CN108398133A - A kind of air navigation aid, apparatus and system - Google Patents

A kind of air navigation aid, apparatus and system Download PDF

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Publication number
CN108398133A
CN108398133A CN201710065438.1A CN201710065438A CN108398133A CN 108398133 A CN108398133 A CN 108398133A CN 201710065438 A CN201710065438 A CN 201710065438A CN 108398133 A CN108398133 A CN 108398133A
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China
Prior art keywords
collecting device
target
image
parking space
empty parking
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CN201710065438.1A
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Chinese (zh)
Inventor
毛占刚
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Hangzhou Hikvision Digital Technology Co Ltd
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Hangzhou Hikvision Digital Technology Co Ltd
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Priority to CN201710065438.1A priority Critical patent/CN108398133A/en
Publication of CN108398133A publication Critical patent/CN108398133A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

The embodiment of the invention discloses a kind of air navigation aid, apparatus and system, method includes：After receiving navigation requests, according to the first image that first kind collecting device acquires, the current location of the corresponding target object of navigation requests and target object is determined；According to the second image that the second class collecting device acquires, the destination of target object is determined；According to current location and destination, the corresponding path of navigation requests is determined.It can be seen that the image that this programme is acquired based on collecting device carries out location navigation, rather than location navigation is carried out based on GPS, though in the case where GPS signal is very weak, still can accurate navigation, improve the accuracy of navigation.

Description

A kind of air navigation aid, apparatus and system
Technical field
The present invention relates to technical field of intelligent traffic, more particularly to a kind of air navigation aid, apparatus and system.
Background technology
Currently, navigation system has been widely used.It is led for example, can be installed in the terminal devices such as mobile phone, tablet computer Boat system, user carry out path planning using the navigation system；Also navigation system is provided in vehicle mostly, guiding driver sails To destination.
Most navigation system is all based on GPS (Globle Positioning System, GPS) progress Location navigation.But in some scenes (such as underpass, parking lot), GPS signal is very weak, reduces the accurate of navigation Property.
Invention content
The embodiment of the present invention is designed to provide a kind of air navigation aid, apparatus and system, improves the accuracy of navigation.
In order to achieve the above objectives, the embodiment of the invention discloses a kind of air navigation aids, including：
After receiving navigation requests, according to the first image that first kind collecting device acquires, the navigation requests pair are determined The current location of the target object and the target object answered；
According to the second image that the second class collecting device acquires, the destination of the target object is determined；
According to the current location and the destination, the corresponding path of the navigation requests is determined.
Optionally, the navigation requests are：For the navigation requests of parking position；The first kind collecting device is directed to Parking lot track carries out Image Acquisition；The second class collecting device carries out Image Acquisition for parking position；The target Object is the corresponding target vehicle of navigation requests；The destination is target empty parking space.
Optionally, first image acquired according to first kind collecting device, determines the corresponding mesh of the navigation requests The step of current location of mark object and the target object, may include：
Determine the target first kind collecting device that Image Acquisition is carried out to the target vehicle；
According to the image recognition information that the target first kind collecting device is sent, the present bit of the target vehicle is determined It sets and travel direction；Described image identification information is that the first image that first kind collecting device is acquired according to itself determines；
Second image acquired according to the second class collecting device, the step of determining the destination of the target object, May include：
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；
According to current location and the travel direction of received empty parking space information and the target vehicle, selection target is empty Parking stall.
Optionally, the step of determination carries out the target first kind collecting device of Image Acquisition to the target vehicle, May include：
According to the correspondence of the attribute information of pre-stored vehicle and user, the use for sending the navigation requests is determined The target property information of the corresponding target vehicle in family；
In the image recognition information that each first kind collecting device is sent, search matched with the target property information Target image identification information；Include the attribute information of vehicle in described image identification information；
It is determined as the first kind collecting device for sending the target image identification information to carry out figure to the target vehicle As the target first kind collecting device of acquisition.
Optionally, before receiving navigation requests, can also include：
Obtain the position and acquisition direction of each first kind collecting device and the second class collecting device in parking lot；
It is described according to first kind collecting device acquire the first image, determine the corresponding target object of the navigation requests and The step of current location of the target object, may include：
Determine the target first kind collecting device that Image Acquisition is carried out to the target vehicle；
Image recognition is carried out to the first image of target first kind collecting device acquisition, according to recognition result and described The position and acquisition direction of target first kind collecting device, determine current location and the travel direction of the target vehicle；
Second image acquired according to the second class collecting device, the step of determining the destination of the target object, May include：
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；
According to the current location of the target vehicle and travel direction, in identified empty parking space, selection target empty wagons Position.
Optionally, described according to the current location and the destination, the corresponding path of the navigation requests is determined The step of after, can also include：
According to first kind collecting device acquire the first image, judge the target vehicle driving trace whether with really Fixed route matching；
If not, redefining the current location of the target vehicle；
According to the second image that the second class collecting device acquires, the corresponding target empty wagons of the target vehicle is redefined Position；
According to the current location and target empty parking space redefined, the path of the target vehicle is redefined.
Optionally, mode selecting information is carried in the navigation requests,
Second image acquired according to the second class collecting device, determines the step of the target empty parking space of the target vehicle Suddenly, may include：
According to the second image of the second class collecting device acquisition and the mode selecting information, the target vehicle is determined Target empty parking space.
Optionally, the mode selecting information includes：Apart from nearest pattern or specified region mode；
It is described according to the second of the acquisition of the second class collecting device when the mode selecting information includes apart from nearest pattern Image and the mode selecting information, may include at the step of determining the target empty parking space of the target vehicle：
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the nearest target empty parking space in current location described in chosen distance；
Alternatively,
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in identified empty wagons In position, the nearest target empty parking space in current location described in chosen distance；
It is described according to the second of the acquisition of the second class collecting device when the mode selecting information includes specified region mode Image and the mode selecting information, the step of determining the target empty parking space of the target vehicle, including：
Determine the corresponding first object region of the specified region mode；
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the selection target empty parking space in the first object region；
Alternatively,
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in the first object Selection target empty parking space in region.
