CN111105639A

CN111105639A - Parking space state detection method and device, vehicle guiding method and system and camera

Info

Publication number: CN111105639A
Application number: CN201811249293.1A
Authority: CN
Inventors: 郜鲁恒
Original assignee: Hangzhou Hikvision System Technology Co Ltd
Current assignee: Hangzhou Hikvision System Technology Co Ltd
Priority date: 2018-10-25
Filing date: 2018-10-25
Publication date: 2020-05-05
Anticipated expiration: 2038-10-25
Also published as: CN111105639B

Abstract

The embodiment of the invention provides a parking space state detection method and device, a vehicle guiding method and system, a camera and a server, wherein the parking space state detection method comprises the following steps: monitoring whether a target vehicle in a camera monitoring area has a parking behavior or a driving-away behavior according to the acquired monitoring picture; if parking behaviors or driving-away behaviors exist, determining the edge position of a road where the target vehicle passes in the monitoring picture; determining parking spaces corresponding to the edge positions of the road; if the parking behavior exists, determining that the parking space is occupied by the target vehicle; and if the driving-off behavior exists, determining that the parking space is in an idle state. Compared with the situation that the obstacle is not known, whether the parking space is occupied or not is judged through the distance from the obstacle, the parking space state is determined according to the position and the dynamic behavior of the vehicle, and the method is more pertinent, so that the accuracy of parking space state detection can be improved.

Description

Parking space state detection method and device, vehicle guiding method and system and camera

Technical Field

The invention relates to the technical field of video analysis and detection, in particular to a parking space state detection method and device, a vehicle guiding method and system, a camera and a server.

Background

Along with the continuous increase of the motor vehicle holding amount, the scale of the parking lot is larger and larger, and the parking spaces are more and more. In order to facilitate a car owner to park, a vehicle guide system is installed in a common parking lot, the vehicle guide system detects the parking space state of a parking space firstly, the parking space state of the parking space means that the parking space is in an idle state or an occupied state, and then vehicle guide is carried out according to the parking space state.

Currently, a vehicle guidance system includes: the system comprises a server, cameras erected on all roads and used for monitoring all roads and an ultrasonic detector used for detecting the parking space state. The cameras and the ultrasonic detectors are communicated with the server, the server identifies the license plate of the vehicle according to the monitoring pictures shot by the cameras, tracks the position of the vehicle, and obtains the parking space state of each parking space in the parking lot according to the information monitored by the ultrasonic detectors. The server plans a path from the current position to the idle parking space for the vehicle to be parked according to the state of each parking space, and guides the vehicle to be parked according to the path.

However, when the ultrasonic detector detects the parking space state, if the vacant parking space is blocked by the obstacle other than the vehicle, the distance that the ultrasonic detector detects the obstacle is less than the preset detection distance, and the parking space is considered to be occupied. Therefore, when the ultrasonic detector is used for detecting the parking space state, false detection is easy, and the detection accuracy is low. The accuracy of the ultrasonic detector for detecting the parking space state is low, so that the accuracy of the vehicle guiding system for guiding the vehicle to be parked is low.

Disclosure of Invention

The embodiment of the invention aims to provide a parking space state detection method and device, a vehicle guiding method and system, a camera and a server, so as to improve the accuracy of parking space state detection. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a parking space state detection method, where the method includes:

acquiring a monitoring picture shot by a camera;

monitoring whether a target vehicle in a camera monitoring area has a parking behavior or a driving-away behavior according to the acquired monitoring picture and the acquired monitoring picture;

if parking behaviors or driving-away behaviors exist, determining the edge position of a road where the target vehicle passes in the monitoring picture;

determining a parking space corresponding to the road edge position in the monitoring picture;

if parking behavior exists, determining that the parking space is occupied by the target vehicle; and if the driving-off behavior exists, determining that the parking space is in an idle state.

