program provided by the parking lot in the mobile phone, so that he can enter his license plate number in the client or the small program To query the location of his vehicle.

Alternatively, a public query terminal may be provided in the parking lot, and each user may enter his license plate number in the query terminal to query the location of his vehicle.

When the query device is implemented as the user's own terminal device, the starting point of the above-mentioned navigation route is determined according to the positioning information of the user's terminal device. The positioning information can be obtained through the positioning module (such as a GPS module) in the user's terminal device. . At this time, the current location of the user is included in the query request.

When the query device is implemented as a public query terminal device installed in a parking lot, the starting point of the navigation route is the location of the public query terminal device. The server may pre-store the location information, or the location information may be based on the public query in advance. Obtained by a positioning module (such as a GPS module) deployed at the terminal device. Of course, when the shooting range of the second camera or the third camera covers the public query terminal device, the location information of the public query terminal device may also be determined based on the analysis of the collected images of the public query terminal device.

In addition, it is worth noting that when the query device is implemented as a public query terminal device installed in the parking lot, the navigation route can be sent to the public query device, and for the convenience of the user, the navigation route can also be sent to the user’s In the terminal equipment. The identification information of the user’s terminal equipment can be a mobile phone number, etc., when the user drives into the parking lot, the corresponding relationship between the user’s terminal equipment identification and the license plate number can be obtained, thus, based on the user’s terminal equipment identification that has been obtained, The navigation route is sent to the user's terminal device.

In addition, in an optional embodiment, when the parking lot is a paid parking lot, the server also needs to calculate the parking fee. Specifically, the server determines the parking fee according to the parking duration of the vehicle, sends the parking fee to the query device for the user to pay the fee, and when the user completes the payment of the parking fee, the payment completion mark can be associated with the license plate number.

Correspondingly, as shown in FIG. 6, the vehicle monitoring system further includes: a second barrier corresponding to the driving direction and a fourth camera deployed at the second barrier for photographing the exiting vehicle.

Wherein, when the user drives the vehicle to the second barrier located at the exit, if the fourth camera detects the license plate number of the driving out vehicle in the collected image, it sends the detected license plate number to the server. When the server determines that the license plate number has been associated with a payment completion mark, it controls the second barrier to open so that the vehicle can drive out.

FIG. 7 is a flowchart of another vehicle monitoring method provided by an embodiment of the present invention, which may be executed by the server in the foregoing embodiment. On the basis of the embodiment shown in FIG. 4 or FIG. 5, based on the result that the server obtains the identification of the target parking space where the incoming vehicle finally stops, the query processing logic shown in FIG. 7 may also be included, which may specifically include the following step:

701. Receive a vehicle query request sent by the query device, where the vehicle query request includes a license plate number.

702. Determine the identification of the target parking space corresponding to the license plate number.

703. Determine the parking fee according to the parking time of the entering vehicle.

704. Output the identification of the target parking space or the navigation route to the target parking space, and the parking fee to the query device.

705. If the payment of the parking fee is completed, the payment completion mark is associated with the license plate number.

706. Receive the license plate number sent by the fourth camera. The fourth camera is a camera deployed at the second barrier in the exit direction, and the fourth camera detects the license plate number of the entering vehicle in the collected images.

707. When it is determined that the license plate number has been associated with a payment completion mark, control the second barrier to open.

In this embodiment, the query device is a terminal device of a user corresponding to the entering vehicle, or the query device is a terminal device deployed in a parking lot.

For the detailed execution process of the server in the embodiment shown in FIG. 7 above, reference may be made to the description in the embodiment shown in FIG. 6, which is not repeated here.

The above describes the parking guidance and driving-off process of the vehicle based on the above-mentioned vehicle monitoring system. Based on the vehicle monitoring system, other behaviors of vehicles in the parking lot can also be recorded and identified. Since the second camera and the third camera continue to work, a global monitoring screen of the parking lot can be formed to record various behaviors of the vehicle.

In another optional embodiment, the server may also find that two cars are in contact in the parking lot, which often indicates that the two cars have collided or struck each other. The means to determine whether two vehicles are in contact are as follows:

Acquire the image collected by the target camera. If there are two vehicles in the image that meet the following conditions, it is determined that the two vehicles are in contact:

The ratio of the intersection area of the image areas corresponding to the two vehicles to the union area of the image areas corresponding to the two vehicles is greater than the preset value.

Wherein, the target camera is any one of the aforementioned second camera and third camera.

Among them, the meaning of the intersection area of the image areas corresponding to the two vehicles and the union area of the image areas corresponding to the two vehicles is as shown in FIG. 8. In Figure 8, the above ratio is represented by IoU.