Optionally, second image acquired according to the second class collecting device, determines the destination of the target object The step of, may include：
According to the correspondence of preset attribute information and parking space area, determine that the target property information corresponds to The second target area；
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the selection target empty parking space in second target area；
Alternatively,
According to the second image that each the second class collecting device acquires, the empty parking space in parking lot is determined；According to the mesh Mark current location and the travel direction of vehicle, the selection target empty parking space in second target area.
In order to achieve the above objectives, the embodiment of the invention also discloses a kind of navigation devices, including：
Receiving module, for receiving navigation requests；
First determining module, the first image for being acquired according to first kind collecting device, determines the navigation requests pair The current location of the target object and the target object answered；
Second determining module, the second image for being acquired according to the second class collecting device, determines the target object Destination；
Third determining module, for according to the current location and the destination, determining that the navigation requests are corresponding Path.
Optionally, the navigation requests can be：For the navigation requests of parking position；The first kind collecting device Image Acquisition is carried out for parking lot track；The second class collecting device carries out Image Acquisition for parking position；It is described Target object is the corresponding target vehicle of navigation requests；The destination is target empty parking space.
Optionally, first determining module may include：
First determination sub-module, for determining that the target first kind acquisition for carrying out Image Acquisition to the target vehicle is set It is standby；
Second determination sub-module, the image recognition information for being sent according to the target first kind collecting device determine The current location of the target vehicle and travel direction；Described image identification information is that first kind collecting device is acquired according to itself The first image determine；
Second determining module may include：
Receiving submodule, the empty parking space information for receiving the transmission of each the second class collecting device, the empty parking space information It is determined for the second image that the second class collecting device is acquired according to itself；
Submodule is selected, for current location and the traveling according to received empty parking space information and the target vehicle Direction, selection target empty parking space.
Optionally, first determination sub-module, specifically can be used for：
According to the correspondence of the attribute information of pre-stored vehicle and user, the use for sending the navigation requests is determined The target property information of the corresponding target vehicle in family；
In the image recognition information that each first kind collecting device is sent, search matched with the target property information Target image identification information；Include the attribute information of vehicle in described image identification information；
It is determined as the first kind collecting device for sending the target image identification information to carry out figure to the target vehicle As the target first kind collecting device of acquisition.
Optionally, described device can also include：
Acquisition module, for obtaining the position of each first kind collecting device and the second class collecting device in parking lot and adopting Collect direction；
First determining module, specifically can be used for：
Determine the target first kind collecting device that Image Acquisition is carried out to the target vehicle；
Image recognition is carried out to the first image of target first kind collecting device acquisition, according to recognition result and described The position and acquisition direction of target first kind collecting device, determine current location and the travel direction of the target vehicle；
Second determining module, specifically can be used for：
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；
According to the current location of the target vehicle and travel direction, in identified empty parking space, selection target empty wagons Position.
Optionally, described device can also include：
Judgment module, the first image for being acquired according to first kind collecting device, judges the traveling of the target vehicle Track whether with identified route matching；
If not, triggering redefines module；
It is described to redefine module, the current location for redefining the target vehicle；It is set according to the acquisition of the second class Second image of standby acquisition, redefines the corresponding target empty parking space of the target vehicle；According to the current location redefined And target empty parking space, redefine the path of the target vehicle.
Optionally, mode selecting information is carried in the navigation requests, second determining module can specifically be used In：
According to the second image of the second class collecting device acquisition and the mode selecting information, the target vehicle is determined Target empty parking space.
Optionally, the mode selecting information includes：Apart from nearest pattern or specified region mode；
When the mode selecting information includes apart from nearest pattern, second determining module is specifically used for：
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the nearest target empty parking space in current location described in chosen distance；
Alternatively,
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in identified empty wagons In position, the nearest target empty parking space in current location described in chosen distance；
When the mode selecting information includes specified region mode, second determining module is specifically used for：
Determine the corresponding first object region of the specified region mode；
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the selection target empty parking space in the first object region；
Alternatively,
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in the first object Selection target empty parking space in region.
Optionally, second determining module, specifically can be used for：
According to the correspondence of preset attribute information and parking space area, determine that the target property information corresponds to The second target area；
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the selection target empty parking space in second target area；
Alternatively,
According to the second image that each the second class collecting device acquires, the empty parking space in parking lot is determined；According to the mesh Mark current location and the travel direction of vehicle, the selection target empty parking space in second target area.
In order to achieve the above objectives, the embodiment of the invention also discloses a kind of navigation system, including：Navigation server, first Class collecting device and the second class collecting device；Wherein,
The navigation server, after receiving navigation requests, according to the first of first kind collecting device acquisition Image determines the current location of the corresponding target object of the navigation requests and the target object；
According to the second image that the second class collecting device acquires, the destination of the target object is determined；
According to the current location and the destination, the corresponding path of the navigation requests is determined.
Optionally, the navigation requests are：For the navigation requests of parking position；The target object is navigation requests Corresponding target vehicle；The destination is target empty parking space；
The first kind collecting device, for carrying out Image Acquisition for parking lot track；
The second class collecting device, for carrying out Image Acquisition for parking position.
Optionally, the navigation server is additionally operable to obtain the first kind collecting device and second class acquisition is set Standby position and acquisition direction；According to the first image of first kind collecting device acquisition and the first kind collecting device Position and acquisition direction, determine the current location of the corresponding target vehicle of the navigation requests and the target vehicle；According to Second image of the second class collecting device acquisition and the position of the second class collecting device and acquisition direction, determine the mesh Mark empty parking space.
It can be seen that this programme carries out location navigation based on the image that collecting device acquires, rather than determined based on GPS Position navigation, even if in the case where GPS signal is very weak, still can accurate navigation, improve the accuracy of navigation.
Certainly, implement any of the products of the present invention or method it is not absolutely required at the same reach all the above excellent Point.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of navigation system provided in an embodiment of the present invention；
Fig. 2 is the first flow diagram of air navigation aid provided in an embodiment of the present invention；
Fig. 3 is second of flow diagram of air navigation aid provided in an embodiment of the present invention；
Fig. 4 is a kind of application scenarios schematic diagram provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of navigation device provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts Embodiment shall fall within the protection scope of the present invention.