Optionally, the step of determining the parking space corresponding to the road edge position in the monitoring picture includes:

and determining the parking spaces corresponding to the road edge positions in the monitoring picture according to the corresponding relation between the positions in the preset monitoring picture and the parking spaces.

determining a road edge position corresponding to the road edge position in the monitoring picture in the parking lot according to the corresponding relation between the position in the preset monitoring picture and the position in the parking lot;

and determining the parking spaces corresponding to the edge positions of the roads in the parking lot according to the preset corresponding relation between the positions in the parking lot and the parking spaces, and taking the parking spaces corresponding to the edge positions of the roads in the parking lot as the parking spaces corresponding to the edge positions of the roads in the monitoring picture.

Optionally, the corresponding relationship between the position in the monitoring picture and the position in the parking lot is obtained by mapping the monitoring picture and the coordinate of the parking lot according to the set ratio between the calibration point and the monitoring picture after the calibration point is set in the monitoring picture along the depth of field.

Optionally, the step of monitoring whether a parking behavior or a driving-away behavior of the target vehicle exists in the camera monitoring area according to the obtained monitoring picture includes:

monitoring whether a target vehicle in a camera monitoring area runs along a direction from a road to the edge of the road according to the acquired monitoring picture, and if so, monitoring that the target vehicle has a parking behavior;

and monitoring whether the target vehicle in the monitoring area of the camera runs along the direction from the edge of the road to the road or not according to the acquired monitoring picture, and if so, monitoring that the target vehicle has a driving-off behavior.

monitoring whether a target vehicle in a monitoring area of a camera runs along the direction from a road to the edge of the road or not according to the acquired monitoring picture, and monitoring that the target vehicle has a parking behavior if the target vehicle does not run into the monitoring area of an adjacent camera within a preset time period under the condition that the target vehicle is monitored to run along the direction from the road to the edge of the road;

and monitoring whether a target vehicle in a monitoring area of the camera runs along the direction from the edge of the road to the road or not according to the acquired monitoring picture, and monitoring that the target vehicle has a driving-away behavior if the target vehicle enters the monitoring area of an adjacent camera within a preset time period under the condition that the target vehicle is monitored to run along the direction from the edge of the road to the road.

In a second aspect, an embodiment of the present invention provides a vehicle guidance method applied to a server in a vehicle guidance system, where the vehicle guidance system includes a plurality of cameras installed in a parking lot and communicatively connected to the server, and the method includes:

acquiring the parking space state of each current parking space in a parking lot;

according to the parking space state of each current parking space, a parking path from the current position to a target free parking space is planned for a vehicle to be parked in the parking lot; the parking space state is an occupied parking space or an idle parking space, and is obtained according to any one of the parking space state detection methods;

and guiding the vehicle to be parked according to the parking path.

Optionally, the step of obtaining the parking space state of each current parking space in the parking lot includes:

and receiving the parking space states of the current parking spaces in the respective monitoring areas, which are sent by the plurality of cameras in the parking lot and are respectively obtained according to the parking space state detection method.

Optionally, the step of planning a parking path from the current position to a destination vacant parking space for a vehicle to be parked in the parking lot according to the parking space state of each current parking space includes:

acquiring congestion information of a current road in a parking lot;

and planning a parking path from the current position to a target free parking space for the vehicle to be parked in the parking lot according to the current parking space state of each parking space and the congestion information of the current road.

Optionally, the vehicle guidance system further comprises a plurality of display screens erected at each intersection in the parking lot;

the step of guiding the vehicle to be parked according to the parking route includes:

acquiring license plate information and position information of the vehicle to be parked;

determining the driving direction of the nearest intersection to be passed through according to the position information and the parking path;

determining guiding information according to the determined driving direction and the license plate information;

and sending the guide information to a display screen corresponding to the nearest intersection for display.

