CN108806280B - Parking space state detection method and device - Google Patents
Parking space state detection method and device Download PDFInfo
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- CN108806280B CN108806280B CN201810753402.7A CN201810753402A CN108806280B CN 108806280 B CN108806280 B CN 108806280B CN 201810753402 A CN201810753402 A CN 201810753402A CN 108806280 B CN108806280 B CN 108806280B
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Abstract
The invention is suitable for the technical field of parking space detection, and provides a parking space state detection method and a parking space state detection device, wherein the method comprises the following steps: transmitting a frequency shift keying FSK signal to a parking space area to be detected, and receiving a first echo value; acquiring a first parking space state according to the first echo value and a preset signal-to-noise ratio threshold value; if the first parking space state is that a moving vehicle exists, transmitting a frequency shift keying FSK signal and acquiring the motion information of the moving vehicle; if the first parking space state is that no moving vehicle exists, transmitting a frequency modulation continuous FMCW signal and receiving a second echo value; acquiring a second vehicle position state according to the second echo value and the background echo value; if the second station state is that a static vehicle exists, transmitting a frequency modulation continuous FMCW signal; if the second parking space state is an empty parking space state, the frequency shift keying FSK signal is transmitted, the method can automatically select the modulation signal according to the behavior state of the target, and therefore the using state of the parking space to be detected can be rapidly and accurately obtained.
Description
Technical Field
The invention belongs to the technical field of parking space detection, and particularly relates to a parking space state detection method and device.
Background
With the rapid development of economy in recent years, the holding amount of automobiles is continuously increased, and the increase of vehicles also brings about the problems of traffic jam and difficulty in parking. The parking stall detection technique can detect whether there is the vehicle in the parking stall through external equipment to show parking stall information routing to display device, effectual management parking stall state fast.
Most of existing parking space detection methods adopt geomagnetic coils, ultrasonic waves and cameras to detect parking space states, however, the parking space detection methods adopting the geomagnetic coils are affected by the earth magnetic field and the electromagnetic field, the parking space detection methods adopting the ultrasonic waves are easily affected by rain and snow environments, and the parking space detection methods adopting the cameras have high requirements on weather and environment brightness. Therefore, the above methods all have a disadvantage of low detection accuracy.
Disclosure of Invention
In view of this, embodiments of the present invention provide a parking space state detection method and device, so as to solve the problem in the prior art that a parking space state detection result is inaccurate.
A first aspect of an embodiment of the present invention provides a parking space state detection method, including:
transmitting a Frequency-shift keying (FSK) signal to a parking space area to be detected, and receiving a first echo value;
acquiring a first parking space state according to the first echo value and a preset signal-to-noise ratio threshold value;
if the first parking space state is that a moving vehicle exists, continuously transmitting a frequency shift keying FSK signal to a parking space area to be detected and acquiring the motion information of the moving vehicle; if the first parking space state is that no moving vehicle exists, transmitting a frequency modulation Continuous FMCW (frequency Modulated Continuous wave) signal to a parking space area to be detected and receiving a second echo value;
acquiring a second vehicle position state according to the second echo value and the background echo value;
if the second parking space state is that a static vehicle exists, continuously transmitting a frequency modulation continuous FMCW signal to a parking space area to be detected; and if the second parking space state is an empty parking space state, transmitting a frequency shift keying FSK signal to the parking space region to be detected.
Optionally, the transmitting a frequency shift keying FSK signal to the parking space area to be detected further includes, before receiving the first echo value:
and when the parking space to be detected is in an empty parking space state, transmitting a frequency modulation continuous FMCW signal to the area of the parking space to be detected, and acquiring a background echo value.
Optionally, the obtaining a first vehicle location state according to the first echo value and the preset signal-to-noise ratio threshold specifically includes:
judging whether the received first echo value is larger than a preset signal-to-noise ratio threshold value or not;
and if so, determining that the first parking space state is that the moving vehicle exists.
