CN112183409B - Parking space detection method based on panoramic image, electronic device and storage medium - Google Patents
Parking space detection method based on panoramic image, electronic device and storage medium Download PDFInfo
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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- 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
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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
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
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- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
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Abstract
本发明涉及一种基于全景影像的检测车位方法、电子设备及存储介质，其包括获取用户车辆端的车辆标识信息及进入停车场的时间；接收来自用户车辆端的获取停车场地图请求以生成车位地图信号，并将车位地图信号发送至用户车辆端；接收来自用户车辆端的区域位置信号，并将预停车区域的位置信息发送至用户车辆端；接收来自用户车辆端标记目标车位的标记信号；对标记信号根据时间进行排序，根据预设规则以确定目标车位的归属权，并通过显示车辆标识信息的方式标记目标车位。本发明使得停车时通过标记目标车位的方式以明确目标车位的归属权，从而有效减少因目标车位的归属问题而发生争执。
The present invention relates to a method for detecting parking spaces based on panoramic images, an electronic device and a storage medium, which comprises obtaining vehicle identification information of a user vehicle end and the time of entering a parking lot; receiving a request for obtaining a parking lot map from the user vehicle end to generate a parking space map signal, and sending the parking space map signal to the user vehicle end; receiving an area position signal from the user vehicle end, and sending the position information of the pre-parking area to the user vehicle end; receiving a marking signal from the user vehicle end to mark a target parking space; sorting the marking signal according to time, determining the ownership of the target parking space according to a preset rule, and marking the target parking space by displaying the vehicle identification information. The present invention allows the ownership of the target parking space to be clarified by marking the target parking space when parking, thereby effectively reducing disputes due to the ownership of the target parking space.
Description
Technical Field
The invention relates to the technical field of intelligent parking, in particular to a parking space detection method based on panoramic images, electronic equipment and a storage medium.
Background
Along with the improvement of the living standard of people and the acceleration of urban footsteps, automobiles are widely used as a travel tool for people to travel, and the travel tool is fast in speed and long in travel distance and is favored by consumers. However, when people drive out, the most headache is difficult to park.
When a user parks in a parking lot, the situation of each parking space in the parking lot can change dynamically, and when a vehicle runs to the parking lot, the vehicle possibly has an empty parking space, but when the vehicle runs to the vicinity of the parking space, if other vehicles also arrive at the vicinity of the parking space from different routes, it is difficult to judge who parks the parking space for use, and the two parties are easy to dispute, so that the user experience is affected.
Disclosure of Invention
The invention aims to provide a panoramic image-based parking space detection method, which has the characteristic of defining the attribution right of a target parking space, and effectively reduces the disputes of the parking space caused by the attribution right problem.
The first object of the present invention is achieved by the following technical solutions:
A parking space detection method based on panoramic images is applied to a server, and comprises the following steps:
Acquiring vehicle identification information of a user vehicle end and time for entering a parking lot, wherein the vehicle identification information carries license plate number information of a vehicle;
Receiving a parking lot map obtaining request from a user vehicle end to generate a parking lot map signal, and sending the parking lot map signal to the user vehicle end, wherein the parking lot map signal carries parking lot map information;
receiving an area position signal from a user vehicle end, and sending the position information of the pre-parking area to the user vehicle end;
Receiving a marking signal from a user vehicle end for marking the same target parking space, wherein the marking signal carries vehicle identification information;
and sequencing the marking signals according to time, determining the attribution right of the target parking space according to a preset rule, and marking the target parking space in a mode of displaying the vehicle identification information.
By adopting the technical scheme, when a vehicle enters a parking lot through obtaining license plate information of the vehicle and time for entering the parking lot, the server stores and records, after the vehicle enters the parking lot, sends a request for obtaining a map of the parking lot to the server, processes the request for obtaining the map of the parking lot so as to generate a parking space map signal carrying the map information of the parking lot, and sends the map signal to a user vehicle end, after the user vehicle end receives the map signal of the parking space, a pre-parking area is selected, the user vehicle end sends an area position signal to the server so as to enable the server to return the position information of the pre-parking area to the user vehicle end, when the user vehicle end finds a target parking space according to the position information of the pre-parking area, namely an idle parking space, the user vehicle end sends a marking signal to the server so as to mark the target parking space, after the server receives the marking signal, the marking signal is ordered according to time, then the attribution right of the target parking space is determined according to a preset rule, and the target parking space is marked in a mode of displaying vehicle identification information, so that a plurality of users can arrive at the target parking space nearby the same time period, and the attribution of the target parking space can be clearly solved, and the attributive parking space can be clearly solved.