In order to solve the above-mentioned technical problem, an embodiment of the present invention provides a kind of air navigation aid, apparatus and systems.The system It can be with as shown in Figure 1, this method and device can be applied to the navigation server in Fig. 1.The navigation server can be setting Electronic equipment in the scenes such as parking lot, underpass, or the electronics such as mobile phone, tablet computer that user uses are set It is standby, or user drives the electronic equipment being arranged in vehicle, does not limit specifically.
For the convenience of description, if the electronic equipment for executing this programme is the electronic equipment being set in scene, by it Referred to as the first class of electronic devices, if the electronic equipment for executing this programme is the electronic equipment or user's vehicle that user uses Interior electronic equipment is then referred to as the second class of electronic devices.
Air navigation aid provided in an embodiment of the present invention is described in detail first below.
Fig. 2 is the first flow diagram of air navigation aid provided in an embodiment of the present invention, including：
S201：After receiving navigation requests, according to the first image that first kind collecting device acquires, determine that the navigation is asked Ask the current location of corresponding target object and the target object.
It, can be with it is understood that drive into underpass either parking lot or when other scenes when user drives vehicle The second class of electronic devices used to oneself sends navigation requests, the terminal device oneself used can also be utilized to be set into scene The first class of electronic devices set sends navigation requests.
It is provided with more collecting devices in scene, in the present embodiment, the collecting device of Image Acquisition will be carried out for track Referred to as first kind collecting device will carry out adopting for Image Acquisition for the destination of navigation requests (such as parking stall in parking lot) Collection equipment is known as the second class collecting device.The image that first kind collecting device acquires is known as the first image, the second class is acquired The image of equipment acquisition is known as the second image.
First class of electronic devices and the second class of electronic devices can be communicated with the collecting device being arranged in scene, also Position and the acquisition direction of each collecting device can be obtained.Therefore, the electronic equipment for receiving navigation requests can be according to First image of a kind of collecting device acquisition determines the current of the corresponding target object of the navigation requests and the target object Position.
It will be understood by those skilled in the art that if scene is parking lot, target object is the corresponding mesh of navigation requests Vehicle is marked, destination is target empty parking space, and S201 there are following several situations：
One, mesh can be determined only by the way that the first image is identified by parking stall serial number information being carried in the first image Mark the current location of vehicle；Alternatively, it is also possible to information such as car plate, vehicle, the travel directions of determining target vehicle.
Two, do not carry parking stall serial number information in the first image, then it can be in conjunction with the first image and first kind collecting device Position and acquisition direction, determine the current location of target vehicle；In addition, by the way that the first image is identified, it can also be true Make the information such as car plate, vehicle, the travel direction of target vehicle.
S202：According to the second image that the second class collecting device acquires, the destination of the target object is determined.
Likewise, if scene is parking lot, S202 has following several situations：
One, sky can be determined only by the way that the second image is identified by parking stall serial number information being carried in the second image Parking space information.
Two, do not carry parking stall serial number information in the second image, then it can be in conjunction with the second image and the second class collecting device Position and acquisition direction, determine empty parking space information.
Can in the empty parking space determined the corresponding target empty parking space of selection target vehicle, there are many selection modes, than Such as, according to the current location of target vehicle and travel direction, the target empty parking space closer from target vehicle is selected；Alternatively, also may be used According to the vehicle of target vehicle, to select the target empty parking space, etc. of the suitable vehicle.
S203：According to the current location and the destination, the corresponding path of the navigation requests is determined.
It is appreciated that the electronic equipment for executing this programme can be by loading the electronic map or its other party of the scene Formula obtains the information of each paths in scene.In this way, the current location of target vehicle is determined as path starting point, by destination (target empty parking space) is determined as path termination, in conjunction with acquired each paths information, can determine that navigation requests correspond to Path.
Using embodiment illustrated in fig. 2 of the present invention, the image based on collecting device acquisition carries out location navigation, rather than is based on GPS carry out location navigation, even if in the case where GPS signal is very weak, still can accurate navigation, improve the accurate of navigation Property.
Fig. 3 is second of flow diagram of air navigation aid provided in an embodiment of the present invention, embodiment illustrated in fig. 3 of the present invention Application scenarios be parking lot, specifically, parking lot can be with as shown in figure 4, the lane detection camera in Fig. 4 be that the first kind is adopted Collect equipment, parking stall measure camera is the second class collecting device.
Illustratively, parking stall measure camera can be erected at parking stall oblique upper, and camera perspective is directed at vehicle parking direction, frame If quantity is to cover all parking stalls as principle.Lane detection camera can be erected at the surface in track, and camera perspective is directed at vehicle Travel direction sets up quantity to cover all sections as principle.With in a road section, camera frame set direction can be consistent, Interval is set up to be determined according to the video detection effective distance of camera.It, can be in the position that will enter crossing if it is intersection Camera is set up with crossing middle position.
Fig. 3 includes：
S301：After receiving navigation requests, according to the first image that first kind collecting device acquires, determine that the navigation is asked Ask the current location of corresponding target vehicle and the target vehicle.
As an implementation, S301 may include：
Determine the target first kind collecting device that Image Acquisition is carried out to the target vehicle；
According to the image recognition information that the target first kind collecting device is sent, the present bit of the target vehicle is determined It sets and travel direction；Described image identification information is that the first image that first kind collecting device is acquired according to itself determines.
Specifically, can be determined described in sending according to the attribute information of pre-stored vehicle and the correspondence of user The target property information of the corresponding target vehicle of user of navigation requests；
In the image recognition information that each first kind collecting device is sent, search matched with the target property information Target image identification information；Include the attribute information of vehicle in described image identification information；
It is determined as the first kind collecting device for sending the target image identification information to carry out figure to the target vehicle As the target first kind collecting device of acquisition.
The attribute information of above-mentioned vehicle can be only the car plate of vehicle, can also include the information such as car plate, vehicle.
Illustratively, default application program can be installed in the terminal device that user uses, it will using the application program The attribute information of user account and vehicle is bound, and is sent navigation to the first class of electronic devices using the application program and asked It asks；In this way, the first class of electronic devices can determine that the terminal device makes after the navigation requests for receiving terminal device transmission The attribute information of the corresponding vehicle of user account (target vehicle).
