WO2021114046A1 - 一种停车位监测系统及方法 - Google Patents

一种停车位监测系统及方法 Download PDF

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Publication number
WO2021114046A1
WO2021114046A1 PCT/CN2019/124105 CN2019124105W WO2021114046A1 WO 2021114046 A1 WO2021114046 A1 WO 2021114046A1 CN 2019124105 W CN2019124105 W CN 2019124105W WO 2021114046 A1 WO2021114046 A1 WO 2021114046A1
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WIPO (PCT)
Prior art keywords
parking space
distance information
state
change trend
lidar
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PCT/CN2019/124105
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English (en)
French (fr)
Inventor
李欣
疏达
李�远
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北醒（北京）光子科技有限公司
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Application filed by 北醒（北京）光子科技有限公司 filed Critical 北醒（北京）光子科技有限公司
Priority to PCT/CN2019/124105 priority Critical patent/WO2021114046A1/zh
Publication of WO2021114046A1 publication Critical patent/WO2021114046A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas

Definitions

  • This application relates to a parking lot monitoring system and method, in particular to a parking space state monitoring system and method.
  • the disclosed embodiments of the present application provide a parking space monitoring method, including a plurality of laser radars, wherein the laser radar includes a light transmitter for transmitting detection to the parking space Light and determine the distance information from the lidar to the parking space; determine the change trend of at least two distance information; update the parking space state based on the change trend; wherein, based on the change trend, the distance information is increased, and the information is updated.
  • the parking space is an idle parking space; based on the change trend that the distance information decreases, the parking space is updated as an occupied parking space.
  • the disclosed embodiments of the present application provide a parking space monitoring system, including a plurality of lidars, wherein the lidar includes a light transmitter for emitting detection light to the parking space and determining based on reflection The distance information from the lidar to the parking space; a receiving module for receiving distance information; a calculation module for determining at least two change trends of the distance information; a judging module for updating the parking space based on the change trend State; wherein, the judgment module updates the parking space as a free parking space based on the change trend for the distance information to increase; the judgment module updates the distance information based on the change trend for the distance information to decrease Parking spaces are occupied spaces.
  • the embodiments of the present disclosure also disclose that the parking space monitoring system further includes an initialization module for initializing the parking space state; wherein the initialization module initializes the parking space state based on any of the following methods: Manual input to initialize the parking space state; initializing the parking space state based on a standard distance, wherein the automatically initializing the parking space state based on the standard distance includes determining the initial state of the parking space based on the distance information being greater than or equal to the standard distance It is an idle parking space; based on the distance information being less than the standard distance, it is determined that the initial state of the parking space is an occupied parking space.
  • the embodiment of the present disclosure further discloses that the parking space monitoring system further includes a guidance module, which is used to guide the vehicle based on the parking space state when the vehicle enters the parking lot.
  • an embodiment of the present disclosure also discloses a parking space monitoring system, including a plurality of lidars, wherein the lidar includes a light transmitter for emitting detection light to the parking space and determining based on reflection The distance information from the lidar to the parking space;
  • the cloud server which is connected to the multiple lidars, includes: a communication interface for receiving the distance information and sending instructions; a memory for storing the distance information; a processor, Used to determine the change trend of distance information, and update the parking space state based on the change trend; wherein, based on the change trend that the distance information increases, update the parking space as a free parking space; based on the change The trend is that the distance information decreases, and the parking space is updated as an occupied parking space.
  • Li also discloses a parking space monitoring method, including receiving the current distance information of the lidar; comparing the current distance information with the distance information of the previous frame to obtain a comparison result; based on the comparison result Update the parking space status; wherein, based on the comparison result that the current distance information is greater than the previous frame distance information, update the parking space status to be an idle parking space; based on the comparison result that the current distance information is less than the previous frame distance information, update The parking space is an occupied parking space.
  • the state of parking spaces in a parking lot can be effectively monitored, and vehicles entering the parking lot can be effectively guided based on the state of the parking spaces.
  • Fig. 1 is a diagram of a typical application scenario based on an embodiment of the present application
  • Fig. 2 is an exemplary block diagram of a parking space monitoring system architecture based on an embodiment of the present application
  • Fig. 3 is an exemplary block diagram of a function of a server based on an embodiment of the present application
  • Fig. 4 is an exemplary block diagram of hardware of a server based on an embodiment of the present application.
  • Fig. 5 is an exemplary work flow chart of a server based on an embodiment of the present application.
  • Fig. 6 is an exemplary work flow chart of a server based on an embodiment of the present application.
  • the embodiments of the present application provide a parking space monitoring system and method, so as to monitor the status of the parking space, so as to better control the real-time situation of the parking space in the parking lot and guide the vehicles entering the parking lot.
  • the parking space monitoring system and method can be applied to underground parking lots, open parking lots, mechanical parking lots, or smart parking lots in shopping malls, communities, scenic spots, roadsides, communities, hotels, and public places.
  • the parking space monitoring system and method can grasp the status of the parking space, and based on the status of the parking space, can control the guiding device to guide the vehicles entering the parking lot to drive to the free parking space.
  • the application scenarios of the system and method of this application are only some examples or embodiments of this application. For those of ordinary skill in the art, this application can also be applied without creative work. In other similar scenarios. For example, it involves distance-related service systems, specifically, in the transportation system to determine whether a vehicle has crossed a certain prohibited line, etc.
  • Fig. 1 is a diagram of a typical application scenario based on an embodiment of the present application.
  • the scene includes multiple lidars 101 and multiple parking spaces 102.
  • the lidar 101 includes a light transmitter that can emit detection light to a specific position of the parking space 102 and receive reflected signals, and calculate the distance information from the lidar 101 to the parking space 102 based on the reflected signals.
  • the specific location may be any point on the parking space 102, such as a center point.
  • the specific location may also be a common point that can be covered when the vehicle is parked in a parking space.
  • the light source used to emit the probe light is a laser light source or an LED (light emitting diode) light source
  • the lidar 101 may have a one-to-one correspondence with the parking space 102. In some embodiments, the lidar 101 may also correspond to multiple parking spaces 102. At this time, the lidar can be installed on the rotating device. The rotating device can periodically rotate a specific angle, and each rotation can make the lidar correspond to a parking space. The rotating device may also rotate according to a control command.
  • Fig. 2 is an exemplary block diagram of a parking space monitoring system architecture based on an embodiment of the present application.
  • the parking space monitoring system includes a server 200 and a plurality of lidars 201-1, 201-2...201-N (hereinafter collectively referred to as lidar 201).
  • the server 200 can be connected to the smart vehicle 202, the mobile terminal 203, the management terminal 204, the guiding device 205, and other devices that may be involved.
  • the server 200 is configured to receive the distance information obtained by the lidar 201, where the distance information includes, but is not limited to, any of the following: a parking space corresponding to the lidar 201, a distance from the lidar 201 to the corresponding parking space Distance and time information to determine the distance.
  • the server 200 may determine the state of the parking space corresponding to the lidar based on the distance information.
