CN106448258B - A kind of detection method and device of parking space state - Google Patents
A kind of detection method and device of parking space state Download PDFInfo
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- CN106448258B CN106448258B CN201611189520.7A CN201611189520A CN106448258B CN 106448258 B CN106448258 B CN 106448258B CN 201611189520 A CN201611189520 A CN 201611189520A CN 106448258 B CN106448258 B CN 106448258B
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
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Abstract
The present invention provides a kind of detection method and device of parking space state, are related to parking stall measure technical field, which comprises the microwave signal of at least one frequency range is sent to parking space；According to the real-time echo data of corresponding with the first parking space state of current region Basic wave data and the region received, judge whether the first parking space state changes；When determining that the first current parking space state changes, according to the first parking space state and echo data, the method of the second parking space state after determining variation, parking space state is detected using geomagnetic sensor in the prior art, obtained testing result accuracy is poor to be compared, it detects parking space state using microwave signal, and detects using the microwave signal of multiple gradient frequency ranges to parking space state.It is not influenced by changes of magnetic field, vehicle movement speed variation and the external environment near parking stall when being detected using microwave signal to parking stall, so that the accuracy of testing result is higher.
Description
Technical field
The present invention relates to parking stall measure technical fields, in particular to a kind of detection method and device of parking space state.
Background technique
In recent years, as the improvement of people's living standards, the rapid growth of automobile quantity, in order to meet user trip side
Face can quickly detect idle parking stall by parking space state detection technique, to meet the needs of user is quickly stopped.
The relevant technologies provide two kinds of parking space state detection methods, and first is to be carried out using geomagnetic sensor to ground parking stall
Detection, above-mentioned geomagnetic sensor are mainly the detection that can cause the principle realization vehicle of variation of geomagnetic field using vehicle, are led to
Often, judged according to the GEOMAGNETIC CHANGE in a direction of a certain parking stall the parking stall whether vehicle parking.Second is to utilize magnetic
Resistance sensor detects the variation of parking stall surrounding magnetic field.But still for above two method, either Roadside Parking position
Parking position, the occupancy situation of parking stall will not all generate frequent variation.Parking stall is persistently occupied sometimes, also can sometimes
Continuous idle.And in this case, the magnetic field near parking stall, often by external environment the reason of generate drift, thus
So that geomagnetic sensor or magnetoresistive sensor (hereinafter referred to as sensor) detect the variation in magnetic field, sensor erroneous detection feelings are generated
Condition.
Also, when vehicle stops leaving parking stall into parking stall or vehicle, the speed of automobile is often relatively slow, therefore, near parking stall
Changes of magnetic field it is also corresponding relatively slow.Therefore, parking space state is detected using sensor, is not appropriate for parking lot or trackside
This application scenarios of parking, it is poor to the testing result accuracy of parking space state so as to cause it.
Summary of the invention
In view of this, a kind of detection method and device for being designed to provide parking space state of the embodiment of the present invention, benefit
Parking space state is detected with microwave signal, not by changes of magnetic field, vehicle movement speed variation and the external world near parking stall
The influence of environment improves the accuracy of testing result.
In a first aspect, the embodiment of the invention provides a kind of detection methods of parking space state, comprising:
The microwave signal of at least one frequency range is sent to parking space；
According to Basic wave data corresponding with first parking space state in presently described region and the region received
Real-time echo data, judge whether first parking space state changes；
When determining that current first parking space state changes, according to first parking space state and the echo
Data, the second parking space state after determining variation.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein root
According to the real-time echo of corresponding with first parking space state in presently described region Basic wave data and the region received
Data, judge whether first parking space state changes, comprising:
Receive the echo data of the parking space；
It calculates between Basic wave data corresponding with first parking space state in presently described region and the echo data
Mahalanobis distance；
According to the comparison result of the mahalanobis distance and mahalanobis distance baseline threshold, generate for indicating first parking stall
The prompt point information of state change situation, the prompt point information include at least effectively prompt point and unavailable emphasis point.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect
Possible embodiment, wherein the prompt point information further includes preliminary available point, according to the mahalanobis distance and mahalanobis distance
The comparison result of baseline threshold generates the prompt point information for indicating the first parking space state situation of change, comprising:
First detected when first parking space state is microwave car-free status and is in the microwave car-free status
When mahalanobis distance is greater than the first mahalanobis distance baseline threshold, generate for indicating that first parking space state is changed described
Preliminary available point；When first mahalanobis distance is less than the first mahalanobis distance baseline threshold, generate for indicating described
The not changed unavailable emphasis point of first parking space state；
Or,
Second detected when first parking space state is microwave dead ship condition and is in the microwave dead ship condition
When mahalanobis distance is greater than the second mahalanobis distance baseline threshold, the preliminary available point is generated；When second mahalanobis distance is less than
When the second mahalanobis distance baseline threshold, the unavailable emphasis point is generated.
The possible embodiment of second with reference to first aspect, the embodiment of the invention provides the third of first aspect
Possible embodiment, wherein the method also includes:
The preliminary available point of generation is verified, determines through the preliminary available point of verifying to be described effective
Prompt point.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 4th kind of first aspect
Possible embodiment, wherein the preliminary available point of generation is verified, is determined through the described preliminary effective of verifying
Point is effective prompt point, comprising:
The echo data for each gradient frequency range that single is received respectively with third mahalanobis distance baseline threshold into
Row compares, and statistics is greater than the first number of frequency bands of the echo data of the third mahalanobis distance baseline threshold；
When first number of frequency bands is more than or equal to the first given threshold, determine that the preliminary available point is verified,
And determine that by the preliminary available point of verifying be effective prompt point.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 5th kind of first aspect
Possible embodiment, wherein the preliminary available point of generation is verified, is determined through the described preliminary effective of verifying
Point is effective prompt point, comprising:
The echo data of all gradient frequency ranges received is compared with the 4th mahalanobis distance baseline threshold respectively
It is right, count second number of frequency bands of the continuous multiple groups greater than the echo data of the 4th mahalanobis distance baseline threshold；
When second number of frequency bands is greater than the second given threshold, determine that the preliminary available point is verified, and really
The fixed preliminary available point by verifying is effective prompt point.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides the 6th kind of first aspect
Possible embodiment, wherein when determining that current first parking space state changes, according to first parking stall shape
State and the echo data, the second parking space state after determining variation, comprising:
When first parking space state is microwave car-free status and first parking space state changes, statistics is generated
It is all it is described prompt point information quantity summations；
According to the quantity summation of all prompt point information of statistics, second parking space state after judging variation is
No is microwave into car state；
Determine second parking space state be the microwave into car state when, the quantity for judge that effective prompt is put is
It is no to be more than or equal to third given threshold；Wherein, the third given threshold is for judging whether headstock drives into parking stall；
When the quantity of effective prompt point is more than or equal to the third given threshold, second parking space state is determined
Carry out car state for microwave.