Optionally, the method further includes:

acquiring congestion information of a current road in a parking lot;

planning a driving-away path from the current position to a target exit aiming at the vehicle to be driven away in the parking lot according to the congestion information of the current road;

and guiding the driven vehicle according to the driven path.

the step of guiding the vehicle to be driven away according to the driving-away path includes:

acquiring license plate information and position information of the vehicle to be driven away;

determining the driving direction of the nearest intersection to be passed through according to the position information and the driving-away path;

Optionally, the guidance information includes at least one of a guidance word and a guidance symbol corresponding to the guidance word, and license plate information, the guidance word includes at least one of a straight line, a left turn, and a right turn, and the guidance symbol includes at least one of a straight line arrow, a left turn arrow, or a right turn arrow.

In a third aspect, an embodiment of the present invention provides a parking space state detection device, where the device includes:

the acquisition module is used for acquiring a monitoring picture shot by the camera;

the monitoring module is used for monitoring whether a target vehicle in a camera monitoring area has a parking behavior or a driving-away behavior according to the acquired monitoring picture and the acquired monitoring picture;

the first determination module is used for determining the edge position of a road where the target vehicle passes in the monitoring picture if parking behaviors or driving-away behaviors exist;

the second determining module is used for determining the parking spaces corresponding to the road edge positions in the monitoring picture;

the third determination module is used for determining that the parking space is occupied by the target vehicle if parking behaviors exist; and if the driving-off behavior exists, determining that the parking space is in an idle state.

Optionally, the second determining module is specifically configured to:

Optionally, the monitoring module is specifically configured to:

In a fourth aspect, an embodiment of the present invention provides a vehicle guidance apparatus applied to a server in a vehicle guidance system including a plurality of cameras installed in a parking lot and communicatively connected to the server, the apparatus including:

the first acquisition module is used for acquiring the parking space state of each current parking space in the parking lot;

the first planning module is used for planning a parking path from the current position to a target free parking space for a vehicle to be parked in the parking lot according to the parking space state of each current parking space; the parking space state is an occupied parking space or an idle parking space, and is obtained according to any one of the parking space state detection methods;

and the first guiding module is used for guiding the vehicle to be parked according to the parking path.

Optionally, the first obtaining module is specifically configured to:

Optionally, the first planning module is specifically configured to:

acquiring congestion information of a current road in a parking lot;

the first guiding module is specifically configured to:

Optionally, the apparatus further comprises:

the second acquisition module is used for acquiring the congestion information of the current road in the parking lot;

the second planning module is used for planning a driving-away path from the current position to a target exit aiming at the vehicle to be driven away in the parking lot according to the congestion information of the current road;

and the second guiding module is used for guiding the vehicle which is driven away according to the driving away path.

the second guiding module is specifically configured to:

In a fifth aspect, an embodiment of the present invention provides a camera, including a processor and a memory, where:

a memory for storing a computer program;

and the processor is used for realizing the method steps of any parking space state detection method when executing the program stored in the memory.

In a sixth aspect, an embodiment of the present invention provides a server, including a processor and a memory, where:

a memory for storing a computer program;

and a processor for implementing the method steps of any of the above vehicle guidance methods when executing the program stored in the memory.

In a seventh aspect, an embodiment of the present invention provides a vehicle guidance system, where the system includes the above-described camera and the above-described server.

In an eighth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program, when executed by a processor, implements the method steps of any parking space state detection method or any vehicle guidance method described above.

In a ninth aspect, embodiments of the present invention provide a computer program product containing instructions, which when run on a computer, causes the computer to perform the method steps of any of the above-mentioned parking space state detection methods or any of the above-mentioned vehicle guidance methods.

In a tenth aspect, an embodiment of the present invention provides a computer program, which when running on a computer, causes the computer to execute the method steps of any of the above-mentioned parking space state detection methods or any of the above-mentioned vehicle guidance methods.