  • the server 200 may be a server or a server group, where the server group may be centralized or distributed.
  • the server 200 may be local or remote.
  • the server 200 may also be a cloud platform, including but not limited to any one or a combination of public cloud, private cloud, hybrid cloud, and community cloud.
  • the server 200 can send information to the smart vehicle 202 and the mobile terminal 203.
  • the server 200 may send information including, but not limited to, the number of free parking spaces in the parking lot, the location of free parking spaces, and the parking space distribution map to the smart vehicle and the mobile terminal.
  • the smart vehicle 202 may be a smart driving vehicle of different levels, so that it can interact with a parking lot.
  • the smart vehicle 202 may also be a vehicle that can interact with a parking lot after an ordinary vehicle is installed with an interactive device.
  • the mobile terminal 203 includes, but is not limited to, a mobile phone, a PAD, a mobile computer, and the like.
  • the mobile terminal 203 can interact with the server 200 to obtain information about the current parking lot.
  • the interaction between the more than 203 servers on the mobile terminal includes but is not limited to any one or a combination of scan login, APP, applet, official account, etc.
  • the server 200 may send instructions to the guiding device 204.
  • the guiding device 204 may be used to guide a vehicle entering a parking lot to drive to an empty parking space.
  • the guiding device 204 can guide the vehicle by any one or a combination of methods including but not limited to lights, sounds, flashing marks, etc.
  • the guiding device 204 may control directional lights along the road to guide the vehicle.
  • the guiding device 204 may interact with the smart vehicle 202 and the mobile terminal 203 through the server 200, thereby sending interactive information to the smart vehicle 202 and the mobile terminal 203.
  • the server 200 can interact with the management terminal 205.
  • the management terminal is used for parking lot management personnel to manage the parking space monitoring system.
  • the server 200 can send the current parking lot situation to the management terminal 205 for display, and update it in real time.
  • the management terminal 205 can control the interaction between the server 200 and other equipment or devices by the management personnel inputting instructions. For example, the management terminal 205 can set the period for the lidar to obtain distance information, control the rotation of the lidar, control the guidance device, start/stop the server, and other operations.
  • Fig. 3 is an exemplary functional block diagram of a server 300 based on an embodiment of the present application.
  • the server 300 shown in FIG. 3 and the server 200 shown in FIG. 2 have the same or similar structure or configuration.
  • the server 300 includes a receiving module 301, a calculation module 302, a judgment module 303, and other functional components that can be applied to a parking space monitoring system.
  • the receiving module 301 is used to receive distance information from the lidar.
  • the distance information includes, but is not limited to, the parking space corresponding to the lidar, the distance from the lidar to the corresponding parking space, and the time information for determining the distance.
  • the receiving module 301 stores the distance information in the server after receiving the distance information.
  • the calculation module 302 is used to determine the changing trend of at least two distance information.
  • the at least two distance information refers to the distance information of the same lidar corresponding to the same parking space and is continuous.
  • the at least two distance information refers to at least two continuous distance information of the same lidar.
  • the at least two distance information refers to at least two continuous distance information of the same lidar for the same parking space, or at least two continuous distance information of the same lidar at the same angle .
  • the continuous means that the distance information is continuous in time.
  • the calculation module 302 determines the order of the distance information, and compares the distance information sequentially based on the order. Wherein for example, the distance calculation module determines the time sequence of information t -2, t -1, t, the calculation module were compared -2 t -1 and t and t -1 distance information and time t, thereby determining the t - The change trend at time 1 and the change trend at time t.
  • the change trend includes an increase in the distance information, a decrease in the distance information, and a constant change in the distance information. Specifically, when the change of the distance information determined time t, distance information comparing t 1 and time t, if the distance information at time t minus the distance information t -1 is positive and greater than a predetermined threshold value , The calculation module 302 determines that the change trend at time t is that the distance information increases. If the difference between the distance information at time t minus the distance information at t-1 is negative and the absolute value of the difference is greater than the preset threshold, the calculation module 302 determines that the change trend at time t is that the distance information decreases. If the absolute value of the difference between the distance information at time t minus the distance information at t-1 is less than the preset threshold, the calculation module 303 determines that the change trend at time t is that the distance information does not change.
  • the distance information when it is determined, it may be selected according to a preset time interval, or may be selected according to a preset number of frames. For example, when determining the distance information, the calculation module can select adjacent distance information for calculation, or select distance information every 5S in time for calculation, or select one distance information for calculation based on every 5 distance information. .
  • the judging module 303 is used for judging the state of the parking space based on the change trend. In some embodiments, the judging module 303 determines that the state of the parking space is an idle parking space based on the change trend that the distance information increases. The judging module 303 determines that the state of the parking space is an occupied parking space based on the change trend that the distance information is decreasing. The judging module 303 is based on the change trend that the distance information remains unchanged and keeps the current parking space state unchanged.
  • the judgment module 303 judges the parking space status based on the latest change trend, where the latest change trend includes the change trend determined based on the latest two distance information at time. . For example, when the change trend at time t-1 is that the distance information increases, and the change trend at time t is that the distance information decreases, the judgment module 303 judges the parking space state based on the change trend at time t.
  • the server 300 further includes an initialization module 304 and a boot module 305.
  • the initialization module 304 is used to initialize the initial state of the parking space in the parking lot. For example, when the server 300 is initially started, the server 300 may initialize the parking space state through the initialization module 304.
  • the initialization module 304 may initialize the parking space state through manual input, for example, manually set the initial state of all parking spaces to be idle parking spaces.
  • the initialization module 305 can also automatically initialize the parking space state.
  • the initialization module 305 may initialize the parking space state based on the standard distance. The standard distance can be different according to the different positions of the Lidar reaching the parking space.
  • the standard distance is the preset distance for the lidar to point to the corresponding parking space.
  • the standard distance may be the manually set distance from the lidar to the center point of the parking space, or the standard distance may be the average value of the distances from all lidars to the corresponding parking space, or the standard distance may be the current parking space. When occupied, the average value of the distance obtained by the lidar to the corresponding parking space.
  • the standard distance may also be a distance range.
  • all lidars and parking spaces may correspond to a standard distance, or each parking space may correspond to a standard distance.
  • the initialization module 304 may compare the distance information with the standard distance, and determine the parking space state based on the comparison result. In some embodiments, the initialization module 304 can adopt different initialization rules based on different set standard distances. For example, when the standard distance is the distance from the lidar to the center point of the corresponding idle parking space, the initialization module determines that the state of the parking space is an idle parking space based on the distance information being greater than or equal to the standard distance. The initialization module 304 determines that the state of the parking space is an occupied parking space based on the distance information being less than the standard distance.
  • the initialization module determines that the parking space status is an idle parking space based on the distance information is greater than the standard distance and exceeds a fixed threshold, and the initialization module is based on the distance information being less than or equal to The standard distance determines that the state of the parking space is an occupied parking space.
  • the guiding module 305 is used to generate a guiding instruction and send it to the guiding device.