Illustratively, default application program can be installed in the second class of electronic devices, using the application program by user The attribute information of account and vehicle is bound, and receives the navigation requests that user sends using the application program, in this way, the Two class of electronic devices can determine that user drives the attribute information of vehicle (target vehicle).
According to being described above, the first class of electronic devices, the second class of electronic devices can be with the acquisitions of equipment in parking lot Equipment (first kind collecting device and the second class collecting device) communicates：
The first situation, first kind collecting device can be identified the first image of itself acquisition, obtain image and know Other information, the image recognition information may include the attribute information of above-mentioned vehicle, that is, the letters such as car plate or car plate and vehicle Breath, the image recognition information can also including vehicle heading etc. information.
The image recognition information is sent to the electronic equipment for executing this programme by first kind collecting device, in this way, executing sheet The electronic equipment of scheme just obtains the image recognition information of each first kind collecting device transmission.
The second situation, the electronics that collected first image is only sent to execution this programme by first kind collecting device are set It is standby, it is identified by first image of electronic equipment pair, obtains above-mentioned image recognition information.
Assuming that the image recognition information that the electronic equipment for executing this programme obtains includes：
1, collecting device 1, car plate " capital A 00001 ", travel direction " eastwards "；
2, collecting device 2, car plate " capital A 00002 ", travel direction " westwards "；
3, collecting device 3, car plate " capital A 00003 ", travel direction " to the south " ...
Assuming that the target property information that the electronic equipment for executing this programme determines is：Car plate " capital A 00002 ", that is, Say, collecting device 2 send image recognition information match with target property information, collecting device 2 for for target vehicle into The target first kind collecting device of row Image Acquisition.
According to being described above, target vehicle can be determined according to the parking stall serial number information in the image that collecting device 2 acquires Current location, can also determine the current location of target vehicle according to the position of the collecting device 2 of acquisition and acquisition direction.
S302：According to the second image that the second class collecting device acquires, the corresponding target empty wagons of the target vehicle is determined Position.
As an implementation, S302 may include：
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；
According to current location and the travel direction of received empty parking space information and the target vehicle, selection target is empty Parking stall.
According to being described above, the first class of electronic devices, the second class of electronic devices can be with the acquisitions of equipment in parking lot Equipment (first kind collecting device and the second class collecting device) communicates：
The second image of itself acquisition can be identified in the first situation, the second class collecting device, obtain empty parking space Information.Empty parking space information is sent to the electronic equipment for executing this programme by the second class collecting device.
The second situation, the electronics that collected second image is only sent to execution this programme by the second class collecting device are set It is standby, it is identified by second image of electronic equipment pair, in conjunction with the position and acquisition side of recognition result and the second class collecting device To, it is also possible to obtain empty parking space information.
In addition, according to being described above, empty parking space information can be determined according to the parking stall serial number information in the second image, Position that can be according to the second class collecting device of acquisition and acquisition direction, determine empty parking space information.
S303：According to the current location and the destination, the corresponding path of the navigation requests is determined.
It is appreciated that the electronic equipment for executing this programme can be by the electronic map or its other party in load parking lot Formula obtains the information of each paths in parking lot.In this way, the current location of target vehicle is determined as path starting point, by target Empty parking space is determined as path termination, in conjunction with acquired each paths information, can determine the corresponding path of navigation requests.
Using embodiment illustrated in fig. 3 of the present invention, the image based on collecting device acquisition carries out location navigation, rather than is based on GPS carry out location navigation, even if in the case where GPS signal is very weak, still can accurate navigation, improve the accurate of navigation Property.
It is appreciated that the first class of electronic devices is after determining navigation requests respective path, it can be by identified road Diameter returns to terminal device；It, can be by identified path after second class of electronic devices determines navigation requests respective path Show user.
Specifically, displaying can be marked in electronic map, it is more intuitive in this way；Can also the voice output path, Such as the voice messagings such as output " turning right at front crossing ".Specific exhibition method does not limit.
As an implementation, after S303, the first image that can also be acquired according to first kind collecting device is sentenced Break the target vehicle driving trace whether with identified route matching；
If not, redefining the current location of the target vehicle；
According to the second image that the second class collecting device acquires, the corresponding target empty wagons of the target vehicle is redefined Position；
According to the current location and target empty parking space redefined, the path of the target vehicle is redefined.
It is appreciated that as shown in figure 4, each track in parking lot is provided with more first kind collecting devices, every first Class acquisition carries out Image Acquisition to track, can be to target vehicle into line trace according to the image recognition information of each first image. Pass through tracking result, it can be determined that the actual travel track of target vehicle whether with identified route matching：
If it does, then after tracking target vehicle drives into target empty parking space, navigation procedure terminates.If it does not match, weight It newly navigates to the target vehicle, the scheme of specific navigation procedure embodiment introduction as shown in figure 3 is similar, repeats no more.
As an implementation, information, in this case, Ke Yigen can be selected with carrying mode in above-mentioned navigation requests The second image according to the acquisition of the second class collecting device and the mode selecting information, determine the target empty wagons of the target vehicle Position.
For example, which may include：Apart from nearest pattern or specified region mode.
It is exactly the nearest target empty parking space of requirement chosen distance target vehicle apart from nearest pattern.Specified region mode can be with It is interpreted as：Specified area information is carried in navigation requests, in selection target empty parking space, needs to select in this specifies region Target empty parking space.
According to content above describe, the first situation, the second class collecting device can to itself acquisition the second image into Row identification, obtains empty parking space information.Empty parking space information is sent to the electronic equipment for executing this programme by the second class collecting device.
The second situation, the electronics that collected second image is only sent to execution this programme by the second class collecting device are set It is standby, it is identified by second image of electronic equipment pair, obtains empty parking space information.
When the mode selecting information includes apart from nearest pattern, in the case of the first：
The electronic equipment receives the empty parking space information of each the second class collecting device transmission, and the empty parking space information is second What the second image that class collecting device is acquired according to itself determined；According to received empty parking space information and the target vehicle Current location and travel direction, the nearest target empty parking space in current location described in chosen distance.
When the mode selecting information includes apart from nearest pattern, in the case of the first：
The second image that the electronic equipment is acquired according to each the second class collecting device and the second class collecting device Position and acquisition direction, determine the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in institute In determining empty parking space, the nearest target empty parking space in current location described in chosen distance
When the mode selecting information includes specified region mode, in the case of the first：
Determine the corresponding first object region of the specified region mode；
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the selection target empty parking space in the first object region.