Optionally, the obtaining a second vehicle position state according to the second echo value and the background echo value specifically includes:
judging whether the received second echo value is larger than the background echo value;
if so, the second bay state is the presence of a stationary vehicle.
Optionally, after obtaining the first parking space state and/or obtaining the second parking space state, the method further includes:
acquiring parking space state information and uploading the parking space state information to a server;
the parking space state information includes: the position of the parking space and the parking space states at different times.
Optionally, after acquiring the parking space state information, the method further includes:
and analyzing the parking space state information to acquire parking space occupation conditions in different time periods.
A second aspect of the embodiments of the present invention provides a parking space state detection apparatus, including: the parking system comprises a transmission module, a parking space state acquisition module and a control module;
the transmission module is used for transmitting a frequency shift keying FSK signal to a parking space area to be detected and receiving a first echo value; the system is also used for transmitting frequency modulation continuous FMCW signals to a parking space area to be detected and receiving a second echo value;
the parking space state acquisition module is used for acquiring a first parking space state according to the first echo value and a preset signal-to-noise ratio threshold value; the second echo value is used for obtaining a second vehicle position state according to the second echo value and the background echo value;
the control module is used for continuously transmitting a frequency shift keying FSK signal to a parking space area to be detected and acquiring motion information of the moving vehicle when the first parking space state is that the moving vehicle exists; when the first parking space state is that no moving vehicle exists, transmitting a frequency modulation continuous FMCW signal to a parking space area to be detected; the system is also used for continuously transmitting a frequency modulation continuous FMCW signal to the parking space area to be detected when the second parking space state is that a static vehicle exists; and when the second parking space state is an empty parking space state, transmitting a frequency shift keying FSK signal to the parking space region to be detected.
Optionally, the control module is further configured to transmit a frequency modulation continuous FMCW signal to the area of the parking space to be detected when the parking space to be detected is in an empty parking space state, so as to obtain a background echo value.
A third aspect of an embodiment of the present invention provides a parking space state detection apparatus, including: the parking space state detection method comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the parking space state detection method.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the parking space state detection method according to any one of the above embodiments are implemented.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the method and the device detect whether the parking space has the moving vehicle or not by transmitting the frequency shift keying FSK signal to the parking space area to be detected, continuously transmit the frequency shift keying FSK signal and acquire the motion information of the vehicle when the moving vehicle is detected, transmit the frequency modulation continuous FMCW signal to the area to be detected to detect whether the parking space has the static vehicle or not when the moving vehicle does not exist, continuously transmit the frequency modulation continuous FMCW signal when the static vehicle is detected, and transmit the frequency shift keying FSK signal when the empty parking space is detected.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart illustrating an implementation of a parking space state detection method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a parking space state detection device provided in an embodiment of the present invention;
fig. 3 is a schematic diagram of a parking space state detection terminal device provided in an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Example one
In this embodiment, the parking space state detection method is to send a modulation signal to a parking space to be detected through a radar, where the radar is disposed near the parking space to be detected, and one radar corresponds to one parking space to be detected. In the embodiment, two modulation signals are adopted, namely a frequency shift keying FSK signal and a frequency modulation continuous FMCW signal, wherein the two signals are generated by a frequency synthesizer part of the radar, and the generated signals are transmitted to a parking space area to be detected through an antenna. Because the state of a parking space includes several states, such as existence of a moving vehicle, existence of a stationary vehicle, existence of an empty parking space, and the like, it is necessary to determine whether a moving target, a stationary target, an absence of a target, and the like exist in the parking space to be detected. However, the frequency shift keying FSK signal cannot detect a stationary target, but can detect a moving target and accurately acquire the moving state information of the moving target, and the frequency modulation continuous FMCW signal cannot detect the moving state information of the moving target but can detect a stationary target.
Fig. 1 shows a schematic flow chart of an implementation of the parking space state detection method in this embodiment, which is detailed as follows:
and S101, transmitting a frequency shift keying FSK signal to the parking space area to be detected, and receiving a first echo value.