The present invention may be further configured in a preferred example to: the preset rule comprises the following steps:
and determining the attribution right of the target parking space according to the time of the earliest received marking signal.
By adopting the technical scheme, the marking signals are sequenced according to time, and the attribution right of the target parking space is conveniently determined according to the time sequence received by the server.
The present invention may be further configured in a preferred example to: the preset rule further comprises:
And sorting according to the time when the user vehicle end enters the parking lot, and determining the attribution right of the target parking space through the earliest time when the user vehicle end enters the parking lot when the time when the marking signals of the user vehicle end are received is the same.
By adopting the technical scheme, when the attribution right of the target parking space cannot be determined through the marking signal, the time of the vehicle entering the parking lot is compared, so that secondary comparison is performed, and the attribution right of the target parking space is determined through the vehicle entering the parking lot at an earlier time.
The invention aims to provide a panoramic image-based parking space detection method, which has the characteristic that a target parking space can be marked to determine the attribution right of the target parking space.
The second object of the present invention is achieved by the following technical solutions:
a parking space detection method based on panoramic images is applied to a user vehicle end, and comprises the following steps:
Sending a request for acquiring a parking lot map to the server, and receiving a parking lot map signal returned from the server, wherein the parking lot map signal carries parking lot map information;
selecting a pre-parking area, and sending an area position signal to the parking lot server to acquire the position information of the pre-parking area;
a driving route is drawn according to the position information of the pre-parking area;
acquiring an idle parking space of a parking lot in the driving process according to the driving route;
and sending a marking signal to the parking lot server so that the parking lot server marks the target parking space in a mode of displaying the vehicle identification information.
Through adopting above-mentioned technical scheme, the vehicle is when getting into the parking area, send and acquire the parking area map request to the server returns the parking stall map signal that carries parking area map information to the vehicle of being convenient for, after the vehicle received the parking stall map signal, after the user selected the regional back of parkking in advance, user vehicle end planning travel route according to the regional area of parkking in advance, then travel to the regional area of parkking in advance according to travel route, when the vehicle discerned when having idle parking stall in the in-process of travelling to the regional in advance, send and carry vehicle identification information mark signal to the parking area server, so that the server handles vehicle identification signal, thereby mark the target parking stall through the mode of showing vehicle identification information.
The present invention may be further configured in a preferred example to: before the idle parking spaces of the parking lot are obtained in the driving process according to the driving route, the images of the surrounding environment of the vehicle are shot through a camera so as to obtain suspected idle parking spaces of the parking lot;
The method comprises the steps that a suspected idle parking space of a parking lot is obtained, the parking space line of a pre-parking area is identified at a first position, the parking space between two adjacent vehicles is identified, and when the space between two adjacent vehicle image characteristic objects is larger than a preset value, the parking space is the suspected idle parking space.
By adopting the technical scheme, the images of the surrounding environment of the vehicle are shot through the camera during running so as to obtain suspected idle parking spaces of the parking lot, so that a user can know that the idle parking spaces possibly exist in advance, and the user can prepare for marking the target parking spaces in advance.
The present invention may be further configured in a preferred example to: the obtaining the suspected idle parking space of the parking lot further comprises:
and acquiring object movement information in the monitoring image of the pre-parking area, acquiring a first image of an object when detecting that the object with the image characteristic of the vehicle in the monitoring image of the pre-parking area moves from the interior of a parking space line to the exterior of the parking space line and moves to the ground projection of the image characteristic of the vehicle to be in contact with the vehicle access edge line of the parking space line, acquiring a second image of the object with the image characteristic of the vehicle at a second position, and comparing the first image with the second image to determine whether the image characteristic of the vehicle moves to the exterior of the parking space line or not, and marking a parking space where the object is positioned as a suspected idle parking space when the image characteristic of the vehicle moves to the exterior of the parking space line.
By adopting the technical scheme, according to the condition that other users possibly leave the parking lot during the running of the preset route, whether the front parking space is a suspected idle parking space is judged by judging that an object with the image characteristics of the vehicle moves from the inside of the parking space line to the outside of the parking space line.