When the mode selecting information includes specified region mode, under the second situation：
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in the first object Selection target empty parking space in region.
Using present embodiment, the specific demand of user can be met：For example there are multiple outlets, user's A work in parking lot Office building exported from the A1 in parking lot closer, the parking areas of A1 near exits is the regions A2, then user A can be asked in navigation The middle information for being added and specifying region A2 is sought, determines that target empty parking space, user A exist vehicle parking in the A2 of region using this programme The target empty parking space can export from A1 when leaving parking lot and leave parking lot.It can be seen that this programme can meet user Specific demand, provide to the user conveniently.
For another example, user B is pressed for time, and needs as soon as possible by vehicle parking in parking lot, then user B can navigate The nearest pattern of chosen distance in request can determine the target empty parking space nearest apart from user B using this programme, save user's Down time.
As an implementation, in the correspondence of the above-mentioned attribute information according to pre-stored vehicle and user, During the target property information for determining the corresponding target vehicle of user for sending the navigation requests：
The target property information can be determined according to the correspondence of preset attribute information and parking space area Corresponding second target area；
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the selection target empty parking space in second target area；
Alternatively,
According to the second image that each the second class collecting device acquires, the empty parking space in parking lot is determined；According to the mesh Mark current location and the travel direction of vehicle, the selection target empty parking space in second target area.
It is described according to content above, attribute information may include the information such as car plate, vehicle.Attribute information can be prestored With the correspondence of parking space area, for example, the parking stall in the corresponding vehicle region of the larger vehicle of vehicle can be Big parking stall, the parking stall in the corresponding region of the smaller vehicle of vehicle can be trolley position.It, can be with that is, using this programme Larger target parking stall is distributed for the larger vehicle of vehicle, is that the smaller vehicle of vehicle distributes smaller target parking stall, user's body It tests more preferably.
Corresponding with above method embodiment, the embodiment of the present invention also provides a kind of navigation device.
Fig. 5 is a kind of structural schematic diagram of navigation device provided in an embodiment of the present invention, including：
Receiving module 501, for receiving navigation requests；
First determining module 502, the first image for being acquired according to first kind collecting device, determines the navigation requests The current location of corresponding target object and the target object；
Second determining module 503, the second image for being acquired according to the second class collecting device, determines the target object Destination；
Third determining module 504, for according to the current location and the destination, determining that the navigation requests correspond to Path.
In the present embodiment, the navigation requests are：For the navigation requests of parking position；The first kind acquisition is set It is standby to carry out Image Acquisition for parking lot track；The second class collecting device carries out Image Acquisition for parking position；Institute It is the corresponding target vehicle of navigation requests to state target object；The destination is target empty parking space.
In the present embodiment, the first determining module 502 may include：First determination sub-module and the second determination sub-module (not shown), wherein
First determination sub-module, for determining that the target first kind acquisition for carrying out Image Acquisition to the target vehicle is set It is standby；
Second determination sub-module, the image recognition information for being sent according to the target first kind collecting device determine The current location of the target vehicle and travel direction；Described image identification information is that first kind collecting device is acquired according to itself The first image determine；
Second determining module may include：Receiving submodule and selection submodule (not shown), wherein
Receiving submodule, the empty parking space information for receiving the transmission of each the second class collecting device, the empty parking space information It is determined for the second image that the second class collecting device is acquired according to itself；
Submodule is selected, for current location and the traveling according to received empty parking space information and the target vehicle Direction, selection target empty parking space.
In the present embodiment, the first determination sub-module specifically can be used for：
According to the correspondence of the attribute information of pre-stored vehicle and user, the use for sending the navigation requests is determined The target property information of the corresponding target vehicle in family；
In the image recognition information that each first kind collecting device is sent, search matched with the target property information Target image identification information；Include the attribute information of vehicle in described image identification information；
It is determined as the first kind collecting device for sending the target image identification information to carry out figure to the target vehicle As the target first kind collecting device of acquisition.
In the present embodiment, described device can also include：
Acquisition module (not shown) is set for obtaining each first kind collecting device and the acquisition of the second class in parking lot Standby position and acquisition direction；
First determining module 502, specifically can be used for：
Determine the target first kind collecting device that Image Acquisition is carried out to the target vehicle；
Image recognition is carried out to the first image of target first kind collecting device acquisition, according to recognition result and described The position and acquisition direction of target first kind collecting device, determine current location and the travel direction of the target vehicle；
Second determining module 503, specifically can be used for：
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；
According to the current location of the target vehicle and travel direction, in identified empty parking space, selection target empty wagons Position.
In the present embodiment, described device further includes：Judgment module and redefine module (not shown), wherein
Judgment module, the first image for being acquired according to first kind collecting device, judges the traveling of the target vehicle Track whether with identified route matching；
If not, triggering redefines module；
It is described to redefine module, the current location for redefining the target vehicle；It is set according to the acquisition of the second class Second image of standby acquisition, redefines the corresponding target empty parking space of the target vehicle；According to the current location redefined And target empty parking space, redefine the path of the target vehicle.
In the present embodiment, mode selecting information is carried in the navigation requests, the second determining module 503 specifically may be used For：
According to the second image of the second class collecting device acquisition and the mode selecting information, the target vehicle is determined Target empty parking space.
In the present embodiment, the mode selecting information may include：Apart from nearest pattern or specified region mode；
When the mode selecting information includes apart from nearest pattern, the second determining module 503 is specifically used for：
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the nearest target empty parking space in current location described in chosen distance；
Alternatively,
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in identified empty wagons In position, the nearest target empty parking space in current location described in chosen distance；
When the mode selecting information includes specified region mode, the second determining module 503 is specifically used for：
Determine the corresponding first object region of the specified region mode；
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the selection target empty parking space in the first object region；
Alternatively,
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in the first object Selection target empty parking space in region.
In the present embodiment, the second determining module 503, specifically can be used for：
According to the correspondence of preset attribute information and parking space area, determine that the target property information corresponds to The second target area；
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the selection target empty parking space in second target area；
Alternatively,
According to the second image that each the second class collecting device acquires, the empty parking space in parking lot is determined；According to the mesh Mark current location and the travel direction of vehicle, the selection target empty parking space in second target area.