In this embodiment, before sending a signal to a parking space area to be detected, it is necessary to detect whether each part of the radar is normal, for example, an antenna and a frequency synthesizer, and if the antenna and the frequency synthesizer are in a normal operating state, the frequency synthesizer is controlled to transmit a frequency shift keying FSK signal. The frequency synthesizer transmits a frequency shift keying FSK signal under the initial condition so as to detect whether a moving vehicle exists in the parking space to be detected. The antenna transmits the frequency shift keying FSK signal to a parking space area to be detected, the parking space area to be detected returns a first echo signal, the radar receives the first echo signal through the antenna, echo data carried by the first echo signal are analyzed, and whether a moving vehicle exists in the parking space to be detected is judged.
It should be noted that, before controlling the frequency synthesizer to transmit the signal, a detection distance is preset, and the length of the detection distance is the length of a parking space, for example: the value was set to 6 m. When the signal that frequency synthesizer launched is in the detection zone, the state of parking stall can all be accurately judged to the intensity of the signal of transmission and the intensity of the echo signal of receipt.
Optionally, the transmitting a frequency shift keying FSK signal to the parking space area to be detected further includes, before receiving the first echo value:
and when the parking space to be detected is in an empty parking space state, transmitting a frequency modulation continuous FMCW signal to the area of the parking space to be detected, and acquiring a background echo value.
In this embodiment, before transmitting the FSK signal, that is, before the radar detects the parking space state, the background echo value in the empty parking space state needs to be obtained. Specifically, the system is initialized after the radar is powered on, wherein the initialization process is to acquire the background echo value of the parking space. Specifically, after the radar is detected to be powered on, and the parking space to be detected is in an empty parking space state, the frequency synthesizer is controlled to transmit a frequency modulation continuous FMCW signal, an echo signal returned by the parking space area to be detected is received after the signal is transmitted, the signal value of the echo signal is set as a background echo value, and the obtained background echo value is important information for detecting whether a static vehicle exists in the parking space.
And S102, acquiring a first parking space state according to the first echo value and a preset signal-to-noise ratio threshold value.
In this embodiment, whether a moving vehicle exists in the parking space to be detected is determined by transmitting a frequency shift keying FSK signal to the parking space area to be detected. Specifically, whether a moving vehicle exists needs to be judged through a preset signal-to-noise ratio threshold value and a first echo value. The preset signal-to-noise ratio threshold is a threshold for distinguishing a moving vehicle from a moving human body, and is related to RCS (Radar Cross Section) of different objects. The nature, shape and distribution targets are different for different objects, and thus correspond to different RCSs. In the parking space, in order to avoid mistaking a moving human body as a moving vehicle, a signal-to-noise ratio threshold is obtained based on the characteristic that the human body and the vehicle have different RCS, so that the moving target is accurately detected as the moving vehicle.
Optionally, the obtaining the first parking space state according to the first echo value and the preset signal-to-noise ratio threshold specifically includes:
judging whether the received first echo value is larger than a preset signal-to-noise ratio threshold value or not;
and if so, determining that the first parking space state is that the moving vehicle exists.
In this embodiment, when determining whether a moving vehicle exists in the parking space to be detected, the received first echo value is compared with a preset signal-to-noise threshold. The RCS value of the vehicle is larger than that of a human body, so that when the detected first echo value is larger than a preset signal-to-noise ratio threshold value, the fact that a moving target exists in the parking space to be detected can be judged, and the moving target is a moving vehicle; on the contrary, when it is detected that the first echo value is not greater than the preset signal-to-noise ratio threshold, the parking space state may be a stationary vehicle state or an empty parking space state. Therefore, the state of the parking space to be detected needs to be judged by transmitting a frequency modulation continuous FMCW signal.
Step S103, if the first parking space state is that a moving vehicle exists, continuously transmitting a frequency shift keying FSK signal to a parking space area to be detected and acquiring the movement information of the moving vehicle; and if the first parking space state is that no moving vehicle exists, transmitting a frequency modulation continuous FMCW signal to the region of the parking space to be detected and receiving a second echo value.