In the foregoing embodiments, it is assumed to cover each parking space in the parking lot and the preset range outside the barrier at the entrance of the parking lot. Multiple cameras are required. However, in a practical application scenario, there may be only one The camera can cover the preset range outside the entrance barrier and the parking spaces in the parking lot. Suppose this camera is called the second camera. Then, in this scenario, the execution process of the vehicle monitoring method can be seen in FIG. 9.

FIG. 9 is a flowchart of another vehicle monitoring method provided by an embodiment of the present invention, which may be executed by the server in the foregoing embodiment. As shown in FIG. 9, it may specifically include the following steps:

901. Receive the license plate number of the entering vehicle sent by the first camera, and the first camera is deployed at a barrier in the entering direction of the parking lot.

902. Send a first notification message containing the license plate number to the second camera, so that after the second camera detects an entering vehicle in the collected images, it associates the license plate number for the entering vehicle, and the shooting range of the second camera covers the road. The preset range outside the gate and the parking spaces in the parking lot.

903. Receive a second notification message sent by the second camera, where the second notification message includes the license plate number and the identification of the target parking space where the entering vehicle is parked. The second camera tracks the entering vehicle to determine the target parking space. Logo.

It is understandable that, in addition to the above steps, the server can also execute processing procedures such as parking space recommendation and vehicle parking space query similar to those in the foregoing embodiment. For the detailed execution process, please refer to the introduction in the foregoing related embodiments. Repeat.

The vehicle monitoring device of one or more embodiments of the present invention will be described in detail below. Those skilled in the art can understand that these vehicle monitoring devices can all be configured using commercially available hardware components through the steps taught in this solution.

FIG. 10 is a schematic structural diagram of a vehicle monitoring device provided by an embodiment of the present invention. As shown in FIG. 10, the device includes: a receiving module 11 and a sending module 12.

The receiving module 11 is configured to receive the license plate number of the entering vehicle sent by the first camera, the first camera being deployed at the first barrier in the entering direction of the parking lot.

The sending module 12 is configured to send a first notification message containing the license plate number to a second camera, so that after the second camera detects the entering vehicle in the collected images, it associates the entering vehicle with The above license plate number; the shooting range of the second camera at least covers the preset range outside the first barrier.

The receiving module 11 is also configured to receive a second notification message sent by the second camera or the third camera, and the second notification message includes the license plate number and the information of the target parking space where the incoming vehicle stops. Identification; wherein the shooting range of the third camera covers multiple parking spaces, and the second camera and the third camera track the entering vehicle to determine the identification of the target parking space.

Optionally, the device may further include: a processing module, configured to determine parking space recommendation information according to the images currently collected by the second camera and the third camera; Position recommendation information is notified to the incoming vehicle.

Wherein, in the process of notifying the parking space recommendation information to the entering vehicle, the processing module may be specifically used to display the parking space recommendation information through at least one guide screen, or through the sending module 12 Send the parking space recommendation information to the user terminal corresponding to the entering vehicle.

Specifically, the processing module may determine the parking space recommendation information in the following manner: according to the homography matrix between the cameras, stitching the images collected by the second camera and the third camera at the same time; Determine free parking spaces from the stitched images; determine the parking space recommendation information according to the free parking spaces.

Optionally, the processing module may be further configured to: for a time after the parking space recommendation information is notified to the vehicle, if the distance to the driving distance is determined from the stitched image corresponding to the time When entering a free parking space that is closer to the vehicle, the parking space recommendation information is updated according to the more recent free parking space.

Optionally, the receiving module 11 is further configured to receive a vehicle query request sent by the query device, and the vehicle query request includes the license plate number. The processing module is also used to determine the identifier of the target parking space corresponding to the license plate number, and output the identifier of the target parking space to the query device through the sending module 12 or to go to the target parking Bit navigation route.

Wherein, the query device is a terminal device of the user corresponding to the entering vehicle, or the query device is a terminal device deployed in the parking lot.

Optionally, the processing module is further configured to determine the parking fee according to the parking duration of the entering vehicle, and send the parking fee to the query device through the sending module 12 for fee payment, if completed The payment of the parking fee is associated with the payment completion mark on the license plate number.

Optionally, the receiving module 11 is further configured to: receive the license plate number sent by a fourth camera, the fourth camera being a camera deployed at the second barrier in the exit direction, and the fourth camera is collecting The license plate number of the entering vehicle is detected in the image. The processing module is further configured to control the opening of the second barrier when it is determined that the license plate number has been associated with a payment completion mark.