  • the guidance module 305 may generate a guidance instruction based on the current parking space state and send it to the guidance device, thereby guiding the vehicle to a free parking space.
  • the guidance module 305 may generate control instructions for lights, flashing signs, and sound devices to guide the vehicle.
  • the server 300 may not include the initialization module 304 and the boot module 305.
  • the calculation module 302 and the judgment module 303 may be one functional module.
  • FIG. 4 is an exemplary block diagram of the hardware of the server 400 based on the embodiment of the present application.
  • the server 400 shown in FIG. 4 has the same or similar structure or configuration as the server 300 described in FIG. 2 or FIG. 3.
  • the server 400 includes a storage device 401, a communication interface 402, a processor 403, an input/output device 404, and other hardware components applicable to a server.
  • the storage device 401 may be used to store various information, such as computer program instructions, data, distance information, etc., for controlling the server.
  • the storage device 401 may include, but is not limited to, an electrical energy storage device, an optical storage device, a magneto-optical storage device, a magnetic energy storage device, and the like.
  • the storage mode of the storage device 401 may be one or a combination of random storage, serial access storage, and read-only storage.
  • the storage device 401 may be a non-permanent memory or a permanent memory.
  • the storage device 401 mentioned above is a list of some examples, and the storage device 401 that can be used by the server is not limited thereto.
  • the storage device 401 may be local, remote, or on a cloud server.
  • the communication interface 402 may implement part or all of the devices of the server 400 to communicate with the outside world through a network.
  • the server 400 may communicate and interact with lidar, smart vehicles, mobile terminals, guidance devices, and/or management terminals through a communication interface.
  • the communication interface 402 may be a wired interface or a wireless interface.
  • the processor 403 can control the operation of the server 400 through a computer program or instructions.
  • the computer programs or instructions can be stored on one or more storage devices 401, and can also be manually input through the input and output devices 404.
  • the processor 400 includes, but is not limited to, any of the following: microcontroller, simplified instruction system computer, application specific integrated circuit, application-specific instruction set processor, central processing unit, graphics processor, physical processor, microprocessor unit, digital A signal processor and a field programmable gate array, or other circuits or processors capable of executing computer program instructions, or a combination thereof.
  • the input and output device 404 can be used for the server 400 to interact with people.
  • the input/output device 404 may be input by an administrator to control the server 400, or the user may input instructions so that the server 400 sends information that the user wants to know.
  • the input and output device 404 can input information through one or more combinations of a keyboard, a touch screen, a mouse, a camera, a scanner, a pen tablet, and voice.
  • the input and output device 404 can output information through one or more combinations of display, printer printing, and speaker playback.
  • the output information can include one or more combinations of numbers, characters, pictures, audio, and video.
  • Fig. 5 is an exemplary work flow chart of a server according to an embodiment of the disclosure.
  • the server has the same or similar structure or configuration as the server shown in FIG. 1, FIG. 2, FIG. 3, or FIG. 4.
  • the server receives the lidar distance information and stores it.
  • the distance information refers to that the lidar emits detection light to a specific position of the parking space and receives reflected signals, and the distance information from the lidar to the parking space is calculated based on the reflected signals.
  • the lidar includes a light transmitter, a receiver, and a calculation device; wherein the light transmitter is used to emit the light source, the receiver is used to receive the reflected signal of the detection light, and the calculation device is used to determine the distance based on the reflected signal.
  • the specific position of the parking space may be any point on the parking space, such as a center point, or a common point that can be covered when the vehicle occupies the parking space.
  • the server stores the distance information in the memory after receiving the distance information.
  • the server may delete the previously stored distance information after the stored distance information meets the determination requirement; the determination requirement includes forwarding a preset time from the current moment, for example, from the previous hour to the current moment, Or the day before to the current moment.
  • the server determines the change trend of at least two distance information.
  • the at least two distance information refers to continuous distance information corresponding to the same parking space of the same lidar.
  • the calculation module 302 determines the order of the distance information, and compares the distance information sequentially based on the order.
  • the sequence includes a time sequence for acquiring the distance information, or a lidar frame number sequence for acquiring the distance information.
  • the change trend includes an increase in the distance information, a decrease in the distance information, and a constant change in the distance information. For example, when it is determined from the change of the time t information, comparing the distance information t 1 and time t, if the distance information at time t minus the distance information t -1 is positive and greater than a predetermined threshold value, calculated The module 302 determines that the change trend at time t is that the distance information increases. If the difference between the distance information at time t minus the distance information at t-1 is negative and the absolute value of the difference is greater than the preset threshold, the calculation module 302 determines that the change trend at time t is that the distance information decreases.
  • the calculation module 303 determines that the change trend at time t is that the distance information does not change.
  • the above description is only to illustrate the change trend, but not as the only proof for judging the change trend. For example, when judging the change trend, the distance information obtained in the current frame of the lidar can be compared with the distance information obtained in the previous frame. Compare, and get the trend of change.
  • the server updates the parking space state based on the change trend.
  • the server updates the parking space status to be an idle parking space based on the change trend that the distance information increases.
  • the server updates the state of the parking space as an occupied parking space based on the change trend for the distance information to decrease. Based on the change trend, the server maintains that the distance information remains unchanged and keeps the current parking space state unchanged.
  • the server updates the parking space status based on the latest change trend.
  • the latest change trend includes the change trend of the distance information at the current time and the distance information at the previous time, such as the distance information at time t and t -1 ; or the change trend of the distance information between the current frame of the lidar and the previous frame.
  • the server further includes step 500.
  • step 500 the server initializes the state of the parking space.
  • the server may initialize the parking space state through manual input.
  • the server may receive personnel input instructions from the input/output module or the management terminal to initialize the state of the parking space.
  • the server may also initialize the parking space state automatically.
  • the server may initialize the parking space state based on a standard distance.
  • the standard distance refers to the preset distance at which the lidar points to the corresponding parking space, which can be set manually, or set according to certain rules after multiple measurements by the lidar.
  • the server may compare the distance information with the standard distance, and determine the parking space status based on the comparison result.
  • the server sets the parking space status as an idle parking space based on the distance information being greater than or equal to the standard distance The distance information is less than the standard distance, and the parking space status is set as an occupied parking space.
  • the server can also monitor in real time whether a vehicle enters the parking lot.
  • the server may guide the vehicle based on the state of the parking space.
  • the server can generate control instructions for the lights, speaker devices, flashing signs and other equipment in the parking lot based on the parking space status, and send them to related equipment to guide the vehicle.
  • the server may generate a guidance instruction based on the state of the parking space and send it to the vehicle terminal or the mobile terminal.
  • the standard distance may be a distance range
  • the server sets the parking space state based on whether the distance information falls within the standard distance range.
  • the server may not perform the initialization step, and subsequently set the parking space state according to the distance change trend.
  • Fig. 6 is an exemplary work flow chart of a server according to an embodiment of the disclosure.
  • the server has the same structure or configuration as the above server.
