CN110909608A - Guiding type standard parking identification method - Google Patents
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- CN110909608A CN110909608A CN201911020450.6A CN201911020450A CN110909608A CN 110909608 A CN110909608 A CN 110909608A CN 201911020450 A CN201911020450 A CN 201911020450A CN 110909608 A CN110909608 A CN 110909608A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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Abstract
The invention belongs to a guiding type standard parking identification method of a vehicle, which takes a head lamp point A on the left side of the vehicle and two rear lamp points B, C as characteristic points, draws a rectangular vehicle contour line, calculates the slope of a straight line where a line segment AB is located, the standard judgment distance between the vehicle center point and a parking space center point and a standard judgment angle, compares the standard judgment distance with an angle threshold value, compares the standard judgment angle with the angle threshold value, and judges whether the vehicle is in standard parking or out of standard parking; the invention realizes accurate recognition of the position of the vehicle relative to the parking space and uploads the current position parameter of the vehicle to the user side APP, thereby guiding the driver to stop the vehicle normally and having the functions of feedback and guidance.
Description
Technical Field
The invention belongs to the field of non-standard parking detection, and particularly relates to a guided standard parking identification method and system.
Background
As the holding quantity r of the motor vehicle is rapidly increased, the parking is difficult to cause urban fouling. The contradiction between limited parking space resources and the accelerated growth of automobile demands makes the effective utilization of parking spaces in parking lots very important. The problems of disordered order of parking lots, low utilization rate of parking spaces, low parking efficiency and the like are increasingly aggravated. In daily life, because a driver lacks of normative consciousness, the vehicle cannot stop in a specified parking area, the overall order of the parking lot is affected, and obstacles are caused to other vehicles to park, so that the management cost is consumed to supervise the order of the parking lot. The document with the Chinese granted patent publication No. CN1098389829A provides a method and a system for identifying illegal parking, image information is collected through a camera, a processor identifies the outline of a vehicle to construct a quadrilateral frame, a parking space quadrilateral frame prestored in the processor is judged by comparing the shape of the identified vehicle quadrilateral frame with the shape of a quadrilateral frame preset in the current parking space, and the method and the system have the advantages of being rapid and accurate in identification effect, but the system can judge whether the vehicle is illegal in parking, cannot obtain the specific offset distance and angle of the vehicle, cannot give information feedback to a driver, and has certain limitation.
Disclosure of Invention
In order to solve the problems, the invention provides a guiding type standard parking recognition method which can judge whether a vehicle parks in a standard mode or not, and can upload the current offset distance and the current offset angle of the vehicle to a user side App when the position of the vehicle exceeds a specified threshold value, so that a driver is guided to park in a standard mode.
The technical scheme adopted by the guiding type standard parking identification method is as follows: when a vehicle drives into a parking space, the pressure sensor collects a vehicle pressure signal and transmits the vehicle pressure signal to the image recognition module, and the image recognition module collects vehicle parking image video information and transmits the vehicle parking image video information to the image processing module, and the vehicle parking system is characterized by comprising the following steps of:
step 1) the image processing module identifies parking space characteristic lines according to image video information, takes a point A of a head lamp on the left side of the vehicle and a point B, C of two rear lamps as characteristic points, draws a rectangular vehicle contour line,
step 2) the image processing module transmits the image information of the parking space characteristic line and the vehicle contour line to a standard parking calculation module, and the standard parking calculation module establishes a Cartesian coordinate system by taking a parking space central point O as an original point and taking the direction of the vehicle entering the parking space as the positive direction of a Y axis;
step 3) calculating to obtain a point A (x) by the standard parking calculation module according to a Cartesian coordinate system1,y1)、B(x2,y2)、C(x3,y3) Calculating the slope k of the straight line where the line segment AB is located, the coordinate of the vehicle center point P, the vehicle center point P andthe specification judgment distance d between the parking space center points O and an included angle between the straight line where the line segment AB is located and the Y axis are the specification judgment angles α;
step 4) the standard parking calculation module judges the distance d, the angle α and the A (x) according to the obtained standard1,y1)、B(x2,y2)、C(x3,y3) The information is input into a judgment module;
step 5) the judging module judges the distance d and a preset angle threshold α according to the specification0Comparing the criterion judgment angle α with a preset angle threshold α0For comparison, if | α | ≦ α |, the ratio0And d is less than or equal to d0If not, the vehicle is judged to be parked in a standard way.