Using embodiment illustrated in fig. 5 of the present invention, the image based on collecting device acquisition carries out location navigation, rather than is based on GPS carry out location navigation, even if in the case where GPS signal is very weak, still can accurate navigation, improve the accurate of navigation Property.
The embodiment of the present invention also provides a kind of navigation system, as shown in Figure 1, may include that navigation server, the first kind are adopted Collect equipment and the second class collecting device；Wherein,
The navigation server, after receiving navigation requests, according to the first of first kind collecting device acquisition Image determines the current location of the corresponding target object of the navigation requests and the target object；
According to the second image that the second class collecting device acquires, the destination of the target object is determined；
According to the current location and the destination, the corresponding path of the navigation requests is determined.
In the present embodiment, the navigation requests can be：For the navigation requests of parking position；The target object For the corresponding target vehicle of navigation requests；The destination is target empty parking space；
The first kind collecting device, for carrying out Image Acquisition for parking lot track；
The second class collecting device, for carrying out Image Acquisition for parking position.
In the present embodiment, the navigation server, can be also used for：
Obtain position and the acquisition direction of the first kind collecting device and the second class collecting device；
According to position and the acquisition of the first image and the first kind collecting device of first kind collecting device acquisition Direction determines the current location of the corresponding target vehicle of the navigation requests and the target vehicle；
According to the position and acquisition side of the second image of the second class collecting device acquisition and the second class collecting device To determining the target empty parking space.
In the present embodiment, navigation server can be also used for：
Determine the target first kind collecting device that Image Acquisition is carried out to the target vehicle；
According to the image recognition information that the target first kind collecting device is sent, the present bit of the target vehicle is determined It sets and travel direction；Described image identification information is that the first image that first kind collecting device is acquired according to itself determines；
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；
According to current location and the travel direction of received empty parking space information and the target vehicle, selection target is empty Parking stall.
In the present embodiment, navigation server can be also used for：
According to the correspondence of the attribute information of pre-stored vehicle and user, the use for sending the navigation requests is determined The target property information of the corresponding target vehicle in family；
In the image recognition information that each first kind collecting device is sent, search matched with the target property information Target image identification information；Include the attribute information of vehicle in described image identification information；
It is determined as the first kind collecting device for sending the target image identification information to carry out figure to the target vehicle As the target first kind collecting device of acquisition.
In the present embodiment, navigation server can be also used for：
Before receiving navigation requests, the position of each first kind collecting device and the second class collecting device in parking lot is obtained Set and acquire direction；
It is described according to first kind collecting device acquire the first image, determine the corresponding target object of the navigation requests and The step of current location of the target object, including：
Determine the target first kind collecting device that Image Acquisition is carried out to the target vehicle；
Image recognition is carried out to the first image of target first kind collecting device acquisition, according to recognition result and described The position and acquisition direction of target first kind collecting device, determine current location and the travel direction of the target vehicle；
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；
According to the current location of the target vehicle and travel direction, in identified empty parking space, selection target empty wagons Position.
In the present embodiment, navigation server can be also used for：
After the step of according to the current location and the destination, determining the navigation requests corresponding path, According to first kind collecting device acquire the first image, judge the target vehicle driving trace whether with identified path Matching；
If not, redefining the current location of the target vehicle；
According to the second image that the second class collecting device acquires, the corresponding target empty wagons of the target vehicle is redefined Position；
According to the current location and target empty parking space redefined, the path of the target vehicle is redefined.
In the present embodiment, mode selecting information is carried in the navigation requests,
Navigation server can be also used for：
According to the second image of the second class collecting device acquisition and the mode selecting information, the target vehicle is determined Target empty parking space.
In the present embodiment, the mode selecting information includes：Apart from nearest pattern or specified region mode；Navigation Server can be also used for：
When the mode selecting information includes apart from nearest pattern, the empty wagons that each the second class collecting device is sent is received Position information, the empty parking space information are that the second image that the second class collecting device is acquired according to itself determines；According to being received Current location and the travel direction of the empty parking space information and the target vehicle that arrive, the nearest mesh in current location described in chosen distance Mark empty parking space；
Alternatively,
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in identified empty wagons In position, the nearest target empty parking space in current location described in chosen distance；
When the mode selecting information includes specified region mode, corresponding first mesh of the specified region mode is determined Mark region；The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the selection target empty parking space in the first object region；
Alternatively,
According to position and the acquisition of the second image and the second class collecting device of each the second class collecting device acquisition Direction determines the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in the first object Selection target empty parking space in region.
In the present embodiment, navigation server can be also used for：
According to the correspondence of preset attribute information and parking space area, determine that the target property information corresponds to The second target area；
The empty parking space information of each the second class collecting device transmission is received, the empty parking space information is the second class collecting device It is determined according to the second image of itself acquisition；According to the current location of received empty parking space information and the target vehicle And travel direction, the selection target empty parking space in second target area；
Alternatively,
According to the second image that each the second class collecting device acquires, the empty parking space in parking lot is determined；According to the mesh Mark current location and the travel direction of vehicle, the selection target empty parking space in second target area.
As an implementation, navigation system can be with as shown in figure 4, the lane detection camera in Fig. 4 be the first kind Collecting device, parking stall measure camera are the second class collecting device.Parking stall measure camera can be erected at parking stall oblique upper, camera Visual angle is directed at vehicle parking direction, sets up quantity to cover all parking stalls as principle.Lane detection camera can be erected at track Surface, camera perspective be aligned vehicle heading, set up quantity to cover all sections as principle.With in a road section, phase Rack set direction can be consistent, and set up interval and determined according to the video detection effective distance of camera.It, can if it is intersection To set up camera in the position that will enter crossing and crossing middle position.
Using embodiment illustrated in fig. 1 of the present invention, the image based on collecting device acquisition carries out location navigation, rather than is based on GPS carry out location navigation, even if in the case where GPS signal is very weak, still can accurate navigation, improve the accurate of navigation Property.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, identical similar portion between each embodiment Point just to refer each other, and each embodiment focuses on the differences from other embodiments.Especially for device reality For applying example, since it is substantially similar to the method embodiment, so description is fairly simple, related place is referring to embodiment of the method Part explanation.