  • the server receives the current distance information from the lidar, where the current distance information refers to the distance information obtained by the lidar according to the latest lidar data.
  • the server compares the current distance information with the previous frame distance information to obtain a comparison result.
  • the distance information of the previous frame refers to the distance information obtained by the lidar according to the lidar data of the previous frame obtained by the lidar.
  • the server stores it in the storage device.
  • comparing the current distance information with the previous frame distance information by the server includes that the server obtains a difference value by subtracting the previous frame distance information from the current distance information. Wherein, when the difference is a positive value and greater than a fixed threshold, the server determines that the current distance information is greater than the previous frame distance information.
  • the server determines that the current distance information is less than the previous frame distance information.
  • the server determines that the current distance information is equal to the previous frame distance information.
  • the server updates the parking space status based on the comparison result of the current distance information and the previous frame distance information.
  • step 603 the server determines whether the current distance information is greater than the previous frame distance information; based on the current distance information being greater than the previous frame distance information, the server executes step 606; based on the current distance information being not greater than the previous frame distance information For frame distance information, the server executes step 604.
  • step 604 the server determines whether the current distance information is less than the previous frame distance information; based on the current distance information being less than the previous frame distance information, the server executes step 607; based on the current distance information being not less than the previous frame distance information For frame distance information, the server executes step 605.
  • step 605 the server keeps the current parking space status unchanged.
  • step 606 the server updates the parking space status to be an idle parking space
  • step 607 the server updates the state of the parking space as an occupied parking space.
  • the foregoing disclosure of the invention is merely an example, and does not constitute a limitation to the application. Although it is not explicitly stated here, those skilled in the art may make various modifications, improvements and amendments to this application. Such modifications, improvements, and corrections are suggested in this application, so such modifications, improvements, and corrections still belong to the spirit and scope of the exemplary embodiments of this application.
  • the server compares the current distance information with the distance information of the previous frame
  • the difference may be obtained by subtracting the current distance information from the previous frame distance information to determine the comparison result.
  • the embodiment of the present disclosure also proposes a non-transitory computer-readable storage medium that stores a program or instruction that causes a computer to execute various embodiments of a system or method such as a server Steps, in order to avoid repetitive description, will not be repeated here.