The present invention may be further configured in a preferred example to: after the suspected idle parking space of the parking lot is obtained, judging whether the suspected idle parking space is an idle parking space or not according to preset conditions;
the preset condition comprises the steps of identifying a parking space line at a second position and identifying the vehicle rearview mirror characteristics in the parking space line, wherein the angle range of the target parking space obtained at the second position is larger than that of the target parking space obtained at the first position, and when the vehicle rearview mirror characteristics in the parking space line are detected, the current suspected idle parking space is a non-idle parking space; when the fact that the label points in the parking space line reach the preset number is detected, the current suspected idle parking space is marked as an idle parking space.
Through adopting above-mentioned technical scheme, through detecting the interior vehicle rearview mirror characteristic of parking stall line and label point to judge the state of parking stall.
The present invention may be further configured in a preferred example to: and after the server marks the target parking space in a mode of displaying the vehicle identification information, sending a parking request instruction to the server to obtain authorized parking, and receiving the authorized parking instruction from the server.
By adopting the technical scheme, after the user vehicle end successfully marks the target parking space, the user vehicle end sends a parking request instruction to the server, so that the server returns an authorized parking instruction to the user vehicle end to authorize the user vehicle end to enter the target parking space for parking.
The third purpose of the invention is to provide the electronic equipment which has the function of storing and executing the parking space detection method so as to ensure the normal operation of the parking space detection method.
The third object of the present invention is achieved by the following technical solutions:
An electronic device comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute the panoramic image-based parking space detection method.
By adopting the technical scheme, the memory is used for storing the computer program for using the method for detecting the vehicle position, and the computer program stored in the memory can control the operation of the user vehicle end and the server of the parking lot through the processor.
The fourth object of the present invention is to provide a computer storage medium capable of storing a corresponding program, which has the characteristic of being convenient for realizing the method for detecting parking spaces in other vehicles and parking lots.
The fourth object of the present invention is achieved by the following technical solutions:
a computer readable storage medium storing a computer program loadable by a processor and configured to perform any one of the above panoramic image-based parking space detection methods.
1. In summary, the present invention includes at least one of the following beneficial technical effects:
the target parking spaces are marked in a mode of displaying the vehicle identification information, so that when a plurality of users arrive at the vicinity of the target parking spaces in the same time period, the attribution right of the current target parking spaces can be clear, the attribution right of the target parking spaces is clear, and disputes caused by the attribution right of the same target parking spaces are reduced;
2. the vehicle shoots images of the surrounding environment of the vehicle through the camera according to the driving route during driving so as to obtain suspected idle parking spaces of the parking lot, so that a user can know the possible idle parking spaces in advance, and the user can conveniently prepare to make operations for marking target parking spaces in advance.
Drawings
FIG. 1 is a schematic flow chart of a parking space detection method according to the first embodiment of the invention;
FIG. 2 is a schematic block diagram of a connection between a user vehicle and a server in a second embodiment of the present invention;
FIG. 3 is a schematic block diagram of a user vehicle end in a second embodiment of the invention;
fig. 4 is a schematic flow chart of a parking space detection method according to a third embodiment of the present invention;
FIG. 5 is a schematic block diagram of a connection between a user vehicle and a server in a fourth embodiment of the present invention;
fig. 6 is a schematic block diagram of a server in a fourth embodiment of the present invention.
In the figure, 1, a first identification module; 2. a first transceiver module; 3. a marking module; 4. a second transceiver module; 5. a processing module; 6. and a second identification module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
The first embodiment of the invention provides a parking space detection method based on panoramic images, which is applied to a server, and the main flow of the method is described as follows:
s110, acquiring vehicle identification information of a user vehicle end and time for entering a parking lot, wherein the vehicle identification information carries license plate number information of a vehicle.
Specifically, when a vehicle enters a parking lot, a camera at the entrance of the parking lot is used for shooting a vehicle image so as to acquire vehicle identification information of a user vehicle end and store the vehicle identification information in a server. The vehicle identification information is license plate number information of the vehicle, and when the license plate number information of the vehicle is read, the server records the time when the vehicle enters the parking lot. The time when the vehicle enters the parking lot is the time when the server authorizes the vehicle to enter the parking lot after identifying license plate number information of the vehicle image.
Meanwhile, when the vehicle is authorized to enter the parking lot, the user vehicle end and the parking lot server establish communication connection. The communication connection can be 2G/3G/4G/5G connection, bluetooth connection, GPRS connection or WiFi connection. After the communication connection is established by the client-side pre-server, the server executes the following step S120.