One of ordinary skill in the art will appreciate that all or part of step in realization above method embodiment is can It is completed with instructing relevant hardware by program, the program can be stored in computer read/write memory medium, The storage medium designated herein obtained, such as：ROM/RAM, magnetic disc, CD etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention It is interior.

Claims (21)

1. a kind of air navigation aid, which is characterized in that including：
After receiving navigation requests, according to the first image that first kind collecting device acquires, determine that the navigation requests are corresponding The current location of target object and the target object；
According to the second image that the second class collecting device acquires, the destination of the target object is determined；
According to the current location and the destination, the corresponding path of the navigation requests is determined.
2. according to the method described in claim 1, it is characterized in that, the navigation requests are：For the navigation of parking position Request；The first kind collecting device carries out Image Acquisition for parking lot track；The second class collecting device is for parking Field parking stall carries out Image Acquisition；The target object is the corresponding target vehicle of navigation requests；The destination is target empty wagons Position.
3. according to the method described in claim 2, it is described according to first kind collecting device acquire the first image, determine described in lead Boat is asked the step of current location of corresponding target object and the target object, including：
Determine the target first kind collecting device that Image Acquisition is carried out to the target vehicle；
According to the target first kind collecting device send image recognition information, determine the target vehicle current location and Travel direction；Described image identification information is that the first image that first kind collecting device is acquired according to itself determines；
Second image acquired according to the second class collecting device, the step of determining the destination of the target object, including：
Receive each the second class collecting device transmission empty parking space information, the empty parking space information be the second class collecting device according to What the second image of itself acquisition determined；
According to current location and the travel direction of received empty parking space information and the target vehicle, selection target empty wagons Position.
4. according to the method described in claim 3, it is characterized in that, the determination carries out Image Acquisition to the target vehicle The step of target first kind collecting device, including：
According to the correspondence of the attribute information of pre-stored vehicle and user, the user couple for sending the navigation requests is determined The target property information for the target vehicle answered；
In the image recognition information that each first kind collecting device is sent, search and the matched target of the target property information Image recognition information；Include the attribute information of vehicle in described image identification information；
The first kind collecting device for sending the target image identification information is determined as adopting target vehicle progress image The target first kind collecting device of collection.
5. according to the method described in claim 2, it is characterized in that, before receiving navigation requests, further include：
Obtain the position and acquisition direction of each first kind collecting device and the second class collecting device in parking lot；
First image acquired according to first kind collecting device, determines the corresponding target object of the navigation requests and described The step of current location of target object, including：
Determine the target first kind collecting device that Image Acquisition is carried out to the target vehicle；
Image recognition is carried out to the first image of target first kind collecting device acquisition, according to recognition result and the target The position and acquisition direction of first kind collecting device, determine current location and the travel direction of the target vehicle；
Second image acquired according to the second class collecting device, the step of determining the destination of the target object, including：
The position and acquisition side of the second image and the second class collecting device that are acquired according to each the second class collecting device To determining the empty parking space in parking lot；
According to the current location of the target vehicle and travel direction, in identified empty parking space, selection target empty parking space.
6. according to the method described in claim 2, it is characterized in that, described according to the current location and the destination, After the step of determining the navigation requests corresponding path, further include：
According to first kind collecting device acquire the first image, judge the target vehicle driving trace whether with it is identified Route matching；
If not, redefining the current location of the target vehicle；
According to the second image that the second class collecting device acquires, the corresponding target empty parking space of the target vehicle is redefined；
According to the current location and target empty parking space redefined, the path of the target vehicle is redefined.
7. according to the method described in claim 2, it is characterized in that, carry mode selecting information in the navigation requests,
Second image acquired according to the second class collecting device, the step of determining the target empty parking space of the target vehicle, Including：
According to the second image of the second class collecting device acquisition and the mode selecting information, the target of the target vehicle is determined Empty parking space.
8. the method according to the description of claim 7 is characterized in that the mode selecting information includes：Apart from nearest pattern or Person specifies region mode；
When the mode selecting information includes apart from nearest pattern, second image acquired according to the second class collecting device And the mode selecting information, the step of determining the target empty parking space of the target vehicle, including：
Receive each the second class collecting device transmission empty parking space information, the empty parking space information be the second class collecting device according to What the second image of itself acquisition determined；According to current location and the row of received empty parking space information and the target vehicle Sail direction, the nearest target empty parking space in current location described in chosen distance；
Alternatively,
The position and acquisition side of the second image and the second class collecting device that are acquired according to each the second class collecting device To determining the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in identified empty parking space In, the nearest target empty parking space in current location described in chosen distance；
When the mode selecting information includes specified region mode, second image acquired according to the second class collecting device And the mode selecting information, the step of determining the target empty parking space of the target vehicle, including：
Determine the corresponding first object region of the specified region mode；
Receive each the second class collecting device transmission empty parking space information, the empty parking space information be the second class collecting device according to What the second image of itself acquisition determined；According to current location and the row of received empty parking space information and the target vehicle Direction is sailed, the selection target empty parking space in the first object region；
Alternatively,
The position and acquisition side of the second image and the second class collecting device that are acquired according to each the second class collecting device To determining the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in the first object area Selection target empty parking space in domain.
9. according to the method described in claim 4, it is characterized in that, second figure acquired according to the second class collecting device Picture, the step of determining the destination of the target object, including：
According to the correspondence of preset attribute information and parking space area, the target property information corresponding is determined Two target areas；
Receive each the second class collecting device transmission empty parking space information, the empty parking space information be the second class collecting device according to What the second image of itself acquisition determined；According to current location and the row of received empty parking space information and the target vehicle Direction is sailed, the selection target empty parking space in second target area；
Alternatively,
According to the second image that each the second class collecting device acquires, the empty parking space in parking lot is determined；According to the target carriage Current location and travel direction, the selection target empty parking space in second target area.
10. a kind of navigation device, which is characterized in that including：
Receiving module, for receiving navigation requests；
First determining module, the first image for being acquired according to first kind collecting device, determines that the navigation requests are corresponding The current location of target object and the target object；
Second determining module, the second image for being acquired according to the second class collecting device, determines the purpose of the target object Ground；
Third determining module, for according to the current location and the destination, determining the corresponding path of the navigation requests.