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Abstract

一种停车位（102）监测方法及系统；停车位（102）监测系统包括多个激光雷达(101)，其中激光雷达（101）包括光发射器，用于向停车位(102)发射探测光并确定激光雷达（101）至停车位（102）的距离信息；方法包括：接收激光雷达（101）的距离信息并存储（501）；判断至少两个距离信息变化趋势（502）；基于变化趋势更新停车位（102）状态（503）；其中，基于变化趋势为距离信息增大，更新停车位（102）状态为空闲车位（606）；基于变化趋势为距离信息减小，更新停车位（102）状态为占用车位（607）；能够有效的监测停车场中停车位（102）的实时状态，并引导车辆行驶至空闲车位（102）。

Description

一种停车位监测系统及方法 技术领域
本申请涉及一种停车场监测系统及方法，尤其涉及一种停车位状态监测系统及方法。
背景技术
当前，随着经济社会的快速发展和城市人口的快速增长，人均车辆数不断暴涨。随着车辆的不断暴涨，停车难已经成为各大城市乃至二线城市绕不开的难题。而在各个城市中，不管是小区、商场、园区、办公楼还是景区中，其露天停车场或地下停车场往往存在着大量车辆，每当有新的车辆入场时，往往在寻找空闲车位时，会花费大量的时间。那么在停车场中车辆越来越多以及情况越来越复杂的情况下，如何能够有效的确定每个停车位的状态已经成为一个急需解决的问题。只有停车场在实时掌控了每个停车位的状态后，能够有效引导车辆行驶至空闲车位。
发明内容
本申请的一部分附加特性可以在下面的描述中进行说明。通过对以下描述和相应附图的研究或者对实施例的生产或操作的了解，本申请的一部分附加特性对于本领域技术人员是明显的。本申请的特征可以通过对以下描述的具体实施例的各种方面的方法、手段和组合的实践或使用得以实现和达到。
根据本申请的一方面，本申请的公开实施例提供了一种停车位监测方法，包括多个激光雷达，其中激光雷达包括光发射器，用于向所述停车位向所述停车位发射探测光并确定激光雷达至停车位的距离信息；判断至少两个距离信息变化趋势；基于所述变化趋势更新所述停车位状态；其中，基于所述变化趋势为所述距离信息增大，更新所述停车位为空闲车位；基于所述变化趋势为所述距离信息减小，更新所述停车位为占用车位。
根据本申请另一方面，本申请的公开实施例提供了一种停车位监测系统，包括多个激光雷达，其中激光雷达包括光发射器，用于向所述停车位发射探测光并基于反射确定激光雷达至停车位的距离信息；接收模块，用于接收距离信息；计算模块，用于确定至少两个所述距 离信息的变化趋势；判断模块，用于基于所述变化趋势更新所述停车位状态；其中，所述判断模块基于所述变化趋势为所述距离信息增大，更新所述停车位为空闲车位；所述判断模块基于所述变化趋势为所述距离信息减小，更新所述停车位为占用车位。
在一些实施例中，本公开实施例还公开了所述停车位监测系统还包括初始化模块，用于初始化所述停车位状态；其中所述初始化模块基于以下任意方式初始化所述停车位状态：基于人工输入初始化停车位状态；基于标准距离初始化停车位状态，其中所述基于标准距离自动初始化所述停车位状态包括基于所述距离信息大于或等于所述标准距离，确定所述停车位的初始状态为空闲车位；基于所述距离信息小于所述标准距离，确定所述停车位的初始状态为占用车位。
在一些实施例中，本公开实施例还公开了所述停车位监测系统还包括引导模块，，用于在车辆进入停车场时，基于停车位状态引导车辆。
根据本申请的又一方面，本公开实施例还公开了一种停车位监测系统，包括多个激光雷达，其中激光雷达包括光发射器，用于向所述停车位发射探测光并基于反射确定激光雷达至停车位的距离信息；云端服务器，与所述多个激光雷达连接，包括：通信接口，用于接收所述距离信息和发送指令；存储器，用于存储所述距离信息；处理器，用于判断距离信息的变化趋势，并基于所述变化趋势更新所述停车位状态；其中，基于所述变化趋势为所述距离信息增大，更新所述停车位为空闲车位；基于所述变化趋势为所述距离信息减小，更新所述停车位为占用车位。
根据本申请又一方面，本公开试试李还公开了一种停车位监测方法，包括接收激光雷达当前距离信息；比较当前距离信息与前一帧距离信息，得到比较结果；基于所述比较结果更新停车位状态；其中，基于所述比较结果为当前距离信息大于前一帧距离信息，更新所述停车位状态为空闲车位；基于所述比较结果为当前距离信息小于前一帧距离信息，更新所述停车位为占用车位。
根据本公开实施例中的至少一个实施例，能够有效的监测停车场中停车位状态，并基于所述停车位状态对进入停车场的车辆进行有效 引导。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，还可以根据这些附图获得其他的附图。
图1是基于本申请实施例的一种典型应用场景图；
图2是基于本申请实施例的一种停车位监测系统架构示例性框图；
图3是基于本申请实施例的一种服务器的功能示例性框图；
图4是基于本申请实施例的一种服务器的硬件示例性框图；
图5是基于本申请实施例的一种服务器的示例性工作流程图；
图6是基于本申请实施例的一种服务器的示例性工作流程图。
具体实施方式
为了能够更清楚地理解本公开的上述目的、特征和优点，下面结合附图和实施例对本公开作进一步的详细说明。可以理解的是，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。此处所描述的具体实施例仅仅用于解释本公开，而非对本公开的限定。基于所描述的本公开的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本公开保护的范围。
本申请的实施例提供了一种停车位监测系统及方法，从而实现对停车位状态的监测，以能够更好的控制停车场中停车位的实时情况，并引导进入停车场的车辆。在一些实施例中，所述的停车位监测系统及方法可以应用于商场、小区、景区、路边、社区、酒店、公共场所的地下停车场、露天停车场、机械停车场或智能停车场。所述的停车位监测系统及方法可以掌握停车位状态，并基于停车位状态可以控制引导装置引导进入停车场的车辆行驶至空闲停车位。应当理解的是，本申请的系统及方法的应用场景仅仅是本申请的一些示例或实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动的前提下，还可以将本申请应用于其他类似情景。例如，涉及涉及距离的服务系统，具体而言，交通系统中判断车辆是否越过某条禁止线等。
图1是基于本申请实施例的一种典型应用场景图。如图1所示，所述场景包括多个激光雷达101和多个停车位102。其中所述激光雷达101包含光发射器可以向停车位102的特定位置发射探测光并接收反射信号，并基于反射信号计算所述激光雷达101至停车位102的距离信息。在一些实施例中，所述特定位置可以是停车位102上的任意点，例如中心点。所述特定位置还可以是车辆在停在停车位上时能够覆盖的常用点。在一些实施例中，用于发射探测光的光源为激光光源或者为LED(light emitting diode，发光二极管)光源
在一些实施例中，激光雷达101可以与停车位102一一对应。在一些实施例中，激光雷达101还可以对应于多个停车位102。此时激光雷达可以安装于旋转装置上。所述旋转装置可以周期性的旋转特定角度，每次旋转均可使得激光雷达对应于一个停车位。所述旋转装置也可以根据控制指令进行旋转。
图2是基于本申请实施例的一种停车位监测系统架构示例性框图。如图2所示，停车位监测系统包括服务器200和多个激光雷达201-1,201-2…201-N(以下统称激光雷达201)。其中，服务器200可以与智能车辆202、移动端203、管理端204、引导装置205及其他可能涉及到的设备相连接。