S120, receiving a request for acquiring a parking lot map from a user vehicle end to generate a parking lot map signal, and sending the parking lot map signal to the user vehicle end, wherein the parking lot map signal carries parking lot map information.
Specifically, the server stores map information of the parking lot. Wherein, the map information of the parking lot is designed according to the actual parking lot layout. When the parking lot is an above-ground/underground parking lot having a plurality of floors and the parking lot layout of each floor is different, map information of the parking lot corresponding to each floor is stored in the server. When the car enters the parking lot of one of the floors, the server acquires the floor where the car enters the parking lot. The acquiring mode can be that a floor mark which can be read is additionally arranged at the entrance of each floor of the parking lot, the floor mark can be an RFID tag, and meanwhile, a camera for shooting vehicle images and an RFID tag reader for reading the RFID tag are arranged at the entrance of each floor. When an automobile enters a parking lot, a camera shoots an image of the automobile, meanwhile, an RFID reader reads an RFID tag to acquire current floor information, a server generates a parking place carrying signal after reading the floor information, the parking place map signal carries parking lot map information of the current floor, and the parking place map signal is returned to a user vehicle end so that the user vehicle end can conveniently display the parking place map information.
After the server sends the parking space map signal to the user vehicle end, the following step S130 is executed.
S130, receiving a marking signal from a user vehicle end for marking the same target parking space, wherein the marking signal carries vehicle identification information.
Specifically, the vehicle identification information includes license plate number information of the vehicle; the target parking space is a parking space for the vehicle to park in advance after entering the parking lot. Before a vehicle stops in a target parking space, firstly, a user vehicle end sends a marking signal to a server to mark the target parking space, a display which is in communication connection with the server is arranged near the target parking space, the server processes a vehicle identification signal after receiving the marking signal, and vehicle identification information of the user vehicle end is displayed through the display near the target parking space, so that other users can know that the current parking space is selected.
After the server receives the flag signal, the following step S140 is performed, thereby processing the vehicle identification signal.
And S140, sorting the marking signals according to time, determining the attribution right of the target parking space according to a preset rule, and marking the target parking space in a mode of displaying the vehicle identification information.
The step of sorting the marking signals according to time may be understood that when the server receives at least one marking signal from the user vehicle end for marking the same target parking space within a preset time range (for example, within 2 seconds), the server sequentially sorts the marking signals according to the time sequence of receiving the marking signals, that is, when a plurality of user vehicle ends in the parking lot travel from different routes to the vicinity of the same target parking space and send out the marking signals to the target parking space, the server sorts the received marking signals, and then determines the attribution right of the target parking space according to a preset rule, and it should be noted that the attribution right in this embodiment is that according to the preset rule, which user vehicle end the current target parking space should be parked at is obtained.
After the user vehicle end obtains the attribution right of using the target parking space, the server displays the vehicle identification information of the user vehicle end with the attribution right through a display nearby the target parking space, so that other users can know that the current parking space is selected.
The preset rules in step S140 include: after the servers are sequentially ordered according to the time sequence of the received marking signals, the servers determine the attribution right of the target parking space according to the marking signal with the earliest time.
The following description illustrates that two user vehicle ends mark the same target in the same time period, when the server receives two marking signals for marking the same target parking space, the server sequentially sorts the received two marking signals according to the sequence of the receiving time, so that the server can select the marking signal with the earlier receiving time and process the marking signal, and therefore the vehicle identification information is displayed through a display near the target parking space. And when the time of the two marking signals received by the server is the same, the server performs secondary comparison on the two received marking signals.
The server performs a second comparison rule on the received two marking signals as follows:
Firstly, a server reads vehicle identification information of a user vehicle end corresponding to two marking signals and time for entering a parking lot, then sequentially sorts time sequence of the two user vehicle ends entering the parking lot, the attribution right of a target parking space is determined according to the time sequence of the user vehicle end entering the parking lot, and the user vehicle end with earlier entering time obtains the attribution right of the target parking space.
In another embodiment, when the time of entering the parking lot of the two user vehicle ends is the same, the server allocates the attribution right of the target parking space according to the allocation rule. Specifically, the allocation rule includes obtaining license plate numbers of two target parking spaces and comparing sizes of last digits of the two license plate numbers, wherein when the license plate numbers have letters, each letter corresponds to a specific number, for example, letters A-Z respectively correspond to numbers 1-26 one by one. And comparing the sizes of the last digits of the two license plates, and obtaining the attribution right of the target parking space by the vehicle with the larger last digit of the license plate. When the last digits of the license plates of the two user vehicle ends are the same, the last digits are compared, so that the license plates of the two vehicles are compared sequentially, and the attribution right of the target parking space is determined.