In this embodiment, when a moving vehicle is detected in a parking space, a frequency shift keying FSK signal is continuously transmitted to the parking space to be detected, so as to monitor the motion state of the moving vehicle and obtain the motion information of the moving vehicle, for example: the speed at which the vehicle is traveling, distance information of the vehicle, and the direction in which the vehicle is traveling, etc. Specifically, the method comprises the following steps: when the vehicle moves, the radar system can acquire the moving speed of the moving vehicle through Doppler frequency shift, acquire the distance between the vehicle and the radar through the phase difference between echo frequencies, and acquire the driving direction of the moving vehicle through the positive and negative of the first echo frequency.
On the contrary, when no moving vehicle exists in the parking space state, the frequency modulation continuous FMCW signal is transmitted to the parking space region to be detected, and the second echo signal returned by the parking space to be detected is received, so that whether the parking space to be detected is in a static vehicle state or an empty parking space state is judged.
And step S104, acquiring a second vehicle position state according to the second echo value and the background echo value.
In this embodiment, when no moving vehicle is detected by transmitting a frequency shift keying FSK signal to the space to be detected, the transmitted waveform is converted into a frequency modulated continuous FMCW signal. The background echo value under the empty parking space state is acquired at the moment of radar initialization, the frequency modulation continuous FMCW signal is transmitted to the parking space to be detected again, and whether the state of the parking space to be detected is a static vehicle state or an empty parking space state can be judged according to the second echo value and the background echo value.
The method comprises the steps that a first vehicle position state and a second vehicle position state are both possible parking position states, firstly, a frequency shift keying FSK signal is transmitted to a parking position to be detected to obtain a first echo value, whether a moving vehicle state exists or not exists can be determined according to the first echo value, when the first vehicle position state is the state without moving vehicles, a second echo value is obtained by transmitting a frequency modulation continuous FMCW signal, and whether a static vehicle state exists or an empty parking position state exists can be further determined according to the second echo value.
Optionally, the obtaining a second vehicle position state according to the second echo value and the background echo value specifically includes:
judging whether the received second echo value is larger than the background echo value;
if so, the second bay state is the presence of a stationary vehicle.
In this embodiment, the specific method for determining the status of the parking space to be detected according to the second echo value and the background echo value is as follows: whether a static vehicle exists on the parking space to be detected is detected by comparing the second echo value with the background echo value, wherein the judgment basis is as follows: when there is the vehicle that is static in the parking stall of waiting to detect, can make echo signal change. The principle used when judging whether the parking space to be detected has the static vehicle is a clutter map detection method, wherein the detection method of the clutter map is as follows: the method comprises the steps of firstly obtaining a background echo value in an empty parking space state, then obtaining a second echo value in the presence of a static vehicle, wherein the second echo value in the presence of the static vehicle is larger than the background echo value in the empty parking space state; and otherwise, when the second echo value is not greater than the background echo value, the parking space to be detected does not have a static vehicle.
Step S105, if the second parking space is in a state of having a static vehicle, continuously transmitting a frequency modulation continuous FMCW signal to a parking space area to be detected; and if the second parking space state is an empty parking space state, transmitting a frequency shift keying FSK signal to the parking space region to be detected.
In this embodiment, when the parking space is detected to be in a state of having a stationary vehicle, a frequency modulated continuous FMCW signal is continuously transmitted to the parking space to be detected, so as to monitor the stationary vehicle; when no static vehicle exists, namely the vehicle is in an empty parking space state, the transmitted signal is converted into a frequency shift keying FSK signal to detect whether a moving vehicle exists or not, namely whether a vehicle runs into a parking space to be detected or not.