The 6th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 7th kind of first aspect
Possible embodiment, wherein determining that second parking space state is after microwave carrys out car state, further includes:
Continuum family planning at it is described it is effective prompt point and/or unavailable emphasis point quantity；
When the quantity of the effective prompt point continuously generated is more than four given thresholds, second parking stall shape is determined
State is microwave dead ship condition；
When the quantity of the unavailable emphasis point continuously generated is more than five given thresholds, second parking stall shape is determined
State is in microwave car-free status.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 8th kind of first aspect
Possible embodiment, wherein when determining that current first parking space state changes, according to first parking stall shape
State and the echo data, the second parking space state after determining variation, further includes:
When first parking space state is microwave dead ship condition and first parking space state changes, count respectively
The quantity of effective the prompt point and the unavailable emphasis point that generate；
When the quantity of the effective prompt point continuously generated is less than six given thresholds, second parking stall shape is determined
State is to maintain microwave dead ship condition；
When the quantity of the unavailable emphasis point continuously generated is greater than six given threshold, second vehicle is determined
Position state is into microwave car-free status.
Second aspect, the embodiment of the invention also provides a kind of detection devices of parking space state, comprising:
Sending module, for sending the microwave signal of at least one frequency range to parking space；
Judgment module, for according to Basic wave data corresponding with first parking space state in presently described region and reception
The real-time echo data in the region arrived, judges whether first parking space state changes；
Determining module, for when determining that current first parking space state changes, according to first parking stall
State and the echo data, the second parking space state after determining variation.
A kind of detection method and device of parking space state provided in an embodiment of the present invention, send using to parking space
The microwave signal of at least one frequency range；According to Basic wave data corresponding with the first parking space state of current region and receive
Region real-time echo data, judge whether the first parking space state changes；When determining current the first parking space state hair
When changing, according to the first parking space state and echo data, the method for the second parking space state after determining variation, with the prior art
In parking space state is detected using geomagnetic sensor, obtained testing result accuracy is poor to be compared, utilize microwave
Signal detects parking space state, and detects using the microwave signal of multiple gradient frequency ranges to parking space state.Meanwhile
Not by changes of magnetic field, vehicle movement speed variation and the extraneous ring near parking stall when being detected using microwave signal to parking stall
The influence in border, so that the accuracy of testing result is higher.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of flow chart of the detection method of parking space state provided by the embodiment of the present invention；
Fig. 2 shows the flow charts of the detection method of another kind parking space state provided by the embodiment of the present invention；
Fig. 3 shows the flow chart of the detection method of another kind parking space state provided by the embodiment of the present invention；
Fig. 4 shows the flow chart of the detection method of another kind parking space state provided by the embodiment of the present invention；
Fig. 5 shows a kind of embodiment flow chart of the detection method of parking space state provided by the embodiment of the present invention；
Fig. 6 shows the embodiment flow chart of the detection method of another kind parking space state provided by the embodiment of the present invention；
Fig. 7 shows a kind of structural schematic diagram of the detection device of parking space state provided by the embodiment of the present invention；
Fig. 8 shows judgment module in a kind of detection device of parking space state provided by the embodiment of the present invention and determines mould
The structural schematic diagram of block；
The structure that Fig. 9 shows authentication module in a kind of detection device of parking space state provided by the embodiment of the present invention is shown
It is intended to；
Figure 10 shows the structure of determining module in a kind of detection device of parking space state provided by the embodiment of the present invention
Schematic diagram.
Major Symbol explanation:
10, sending module；20, judgment module；30, determining module；40, authentication module；201, receiving unit；202, it calculates
Unit；203, generation unit；301, third statistic unit；302, the first judging unit；303, second judgment unit；304, third
Determination unit；305, the 4th statistic unit；306, the 4th determination unit；307, the 5th determination unit；308, the 5th statistic unit；
309, the 6th determination unit；310, the 7th determination unit；401, the first statistic unit；402, the first determination unit；403, second
Statistic unit；404, the second determination unit.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on the embodiment of the present invention, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall within the protection scope of the present invention.
It, can be due in view of in the prior art, being detected by geomagnetic sensor and magnetoresistive sensor to parking space state
The occupancy situation of parking stall will not frequently change and can not be detected according to the magnetic field near parking stall to parking space state, also, by
The drift that magnetic field near parking stall is generated by external environment reason, can make changing for magnetic field, to can also generate
The erroneous detection situation of sensor (including geomagnetic sensor and magnetoresistive sensor).Based on this, the embodiment of the invention provides a kind of vehicles
The detection method and device of position state, can detect parking space state using microwave signal, and using multiple gradient frequencies
The microwave signal of section, while detecting parking space state, and while detecting is not mobile by the changes of magnetic field near parking stall, vehicle
The influence of velocity variations and external environment, so that the accuracy of testing result is higher.It is described below by embodiment.
With reference to flow chart shown in FIG. 1, the embodiment of the invention provides a kind of detection method of parking space state, the methods
Realize that the method specifically includes by the detection system (hereinafter referred to as system) of parking space state:
S101, the microwave signal that at least one frequency range is sent to parking space.