After the server determines the attribution right of the target parking space, the license plate number of the vehicle is displayed through a display near the target parking space, an attribution signal is generated at the same time and returned to the user vehicle end, and meanwhile, the server starts the vehicle interception of the target parking space, so that the vehicle without the attribution right is intercepted to use the target vehicle.
Embodiment two:
the second embodiment of the invention provides a parking space detection system based on panoramic images, which comprises:
The first identification module 1 is used for acquiring vehicle identification information of a user vehicle end and time for entering a parking lot and storing the information in a server;
the first transceiver module 2 is used for receiving a parking lot map acquisition request, an area position signal and a marking signal from a user vehicle end and sending a parking space map signal and an area position signal to the user vehicle end;
The marking module 3 is used for sorting the marking signals according to time after receiving the marking signals, determining the attribution right of the target parking space according to a preset rule, and marking the target parking space in a mode of displaying the vehicle identification information.
Embodiment III:
The third embodiment of the invention provides a parking space detection method based on panoramic images, which is applied to a user vehicle end (hereinafter named as a vehicle), and the main flow of the method is described as follows:
S210, sending a request for acquiring a parking lot map to the server, and receiving a parking lot map signal returned from the server, wherein the parking lot map signal carries parking lot map information.
Specifically, when a vehicle enters a parking lot, a wireless communication connection is established with a server of the parking lot. The wireless communication connection may be a 2G/3G/4G/5G connection, a bluetooth connection, a GPRS connection, or a WiFi connection. After the vehicle establishes communication connection with the server, the user inputs license plate number information of the target vehicle. After the user inputs the license plate number information of the vehicle, a request for acquiring the parking lot map is received from the user, so that the server returns a parking lot map signal carrying the parking lot map information to the vehicle.
After the vehicle receives the parking space map signal, the electronic display device on the vehicle is used for displaying the map of the parking space, and the user can drive to the area where the vehicle is required to be parked according to the map of the parking space.
After the display device of the vehicle displays the parking lot map, step S220 is performed.
S220, selecting a pre-parking area, and sending an area position signal to the server to acquire the position information of the pre-parking area.
In the above step S220, the parking lot manager may divide the parking spaces of the parking lot into areas and store the divided area information in the parking lot server. The dividing areas can be divided according to the layout of the parking lot and the positions of the parking spaces, and each area comprises a plurality of parking spaces.
Specifically, the selected pre-park area is selected by the user. When the vehicle receives the pre-parking area instruction selected by the user, the vehicle processes the pre-parking area instruction and generates an area position signal, wherein the area position signal carries the pre-parking area information. The pre-park zone information includes location information of the vehicle and the selected pre-park zone. The vehicle transmits the zone location signal to the server, which processes the zone location signal and returns the zone location information to the vehicle for display by the display device of the vehicle. In this embodiment, the area location information includes location information and map information of the pre-parking area.
After the pre-parking area selection is completed, the following step S230 is performed.
S230, a driving route is drawn according to the position information of the pre-parking area.
Specifically, the planning of the driving route includes planning at least one route of driving to the position of the pre-parking area according to the map information of the pre-parking area and the current position of the vehicle and combining the map information of the parking area, and selecting an optimal driving route. It is understood that when there is only one travel route, the travel route is the optimal route; when the driving routes are more than two, the number of the idle parking spaces on each driving route is obtained, and compared with the number of the idle parking spaces on each driving route, the driving route with more idle parking spaces is the optimal route, so that the possibility of having the idle parking spaces in the way of driving to the pre-parking area is increased. In addition, when two optimal driving routes are provided and the number of idle parking spaces on the two optimal driving routes is consistent, the distance between the two driving routes is compared, and the route with the shortest distance to the pre-parking area is selected as the optimal route, so that the possibility of the obtained parking space is higher when a user is driving to the pre-parking area.
S240, acquiring an idle parking space of the parking lot in the driving process according to the driving route.