It should be noted that when a stationary vehicle is detected in the second parking space, the stationary vehicle may be detected to move, that is, the stationary vehicle may be driven out of the parking space. The transmitted frequency-modulated continuous FMCW signal substantially comprises a combination signal of an FMCW signal and a dot frequency signal, wherein the FMCW signal at T1 time and the dot frequency signal at T2 time are included, and whether a static vehicle starts moving or not can be judged through the dot frequency. Specifically, Doppler frequency shift can occur when the vehicle moves, so that the vehicle is judged to move, signals transmitted by the radar are converted into frequency shift keying FSK signals from frequency modulation continuous FMCW signals, the motion state of the vehicle is monitored, and motion information of the vehicle when the vehicle leaves a parking space is acquired.
In this embodiment, the modulation signal for detecting the parking space state is adjusted, so that the state information of the parking space can be accurately acquired. For example: under the initial condition, when the parking space is an empty parking space, a background echo value of the parking space to be detected is obtained by transmitting a frequency modulation continuous FMCW signal, and the background echo value is stored so as to be used for judging whether a static vehicle exists in the parking space. After a background echo value in an empty parking space state is obtained, the transmitted signal is adjusted to be a frequency shift keying FSK signal to detect whether a moving vehicle exists in the parking space to be detected, namely whether the vehicle enters or exits the parking space to be detected, and after the moving vehicle is detected, the frequency shift keying FSK signal is continuously transmitted to monitor the moving vehicle and obtain the motion information of the vehicle. When the moving vehicle cannot be detected after the preset time, the frequency modulation continuous FMCW signal is transmitted to detect whether the parking space to be detected has the static vehicle or not, namely whether the parking process or the vehicle driving process is finished or not is detected. When a stationary vehicle is detected, continuously transmitting a frequency modulation continuous FMCW signal to monitor the stationary vehicle, and transmitting a frequency shift keying FSK signal until the vehicle starts moving; when the vehicle cannot be detected to be stationary after the preset time, namely the vehicle runs out, the transmitted signal is adjusted to be the FSK signal of the frequency shift keying, and whether other vehicles run in the parking space to be detected is detected.
Optionally, after obtaining the first parking space state and/or obtaining the second parking space state, the method further includes:
acquiring parking space state information and uploading the parking space state information to a server;
the parking space state information includes: the position of the parking space and the parking space states at different times.
In this embodiment, after acquiring the parking space state, the parking space state information may be further acquired, and the method for acquiring the parking space state information may be: after the parking space state is acquired, the current time information and the parking space number information of the parking space to be detected are acquired simultaneously, the parking space state, the time information and the parking space number information are in one-to-one correspondence, and the parking space state information is uploaded to the server, so that the remote terminal can acquire the use condition of the parking space in real time and update the use condition in time. For example: when the parking space numbered 0055 is detected to be driven into a vehicle in a ratio of 20:08, recording is started, the current time, the driving speed and driving distance of the vehicle and the parking space number are corresponded, and the current time, the driving speed and driving distance of the vehicle and the parking space number are uploaded to a server, so that relevant workers or vehicle owners can obtain parking space information, and the parking space information can be conveniently and quickly obtained.
Optionally, after acquiring the parking space state information, the method further includes:
and analyzing the parking space state information to acquire parking space occupation conditions in different time periods.
In this embodiment, can also carry out the analysis to the parking stall state information who acquires, make statistics of the idle condition of parking stall in each time quantum every day to make the user can rationally arrange the trip time, avoid the peak period to park as far as possible. For example: the parking indexes in each time period can be calculated according to the acquired state information of each parking space, and the parking indexes can comprise the number of parked vehicles, the average parking time, the parking space utilization rate and the like and are uploaded to the remote terminal.
Specifically, the calculation method of the parking number may be: calculating the parking quantity of a single parking space in each time period, and if one piece of information that a vehicle drives into the parking space and drives out of the parking space after a period of time is acquired, adding one to the parking quantity of the parking space so as to acquire the parking quantity of all the parking spaces in a period of time; the average parking time may be calculated by: obtaining the parking time of each vehicle according to the driving-in and driving-out time of the vehicles, summing the parking time of each vehicle to obtain the total parking time of all the vehicles, and calculating the quotient of the total parking time and the parking quantity to obtain the average parking time; the calculation method of the parking space utilization rate can be as follows: the total time is obtained by determining a time period, then the total parking time of all vehicles in the time period is obtained, the quotient of the total parking time and the total parking time is calculated, and the parking space utilization rate is obtained. The parking index is calculated, so that the car owner can know the parking space use conditions of the current parking lot in different time periods every day in a week, and the trip time and the parking time can be reasonably arranged.