In the embodiment of the present invention, system includes microstrip antenna, which is preferably provided at parking space；System
Microwave signal can be sent to parking space by the microstrip antenna of setting, which can be the micro- of a frequency range
Wave signal is also possible to the microwave signal of multiple gradient frequency ranges；Preferably, 8 gradient frequency ranges are used in the embodiment of the present invention
Microwave signal detects parking space state.
Specifically, first determining whether microstrip antenna is normal before starting microstrip antenna, determining that microstrip antenna is normal
When, microwave signal is sent by the microstrip antenna.
S102, according to Basic wave data corresponding with first parking space state in presently described region and described in receiving
The real-time echo data in region, judges whether first parking space state changes.
Specifically, one or more microwave signals that microstrip antenna is sent can return back after reaching parking space
Wave signal carries echo data in the echo-signal, and system receives the one or more echo-signals returned, then extracts and connects
The echo data carried in the echo-signal of receipts, and handled echo data that (processing includes taking to received echo data
Mean value or filtering etc.), it is last according to treated echo data and the corresponding Basic wave data of the first parking space state, judgement
Whether the first parking stall changes.
Wherein, above-mentioned first parking space state includes microwave car-free status and microwave dead ship condition two states；Above-mentioned microwave
Car-free status is corresponding with no vehicle state Basic wave data, and above-mentioned microwave dead ship condition is corresponding with parking state Basic wave data.
S103, when determining that current first parking space state changes, according to first parking space state and institute
Echo data is stated, the second parking space state after determining variation.
When the first parking space state is microwave car-free status, system is according to no vehicle state Basic wave data and received time
Wave number evidence, when determining that current microwave car-free status changes, further judge change after the second parking space state whether be
Microwave is into car state；If so, system further determines that whether the second parking space state is that microwave carrys out car state；If so, system is into one
It walks and determines that the end-state of the second parking space state is microwave dead ship condition or microwave car-free status.
When the first parking space state is microwave dead ship condition, system is according to parking state Basic wave data and received time
Wave number evidence, when determining that current microwave car-free status changes, further the second parking space state after judgement variation is to maintain
Microwave dead ship condition, or variation are microwave car-free status.
A kind of detection method of parking space state provided in an embodiment of the present invention sends at least one using to parking space
The microwave signal of a frequency range；According to Basic wave data corresponding with the first parking space state of current region and the region received
Real-time echo data, judge whether the first parking space state changes；When the first parking space state for determining current changes
When, according to the first parking space state and echo data, the method for the second parking space state after determining variation, with benefit in the prior art
Parking space state is detected with geomagnetic sensor, obtained testing result accuracy is poor to be compared, and microwave signal pair is utilized
Parking space state is detected, and is detected using the microwave signal of multiple gradient frequency ranges to parking space state.Meanwhile utilization is micro-
When wave signal detects parking stall not by near parking stall changes of magnetic field, vehicle movement speed variation and external environment shadow
It rings, so that the accuracy of testing result is higher.
Further, with reference to Fig. 2, in the detection method of parking space state provided in an embodiment of the present invention, in step 102, root
According to the real-time echo of corresponding with first parking space state in presently described region Basic wave data and the region received
Data judge the whether changed method of first parking space state, specifically comprise the following steps:
S1021, the echo data for receiving the parking space.
Specifically, the microwave signal that microstrip antenna is sent is after reaching parking space, parking space can be returned
Echo-signal carries echo data in the echo-signal, and system, which receives, returns to one or more echo-signals, and extracts echo
The echo data carried in signal.
S1022, Basic wave data corresponding with first parking space state in presently described region and the number of echoes are calculated
Mahalanobis distance between.
System is handled echo data after being extracted echo data in echo-signal, the processing include to return
Wave number evidence takes mean value or filtering etc..By taking system takes mean value to echo data as an example, when emitting and receive multiple groups echo data
When, system can calculate the echo average value of multiple groups echo data, or calculate the echo average value of preset group echo data.When
When average value is greater than pre-set average value, judge whether parking stall changes.
Specifically, the corresponding Basic wave data of above-mentioned first parking space state include: no vehicle state Basic wave data or
Stop state Basic wave data, above two Basic wave data be it is pre-generated, specific generation method include:
When parking space state is microwave car-free status or microwave dead ship condition, system is sent to by microstrip antenna to the parking space
The microwave signal of a few frequency range, system receives the echo data of parking space return, and carries out to the echo data
It handles (processing equally includes taking mean value or filtering etc. to received echo data), and echo data is raw according to treated
At no vehicle state Basic wave data or parking state Basic wave data.
Then, system is according to the first parking space state, after calculating the corresponding Basic wave data of the first parking space state and processing
Echo data between mahalanobis distance.
S1023, according to the comparison result of the mahalanobis distance and mahalanobis distance baseline threshold, generate for indicating described the
The prompt point information of one parking space state situation of change, the prompt point information include at least effectively prompt point and unavailable emphasis point.
Specifically, corresponding to the first mahalanobis distance baseline threshold when the first parking space state is microwave car-free status；When
When one parking space state is microwave dead ship condition, the second mahalanobis distance baseline threshold is corresponded to.
System is corresponding from the first different parking space states respectively by the different corresponding mahalanobis distances of the first parking space state
First mahalanobis distance baseline threshold and the second mahalanobis distance baseline threshold are compared, and obtain indicating corresponding first parking space state
The prompt point information of situation of change.Above-mentioned first mahalanobis distance baseline threshold may be configured as phase with the second mahalanobis distance baseline threshold
Same value, may be alternatively provided as different values.
Wherein, the corresponding echo data of above-mentioned effective prompt point generates the signal generated when fluctuation, for indicating the first parking stall
State changes；Above-mentioned unavailable emphasis point corresponds to echo data and does not generate the signal generated when fluctuation, for indicating the first vehicle
Position state does not change.
Above-mentioned effective prompt point and unavailable emphasis point are all the foundation for judging the first parking space state situation of change.This step
In, effectively prompt point and unavailable emphasis point are suitable for judging whether echo data changes (judging that the first parking space state is
It is no to change), and it is not directly used for the second parking space state after judgement variation.