Wherein in the step 5), if the absolute value of α is less than or equal to α0Or d > d0Judging that the vehicle is in the abnormal parking offset state, if α > α0Or d is less than or equal to d0Judging the vehicle is in the deflection state of irregular parking, if α > α0Or d > d0And judging that the vehicle is in a mixed state of irregular parking.
In the step 5), if the vehicle is parked in a standard manner, uploading standard parking information to a user side APP; if the driver is not stopping the vehicle regularly, the vehicle is laterally shifted by a distance | x1| longitudinal offset distance | y1And | and the criterion angle α are uploaded to the user side APP.
After the technical scheme is adopted, the invention has the beneficial effects that:
1. through image contour recognition and establishment of a corresponding coordinate system, the position of the vehicle relative to the parking space is accurately recognized, the judgment module judges whether the vehicle is normally parked or not, and current position parameters (transverse offset distance, longitudinal offset distance and vehicle body offset angle) of the vehicle are uploaded to a user side APP, so that a driver is guided to normally park.
2. The system has the functions of feedback and guidance, and if the vehicle does not stop normally, the system gives feedback to the driver through the App to remind the driver that the vehicle does not stop; in addition, based on this feedback channel of APP, give the driver with the real-time skew distance of vehicle and skew angle feedback, guide it to carry out the standard parking to this realizes the orderly order in parking area.
Drawings
FIG. 1 is a block diagram of an identification system implementing a guided canonical parking identification method according to the present invention;
FIG. 2 is a flow chart of a guided canonical parking identification method of the present invention;
FIG. 3 is a schematic view of a normative parking state of a vehicle in a parking space;
FIG. 4 is a schematic view of a vehicle in a laterally offset condition relative to a parking space;
FIG. 5 is a schematic view of a vehicle in a longitudinally offset condition relative to a parking space;
FIG. 6 is a schematic view of a vehicle in a deflected state relative to a parking space;
FIG. 7 is a schematic view of a vehicle in a hybrid state with respect to a parking space.
Detailed Description
Referring to fig. 1, the recognition system for implementing the present invention is composed of a pressure sensor, an image recognition module, an image processing module, a standard parking calculation module, a judgment module and a user side APP. The parking space detection system comprises a pressure sensor, an image recognition module, an image processing module, a standard parking calculation module and a judgment module, wherein the pressure sensor, the image recognition module, the image processing module, the standard parking calculation module and the judgment module are sequentially connected in series through signal lines, a user side APP and the judgment module transmit signals in a wireless mode, a camera is arranged in the image recognition module, faces to a parking space, the height of the user side APP, which is far away from the ground, is larger than the height.
Referring to fig. 2, when a vehicle enters a parking space, a pressure sensor is subjected to pressure, collects a vehicle pressure signal, sends a high level signal and transmits the high level signal to an image recognition module, the image recognition module receives the high level signal sent by the pressure sensor, collects vehicle parking image video information by using a camera and transmits the information to an image processing module, and the image processing module recognizes a vehicle contour characteristic and a parking space characteristic line according to the image video information.
Referring to fig. 3, 4, 5, 6, and 7, the features of the vehicle contour M include the headlights and the rear lights of the vehicle, and a rectangular vehicle contour M is drawn as a vehicle reference line with a feature point of the headlight on the left side of the vehicle and a feature point of the two rear lights B, C. When the vehicle parks in the parking space in a standard mode, the vehicle contour line M is in the middle of the parking space characteristic line N, the center of the vehicle coincides with the center point of the parking space at the moment, and the center point O coincides with the center point.
The image processing module transmits the parking space characteristic line N and the image information of the identified vehicle contour line M to the standard parking calculation module, the standard parking calculation module establishes a Cartesian coordinate system by taking a parking space central point O as an original point, a left-right direction as an X axis and a front-rear direction as a Y axis, and the positive direction of the Y axis is set to be the same as the direction of the vehicle entering the parking space. The standard parking calculation module establishes a corresponding Cartesian coordinate system according to each parking space and stores each Cartesian coordinate system.