The method and the device detect whether the parking space has the moving vehicle or not by transmitting the frequency shift keying FSK signal to the parking space area to be detected, continuously transmit the frequency shift keying FSK signal and acquire the motion information of the vehicle when the moving vehicle is detected, transmit the frequency modulation continuous FMCW signal to the area to be detected to detect whether the parking space has the static vehicle or not when the moving vehicle does not exist, continuously transmit the frequency modulation continuous FMCW signal when the static vehicle is detected, and transmit the frequency shift keying FSK signal when the empty parking space is detected.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Example two
Corresponding to the parking space state detection method in the first embodiment, the present embodiment provides a parking space state detection device, and for convenience of description, only the relevant portions of the present embodiment are shown. Referring to fig. 2, the parking space state detecting device includes: the system comprises a transmission module 201, a parking space state acquisition module 202 and a control module 203.
The transmission module 201 is configured to transmit a frequency shift keying FSK signal to a parking space area to be detected, and receive a first echo value; the system is also used for transmitting frequency modulation continuous FMCW signals to the parking space area to be detected and receiving a second echo value.
The parking space state obtaining module 202 is configured to obtain a first parking space state according to the first echo value and a preset signal-to-noise ratio threshold; and the second station state is obtained according to the second echo value and the background echo value.
The control module 203 is configured to continuously transmit a frequency shift keying FSK signal to a parking space area to be detected and acquire motion information of a moving vehicle when the first parking space state is that the moving vehicle exists; when the first parking space state is that no moving vehicle exists, transmitting a frequency modulation continuous FMCW signal to a parking space area to be detected; the system is also used for continuously transmitting a frequency modulation continuous FMCW signal to the parking space area to be detected when the second parking space state is that a static vehicle exists; and when the second parking space state is an empty parking space state, transmitting a frequency shift keying FSK signal to the parking space region to be detected.
Optionally, the control module 203 is further configured to transmit a frequency modulation continuous FMCW signal to the area of the parking space to be detected when the parking space to be detected is in an empty parking space state, so as to obtain a background echo value.
Optionally, the parking space state obtaining module 202 is specifically configured to determine whether the received first echo value is greater than a preset signal-to-noise ratio threshold; and if so, determining that the first parking space state is that the moving vehicle exists.
Optionally, the parking space state obtaining module 202 is specifically configured to determine whether the received second echo value is greater than a background echo value; if so, the second bay state is the presence of a stationary vehicle.
Optionally, the parking space state detection device further includes: the system comprises an acquisition module, a server and a management module, wherein the acquisition module is used for acquiring parking space state information and uploading the parking space state information to the server; the parking space state information includes: the position of the parking space and the parking space states at different times.
Optionally, the parking space state detection device further includes: and the analysis module is used for analyzing the parking space state information and acquiring the parking space occupation conditions in different time periods.
The parking space state detection device in the second embodiment may be used to execute the parking space state detection method shown in fig. 1, and specific implementation principles thereof may refer to the above method embodiments, which are not described herein again.
The parking space state detection device provided by this embodiment transmits a frequency shift keying FSK signal to a parking space region to be detected through a transmission module, detects whether a moving vehicle exists in a parking space through a parking space state acquisition module, when a moving vehicle is detected, continuously transmits a frequency shift keying FSK signal through a control module and acquires motion information of the vehicle, when no moving vehicle exists, transmits a frequency modulated continuous FMCW signal to the parking space region to be detected through the control module, detects whether a stationary vehicle exists in the parking space through the parking space state acquisition module, when a stationary vehicle is detected, continuously transmits a frequency modulated continuous FMCW signal through the control module, when an empty parking space state is detected, transmits a frequency shift keying FSK signal through the control module, and can accurately detect the moving target and the stationary target respectively by using two waveforms, thereby transmitting different waveforms to detect the parking space state when the parking space is in different states, and then the state of quick accurate acquisition parking stall.