Further, the prompt point information further includes preliminary available point, corresponding, above-mentioned steps 1023, according to described
The comparison result of mahalanobis distance and mahalanobis distance baseline threshold is generated for indicating mentioning for the first parking space state situation of change
Show information, comprising:
First detected when first parking space state is microwave car-free status and is in the microwave car-free status
When mahalanobis distance is greater than the first mahalanobis distance baseline threshold, generate for indicating that first parking space state is changed described
Preliminary available point；When first mahalanobis distance is less than the first mahalanobis distance baseline threshold, generate for indicating described
The not changed unavailable emphasis point of first parking space state；
Or,
Second detected when first parking space state is microwave dead ship condition and is in the microwave dead ship condition
When mahalanobis distance is greater than the second mahalanobis distance baseline threshold, the preliminary available point is generated；When second mahalanobis distance is less than
When the second mahalanobis distance baseline threshold, the unavailable emphasis point is generated.
In the embodiment of the present invention, above-mentioned first mahalanobis distance baseline threshold may be configured as with the second mahalanobis distance baseline threshold
Identical value may be alternatively provided as different values, and specific value can be configured according to the actual situation, and the embodiment of the present invention is to this
It is not specifically limited.
Further, with reference to Fig. 2, the detection method of the parking space state further include:
S1024, the preliminary available point of generation is verified, determines that by the preliminary available point of verifying be institute
State effectively prompt point.
In the embodiment of the present invention, preliminary available point is verified using following two method:
First method include: each gradient frequency range for receiving single the echo data respectively with third geneva
It is compared apart from baseline threshold, statistics is greater than the first frequency range of the echo data of the third mahalanobis distance baseline threshold
Quantity；
When first number of frequency bands is more than or equal to the first given threshold, determine that the preliminary available point is verified,
And determine that by the preliminary available point of verifying be effective prompt point.
Specifically, system sends the microwave signal of multiple gradient frequency ranges by microstrip antenna to parking space, and connect
The each echo data for sending frequency range of correspondence that parking space returns is received, at this point, each frequency that system receives single
Section echo data is compared with third mahalanobis distance baseline threshold respectively, obtains the echo data and third geneva of each frequency range
The first comparison result apart from baseline threshold；Then, system is greater than third mahalanobis distance according to above-mentioned first comparison result statistics
First number of frequency bands of the echo data of baseline threshold；
Then, system continues to compare above-mentioned first number of frequency bands of statistics with the first given threshold, when the first frequency
When segment number is more than or equal to the first given threshold, system determines that preliminary available point passes through verifying, and determines first by this of verifying
Walking available point is effectively to prompt point；And when the first number of frequency bands is less than the first given threshold, system determines preliminary available point not
By verifying, at this point, system regenerates preliminary available point, and continue to verify preliminary available point.
In the embodiment of the present invention, above-mentioned first given threshold can according to the pre-set threshold value of actual conditions, value
It can be set to 3, the embodiment of the present invention is not particularly limited specific value.
Second method include: all gradient frequency ranges that will be received the echo data respectively with the 4th mahalanobis distance
Baseline threshold is compared, and counts second frequency range of the continuous multiple groups greater than the echo data of the 4th mahalanobis distance baseline threshold
Quantity；
When second number of frequency bands is greater than the second given threshold, determine that the preliminary available point is verified, and really
The fixed preliminary available point by verifying is effective prompt point.
Specifically, system multipass microstrip antenna sends the microwave signal of multiple gradient frequency ranges to parking space,
And each echo data for sending frequency range of correspondence for receiving parking space return；At this point, system will be received all every time
The echo data of gradient frequency range is compared with the 4th mahalanobis distance baseline threshold respectively, obtains the second comparison result, then root
Second number of frequency bands of the continuous multiple groups greater than the echo data of the 4th mahalanobis distance baseline threshold is counted according to the second comparison result, and
Preliminary available point is verified with the second given threshold according to second number of frequency bands.
In embodiments of the present invention, above-mentioned third mahalanobis distance baseline threshold is not more than the 4th mahalanobis distance baseline threshold,
And above-mentioned third mahalanobis distance baseline threshold and the 4th mahalanobis distance baseline threshold are pre-set threshold according to the actual situation
Value, the embodiment of the present invention are not specifically limited its numerical values recited.
Above-mentioned second given threshold equally can according to the pre-set threshold value of actual conditions, in the embodiment of the present invention,
It is preferably arranged to 15.The numerical value of the continuous multiple groups echo data of above-mentioned statistics, which can according to need, to be configured, and the present invention is real
It applies in example, is preferably arranged to 5 groups.
Further, with reference to Fig. 3, in the detection method of parking space state provided in an embodiment of the present invention, when the first parking stall shape
When state includes microwave car-free status, step 104, when determining that current first parking space state changes, according to described
First parking space state and the echo data, the second parking space state after determining variation, specifically include:
S1040, when first parking space state is that microwave car-free status and first parking space state change, system
Family planning at it is all it is described prompt point information quantity summations.
Specifically, working as, the first parking space state is in microwave car-free status and system judges that first parking space state changes
When, the respective quantity of effective the prompt point and unavailable emphasis point of generation is obtained and counts, and count calculating effectively prompt point and nothing
Effect prompt point quantity summation.
S1041, all quantity summations for prompting point information according to statistics, second parking stall after judging variation
Whether state is microwave into car state.
Specifically, system judges whether to reach out according to the quantity summation of effective the prompt point and unavailable emphasis point of statistics
Begin to sentence the quantity (COME_CAR_NUM) of headstock, i.e., judge whether the second parking space state after changing is microwave into car state.
S1042, determine second parking space state be the microwave into car state when, judge what effective prompt was put
Whether quantity is more than or equal to third given threshold；Wherein, the third given threshold is for judging whether headstock drives into parking stall.
In this step, system determine the second parking space state be microwave into car state when, further judgement effectively prompt point
Quantity whether be greater than or equal to for judging whether headstock drives into the third given threshold of parking stall.