The standard parking calculation module calculates the coordinates of three characteristic points, namely a point A, B, C in the vehicle contour line M, according to a Cartesian coordinate system: i.e. the point a (x) of the headlight on the left side of the vehicle1,y1) Point B (x) of the rear light on the left side of the vehicle2,y2) And the point C (x) of the right side rear light of the vehicle3,y3). According to point A (x)1,y1) And point B (x)2,y2) And the slope k of the straight line where the line segment AB is located is calculated by the following formula:
when x is1Is not equal to x2Then, as shown in fig. 6, the vehicle is in a deflected state.
When y is1Is equal to y2As shown in fig. 5, the vehicle is in a longitudinally offset state.
When x is1Is equal to x2I.e., the slope k is not present, as shown in fig. 4, it is a vehicle lateral offset state.
At the same time, the coordinates of the vehicle center point P are calculated as
According to the coordinates of the vehicle centre point P
Calculating the distance between the vehicle central point P and the parking space central point O, called as a standard judgment distance d, and obtaining the standard judgment distance d by the following formula:
and then, calculating the included angle between the straight line of the line segment AB and the Y axis according to the following formula, and recording as a standard judgment angle α:
wherein k is the slope of the straight line where the line segment AB is located.
The standard parking calculation module obtains a standard judgment distance d, a standard judgment angle α and a point A (x)1,y1) Point B (x) of the rear light on the left side of the vehicle2,y2) And the point C (x) of the right side rear light of the vehicle3,y3) The information is input into a judgment module which judges the distance d and a preset angle threshold α according to the data input by the standard parking calculation module0Comparing the criterion judgment angle α with a preset angle threshold α0And comparing to judge whether the position of the vehicle is in a standard parking state, wherein the specific judgment method comprises the following steps:
if | α | < α |)0And d is less than or equal to d0If so, the vehicle is judged to be parked regularly as shown in fig. 3, otherwise, the vehicle is not parked regularly.
If | α | < α |)0Or d > d0Judging that the vehicle is in the deviation state as shown in FIGS. 4 and 5 and in the irregular parking state, and if the value of α is greater than α0Or d is less than or equal to d0If the vehicle is in the yaw state shown in FIG. 6 and the vehicle is in the irregular parking state, the vehicle is determined to be in the yaw state and the irregular parking state, and if the value of α is greater than α0Or d > d0Then the vehicle is judged as shown in FIG. 7Mixed state and non-standard parking state.
If the driver is parking according to the standard, uploading the parking information to a user side APP; if the driver is not stopping the vehicle regularly, the vehicle is laterally shifted by a distance | x1| longitudinal offset distance | y1And a standard judgment angle α, namely the deviation angle of the vehicle body, is uploaded to a user side APP to remind a driver of stopping the vehicle in a standard manner, then the camera acquires image video information of the vehicle again, and continuously judges whether the vehicle stops, wherein the standard judgment angle α is recorded as positive in the counterclockwise direction, if α is greater than 0, the vehicle body deviates from the counterclockwise direction by α, if α is less than 0, the vehicle body deviates from the clockwise direction by α, and if α is equal to 0, the vehicle body stops vertically.
Claims (6)
1. A guiding type standard parking identification method is characterized in that when a vehicle enters a parking space, a pressure sensor collects vehicle pressure signals and transmits the vehicle pressure signals to an image identification module, and the image identification module collects vehicle parking image video information and transmits the vehicle parking image video information to an image processing module, and the method comprises the following steps:
step 1) the image processing module identifies parking space characteristic lines according to image video information, takes a point A of a head lamp on the left side of the vehicle and a point B, C of two rear lamps as characteristic points, draws a rectangular vehicle contour line,
step 2) the image processing module transmits the image information of the parking space characteristic line and the vehicle contour line to a standard parking calculation module, and the standard parking calculation module establishes a Cartesian coordinate system by taking a parking space central point 0 as an original point and taking the direction of the vehicle entering the parking space as the positive direction of a Y axis;
step 3) calculating to obtain a point A (x) by the standard parking calculation module according to a Cartesian coordinate system1，y1)、B(x2，y2)、C(x3，y3) Calculating the slope k of the straight line of the line segment AB, the coordinate of the vehicle center point P, the standard judgment distance d between the vehicle center point P and the parking space center point 0, and the included angle between the straight line of the line segment AB and the Y axis, namely a standard judgment angle α;
step 4) the standard parking calculation module judges the distance d and the standard according to the obtained standardDetermination angles α and A (x)1，y1)、B(x2，y2)、C(x3，y3) The information is input into a judgment module;
step 5) the judging module judges the distance d and a preset angle threshold α according to the specification0Comparing the criterion judgment angle α with a preset angle threshold α0For comparison, if | α | ≦ α |, the ratio0And d is less than or equal to d0If not, the vehicle is judged to be parked in a standard way.