EXAMPLE III
Fig. 3 is a schematic diagram of a parking space state detection terminal device according to an embodiment of the present invention. As shown in fig. 3, the parking space state detection terminal device 30 of this embodiment includes: a processor 300, a memory 301 and a computer program 302 stored in the memory 301 and operable on the processor 300, for example a program for acquiring a parking space status. The processor 300 executes the computer program 302 to implement the steps in the above embodiments of the parking space state detection method, such as the steps 101 to 105 shown in fig. 1. Alternatively, the processor 300, when executing the computer program 302, implements the functions of each module/unit in each device embodiment described above, for example, the functions of the modules 201 to 203 shown in fig. 2.
Illustratively, the computer program 302 may be partitioned into one or more modules/units that are stored in the memory 301 and executed by the processor 300 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used for describing the execution process of the computer program 302 in the parking space state detection terminal device 30. For example, the computer program 302 may be divided into a transmission module, a parking space status acquisition module, and a control module, and the specific functions of each module are as follows:
the transmission module is used for transmitting a frequency shift keying FSK signal to a parking space area to be detected and receiving a first echo value; the system is also used for transmitting frequency modulation continuous FMCW signals to a parking space area to be detected and receiving a second echo value;
the parking space state acquisition module is used for acquiring a first parking space state according to the first echo value and a preset signal-to-noise ratio threshold value; the second echo value is used for obtaining a second vehicle position state according to the second echo value and the background echo value;
the control module is used for continuously transmitting a frequency shift keying FSK signal to a parking space area to be detected and acquiring motion information of the moving vehicle when the first parking space state is that the moving vehicle exists; when the first parking space state is that no moving vehicle exists, transmitting a frequency modulation continuous FMCW signal to a parking space area to be detected; the system is also used for continuously transmitting a frequency modulation continuous FMCW signal to the parking space area to be detected when the second parking space state is that a static vehicle exists; and when the second parking space state is an empty parking space state, transmitting a frequency shift keying FSK signal to the parking space region to be detected.
The parking space state detection terminal device 30 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The parking space state detection terminal device may include, but is not limited to, a processor 300 and a memory 301. Those skilled in the art will appreciate that fig. 3 is only an example of the parking space state detection terminal device 30, and does not constitute a limitation to the parking space state detection terminal device 30, and may include more or less components than those shown, or combine some components, or different components, for example, the parking space state detection terminal device may further include an input/output device, a network access device, a bus, etc.
The Processor 300 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 301 may be an internal storage unit of the parking space state detection terminal device 30, such as a hard disk or a memory of the parking space state detection terminal device 30. The memory 301 may also be an external storage device of the parking space status detection terminal device 30, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the parking space status detection terminal device 30. Further, the memory 301 may also include both an internal storage unit and an external storage device of the parking space state detection terminal device 30. The memory 301 is used for storing the computer program and other programs and data required by the parking space state terminal device. The memory 301 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the above embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and used by a processor to implement the steps of the above embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A parking space state detection method is characterized by comprising the following steps:
transmitting a frequency shift keying FSK signal to a parking space area to be detected, and receiving a first echo value;
acquiring a first parking space state according to the first echo value and a preset signal-to-noise ratio threshold value;
if the first parking space state is that a moving vehicle exists, continuously transmitting a frequency shift keying FSK signal to a parking space area to be detected and acquiring the motion information of the moving vehicle; if the first parking space state is that no moving vehicle exists, transmitting a frequency modulation continuous FMCW signal to a parking space area to be detected and receiving a second echo value;
acquiring a second vehicle position state according to the second echo value and the background echo value;
if the second parking space state is that a static vehicle exists, continuously transmitting a frequency modulation continuous FMCW signal to a parking space area to be detected; if the second parking space state is an empty parking space state, transmitting a frequency shift keying FSK signal to the parking space region to be detected;
wherein the FSK signal and the FMCW signal are generated by a frequency synthesizer portion of a radar, one radar corresponding to one parking space to be detected.