S1043, when it is described it is effective prompt point quantity be more than or equal to the third given threshold when, determine second vehicle
Position state is that microwave carrys out car state.
Further, system is when the quantity of judgement effectively prompt point is more than or equal to third given threshold, into sentencing vehicle shape
State (determines that the second parking space state is that microwave carrys out car state)；It is less than third given threshold in the quantity of judgement effectively prompt point
When, it maintains car-free status and continues to test.
Further, in the detection method of parking space state provided in an embodiment of the present invention, step 1044, described is being determined
Two parking space states are that microwave comes after car state, further includes:
S1044, continuum family planning at it is described it is effective prompt point and/or unavailable emphasis point quantity.
S1045, when continuously generate it is described it is effective prompt point quantity be more than four given thresholds when, determine described second
Parking space state is microwave dead ship condition.
S1046, when the quantity of the unavailable emphasis point continuously generated be more than five given thresholds when, determine described second
Parking space state is in microwave car-free status.
In conjunction with step 1044~step 1046, system continuum is in respect of the quantity and/or unavailable emphasis point for imitating prompt point
Quantity judges whether it is more than the parking threshold value to come to a complete stop for judging vehicle, which includes the 4th given threshold and the
Five given thresholds.Then, system is respectively by the quantity of effective prompt point of statistics and the quantity of unavailable emphasis point respectively with the 4th
Given threshold and the 5th given threshold compare；When the quantity of effective prompt point is more than four given thresholds, second is determined
Parking space state is microwave dead ship condition；When the quantity of unavailable emphasis point is more than five given thresholds, the second parking space state is determined
In microwave car-free status.
Wherein, above-mentioned third given threshold, the 4th given threshold and the 5th given threshold are similarly pre- according to the actual situation
The threshold value being first arranged, the embodiment of the present invention are not specifically limited its numerical values recited.
It should be noted that whenever system is when detecting that the first parking space state changes, will effectively prompt a little and
Unavailable emphasis point is zeroed, and when carrying out parking space state detection for next first parking space state, redefines and effectively mentions
Show a little and unavailable emphasis point is to carry out parking space state detection.
Further, with reference to Fig. 4, in the detection method of parking space state provided in an embodiment of the present invention, when the first parking stall shape
When state includes microwave dead ship condition, step 104, when determining that current first parking space state changes, according to described
First parking space state and the echo data, the second parking space state after determining variation, specifically include:
S1047, when first parking space state is that microwave dead ship condition and first parking space state change, point
The quantity of effective the prompt point and the unavailable emphasis point of generation is not counted；
S1048, when continuously generate it is described it is effective prompt point quantity less than six given thresholds when, determine described second
Parking space state is to maintain microwave dead ship condition；
S1049, when the quantity of the unavailable emphasis point continuously generated be greater than six given threshold when, determine described in
Second parking space state is into microwave car-free status.
Wherein, above-mentioned 6th given threshold is according to the pre-set threshold value of actual conditions, and the embodiment of the present invention counts it
Value size is not specifically limited.
It should be noted that whenever system is when detecting that the first parking space state changes, will effectively prompt a little and
Unavailable emphasis point is zeroed, and when carrying out parking space state detection for next first parking space state, redefines and effectively mentions
Show a little and unavailable emphasis point is to carry out parking space state detection.
A kind of detection method of parking space state provided in an embodiment of the present invention utilizes geomagnetic sensor in the prior art
Parking space state is detected, obtained testing result accuracy is poor to be compared, and is carried out using microwave signal to parking space state
Detection, and parking space state is detected using the microwave signal of multiple gradient frequency ranges.Meanwhile using microwave signal to parking stall
It is not influenced by changes of magnetic field, vehicle movement speed variation and the external environment near parking stall when being detected, so that detection
As a result accuracy is higher.
Below by complete embodiment, a kind of detection method of parking space state provided in an embodiment of the present invention is said
It is bright:
The detection method of parking space state provided in an embodiment of the present invention is to be detected using microwave to parking space state.At this
In inventive embodiments, the frequency of microwave can be divided into n gradient (different frequency range of corresponding microwave), pass through n gradient frequency
Microwave signal the occupancy situation of parking stall is determined.Preferably, the microwave of 8 gradient frequencies is used in the embodiment of the present invention
Signal detects microwave.
Referring to Fig. 5, Fig. 5 is the full implementation step for excluding interference signal in microwave echoes data, and Fig. 5 exists effective
Prompt point and unavailable emphasis point concept.Wherein, point is effectively prompted: when microwave echoes data generate the signal generated when fluctuation, use
It changes in the first parking space state of expression；Unavailable emphasis point: the signal generated when microwave echoes data do not generate fluctuation is used
It does not change in the first parking space state of expression.Wherein, effectively prompt point and unavailable emphasis point be all judge parking space state according to
According to.In the step, suitable for judging whether microwave echoes data change, and it is not directly used for judging that the first parking space state becomes
The second parking space state after change.
In the following, (process of exclusive PCR) is briefly described to clawback data interference signal method is excluded in conjunction with Fig. 5:
Step 1: sending the microwave signal of 8 gradient frequency ranges to parking space by microstrip antenna, and described in acquisition
8 groups of echo datas that region returns.
Step 2: obtain microstrip antenna without vehicle state reference data and parking state reference data.
In the embodiment of the present invention, under microwave car-free status or microwave dead ship condition, number of echoes is obtained by microstrip antenna
According to generation demarcates reference data without vehicle state reference data and parking state reference data.
Step 3: judging whether microstrip antenna is in normal condition.
Step 4: when judging that microstrip antenna is normal, calculating preset group in received 8 groups of echo datas (preset group is 3 groups)
The echo average value of echo data.
Step 5: judging whether the first parking space state is microwave car-free status according to echo average value.