2. The guided canonical parking identification method as claimed in claim 1, wherein in step 5), if α ≦ α0Or d > d0Judging that the vehicle is in the abnormal parking offset state, if α > α0Or d is less than or equal to d0Judging the vehicle is in the deflection state of irregular parking, if α > α0Or d > d0And judging that the vehicle is in a mixed state of irregular parking.
3. The guided canonical parking identification method according to claim 1, wherein: in the step 5), if the vehicle is in the standard parking state, uploading the standard parking information to a user side APP; if the driver is not stopping the vehicle regularly, the vehicle is laterally shifted by a distance | x1| longitudinal offset distance | y1And | and the criterion angle α are uploaded to the user side APP.
4. The guided canonical parking identification method according to claim 1, wherein: in step 3), the slope k of the straight line where the line segment AB is located is:
when x is1Is not equal to x2When the vehicle is in a deflected state, when y1Is equal to y2When the vehicle is in a longitudinally offset state, when x1Is equal to x2The vehicle is in a vehicle transverse offset state;
the standard judgment distance d is as follows:
5. the guided canonical parking identification method according to claim 4, wherein the canonical determination angle α is:
6. The guided canonical parking recognition method according to claim 3, wherein the vehicle body is shifted by α degrees counterclockwise if the canonical determination angle αα > 0, by α degrees clockwise if α < 0, and by the vehicle body being stopped vertically if α is 0.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111524385A (en) * | 2020-04-29 | 2020-08-11 | 山东博旭自动化科技有限公司 | Vehicle parking state detection method and detection device |
| CN111540072A (en) * | 2020-04-23 | 2020-08-14 | 深圳智优停科技有限公司 | Parking space management service method, equipment and system |
| CN112925314A (en) * | 2021-01-25 | 2021-06-08 | 安吉智能物联技术有限公司 | Vehicle moving method and system based on intelligent wearable device |
| CN113780183A (en) * | 2021-09-13 | 2021-12-10 | 宁波小遛共享信息科技有限公司 | Standard parking determination method and device for shared vehicles and computer equipment |
| CN114694409A (en) * | 2022-04-19 | 2022-07-01 | 武汉博顺达交通设备有限公司 | Intelligent parking lot parking management system based on smart city construction |
| CN117690312A (en) * | 2024-01-30 | 2024-03-12 | 北京中科慧居科技有限公司 | Method and system for managing parking of motor vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111540072A (en) * | 2020-04-23 | 2020-08-14 | 深圳智优停科技有限公司 | Parking space management service method, equipment and system |
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| CN111524385B (en) * | 2020-04-29 | 2021-03-19 | 山东博旭自动化科技有限公司 | Vehicle parking state detection method and detection device |
| CN112925314A (en) * | 2021-01-25 | 2021-06-08 | 安吉智能物联技术有限公司 | Vehicle moving method and system based on intelligent wearable device |
| CN113780183A (en) * | 2021-09-13 | 2021-12-10 | 宁波小遛共享信息科技有限公司 | Standard parking determination method and device for shared vehicles and computer equipment |
| CN113780183B (en) * | 2021-09-13 | 2024-07-19 | 浙江小遛信息科技有限公司 | Standard parking determining method and device for shared vehicle and computer equipment |
| CN114694409A (en) * | 2022-04-19 | 2022-07-01 | 武汉博顺达交通设备有限公司 | Intelligent parking lot parking management system based on smart city construction |
| CN117690312A (en) * | 2024-01-30 | 2024-03-12 | 北京中科慧居科技有限公司 | Method and system for managing parking of motor vehicle |
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