Optionally, the processing module is further configured to: acquire an image collected by a target camera, and if there are two vehicles in the image that meet the following conditions, determine that the two vehicles are in contact:

The ratio of the intersection area of the image areas corresponding to the two vehicles to the union area of the image areas corresponding to the two vehicles is greater than a preset value; the target cameras are the second camera and the third camera. Any one of the cameras.

The device shown in FIG. 10 can execute each step executed by the server in the foregoing embodiment. For the detailed execution process and technical effects, please refer to the description in the foregoing embodiment, and will not be repeated here.

In a possible design, the structure of the communication device shown in FIG. 10 may be implemented as an electronic device, and the electronic device may be a server. As shown in FIG. 11, the electronic device may include: a first processor 21, a first Storage 22. Wherein, executable code is stored on the first memory 22, and when the executable code is executed by the first processor 21, the first processor 21 can at least implement the execution of the server in the foregoing embodiment The various steps.

Optionally, the electronic device may further include: a first communication interface 23 for communicating with other devices.

In addition, an embodiment of the present invention provides a non-transitory machine-readable storage medium having executable code stored on the non-transitory machine-readable storage medium, and when the executable code is executed by the processor of the above electronic device At this time, the processor can at least implement the steps executed by the above server.

FIG. 12 is a schematic structural diagram of another vehicle monitoring device provided by an embodiment of the present invention. As shown in FIG. 12, the device includes: a receiving module 31 and a sending module 32.

The receiving module 31 is configured to receive the license plate number of the entering vehicle sent by the first camera, and the first camera is deployed at a barrier in the entering direction of the parking lot.

The sending module 32 is configured to send a first notification message containing the license plate number to a second camera, so that after the second camera detects the entering vehicle in the collected images, it associates the entering vehicle with The license plate number above; the shooting range of the second camera covers the preset range outside the barrier and each parking space in the parking lot.

The receiving module 31 is further configured to receive a second notification message sent by the second camera, the second notification message including the license plate number and the identification of the target parking space where the incoming vehicle parks, wherein: The second camera tracks the entering vehicle to determine the identity of the target parking space.

The device shown in FIG. 12 can execute the steps executed by the server in the embodiment shown in FIG. 9. For the detailed execution process, please refer to the description in the foregoing embodiment, which will not be repeated here.

In a possible design, the structure of the communication device shown in FIG. 12 may be implemented as an electronic device, and the electronic device may be a server. As shown in FIG. 13, the electronic device may include: a second processor 41, a second Storage 42. Wherein, executable code is stored on the second memory 42, and when the executable code is executed by the second processor 41, the second processor 41 can at least implement the embodiment shown in FIG. 9 The various steps performed by the server.

Optionally, the electronic device may further include: a second communication interface 43 for communicating with other devices.

The vehicle monitoring method provided by the embodiments of the present invention can be executed by one or more programs/software, and the program/software can be provided by the network side. The cameras and servers mentioned in the foregoing embodiments can install the required programs/software. The software is downloaded to the local non-volatile storage medium, and when it needs to execute the aforementioned vehicle monitoring solution, the required program/software is read into the memory through the CPU, and then the program/software is executed by the CPU to realize the aforementioned For the implementation process of the vehicle monitoring solution provided in the embodiment, refer to the description in the foregoing vehicle monitoring system embodiment and the vehicle monitoring method embodiment shown in FIG. 2, FIG. 4, FIG. 5, FIG. 7, and FIG. 9.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

A vehicle monitoring system is characterized in that it comprises:

The server, corresponding to the first barrier in the direction of entry, is deployed at the first barrier and used to photograph the first camera of the entering vehicle, and the shooting range covers at least the first of the preset range at the first barrier A second camera, and a third camera whose shooting range covers multiple parking spaces; the overall shooting range of the second camera and the multiple third cameras covers the parking lot;

The first camera is configured to detect the license plate number of the driving-in vehicle in the collected image, and send the license plate number to the server;

The server is configured to send a first notification message containing the license plate number to the second camera, and determine parking space recommendation information according to the current images collected by the second camera and the multiple third cameras , Notify the vehicle of the parking space recommendation information;

The second camera is configured to detect the vehicle located at the first barrier in the collected image in response to the first notification message, associate the license plate number for the vehicle, and Track the vehicle;

The third camera is configured to track the vehicle according to a predetermined homography matrix between cameras;

The second camera and the third camera are further configured to send a second notification message to the server if it is detected that the vehicle has parked in a target parking space, and the second notification message includes the license plate number And the identification of the target parking space.
The system according to claim 1, wherein the server is further used for:

After sending the first notification message, control the opening of the first barrier.
The system according to claim 1, wherein the system further comprises: at least one guide screen;

The server is further configured to: display the parking space recommendation information through the at least one guide screen.
The system according to claim 1, wherein the server is further used for:

According to the homography matrix between the cameras, the images collected by the second camera and the multiple third cameras at the same time are spliced, the free parking space is determined from the spliced images, and the free parking space is determined according to the free parking space. The parking space recommendation information is determined.
The system according to claim 4, wherein the server is further used for:

For a time after the parking space recommendation information is notified to the vehicle, if a free parking space closer to the vehicle is determined from the stitched image corresponding to the time, then according to the closer Update the parking space recommendation information.
The system according to claim 1, wherein the third camera is specifically configured to detect a vehicle that is not associated with a license plate number in the collected image according to the locally stored homography matrix and the The first coordinate of the vehicle in the local coordinate system determines the second coordinate of the vehicle corresponding to another camera corresponding to the homography matrix, and the second coordinate corresponding to the second coordinate is queried from the other camera. The license plate number of the vehicle is associated with the license plate number for the vehicle in the local coordinate system.
The system according to claim 1, wherein the server is further used for:

Receive a vehicle query request sent by a query device, the vehicle query request includes the license plate number, determine the identification of the target parking space corresponding to the license plate number, and output the identification of the target parking space to the query device Or a navigation route to the target parking spot.
The system according to claim 7, wherein the query device is a terminal device of a user corresponding to the vehicle, or the query device is a terminal device deployed in the parking lot.
The system according to claim 7, wherein the server is further used for:

The parking fee is determined according to the parking duration of the vehicle, and the parking fee is sent to the query device for fee payment; if the payment of the parking fee is completed, a payment completion mark is associated with the license plate number.
The system according to claim 9, characterized in that the system further comprises: a second barrier corresponding to the driving direction and a fourth camera deployed at the second barrier for photographing the exiting vehicle;

The fourth camera is configured to detect the license plate number of the driving out vehicle in the collected image, and send the license plate number to the server;

The server is further configured to control the opening of the second barrier when it is determined that the license plate number has been associated with a payment completion mark.
The system according to any one of claims 1 to 10, wherein the server is further configured to:

Acquire the image collected by the target camera, and if there are two vehicles in the image that meet the following conditions, it is determined that the two vehicles are in contact:

The ratio of the intersection area of the respective image areas corresponding to the two vehicles to the union area of the respective image areas corresponding to the two vehicles is greater than a preset value;

The target camera is any one of the second camera and the plurality of third cameras.
A vehicle monitoring system is characterized in that it comprises:

The server, corresponding to the barrier gate in the driving direction, is deployed at the barrier gate and used to photograph the first camera of the entering vehicle, and the shooting range covers multiple second cameras in the parking lot. Among the multiple second cameras The shooting range of at least one second camera covers the preset range at the barrier, and adjacent second cameras have overlapping areas;

The first camera is configured to detect the license plate number of the entering vehicle in the collected image, and send the license plate number to the server;

The server is configured to send a first notification message containing the license plate number to the at least one second camera, so that the at least one second camera detects the entering vehicle in the collected images, and is The vehicle entering the vehicle is associated with the license plate number;

The multiple second cameras are used to track the entering vehicle, and when detecting that the entering vehicle has stopped at the target parking space, send a second notification message to the server, and the second The notification message includes the license plate number and the identification of the target parking space.
A vehicle monitoring method, characterized in that it is applied to a server, and the method includes:

Receiving the license plate number of the entering vehicle sent by the first camera, the first camera being deployed at the first barrier in the entering direction of the parking lot;

Sending a first notification message containing the license plate number to a second camera, so that after the second camera detects the entering vehicle in the collected images, it associates the entering vehicle with the license plate number; The shooting range of the second camera at least covers a preset range outside the first barrier;

Receive a second notification message sent by the second camera or the third camera, where the second notification message includes the license plate number and the identifier of the target parking space where the incoming vehicle stops; wherein, the third camera The shooting range of covers multiple parking spaces, and the second camera and the third camera track the entering vehicle to determine the identification of the target parking space.
The method of claim 13, wherein the method further comprises:

Determining the parking space recommendation information according to the images currently collected by the second camera and the third camera;

Notifying the parking space recommendation information to the entering vehicle.
The method according to claim 14, wherein said notifying said parking space recommendation information to said incoming vehicle comprises:

Display the parking space recommendation information through at least one guide screen, or,