According to the parking space state detection method and device, the vehicle guiding method and system, the camera and the server, whether a parking behavior or a driving-away behavior exists in a target vehicle in a camera monitoring area is monitored according to the obtained monitoring picture; if parking behaviors or driving-away behaviors exist, determining the edge position of a road where the target vehicle passes in the monitoring picture; determining a parking space corresponding to the road edge position in the monitoring picture; if parking behavior exists, determining that the parking space is occupied by the target vehicle; and if the driving-off behavior exists, determining that the parking space is in an idle state. By the technical scheme provided by the embodiment of the invention, the vehicle with the parking behavior or the driving-away behavior can be determined, the road edge position in the monitoring picture can be determined, the parking space can be determined according to the road edge position in the monitoring picture, and the parking space state can be determined according to the parking behavior or the driving-away behavior. Compared with the situation that the obstacle is not known, whether the parking space is occupied or not is judged through the distance to the obstacle, the parking space state is determined according to the position and the dynamic behavior of the vehicle, and the method is more pertinent, so that the accuracy of parking space state detection can be improved, and further, the accuracy of guiding the vehicle to be parked by the vehicle guiding system is improved due to the fact that the accuracy of parking space state detection is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic layout of an exemplary parking lot;

fig. 2 is a schematic flow chart of a parking space status detection method according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of a vehicle guiding method according to an embodiment of the present invention;

fig. 4 is a schematic diagram of guidance information of a display screen provided in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a parking space state detection device according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a vehicle guiding apparatus according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a camera according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a server according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Among the prior art, adopt ultrasonic detector to detect time measuring to the parking stall state, if idle parking stall is sheltered from by the barrier of non-vehicle, when ultrasonic detector detected the distance of barrier and is less than predetermined detection distance, can think that the parking stall is occupied. That is to say, when the ultrasonic detector is adopted to detect the parking space state, the error detection is easy, and the detection accuracy is low. In order to solve the technical problem, the embodiment of the invention provides a parking space state detection method and device, a vehicle guiding method and system, a camera and a server.

In order to implement the parking space status detection function, an execution main body of the parking space status detection method provided in the embodiment of the present invention should at least include a processor with a core processing chip. The method for implementing the parking space state detection method provided by the embodiment of the invention can be at least one of software, hardware circuit and logic circuit arranged in the execution main body. The execution main body of the parking space state detection method provided by the embodiment of the invention can be a server which executes an intelligent algorithm in a vehicle guidance system, and can also be a camera which can shoot a monitoring picture and can execute the intelligent algorithm.

As shown in fig. 1, the vehicle guidance system includes: the system comprises a server and a plurality of cameras erected in the parking lot and connected with the server in a communication mode. Specifically, the size of the parking lot is determined by combining an engineering design drawing and an actual scene of the parking lot. The cameras can be reasonably erected at the road intersections of the parking lot according to the size and/or the road distribution condition of the parking lot. And monitoring each road of the parking lot by each camera, wherein the monitoring area of each camera is an area selected by a dotted line frame in front of each camera, and each camera is in communication connection with the server.

The following describes a parking space state detection method provided by an embodiment of the present invention in detail, with any one of the cameras in the vehicle guidance system as an execution subject.

Referring to fig. 2, a parking space state detection method provided by the embodiment of the present invention includes the following steps:

s101, acquiring a monitoring picture shot by a camera, wherein the monitoring picture is a video.

In this embodiment, the camera may acquire a monitoring picture taken by itself.

In other embodiments, if the execution subject is a server in the vehicle guidance system, the server receives a monitoring picture photographed by itself transmitted by the camera.

S102, monitoring whether a target vehicle in a camera monitoring area has a parking behavior or a driving-away behavior according to the acquired monitoring picture, wherein the target vehicle is any vehicle in the camera monitoring area.

The vehicle parking behavior is a behavior that the vehicle can indicate that a parking process is being performed when the vehicle is monitored, and the vehicle drive-away behavior is a behavior that the vehicle can indicate that a drive-away process is being performed when the vehicle is monitored. Through a video analysis algorithm, such as analysis of position change of a vehicle outline in a monitoring picture, the driving behavior of a target vehicle in a monitoring area can be judged, and therefore whether the target vehicle has a parking behavior or a driving-away behavior or not can be monitored. After the vehicle enters the monitoring area of the camera, the license plate of the vehicle can be identified, different vehicles are determined, and whether parking behaviors or driving-away behaviors exist in the vehicles in the monitoring area is monitored in real time.