Step 5a: when the first parking space state is microwave car-free status, currently detected echo data and no vehicle are calculated
The first mahalanobis distance (that is: without the mahalanobis distance result under vehicle state) between state reference data；
Step 6a1: when the first mahalanobis distance is greater than pre-set first mahalanobis distance baseline threshold, illustrate that microwave returns
Wave number is according to variation is generated, and preliminary to generate for indicating the changed preliminary available point of first parking space state, waiting is to it
Further verifying；
Step 6a2: when the first mahalanobis distance is less than pre-set first mahalanobis distance baseline threshold, illustrate that microwave returns
Wave number is generated according to variation is not generated for indicating the not changed unavailable emphasis point of the first parking space state；
Step 5b: when the first parking space state is microwave dead ship condition, the echo data being currently received and parking are determined
The second mahalanobis distance (that is: the mahalanobis distance result under parking state) between state reference data；
Step 6b1: when the second mahalanobis distance is greater than pre-set second mahalanobis distance baseline threshold, illustrate that microwave returns
Wave number is according to variation is generated, and preliminary to generate for indicating the changed preliminary available point of first parking space state, waiting is to it
Further verifying.
Step 6b2: when the second mahalanobis distance is less than pre-set second mahalanobis distance baseline threshold, illustrate that microwave returns
Wave number is generated according to variation is not generated for indicating the not changed unavailable emphasis point of the first parking space state.
Wherein, the first mahalanobis distance baseline threshold in above-mentioned steps may be configured as phase with the second mahalanobis distance baseline threshold
Same value.
It further include further being verified to preliminary available point, specifically after step 6a1 and step 6b1 with reference to Fig. 5
Verification method includes:
Step 7a: the echo data for each gradient frequency range for respectively receiving single respectively with third mahalanobis distance
Baseline threshold is compared, and statistics is greater than the first band number of the echo data of the third mahalanobis distance baseline threshold
Amount；
Step 8a: when the first number of frequency bands is not less than pre-set first given threshold (such as 3), determination tentatively has
Effect point is effectively prompt point.
And/or
Step 7b: respectively (can in the embodiment of the present invention by the echo data of 8 frequency ranges and the 4th mahalanobis distance baseline threshold
To be set as 25) being compared, counts and be greater than the second of the 4th mahalanobis distance baseline threshold in continuous N group (preferably 5 groups) data
Number of frequency bands, wherein third mahalanobis distance baseline threshold is not more than the 4th mahalanobis distance baseline threshold；
Step 8b: it when the second number of frequency bands is greater than pre-set second given threshold (preferably 15), that is, determines just
Walking available point is effectively to prompt point.
Fig. 6 is the method flow diagram that the detection of parking space state is carried out using prompt point information, vehicle involved in detection process
Position state is divided into are as follows: microwave dead ship condition, sentences vehicle state at microwave car-free status, with reference to Fig. 6, the specific steps are as follows:
Step 1: when system detection to the first parking space state is in microwave car-free status and the first parking space state changes
When, the effective prompt point data and unavailable emphasis point data of generation are obtained, and count the number of effectively prompt point and unavailable emphasis point
Measure summation；
Step 2: according to the quantity summation of effective the prompt point and unavailable emphasis point of statistics, judging whether to reach and start to sentence vehicle
The quantity (COME_CAR_NUM) of head.Specifically, according to the quantity summation of all effective the prompt points and unavailable emphasis point of statistics,
Whether the second parking space state after judging variation is microwave into car state.
Step 3: determine the second parking space state be the microwave into car state when, judge effectively prompt point quantity whether
More than or equal to third given threshold；Wherein, above-mentioned third given threshold is for judging whether headstock drives into parking stall.
Step 4: when effective prompt point quantity is greater than or equal to third given threshold, system, which enters, sentences car state (i.e. really
Fixed second parking space state is that microwave carrys out car state, and continues to execute step 5), and otherwise, system maintains microwave car-free status and returns to
Step 1 continues to test；
Step 5: continuum judges whether it is more than use in respect of the quantity of effect prompt point and/or the quantity of unavailable emphasis point
In the parking threshold value sentencing vehicle and coming to a complete stop；Wherein, above-mentioned parking threshold value includes: the 4th given threshold and the 5th given threshold.
Step 6: when the quantity of the effective prompt point continuously generated is more than four given thresholds, determining the second parking space state
For microwave dead ship condition；When the quantity of the unavailable emphasis point continuously generated is more than five given thresholds, the second parking stall shape is determined
State is in microwave car-free status.
Step 7: when the first parking space state is microwave dead ship condition and the first parking space state changes, statistics life respectively
At effective prompt point and unavailable emphasis point quantity；
Step 8: when the quantity of the effective prompt point continuously generated is less than six given thresholds, determining the second parking space state
To maintain microwave dead ship condition；When the quantity of the unavailable emphasis point continuously generated is greater than six given thresholds, the second vehicle is determined
Position state is into microwave car-free status.Wherein, above-mentioned 6th given threshold is from vehicle threshold value.
In above-mentioned each step, whenever system is when detecting that the first parking space state changes, will effectively it mention
Show and be a little zeroed with unavailable emphasis point, when carrying out parking space state detection for next first parking space state, redefines
Effectively prompt point and unavailable emphasis point are to carry out parking space state detection.
The embodiment of the invention provides a kind of detection devices of parking space state, and with reference to Fig. 7, described device is above-mentioned for executing
The detection method of parking space state, described device include:
Sending module 10, for sending the microwave signal of at least one frequency range to parking space；
Judgment module 20 for basis Basic wave data corresponding with first parking space state in presently described region and connects
The real-time echo data in the region received, judges whether first parking space state changes；
Determining module 30, for when determining that current first parking space state changes, according to first vehicle
Position state and the echo data, the second parking space state after determining variation.
Further, with reference to Fig. 8, in the detection device of parking space state provided in an embodiment of the present invention, judgment module 20, packet
It includes:
Receiving unit 201, for receiving the echo data of the parking space；
Computing unit 202, for calculate Basic wave data corresponding with first parking space state in presently described region and
Mahalanobis distance between the echo data；
Generation unit 203, for the comparison result according to the mahalanobis distance and mahalanobis distance baseline threshold, generation is used for
Indicate that the prompt point information of the first parking space state situation of change, the prompt point information include at least effectively prompt point and nothing
Effect prompt point.