The parking space recommendation information is sent to the user terminal corresponding to the entering vehicle.
The method according to claim 14, wherein the determining the parking space recommendation information according to the images currently collected by the second camera and the third camera respectively comprises:

Splicing the images respectively collected by the second camera and the third camera at the same time according to the homography matrix between the cameras;

Determine free parking spaces from the stitched images;

The parking space recommendation information is determined according to the free parking space.
The method of claim 16, wherein the method further comprises:

For a time after the parking space recommendation information is notified to the vehicle, if a free parking space that is closer to the entering vehicle is determined from the stitched image corresponding to the time, then according to the The more recent free parking space updates the parking space recommendation information.
The method according to any one of claims 14 to 17, wherein the method further comprises:

Receiving a vehicle query request sent by a query device, where the vehicle query request includes the license plate number;

Determining the identification of the target parking space corresponding to the license plate number;

Outputting the identification of the target parking space or the navigation route to the target parking space to the query device.
The method according to claim 18, wherein the query device is a terminal device of a user corresponding to the entering vehicle, or the query device is a terminal device deployed in the parking lot.
The method of claim 18, wherein the method further comprises:

Determine the parking fee according to the parking time of the entering vehicle;

Sending the parking fee to the query device for fee payment;

If the payment of the parking fee is completed, a payment completion mark is associated with the license plate number.
The method of claim 20, wherein the method further comprises:

Receive the license plate number sent by the fourth camera, the fourth camera is a camera deployed at the second barrier in the exit direction, and the fourth camera detects the entry of the entering vehicle in the collected images number plate;

When it is determined that the license plate number has been associated with a payment completion mark, the second barrier is controlled to open.
The method of claim 13, wherein the method further comprises:

Acquire the image collected by the target camera, and if there are two vehicles in the image that meet the following conditions, it is determined that the two vehicles are in contact:

The ratio of the intersection area of the respective image areas corresponding to the two vehicles to the union area of the respective image areas corresponding to the two vehicles is greater than a preset value;

The target camera is any one of the second camera and the third camera.
A vehicle monitoring device, characterized in that it comprises:

A receiving module, configured to receive the license plate number of the entering vehicle sent by the first camera, the first camera being deployed at the first barrier in the entering direction of the parking lot;

The sending module is configured to send a first notification message containing the license plate number to a second camera, so that after the second camera detects the entering vehicle in the collected images, it is associated with the entering vehicle The license plate number; the shooting range of the second camera covers at least a preset range outside the first barrier;

The receiving module is further configured to receive a second notification message sent by the second camera or the third camera, where the second notification message includes the license plate number and the identification of the target parking space where the incoming vehicle stops Wherein, the shooting range of the third camera covers multiple parking spaces, and the second camera and the third camera track the entering vehicle to determine the identification of the target parking space.
An electronic device, comprising: a memory and a processor; wherein executable code is stored in the memory, and when the executable code is executed by the processor, the processor is caused to execute The vehicle monitoring method described in any one of 13 to 22 is required.
A vehicle monitoring method, characterized in that it is applied to a server, and the method includes:

Receiving the license plate number of the entering vehicle sent by the first camera, the first camera being deployed at the barrier of the entering direction of the parking lot;

Sending a first notification message containing the license plate number to a second camera, so that after the second camera detects the entering vehicle in the collected images, it associates the entering vehicle with the license plate number; The shooting range of the second camera covers the preset range outside the barrier and each parking space in the parking lot;

Receive a second notification message sent by the second camera, where the second notification message includes the license plate number and the identification of the target parking space where the incoming vehicle parks, wherein the second camera responds to the driving Enter the vehicle for tracking to determine the identification of the target parking space.
A vehicle monitoring device, characterized in that it comprises:

The receiving module is configured to receive the license plate number of the entering vehicle sent by the first camera, the first camera being deployed at the barrier of the entering direction of the parking lot;

The sending module is configured to send a first notification message containing the license plate number to a second camera, so that after the second camera detects the entering vehicle in the collected images, it is associated with the entering vehicle The license plate number; the shooting range of the second camera covers the preset range outside the barrier and each parking space in the parking lot;

The receiving module is further configured to receive a second notification message sent by the second camera, the second notification message including the license plate number and the identification of the target parking space where the incoming vehicle parks, wherein The second camera tracks the entering vehicle to determine the identification of the target parking space.
An electronic device, comprising: a memory and a processor; wherein executable code is stored in the memory, and when the executable code is executed by the processor, the processor is caused to execute The vehicle monitoring method described in claim 25.