The method for acquiring the idle parking spaces comprises the steps of shooting panoramic images of the surrounding environment of the vehicle through a camera, and acquiring the idle parking spaces through identifying the panoramic images. In this embodiment, the number of cameras is four, and four cameras can be installed at four corners of the front end and the rear end of the vehicle body, and also can be installed at four corners of the vehicle roof, so that the angle range of the panoramic image which can be acquired by the cameras is larger.
Specifically, before the idle parking spaces of the parking lot are acquired in the driving process according to the driving route, the images of the surrounding environment of the vehicle are shot through the camera so as to acquire the suspected idle vehicle of the parking lot.
The method comprises the steps of acquiring suspected idle parking spaces of a parking lot, wherein the suspected idle parking spaces comprise parking space lines for identifying a pre-parking area at a first position and parking spaces between objects for identifying two adjacent vehicle image features. Specifically, when the distance between two adjacent objects with the vehicle image features is larger than a preset value, a suspected idle parking space exists between the two objects with the vehicle image features. That is, after the camera acquires the image, the parking mode of the parking space is determined, and the parking modes of the parking space are mainly three, namely transverse parking, longitudinal parking and inclined parking. In this embodiment, the transverse parking is that the parking spaces and the vehicle aisle are vertically distributed, the longitudinal parking is that the parking spaces and the vehicle aisle are parallel distributed, and the oblique parking is that the included angle formed by the parking spaces and the vehicle aisle is an obtuse angle or an acute angle. And after the parking mode of the parking space is identified, scaling the image acquired by the camera at the first position, so that the distance between two vehicle image characteristic objects is obtained. In this embodiment, the preset values of the three parking modes are 2.3 meters, 3.8 meters and 2 meters, respectively, so as to improve the accuracy of recognition.
In addition, the obtaining the suspected idle parking space of the parking lot further comprises:
and acquiring object movement information in a monitoring image of the pre-parking area, and acquiring a first image of an object and acquiring a second image of an object with vehicle image characteristics at a second position when detecting that the object with the vehicle image characteristics in the monitoring image of the pre-parking area moves from the inside of a parking space line to the outside of the parking space line and moves to the ground projection of the vehicle mirror characteristics (rearview mirror characteristics of the vehicle) of the vehicle to contact with the vehicle entrance and exit edge line of the parking space line. The angle of the target parking space which can be acquired by the vehicle at the second position is larger than that of the target parking space which can be acquired by the vehicle at the first position.
After the first image and the second image are acquired by the vehicle, scaling processing is carried out on the first image and the second image so as to compare the first image with the second image, and therefore whether the vehicle mirror features of the vehicle move out of the parking space line or not is determined. When the mirror features of the vehicle move out of the parking space line, the parking space where the object is located is marked as a suspected idle parking space.
And judging whether the suspected idle parking space is the idle parking space according to preset conditions after acquiring the suspected idle parking space of the parking lot.
Specifically, the preset condition includes identifying a parking space line at the second location and identifying a vehicle mirror feature within the parking space line. When the characteristics of the mirrors in the parking space line are detected, the current suspected idle parking space is a non-idle parking space; and when the car mirror characteristics are not detected, detecting the label points in the parking space lines. A plurality of label points are arranged in the parking space line, and the label points can be distributed at four corners and the middle position of the parking space and can be set according to actual demands. When the fact that the number of the label points in the parking space line reaches the preset number is detected, the current suspected idle parking space is marked as an idle parking space.
After determining that the target parking space is an idle parking space, the following step S250 is executed.
S250, sending a marking signal to the parking lot server so that the parking lot server marks the target parking space in a mode of displaying the vehicle identification information.
Specifically, the marking signal carries vehicle identification information, including license plate number information of the vehicle. The marking mode is that the vehicle sends a marking signal to a parking lot server, and the server processes the vehicle identification signal after receiving the marking signal so as to acquire the attribution right of the current target parking space. And meanwhile, vehicle identification information of a user vehicle end is displayed through a display near the target parking space, so that other users can know that the current parking space is selected.
And after the target parking space is marked, the vehicle performs parking operation. When parking, the vehicle sends a parking request instruction to the server to acquire authorized parking, and receives the authorized parking instruction from the server to authorize the vehicle to enter the target parking space.
Embodiment four:
The fourth embodiment of the invention provides a parking space detection system based on panoramic images, which comprises:
The second transceiver module 4 sends a request for acquiring a map of a parking lot and a regional position signal to the server and receives a parking space map signal returned by the server and position information of a pre-parking region;
the processing module 5 is used for planning a driving route according to the position information of the pre-parking area;
the second recognition module 6 acquires the idle parking space of the parking lot in the driving process according to the driving route.