在一些实施例中，所述服务器200用于接收激光雷达201所获取的距离信息，其中距离信息包括但不限于以下任意一种：激光雷达201对应的停车位、激光雷达201至对应停车位的距离及确定距离的时间信息。所述服务器200可以基于所述距离信息判断所述激光雷达对应的停车位状态。在一些实施例中，所述服务器200可以是一台服务器，也可以是服务器群组，其中服务器群组可以是集中式，也可以是分布式。服务器200可以是本地的，也可以是远程的。服务器200还可以是一个云平台，包括但不限于公有云、私有云、混合云和社区云等任意一种或其组合。
在一些实施例中，所述服务器200可以发送信息至智能车辆202和移动端203。例如，服务器200可以发送包括但不限于停车场空闲车位数、空闲车位位置、车位分布图等信息给智能车辆和移动端。其中所述智能车辆202可以是不同级别的智能驾驶车辆，从而可以与停 车场进行交互。智能车辆202还可以是普通车辆在安装了交互设备后，能够与停车场进行交互的车辆。
在一些实施例中，所述移动端203包括但不限于手机、PAD、移动电脑等。移动端203可以与服务器200进行交互，从而获得当前停车场的信息。移动端203余服务器进行交互的方式包括但不限于扫描登录、APP、小程序、公众号等方式中的任意一种或其组合。
在一些实施例中，所述服务器200可以发送指令至引导装置204。引导装置204可以用于引导进入停车场的车辆行驶至空闲车位。其中引导装置204可以通过包括但不限于灯光、声音、闪烁标记等方式中的任意一种或其组合来引导车辆。例如，引导装置204可以控制沿路的指向灯来引导车辆。在一些实施例中，所述引导装置204可以通过服务器200与所述智能车辆202和移动端203进行交互，从而将交互信息发送至智能车辆202和移动端203.
在一些实施例中，所述服务器200可以与管理端205进行交互。所述管理端用于停车场管理人员管理所述停车位监测系统。所述服务器200可以将当前停车场情况发送至管理端205进行显示，并实时更新。所述管理端205可以由管理人员输入指令控制服务器200与其他设备或装置的交互。例如，管理端205可以设定激光雷达获取距离信息的周期、控制激光雷达旋转、控制引导设备、启动/关闭所述服务器等操作。
图3是基于本申请实施例的一种服务器300的功能示例性框图。其中图3所示的服务器300与图2所述的服务器200具有相同或类似的结构或配置。所述服务器300包括接收模块301，计算模块302，判断模块303及其其他可以应用于车位监测系统的功能组件。
接收模块301用于接收来自激光雷达的距离信息。其中所述距离信息包括但不限于激光雷达对应的停车位、激光雷达至对应停车位的距离及确定距离的时间信息。在一些实施例中，接收模块301在接收所述距离信息后，将距离信息存储至所述服务器。
计算模块302用于确定至少两个距离信息的变化趋势。其中，所述至少两个距离信息是指同一激光雷达对应同一停车位的距离信息且连续。在一些实施例中，如果一个激光雷达对应于一个车位，所述 至少两个距离信息是指同一激光雷达连续的至少两个距离信息。如果一个激光雷达对应于多个车位，所述至少两个距离信息是指同一激光雷达针对同一个停车位连续的至少两个距离信息，或者同一激光雷达在同一角度上连续的至少两个距离信息。其中，所述连续是指所述距离信息在时间上连续。
在一些实施例中，计算模块302确定所述距离信息的顺序，并基于顺序依次比较所述距离信息。其中例如，计算模块确定距离信息的时间顺序为t -2,t -1,t,则计算模块分别比较t -2和t -1以及t -1和t时刻的距离信息，从而确定了t -1时刻的变化趋势和t时刻的变化趋势。
在一些实施例中，所述变化趋势包括所述距离信息增大、所述距离信息减小及所述距离信息不变。具体而言，当判断t时刻的距离信息变化趋势时，比较t -1和t时刻的距离信息，如果t时刻的距离信息减去t -1的距离信息的差值为正且大于预设阈值，计算模块302确定t时刻的变化趋势为所述距离信息增大。如果t时刻的距离信息减去t -1的距离信息的差值为负且差值的绝对值大于预设阈值，计算模块302确定t时刻的变化趋势为所述距离信息减小。如果t时刻的距离信息减去t -1的距离信息的差值的绝对值小于预设阈值，计算模块303确定t时刻的变化趋势为所述距离信息不变。
在一些实施例中，当确定所述距离信息时，可以根据预设时间间隔选取，也可以根据预设帧数选取。例如，在确定所述距离信息时，计算模块可以选取相邻的距离信息计算，也可以选取时间上每隔5S的距离信息进行计算，还可以根据每隔5个距离信息选取一个距离信息进行计算。
判断模块303用于基于所述变化趋势判断停车位状态。在一些实施例中，判断模块303基于所述变化趋势为所述距离信息增大，确定所述停车位状态为空闲车位。判断模块303基于所述变化趋势为所述距离信息减小，确定所述停车位状态为占用车位。判断模块303基于所述变化趋势为所述距离信息不变，保持当前停车位状态不变。
在一些实施例中，当所述变化趋势包含多种结果时，判断模块303基于最新的变化趋势判断停车位状态，其中所述最新的变化趋势包括基于时间最新的两个距离信息确定的变化趋势。例如，当t -1时 刻的变化趋势为所述距离信息增大，而t时刻的变化趋势为所述距离信息减小时，判断模块303基于t时刻的变化趋势判断停车位状态。
在一些实施例中，所述服务器300进一步包括初始化模块304和引导模块305。其中初始化模块304用于初始化停车场中停车位的初始状态。例如，在所述服务器300初步启动时，服务器300可通过初始化模块304对所述停车位状态进行初始化。在一些实施例中，所述初始化模块304可以通过人工输入初始化所述停车位状态，例如，人工设置所有停车位初始状态为空闲车位。在另外一些实施例中，所述初始化模块305还可以自动化初始化所述停车位状态。例如，初始化模块305可以基于标准距离初始化所述停车位状态。标准距离可以根据激光雷达到达停车位不同位置而有所不同。其中所述标准距离是激光雷达指向对应车位的预设距离。在一些实施例中，所述标准距离可以是人工设定的激光雷达到达停车位中心点的距离，或者所述标准距离是所有激光雷达到达对应停车位距离的均值，或者标准距离可以是当车位被占用时，激光雷达到达对应停车位获取的距离的均值。所述标准距离还可以是一个距离范围。在一些实施例中，所有激光雷达和停车位可以对应于一个标准距离，还可以是，每个停车位对应于一个标准距离。
在一些实施例中，初始化模块304可以比较所述距离信息和标准距离，并基于比较结果确定停车位状态。在一些实施例中，初始化模块304基于设定的不同的标准距离，可以采用不同的初始化规则。例如，当所述标准距离为激光雷达到达对应空闲停车位中心点的距离时，初始化模块基于距离信息大于或等于标准距离，确定所述停车位状态为空闲车位。初始化模块304基于距离信息小于标准距离，确定所述停车位状态为占用车位。当所述标准距离为激光雷达到达对应占用停车位的距离时，初始化模块基于距离信息大于标准距离，且超过固定阈值时，确定所述停车位状态为空闲车位，初始化模块基于距离信息小于或等于标准距离，确定所述停车位状态为占用车位。
引导模块305用于产生引导指令并发送至引导装置。在一些实施例中，当服务器300监测到有车辆进入停车场时，引导模块305可以基于当前停车位状态产生引导指令，并发送至引导装置，从而引导所 述车辆行驶至空闲车位。在一些实施例中，引导模块305可以产生灯光、闪烁标记、声音装置的控制指令来对车辆进行引导。
对于本领域技术人员来说，上述发明披露仅仅作为示例，而并不构成对本申请的限定。虽然此处并没有明确说明，本领域技术人员可能会对本申请进行各种修改、改进和修正。该类修改、改进和修正在本申请中被建议，所以该类修改、改进、修正仍属于本申请示范实施例的精神和范围。例如，所述服务器300可以不包含初始化模块304和引导模块305。再例如，所述计算模块302和所述判断模块303可以是一个功能模块。
图4是基于本申请实施例的服务器400的硬件示例性框图。其中图4所示的服务器400与图2或图3所述的服务器300具有相同或类似的结构或配置。如图3所示，所述服务器400包括存储设备401、通信接口402、处理器403、输入/输出设备404及其他可应用于服务器的硬件组件。