2. The parking space state detection method according to claim 1, wherein before transmitting the FSK signal to the parking space area to be detected and receiving the first echo value, the method further comprises:
and when the parking space to be detected is in an empty parking space state, transmitting a frequency modulation continuous FMCW signal to the area of the parking space to be detected, and acquiring a background echo value.
3. The parking space state detection method according to claim 1, wherein the obtaining of the first parking space state according to the first echo value and the preset signal-to-noise ratio threshold specifically includes:
judging whether the received first echo value is larger than a preset signal-to-noise ratio threshold value or not;
and if so, determining that the first parking space state is that the moving vehicle exists.
4. The parking space state detection method according to claim 1, wherein the obtaining of the second parking space state according to the second echo value and the background echo value specifically includes:
judging whether the received second echo value is larger than the background echo value;
if so, the second bay state is the presence of a stationary vehicle.
5. The parking space state detection method according to claim 1, wherein after acquiring the first parking space state and/or acquiring the second parking space state, the method further comprises:
acquiring parking space state information and uploading the parking space state information to a server;
the parking space state information includes: the position of the parking space and the parking space states at different times.
6. The parking space state detection method according to claim 5, wherein after acquiring the parking space state information, the method further comprises:
and analyzing the parking space state information to acquire parking space occupation conditions in different time periods.
7. The utility model provides a parking stall state detection device which characterized in that includes: the parking system comprises a transmission module, a parking space state acquisition module and a control module;
the transmission module is used for transmitting a frequency shift keying FSK signal to a parking space area to be detected and receiving a first echo value; the system is also used for transmitting frequency modulation continuous FMCW signals to a parking space area to be detected and receiving a second echo value;
the parking space state acquisition module is used for acquiring a first parking space state according to the first echo value and a preset signal-to-noise ratio threshold value; the second echo value is used for obtaining a second vehicle position state according to the second echo value and the background echo value;
the control module is used for continuously transmitting a frequency shift keying FSK signal to a parking space area to be detected and acquiring motion information of the moving vehicle when the first parking space state is that the moving vehicle exists; when the first parking space state is that no moving vehicle exists, transmitting a frequency modulation continuous FMCW signal to a parking space area to be detected; the system is also used for continuously transmitting a frequency modulation continuous FMCW signal to the parking space area to be detected when the second parking space state is that a static vehicle exists; when the second parking space state is an empty parking space state, transmitting a frequency shift keying FSK signal to the parking space region to be detected;
wherein the FSK signal and the FMCW signal are generated by a frequency synthesizer portion of a radar, one radar corresponding to one parking space to be detected.
8. The parking space state detection device according to claim 7, wherein the control module is further configured to transmit a frequency modulated continuous FMCW signal to the area of the parking space to be detected to obtain the background echo value when the parking space to be detected is in an empty space state.
9. A parking space state detection device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the method according to any one of claims 1 to 6 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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| CN109814102B (en) * | 2019-01-31 | 2020-10-27 | 厦门精益远达智能科技有限公司 | Single lane superelevation monitoring method, device, equipment and storage medium |
| CN110796896B (en) * | 2019-11-29 | 2021-02-26 | 江苏集萃智能传感技术研究所有限公司 | Parking lot parking space state monitoring system and monitoring method |
| CN112017446B (en) * | 2020-08-07 | 2021-09-14 | 北京川速微波科技有限公司 | Radar measurement data and vehicle track association method, device, medium and electronic device |
| CN114814809A (en) * | 2022-03-31 | 2022-07-29 | 厦门精益远达智能科技有限公司 | Closestool control method and system based on millimeter wave radar and closestool |
| CN114814811A (en) * | 2022-06-27 | 2022-07-29 | 深圳市佰誉达科技有限公司 | Radar parking space detection method and equipment and computer readable storage medium |
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