S103, if the parking behavior or the driving-away behavior exists, determining the road edge position in the monitoring picture where the target vehicle passes in the monitoring picture. The road edge position in the monitoring picture refers to a position in the monitoring picture, and is not an actual position in the parking lot.

If the camera monitors that the target vehicle has parking behaviors, the position of the edge of the road in the monitoring picture, through which the target vehicle passes in the process of implementing the parking behaviors, can be determined. If the camera monitors that the target vehicle has the driving-away behavior, the position of the edge of the road in the monitoring picture, through which the target vehicle passes in the process of implementing the driving-away behavior, can be determined.

And S104, determining the parking spaces corresponding to the road edge positions in the monitoring picture.

Before the step is implemented, the corresponding relation between the position in the monitoring picture and the position in the parking lot and the corresponding relation between the position in the parking lot and the parking space can be obtained in advance through the following modes:

according to the size of the parking lot, a parking lot map is determined, and a coordinate system is established in the parking lot map. The key points are calibrated in the monitoring picture of each camera, and the number of points to be calibrated can be determined according to the actual precision requirement, for example, the precision is controlled within 0.5 meter, or the number of the calibrated key points in the monitoring picture is not less than 50. According to the key points calibrated in the monitoring pictures of the cameras and the determined parking lot map with the established coordinate system, the monitoring pictures of the cameras are in coordinate association with the coverage areas of the cameras in parking, namely the monitoring pictures of the cameras are in coordinate association with the parking lots, and the corresponding relation between the positions in the monitoring pictures and the positions in the parking lots is obtained. And determining the corresponding relation between the positions and the parking spaces in the parking lot according to the distribution of the parking spaces in the parking lot, wherein the parking spaces can be identified by the parking space numbers.

In an implementation manner of the embodiment of the present invention, the step may be implemented by:

(1) and determining the road edge position corresponding to the road edge position in the monitoring picture in the parking lot according to the corresponding relation between the position in the preset monitoring picture and the position in the parking lot.

(2) And determining the parking spaces corresponding to the edge positions of the roads in the parking lot according to the preset corresponding relation between the positions in the parking lot and the parking spaces, and taking the parking spaces corresponding to the edge positions of the roads in the parking lot as the parking spaces corresponding to the edge positions of the roads in the monitoring picture.

Of course, the corresponding relationship between the position in the monitoring picture and the parking space can be further determined according to the corresponding relationship between the position in the monitoring picture and the position in the parking lot and the corresponding relationship between the position in the parking lot and the parking space. The parking spaces in the corresponding relations can be identified by the serial numbers of the parking spaces. Of course, the determination method of the corresponding relationship between the position and the parking space in the monitoring picture is not limited to this.

In another implementation manner of the embodiment of the present invention, the step may be implemented by:

Further, the corresponding relationship between the position in the monitoring picture and the position in the parking lot is obtained by mapping the monitoring picture and the coordinate of the parking lot according to the set proportion of the calibration point and the monitoring picture after the calibration point is set in the monitoring picture along the depth of field direction.

S105, if the parking behavior exists, determining that the parking space is occupied by the target vehicle; and if the driving-off behavior exists, determining that the parking space is in an idle state.