存储设备401可以用来存放各种信息，例如控制服务器的计算机程序指令、数据、距离信息等。所述存储设备401可以是包括但不限于电能存储设备、光学方式存储设备、磁光存储设备、磁能存储设备等。所述存储设备401的存储方式可以是随机存储、串行访问存储与只读存储等中的一种或多种组合。所述存储设备401可以是非永久记忆存储器，也可以是永久记忆存储器。以上提及的存储设备401是列举了一些例子，该服务器可以使用的存储设备401并不局限于此。所述存储设备401可以是本地的，也可以是远程的，也可以是云服务器上的。
通信接口402可以通过网络实现服务器400的部分或全部设备与外界进行通信。例如，服务器400可以通过通信接口与激光雷达、智能车辆、移动端、引导装置和/或管理端进行通信交互。通信接口402可以是有线接口，也可以是无线接口。
处理器403可以通过计算机程序或指令控制服务器400的运作。所述的计算机程序或指令可以存储于一个或多个存储设备401上，也可以由人工通过输入输出设备404进行输入。处理器400包括但不限于以下任意一种：微控制器、简化指令系统计算机、专用集成电路、 特定应用指令集处理器、中央处理器、图形处理器、物理处理器、微处理器单元、数字信号处理器与现场可编程门阵列，或者其他能够执行计算机程序指令的电路或处理器或其组合。
输入输出设备404可以用于服务器400与人进行交互。在一些实施例中，输入输出设备404可以由管理员进行输入指令从而控制服务器400，也可以由用户输入指令从而使得服务器400发送用户希望得知的信息。在一些实施例中，输入输出设备404可以通过键盘、触摸屏、鼠标、摄像头、扫描仪、手写板与语音等中的一种或多种组合输入信息。输入输出设备404可以通过显示器显示、打印机打印与扬声器播放等中的一种或多种组合输出信息。输出信息可以包含数字、字符、图片、音频和视频等中的一种或多种组合。
图5是根据本申请公开实施例的一种服务器的示例性工作流程图。其中所述服务器与如图1、图2、图3、或图4所示的服务器具有相同或类似的结构或配置。在步骤501中，服务器接收激光雷达距离信息并存储。其中所述距离信息是指激光雷达向停车位的特定位置发射探测光并接收反射信号，并基于反射信号计算所述激光雷达至停车位的距离信息。在一些实施例中，所述激光雷达包含光发射器、接收器和计算装置；其中光发射器用于发射光源，接收器用于接收探测光的反射信号，计算装置用于基于所述反射信号确定距离信息。在一些实施例中，所述停车位的特定位置可以是停车位上的任意点，例如中心点，或者当车辆占用所述停车位时能够覆盖的常用点。在一些实施例中，所述服务器在接收到所述距离信息后将所述距离信息存储至存储器。在一些实施例中，所述服务器可以在存储的距离信息满足判定需求后删除之前存储的距离信息；所述判定需求包括从当前时刻往前推预设时间，例如，前一小时至当前时刻，或者前一天至当前时刻。
在步骤502中，所述服务器判断至少两个距离信息的变化趋势。其中，所述至少两个距离信息是指同一激光雷达对应同一停车位且连续的距离信息。在一些实施例中，计算模块302确定所述距离信息的顺序，并基于顺序依次比较所述距离信息。所述顺序包括获取所述距离信息的时间顺序，或者获取所述距离信息的激光雷达帧数顺序。
在一些实施例中，所述变化趋势包括所述距离信息增大、所述距 离信息减小及所述距离信息不变。例如，当判断t时刻的距离信息变化趋势时，比较t -1和t时刻的距离信息，如果t时刻的距离信息减去t -1的距离信息的差值为正且大于预设阈值，计算模块302确定t时刻的变化趋势为所述距离信息增大。如果t时刻的距离信息减去t -1的距离信息的差值为负且差值的绝对值大于预设阈值，计算模块302确定t时刻的变化趋势为所述距离信息减小。如果t时刻的距离信息减去t -1的距离信息的差值的绝对值小于预设阈值，计算模块303确定t时刻的变化趋势为所述距离信息不变。以上说明仅为了说明所述变化趋势，但并不作为判断变化趋势的唯一证明，例如，在判断变化趋势时，可以通过激光雷达当前帧所获取的距离信息与前一帧所获取的距离信息进行比较，从而得到变化趋势。
在步骤503中，所述服务器基于所述变化趋势更新所述停车位状态。在一些实施例中，所述服务器基于所述变化趋势为所述距离信息增大，更新所述停车位状态为空闲车位。所述服务器基于所述变化趋势为所述距离信息减小，更新所述停车位状态为占用车位。所述服务器基于所述变化趋势为所述距离信息不变，保持当前停车位状态不变。在一些实施例中，当所述变化趋势包括多种不同结果时，所述服务器基于最新的变化趋势更新停车位状态。其中所述最新的变化趋势包括当前时刻的距离信息与前一时刻的距离信息的变化趋势，例如t时刻和t -1的距离信息；或者激光雷达当前帧与前一帧的距离信息变化趋势。
在一些实施例中，所述服务器还进一步包括步骤500，在步骤500中，所述服务器对停车位状态进行初始化。在一些实施例中，所述服务器可以通过人工输入对所述停车位状态进行初始化。例如，所述服务器可以接收来自于输入输出模块或管理端的人员输入指令，对停车位状态进行初始化设置。在一些实施例中，所述服务器还可以自动对所述停车位状态进行初始化，例如，所述服务器可以基于标准距离初始化所述停车位状态。所述标准距离是指激光雷达指向对应车位的预设距离，可以人工进行设定，也可以有激光雷达进行多次测量后按照一定规则进行设定。所述服务器可以比较所述距离信息和标准距离，并基于比较结果确定停车位状态。例如，当预设的标准距离为激光雷 达至空闲车位中心点的距离时，所述服务器基于所述距离信息大于或等于所述标准距离，设置所述停车位状态为空闲车位，所述服务器基于所述距离信息小于所述标准距离，设置所述停车位状态为占用车位。
在一些实施例中，所述服务器还可以实时监测是否有车辆进入停车场。当有车辆进入停车场时，所述服务器可以基于停车位状态对所述车辆进行引导。所述服务器可以基于停车位状态产生对停车场内灯光、扬声装置、闪烁标记等设备的控制指令，并发送至相关设备从而对所述车辆进行引导。在一些实施例中，当所述车辆通过车端或移动端与所述服务器进行交互时，所述服务器可以基于停车位状态生成引导指令，并发送至车端或移动端。
对于本领域技术人员来说，上述发明披露仅仅作为示例，而并不构成对本申请的限定。虽然此处并没有明确说明，本领域技术人员可能会对本申请进行各种修改、改进和修正。该类修改、改进和修正在本申请中被建议，所以该类修改、改进、修正仍属于本申请示范实施例的精神和范围。例如，所述标准距离可以是一个距离范围，所述服务器基于距离信息是否落于所述标准距离的范围内，对所述停车位状态进行设置。再例如，所述服务器可以不执行初始化步骤，后续根据距离变化趋势对停车位状态进行设置。
图6是根据本申请公开实施例的一种服务器的示例性工作流程图。其中所述服务器与上述服务器具有相同的结构或配置。如图6所示，在步骤601中，所述服务器接收来自激光雷达的当前距离信息，其中所述当前距离信息是指激光雷达根据最新的激光雷达数据获取的距离信息。
在步骤602中，所述服务器将当前距离信息与前一帧距离信息进行比较，得到比较结果。其中所述前一帧距离信息是指激光雷达根据激光雷达获取的上一帧激光雷达数据获取的距离信息。所述服务器在接收激光雷达发送的前一帧距离信息后，将其存储至存储设备。在一些实施例中，所述服务器将当前距离信息与前一帧距离信息进行比较包括所述服务器通过当前距离信息减去前一帧距离信息得到一个差值。其中，当所述差值为正值且大于固定阈值时，服务器确定所述当前距离信息大于前一帧距离信息。当所述差值为负值且所述差值的绝 对值大于固定阈值时，服务器确定所述当前距离信息小于前一帧距离信息。当所述差值的绝对值小于固定阈值时，服务器确定所述当前距离信息等于前一帧距离信息。所述服务器基于当前距离信息与前一帧距离信息的比较结果更新停车位状态。
在步骤603中，所述服务器判断所述当前距离信息是否大于前一帧距离信息；基于所述当前距离信息大于前一帧距离信息，服务器执行步骤606；基于所述当前距离信息不大于前一帧距离信息，服务器执行步骤604。