Further, with reference to Fig. 8, in the detection device of parking space state provided in an embodiment of the present invention, the prompt point letter
Breath further includes preliminary available point, generation unit 203, comprising:
First generates subelement, for being microwave car-free status in first parking space state and being in the microwave without vehicle
When the first mahalanobis distance detected when state is greater than the first mahalanobis distance baseline threshold, generate for indicating first parking stall
The changed preliminary available point of state；When first mahalanobis distance is less than the first mahalanobis distance baseline threshold
When, it generates for indicating the not changed unavailable emphasis point of first parking space state；
Or,
Second generates subelement, for being microwave dead ship condition in first parking space state and stopping in the microwave
When the second mahalanobis distance detected when state is greater than the second mahalanobis distance baseline threshold, the preliminary available point is generated；Work as institute
When stating the second mahalanobis distance less than the second mahalanobis distance baseline threshold, the unavailable emphasis point is generated.
Further, with reference to Fig. 7, the detection device of parking space state provided in an embodiment of the present invention further include:
Authentication module 40 is determined for verifying to the preliminary available point of generation through the described preliminary of verifying
Available point is effective prompt point.
Further, with reference to Fig. 9, in the detection device of parking space state provided in an embodiment of the present invention, authentication module 40, packet
It includes:
First statistic unit 401, the echo data of each gradient frequency range for receiving single is respectively with
Three mahalanobis distance baseline thresholds are compared, and statistics is greater than the of the echo data of the third mahalanobis distance baseline threshold
One number of frequency bands；
First determination unit 402 is used for when first number of frequency bands is more than or equal to the first given threshold, described in judgement
Preliminary available point is verified, and determines that by the preliminary available point of verifying be effectively prompt point.
Further, with reference to Fig. 9, in the detection device of parking space state provided in an embodiment of the present invention, authentication module 40, also
Include:
Second statistic unit 403, for by the echo data of all gradient frequency ranges received respectively with the 4th horse
Family name is compared apart from baseline threshold, count continuous multiple groups greater than the 4th mahalanobis distance baseline threshold the echo data the
Two number of frequency bands；
Second determination unit 404, it is described preliminary for determining when second number of frequency bands is greater than the second given threshold
Available point is verified, and determines that by the preliminary available point of verifying be effective prompt point.
Further, with reference to Figure 10, in the detection device of parking space state provided in an embodiment of the present invention, determining module 30 is wrapped
It includes:
Third statistic unit 301, for being microwave car-free status and first parking stall shape when first parking space state
When state changes, the quantity summation of all prompt point information of generation is counted；
First judging unit 302, for all quantity summations for prompting point information according to statistics, after judging variation
Second parking space state whether be microwave into car state；
Second judgment unit 303, for determine second parking space state be the microwave into car state when, judge institute
Whether the quantity for stating effectively prompt point is more than or equal to third given threshold；Wherein, the third given threshold is for judging headstock
Whether parking stall is driven into；
Third determination unit 304, when the quantity for putting when effective prompt is more than or equal to the third given threshold,
Determine that second parking space state is that microwave carrys out car state.
Further, with reference to Figure 10, in the detection device of parking space state provided in an embodiment of the present invention, determining module 30 is also
Include:
4th statistic unit 305, for continuum family planning at effective prompt point and/or unavailable emphasis point
Quantity；
4th determination unit 306 is more than the 4th given threshold for the quantity in the effective prompt point continuously generated
When, determine that second parking space state is microwave dead ship condition；
5th determination unit 307, for being more than the 5th given threshold in the quantity of the unavailable emphasis point continuously generated
When, determine that second parking space state is in microwave car-free status.
Further, in the detection device of parking space state provided in an embodiment of the present invention, with reference to Figure 10, determining module 30,
Further include:
5th statistic unit 308, for being microwave dead ship condition and first parking stall shape in first parking space state
When state changes, the quantity of effective the prompt point and the unavailable emphasis point of generation is counted respectively；
6th determination unit 309, for the quantity in the effective prompt point continuously generated less than the 6th given threshold
When, second parking space state is determined to maintain microwave dead ship condition；
7th determination unit 310 is greater than the 6th setting for the quantity in the unavailable emphasis point continuously generated
When threshold value, determine that second parking space state is into microwave car-free status.
A kind of detection device of parking space state provided in an embodiment of the present invention utilizes geomagnetic sensor in the prior art
Parking space state is detected, obtained testing result accuracy is poor to be compared, and is carried out using microwave signal to parking space state
Detection, and parking space state is detected using the microwave signal of multiple gradient frequency ranges.Meanwhile using microwave signal to parking stall
It is not influenced by changes of magnetic field, vehicle movement speed variation and the external environment near parking stall when being detected, so that detection
As a result accuracy is higher.
The detection device of parking space state provided by the embodiment of the present invention can be the specific hardware or installation in equipment
In software or firmware etc. in equipment.The technical effect of device provided by the embodiment of the present invention, realization principle and generation and
Preceding method embodiment is identical, and to briefly describe, Installation practice part does not refer to place, can refer in preceding method embodiment
Corresponding contents.It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description is
The specific work process of system, device and unit, the corresponding process during reference can be made to the above method embodiment, it is no longer superfluous herein
It states.