Applying the embodiment shown in fig. 2, monitoring whether a parking behavior or a driving-away behavior exists in a target vehicle in a camera monitoring area according to the acquired monitoring picture; if parking behaviors or driving-away behaviors exist, determining the edge position of a road where the target vehicle passes in the monitoring picture; determining a parking space corresponding to the road edge position in the monitoring picture; if the parking behavior exists, determining that the parking space is occupied by the target vehicle; and if the driving-off behavior exists, determining that the parking space is in an idle state. By the technical scheme provided by the embodiment of the invention, the vehicle with the parking behavior or the driving-away behavior can be determined, the road edge position in the monitoring picture can be determined, the parking space can be determined according to the road edge position in the monitoring picture, and the parking space state can be determined according to the parking behavior or the driving-away behavior. Compared with the situation that the obstacle is not known, whether the parking space is occupied or not is judged through the distance from the obstacle, the parking space state is determined according to the position and the dynamic behavior of the vehicle, and the method is more pertinent, so that the accuracy of parking space state detection can be improved.

In an implementation manner of the embodiment of the present invention, in step S102, based on the obtained monitoring picture, monitoring whether a parking behavior or a driving-away behavior exists in a target vehicle in a monitoring area of a camera, the method may include the following two steps:

in a first aspect, the step of parking behaviour monitoring: and monitoring whether the target vehicle in the monitoring area of the camera runs along the direction from the road to the edge of the road according to the acquired monitoring picture, and if so, namely if the target vehicle runs along the direction from the road to the edge of the road, monitoring that the target vehicle has parking behavior.

This step can be implemented in two ways:

the first method is as follows: monitoring whether a target vehicle in a monitoring area of the camera runs along the direction from the road to the edge of the road or not when the target vehicle is on the road according to the acquired monitoring picture; if it is monitored that the target vehicle is traveling in a direction from the road to the edge of the road, it is determined that parking behavior of the target vehicle is monitored.

The second method comprises the following steps: monitoring whether a target vehicle in a monitoring area of the camera runs along the direction from the road to the road edge when crossing the road edge according to the acquired monitoring picture; if it is monitored that the target vehicle is traveling in a direction from the road to the edge of the road, it is determined that parking behavior of the target vehicle is monitored.

In the case of monitoring parking behavior in the first usage mode and monitoring parking behavior, S103 may be implemented as follows: and determining the edge position of the road where the target vehicle passes in the monitoring picture by monitoring the video image shot by the camera after the parking behavior is monitored.

In the case where the parking behavior is monitored and the parking behavior is monitored in the second usage mode, S103 may be implemented as follows: and determining the road edge position in the monitoring picture through monitoring the video image shot by the camera at the time of the parking behavior.

In a second aspect, the step of drive-off behavior monitoring: and monitoring whether the target vehicle in the monitoring area of the camera runs along the direction from the edge of the road to the road according to the acquired monitoring picture, and if so, namely if the target vehicle runs along the direction from the edge of the road to the road, monitoring that the target vehicle has a driving-off behavior.

This step can be implemented in two ways:

the first method is as follows: monitoring whether a target vehicle in a monitoring area of the camera runs along the direction from the edge of the road to the road or not when the target vehicle is on the road according to the acquired monitoring picture; if it is monitored, i.e. if the target vehicle is monitored to be travelling in a direction from the edge of the road to the road, it is determined that drive-off behaviour of the target vehicle is monitored.

The second method comprises the following steps: monitoring whether a target vehicle in a monitoring area of the camera runs along the direction from the road edge to the road when crossing the road edge according to the acquired monitoring picture; if it is monitored, i.e. if the target vehicle is monitored to be travelling in a direction from the edge of the road to the road, it is determined that drive-off behaviour of the target vehicle is monitored.

In the case of the first usage mode to monitor the driving-off behavior and to monitor the driving-off behavior, S103 may be implemented as follows: and determining the edge position of the road where the target vehicle passes in the monitoring picture by monitoring the video image shot by the camera before the driving-off behavior.