Fifth embodiment:
A fifth embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program that can be loaded by the processor and execute any of the methods described above. Specifically, the electronic device includes a mobile phone, a tablet, a reader, and the like.
Example six:
A sixth embodiment of the present application provides a computer readable storage medium, in which a computer program capable of being loaded by a processor and executing any one of the methods described above is stored. Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program, which may be stored on a non-transitory computer readable storage medium and which, when executed, may comprise the steps of the above-described embodiments of the methods. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Claims (6)
1. The method for detecting the parking space based on the panoramic image is applied to a server and is characterized by comprising the following steps:
Acquiring vehicle identification information of a user vehicle end and time for entering a parking lot, wherein the vehicle identification information carries license plate number information of a vehicle;
Receiving a parking lot map obtaining request from a user vehicle end to generate a parking lot map signal, and sending the parking lot map signal to the user vehicle end, wherein the parking lot map signal carries parking lot map information;
receiving an area position signal from a user vehicle end, and sending the position information of the pre-parking area to the user vehicle end;
The user vehicle end sends a request for acquiring a parking lot map to the server and receives a parking lot map signal returned from the server, wherein the parking lot map signal carries parking lot map information;
Selecting a pre-parking area, and sending an area position signal to the server to acquire the position information of the pre-parking area;
a driving route is drawn according to the position information of the pre-parking area;
Shooting an image of the surrounding environment of the vehicle through a camera to obtain suspected idle parking spaces of the parking lot;
The method comprises the steps that a suspected idle parking space of a parking lot is obtained, wherein the suspected idle parking space comprises a parking space line of the pre-parking area and a parking space between two adjacent objects with vehicle image characteristics, and when the space between the two adjacent objects with the vehicle image characteristics is larger than a preset value, the suspected idle parking space exists between the two objects with the vehicle image characteristics;
The obtaining the suspected idle parking space of the parking lot further comprises: acquiring object movement information in a monitoring image of the pre-parking area, acquiring a first image of an object when detecting that the object with the image characteristic of a vehicle in the monitoring image of the pre-parking area moves from the inside to the outside of a parking space line and moves to the ground projection of the image characteristic of the vehicle to contact with the vehicle access boundary of the parking space line, acquiring a second image of the object with the image characteristic of the vehicle at a second position, wherein the angle of a target parking space acquired by the vehicle at the second position is larger than that of the target parking space acquired at the first position, comparing the first image with the second image to determine whether the image characteristic of the vehicle moves out of the parking space line, and marking the parking space where the object is positioned as a suspected idle parking space when the image characteristic of the vehicle moves out of the parking space line; acquiring an idle parking space of a parking lot in the driving process according to the driving route;
After the suspected idle parking space of the parking lot is obtained, judging whether the suspected idle parking space is an idle parking space or not according to preset conditions; the preset condition comprises that a parking space line is identified at a second position, and the characteristics of a vehicle mirror in the parking space line are identified, and when the characteristics of the vehicle mirror in the parking space line at the second position are detected, the current suspected idle parking space is a non-idle parking space; when detecting that the label points in the parking space line reach the preset number, marking the current suspected idle parking space as the idle parking space, wherein the label points are distributed at four corners and the middle position of the parking space;
Sending a marking signal to a parking lot server so that the parking lot server marks a target parking space in a mode of displaying vehicle identification information;
Receiving a marking signal from a user vehicle end for marking the same target parking space, wherein the marking signal carries vehicle identification information;
and sequencing the marking signals according to time, determining the attribution right of the target parking space according to a preset rule, and marking the target parking space in a mode of displaying the vehicle identification information.
2. The method of claim 1, wherein the preset rule comprises:
and determining the attribution right of the target parking space according to the time of the earliest received marking signal.
3. The method of claim 2, wherein the preset rule further comprises:
And sorting according to the time when the user vehicle end enters the parking lot, and determining the attribution right of the target parking space through the earliest time when the user vehicle end enters the parking lot when the time when the marking signals of the user vehicle end are received is the same.
4. The method according to claim 1, wherein the server, after marking the target parking space by displaying the vehicle identification information, transmits a request parking instruction to the server to obtain authorized parking, and receives the authorized parking instruction from the server.
5. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and performing the method according to any of claims 1 to 4.
6. A computer readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which performs the method according to any one of claims 1 to 4.
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