In embodiment provided by the present invention, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the invention can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention.Should all it cover in protection of the invention
Within the scope of.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (7)
1. a kind of detection method of parking space state characterized by comprising
The microwave signal of at least one frequency range is sent to parking space by microstrip antenna；
According to the reality of corresponding with first parking space state in presently described region Basic wave data and the region received
When echo data, judge whether first parking space state changes；
When determining that current first parking space state changes, according to first parking space state, the Basic wave
Data and the real-time echo data, the second parking space state after determining variation；
According to the reality of corresponding with first parking space state in presently described region Basic wave data and the region received
When echo data, judge whether first parking space state changes, comprising:
Receive the echo data of the parking space；
Calculate the horse between Basic wave data corresponding with first parking space state in presently described region and the echo data
Family name's distance；
According to the comparison result of the mahalanobis distance and mahalanobis distance baseline threshold, generate for indicating first parking space state
The prompt point information of situation of change, the prompt point information include preliminary available point, effectively prompt point and unavailable emphasis point；
The preliminary available point is verified, determines that by the preliminary available point of verifying be effective prompt point, tool
Body includes:
The echo data for each gradient frequency range that single receives is compared with third mahalanobis distance baseline threshold respectively
Right, statistics is greater than the first number of frequency bands of the echo data of the third mahalanobis distance baseline threshold；
When first number of frequency bands is more than or equal to the first given threshold, determine that the preliminary available point is verified, and really
The fixed preliminary available point by verifying is effective prompt point.
2. the detection method of parking space state according to claim 1, which is characterized in that according to the mahalanobis distance and geneva
Comparison result apart from baseline threshold generates the prompt point information for indicating the first parking space state situation of change, comprising:
The first geneva detected when first parking space state is microwave car-free status and is in the microwave car-free status
When distance is greater than the first mahalanobis distance baseline threshold, generate for indicating that first parking space state is changed described preliminary
Available point；When first mahalanobis distance is less than the first mahalanobis distance baseline threshold, generate for indicating described first
The not changed unavailable emphasis point of parking space state；
Or,
The second geneva detected when first parking space state is microwave dead ship condition and is in the microwave dead ship condition
When distance is greater than the second mahalanobis distance baseline threshold, the preliminary available point is generated；Described in being less than when second mahalanobis distance
When the second mahalanobis distance baseline threshold, the unavailable emphasis point is generated.
3. the detection method of parking space state according to claim 1, which is characterized in that the preliminary available point of generation
It is verified, determines that by the preliminary available point of verifying be effective prompt point, comprising:
The echo data of all gradient frequency ranges received is compared with the 4th mahalanobis distance baseline threshold respectively, is united
Count second number of frequency bands of the continuous multiple groups greater than the echo data of the 4th mahalanobis distance baseline threshold；
When second number of frequency bands is greater than the second given threshold, determine that the preliminary available point is verified, and determines logical
The preliminary available point for crossing verifying is effective prompt point.
4. the detection method of parking space state according to claim 1, which is characterized in that when determining current first vehicle
When position state changes, according to first parking space state and the echo data, the second parking space state after changing is determined,
Include:
When first parking space state is microwave car-free status and first parking space state changes, the institute of generation is counted
There is the quantity summation of the prompt point information；
According to statistics it is all it is described prompt point information quantity summations, judge variation after second parking space state whether be
Microwave is into car state；
Determine second parking space state be the microwave into car state when, whether the quantity for judge that effective prompt is put big
In equal to third given threshold；Wherein, the third given threshold is for judging whether headstock drives into parking stall；
When the quantity of effective prompt point is more than or equal to the third given threshold, determine that second parking space state is micro-
Wave carrys out car state.
5. the detection method of parking space state according to claim 4, which is characterized in that determining second parking space state
Come after car state for microwave, further includes:
Continuum family planning at it is described it is effective prompt point and/or unavailable emphasis point quantity；
When the quantity of the effective prompt point continuously generated is more than four given thresholds, determine that second parking space state is
Microwave dead ship condition；
When the quantity of the unavailable emphasis point continuously generated is more than five given thresholds, determine at second parking space state
In microwave car-free status.
6. the detection method of parking space state according to claim 1, which is characterized in that when determining current first vehicle
When position state changes, according to first parking space state and the echo data, the second parking space state after changing is determined,
Further include:
When first parking space state is microwave dead ship condition and first parking space state changes, statistics is generated respectively
It is described it is effective prompt point and the unavailable emphasis point quantity；
When the quantity of the effective prompt point continuously generated is less than six given thresholds, determine that second parking space state is
Maintain microwave dead ship condition；
When the quantity of the unavailable emphasis point continuously generated is greater than six given threshold, second parking stall shape is determined
State is into microwave car-free status.
7. a kind of detection device of parking space state characterized by comprising
Microstrip antenna, for sending the microwave signal of at least one frequency range to parking space；
Judgment module, for according to corresponding with first parking space state in presently described region Basic wave data and receiving
The real-time echo data in the region, judges whether first parking space state changes；
Determining module, for when determining that current first parking space state changes, according to first parking space state,
The Basic wave data and the real-time echo data, the second parking space state after determining variation；
The judgment module, comprising:
Receiving unit, for receiving the echo data of the parking space；
Computing unit, for calculating Basic wave data corresponding with first parking space state in presently described region and the echo
Mahalanobis distance between data；
Generation unit is generated for the comparison result according to the mahalanobis distance and mahalanobis distance baseline threshold for indicating
State the prompt point information of the first parking space state situation of change, the prompt point information include preliminary available point, effectively prompt point and
Unavailable emphasis point；
Authentication module determines the preliminary available point by verifying for verifying to the preliminary available point of generation
For effective prompt point；
The authentication module, comprising: the first statistic unit, the number of echoes of each gradient frequency range for receiving single
According to being compared respectively with third mahalanobis distance baseline threshold, statistics is greater than described time of the third mahalanobis distance baseline threshold
First number of frequency bands of wave number evidence；First determination unit, for being more than or equal to the first given threshold in first number of frequency bands
When, determine that the preliminary available point is verified, and determine that by the preliminary available point of verifying be effectively prompt point.
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| CN107146420A (en) * | 2017-07-18 | 2017-09-08 | 迈锐数据（北京）有限公司 | A kind of detection device of parking space state and the detection method of parking space state |
| CN110400485A (en) * | 2018-04-24 | 2019-11-01 | 中兴通讯股份有限公司 | Method, apparatus, server and the storage medium of parking stall state-detection |
| CN110689751B (en) * | 2019-05-14 | 2022-01-04 | 微传智能科技（常州）有限公司 | Parking detection method for preventing fire-fighting hidden danger |
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