11. device according to claim 10, which is characterized in that the navigation requests are：For leading for parking position Boat request；The first kind collecting device carries out Image Acquisition for parking lot track；The second class collecting device, which is directed to, to stop Parking lot parking stall carries out Image Acquisition；The target object is the corresponding target vehicle of navigation requests；The destination is target empty Parking stall.
12. according to the devices described in claim 11, which is characterized in that first determining module, including：
First determination sub-module, for determining the target first kind collecting device for carrying out Image Acquisition to the target vehicle；
Second determination sub-module, for the image recognition information that is sent according to the target first kind collecting device, described in determination The current location of target vehicle and travel direction；Described image identification information is that first kind collecting device is acquired according to itself What one image determined；
Second determining module, including：
Receiving submodule, the empty parking space information for receiving the transmission of each the second class collecting device, the empty parking space information are the What the second image that two class collecting devices are acquired according to itself determined；
Submodule is selected, for the current location and traveling side according to received empty parking space information and the target vehicle To selection target empty parking space.
13. device according to claim 12, which is characterized in that first determination sub-module is specifically used for：
According to the correspondence of the attribute information of pre-stored vehicle and user, the user couple for sending the navigation requests is determined The target property information for the target vehicle answered；
In the image recognition information that each first kind collecting device is sent, search and the matched target of the target property information Image recognition information；Include the attribute information of vehicle in described image identification information；
The first kind collecting device for sending the target image identification information is determined as adopting target vehicle progress image The target first kind collecting device of collection.
14. according to the devices described in claim 11, which is characterized in that described device further includes：
Acquisition module, position and acquisition side for obtaining each first kind collecting device and the second class collecting device in parking lot To；
First determining module, is specifically used for：
Determine the target first kind collecting device that Image Acquisition is carried out to the target vehicle；
Image recognition is carried out to the first image of target first kind collecting device acquisition, according to recognition result and the target The position and acquisition direction of first kind collecting device, determine current location and the travel direction of the target vehicle；
Second determining module, is specifically used for：
The position and acquisition side of the second image and the second class collecting device that are acquired according to each the second class collecting device To determining the empty parking space in parking lot；
According to the current location of the target vehicle and travel direction, in identified empty parking space, selection target empty parking space.
15. according to the devices described in claim 11, which is characterized in that described device further includes：
Judgment module, the first image for being acquired according to first kind collecting device, judges the driving trace of the target vehicle Whether with identified route matching；
If not, triggering redefines module；
It is described to redefine module, the current location for redefining the target vehicle；It is adopted according to the second class collecting device Second image of collection, redefines the corresponding target empty parking space of the target vehicle；According to the current location and mesh redefined Empty parking space is marked, the path of the target vehicle is redefined.
16. according to the devices described in claim 11, which is characterized in that mode selecting information is carried in the navigation requests, Second determining module, is specifically used for：
According to the second image of the second class collecting device acquisition and the mode selecting information, the target of the target vehicle is determined Empty parking space.
17. device according to claim 16, which is characterized in that the mode selecting information includes：Apart from nearest pattern, Or specified region mode；
When the mode selecting information includes apart from nearest pattern, second determining module is specifically used for：
Receive each the second class collecting device transmission empty parking space information, the empty parking space information be the second class collecting device according to What the second image of itself acquisition determined；According to current location and the row of received empty parking space information and the target vehicle Sail direction, the nearest target empty parking space in current location described in chosen distance；
Alternatively,
The position and acquisition side of the second image and the second class collecting device that are acquired according to each the second class collecting device To determining the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in identified empty parking space In, the nearest target empty parking space in current location described in chosen distance；
When the mode selecting information includes specified region mode, second determining module is specifically used for：Determine the finger Determine the corresponding first object region of region mode；
Receive each the second class collecting device transmission empty parking space information, the empty parking space information be the second class collecting device according to What the second image of itself acquisition determined；According to current location and the row of received empty parking space information and the target vehicle Direction is sailed, the selection target empty parking space in the first object region；
Alternatively,
The position and acquisition side of the second image and the second class collecting device that are acquired according to each the second class collecting device To determining the empty parking space in parking lot；According to the current location of the target vehicle and travel direction, in the first object area Selection target empty parking space in domain.
18. device according to claim 13, which is characterized in that second determining module is specifically used for：
According to the correspondence of preset attribute information and parking space area, the target property information corresponding is determined Two target areas；
Receive each the second class collecting device transmission empty parking space information, the empty parking space information be the second class collecting device according to What the second image of itself acquisition determined；According to current location and the row of received empty parking space information and the target vehicle Direction is sailed, the selection target empty parking space in second target area；
Alternatively,
According to the second image that each the second class collecting device acquires, the empty parking space in parking lot is determined；According to the target carriage Current location and travel direction, the selection target empty parking space in second target area.
19. a kind of navigation system, which is characterized in that including：Navigation server, first kind collecting device and the acquisition of the second class are set It is standby；Wherein,
The navigation server, after receiving navigation requests, according to the first kind collecting device acquire the first image, Determine the current location of the corresponding target object of the navigation requests and the target object；
According to the second image that the second class collecting device acquires, the destination of the target object is determined；
According to the current location and the destination, the corresponding path of the navigation requests is determined.
20. system according to claim 19, which is characterized in that the navigation requests are：For leading for parking position Boat request；The target object is the corresponding target vehicle of navigation requests；The destination is target empty parking space；
The first kind collecting device, for carrying out Image Acquisition for parking lot track；
The second class collecting device, for carrying out Image Acquisition for parking position.
21. system according to claim 20, which is characterized in that
The navigation server is additionally operable to obtain the position of the first kind collecting device and the second class collecting device and adopt Collect direction；According to position and the acquisition of the first image and the first kind collecting device of first kind collecting device acquisition Direction determines the current location of the corresponding target vehicle of the navigation requests and the target vehicle；It is set according to the acquisition of the second class Second image of standby acquisition and the position of the second class collecting device and acquisition direction, determine the target empty parking space.
CN201710065438.1A 2017-02-06 2017-02-06 A kind of air navigation aid, apparatus and system Pending CN108398133A (en)

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