在步骤604中，所述服务器判断所述当前距离信息是否小于前一帧距离信息；基于所述当前距离信息小于前一帧距离信息，服务器执行步骤607；基于所述当前距离信息不小于前一帧距离信息，服务器执行步骤605。
在步骤605中，所述服务器保持当前停车位状态不变。
在步骤606中，所述服务器更新停车位状态为空闲车位；
在步骤607中，所述服务器更新停车位状态为占用车位。
对于本领域技术人员来说，上述发明披露仅仅作为示例，而并不构成对本申请的限定。虽然此处并没有明确说明，本领域技术人员可能会对本申请进行各种修改、改进和修正。该类修改、改进和修正在本申请中被建议，所以该类修改、改进、修正仍属于本申请示范实施例的精神和范围。例如，所述服务器在进行当前距离信息与前一帧距离信息比较时，可以通过前一帧距离信息减去当前距离信息得到差值，从而确定比较结果。
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员能够理解，本公开实施例并不受所描述的动作顺序的限制，因为依据本公开实施例，某些步骤可以采用其他顺序或者同时进行，或被替代(例如服务器可以限制性步骤604，判断是否当前距离信息是否小于前一帧距离信息；或者所述服务器可以判断当前距离信息是否等于前一帧距离信息)。另外，本领域技术人员能够理解，说明书中所描述的实施例均属于可选实施例。
本公开实施例还提出一种非暂态计算机可读存储介质，所述非暂 态计算机可读存储介质存储程序或指令，所述程序或指令使计算机执行如服务器的系统或方法各实施例的步骤，为避免重复描述，在此不再赘述。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本公开的范围之内并且形成不同的实施例。
本领域的技术人员能够理解，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
虽然结合附图描述了本公开的实施方式，但是本领域技术人员可以在不脱离本公开的精神和范围的情况下做出各种修改和变型，这样的修改和变型均落入由所附权利要求所限定的范围之内。

Claims (21)

  1. 一种停车位监测方法，包括多个激光雷达，其中激光雷达包括光发射器，用于向所述停车位发射探测光并确定激光雷达至停车位的距离信息，其特征在于，包括：
    接收所述激光雷达的距离信息并存储；
    判断至少两个距离信息变化趋势；
    基于所述变化趋势更新所述停车位状态；
    其中，基于所述变化趋势为所述距离信息增大，更新所述停车位状态为空闲车位；基于所述变化趋势为所述距离信息减小，更新所述停车位状态为占用车位。
  2. 基于权利要求1所述的停车位监测方法，其特征在于，所述多个激光雷达的工作方式至少是以下一种：
    周期性发射探测光并确定所述距离信息；
    接收指令发射探测光并确定所述距离信息。
  3. 基于权利要求2所述的停车位监测方法，其特征在于，所述至少两个距离信息包括：
    对所述多个激光雷达中的每一个，确定在时间上连续的至少两个距离信息。
  4. 基于权利要求3所述的停车位监测方法，其特征在于，所述判断至少两个距离信息变化趋势包括：
    基于时间顺序逐一比较两个距离信息；
    基于比较结果确定所述变化趋势。
  5. 基于权利要求1所述的停车位监测方法，其特征在于，基于所述变化趋势存在不同结果时，基于最新的变化趋势更新所述停车位状态。
  6. 基于权利要求1所述的停车位监测方法，其特征在于，还包括，初始化所述停车位的状态；其中所述初始化所述停车位的状态基于以下任何一种方式：
    人工初始化所述停车位的状态；
    基于标准距离自动初始化所述停车位状态，其中，所述标准距离是指预先设置的距离。
  7. 基于权利要求3所述的停车位监测方法，其特征在于，所述 基于标准距离自动初始化所述停车位状态包括基于所述距离信息大于或等于所述标准距离，确定所述停车位的初始状态为空闲车位；基于所述距离信息小于所述标准距离，确定所述停车位的初始状态为占用车位。
  8. 基于权利要求1所述的停车位监测方法，其特征在于，进一步包括：
    监测是否有车辆进入停车场；
    若有车辆进入停车场，基于所述停车位状态引导车辆。
  9. 基于权利要求书1所述的停车位监测方法，其特征在于，所述激光雷达与停车位一一对应。
  10. 基于权利要求1所述的停车位监测方法，其特征在于，所述激光雷达对应于多个停车位；其中，所述激光雷达安装在旋转装置上，所述旋转装置可以周期性旋转或基于指令旋转指定角度。
  11. 基于权利要求10所述的停车位监测方法，其特征在于，所述至少两个距离信息包括：同一激光雷达在同一角度上在时间上连续的至少两个距离信息。
  12. 一种停车位监测系统，包括多个激光雷达，其中激光雷达包括光发射器，用于向所述停车位发射探测光并确定激光雷达至停车位的距离信息，其特征在于，包括：
    接收模块，用于接收距离信息；
    计算模块，用于确定至少两个所述距离信息的变化趋势；
    判断模块，用于基于所述变化趋势更新所述停车位状态；
    其中，所述判断模块基于所述变化趋势为所述距离信息增大，更新所述停车位状态为空闲车位；所述判断模块基于所述变化趋势为所述距离信息减小，更新所述停车位状态为占用车位。
  13. 基于权利要求12所述的停车位监测系统，其特征在于，所述计算模块基于同一激光雷达在时间上连续的至少两个距离信息确定所述变化趋势。
  14. 基于权利要求13所述的停车位监测系统，其特征在于，所述计算模块基于时间顺序逐一比较所述至少两个距离信息，并基于比较结果确定变化趋势。
  15. 基于权利要求12所述的停车位监测系统，其特征在于，若所述变化趋势包含多种结果，判断模块基于最新的变化趋势判断停车位状态，其中，所述最新的变化趋势包括基于时间最新的两个距离信息确定的变化趋势。
  16. 基于权利要求12所述的停车位监测系统，其特征在于，还包括：
    初始化模块，用于初始化所述停车位状态；
    其中所述初始化模块基于以下任一方式初始化所述停车位状态：
    基于人工输入初始化停车位状态；
    基于标准距离初始化停车位状态，其中所述基于标准距离自动初始化所述停车位状态包括基于所述距离信息大于或等于所述标准距离，确定所述停车位的初始状态为空闲车位；基于所述距离信息小于所述标准距离，确定所述停车位的初始状态为占用车位。
  17. 基于权利要求12所述的停车位监测系统，其特征在于，还包括：
    引导模块，用于在车辆进入停车场时，基于停车位状态引导车辆。
  18. 基于权利要求12所述的停车位监测系统，其特征在于，所述激光雷达对应于多个车位，其中所述激光雷达安装在旋转装置上，所述旋转装置可以周期性或基于指令旋转指定角度。
  19. 基于权利要求18所述的停车位监测系统，其特征在于，所述至少两个距离信息包括：同一激光雷达在同一角度上在时间上连续的至少两个距离信息。
  20. 一种停车位监测系统，其特征在于，包括：
    多个激光雷达，其中激光雷达包括光发射器，用于向所述停车位发射探测光并基于反射确定激光雷达至停车位的距离信息；
    云端服务器，与所述多个激光雷达连接，包括：
    通信接口，用于接收所述距离信息和发送指令；
    存储器，用于存储所述距离信息；
    处理器，用于判断距离信息的变化趋势，并基于所述变化趋势更新所述停车位状态；
    其中，基于所述变化趋势为所述距离信息增大，更新所述停车位 状态为空闲车位；基于所述变化趋势为所述距离信息减小，更新所述停车位状态为占用车位。
  21. 一种停车位监测方法，其特征在于，包括：
    接收激光雷达当前距离信息；
    比较当前距离信息与前一帧距离信息，得到比较结果；
    基于所述比较结果更新停车位状态；
    其中，基于所述比较结果为当前距离信息大于前一帧距离信息，更新所述停车位状态为空闲车位；基于所述比较结果为当前距离信息小于前一帧距离信息，更新所述停车位为占用车位。
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