In the case of the drive-off behavior monitoring in the second usage mode, S103 may be implemented as follows: and determining the road edge position in the monitoring picture through which the target vehicle passes by monitoring the video image shot by the camera at the moment of the driving-off behavior.

in a first aspect, the step of parking behaviour monitoring: and monitoring whether a target vehicle in the monitoring area of the camera runs along the direction from the road to the road edge or not according to the acquired monitoring picture, and monitoring that the target vehicle has parking behavior if the target vehicle does not run into the monitoring area of the adjacent camera within a preset time period under the condition that the target vehicle is monitored to run along the direction from the road to the road edge. The preset time period may be a preset time period taking the monitored target vehicle traveling in the direction from the road to the edge of the road as a starting point, or may be a preset time period taking other preset time points as starting points. For example, a preset time period such as 1 second, 2 seconds, 3 seconds, 4 seconds, etc.

In this case, S103 may be implemented by: and determining the road edge position in the monitoring picture through the video image shot by the camera before the parking behavior is monitored, wherein the target vehicle passes through the monitoring picture.

The driving direction of the target vehicle and the condition that the target vehicle is shot by other cameras are comprehensively considered to determine whether parking behaviors exist or not, so that the monitoring of the parking behaviors is more accurate, and the accuracy of the parking space state detection result is improved.

In a second aspect, the step of drive-off behavior monitoring: and monitoring whether a target vehicle in the monitoring area of the camera runs along the direction from the edge of the road to the road or not according to the acquired monitoring picture, and monitoring that the target vehicle has a driving-away behavior if the target vehicle enters the monitoring area of an adjacent camera within a preset time period under the condition that the target vehicle is monitored to run along the direction from the edge of the road to the road. The preset time period may be a preset time period taking the monitored target vehicle traveling in the direction from the edge of the road to the road as a starting point, or may be a preset time period taking other preset time points as starting points. For example, a preset time period such as 1 second, 2 seconds, 3 seconds, 4 seconds, etc.

In this case, S102 may be implemented by: and determining the road edge position in the monitoring picture through which the target vehicle passes in the monitoring picture by monitoring the video image shot by the camera before the driving-off behavior.

The driving direction of the target vehicle is combined with the condition that the target vehicle is shot or not by other cameras, so that the monitoring of the driving-away behavior is more accurate, and the accuracy of the parking space state detection result is improved.

The cameras send vehicle monitoring information or shot monitoring pictures in respective monitoring areas to the server, the server can also obtain the vehicle monitoring information in the monitoring areas of the cameras according to the monitoring pictures shot by the cameras, and the cameras can obtain the vehicle monitoring information of other cameras from the server, wherein the vehicle monitoring information comprises information such as license plates and real-time positions of vehicles. The camera may acquire information from the server on whether or not the neighboring camera has photographed the target vehicle within a preset time period.

When the execution main body of the parking space state detection method is a server, each camera can send the monitoring picture shot by each camera to the server in real time, the server stores the corresponding relation required in the method in advance, and the server detects the parking space state in the monitoring area of each camera according to the monitoring picture sent by each camera.

In the embodiment of the parking space state detection method, if the camera is used as an execution main body, the camera erected on the road of the parking lot can be reused, namely, the camera in the vehicle guidance system in the parking lot can be reused to reduce the use of the ultrasonic parking space detector in the existing vehicle guidance system, so that the equipment cost and the construction cost of the vehicle guidance system can be reduced. Similarly, if the server is used as the execution subject, the camera and the server in the vehicle guidance system can be reused, so that the equipment cost and the construction cost of the vehicle guidance system can be reduced.

The following describes a vehicle guidance method according to an embodiment of the present invention in detail.

In order to implement the function of vehicle guidance, the execution main body of the vehicle guidance method provided by the embodiment of the invention should at least include a processor with a core processing chip. The manner of implementing the vehicle guidance method provided by the embodiment of the present invention may be at least one of software, a hardware circuit, and a logic circuit provided in the execution body. The execution subject of the vehicle guiding method provided by the embodiment of the invention can be a server in a vehicle guiding system.

As shown in fig. 1, the vehicle guidance system includes: the system comprises a server and a plurality of cameras erected in the parking lot and connected with the server in a communication mode. Specifically, the size of the parking lot is determined by combining an engineering design drawing and an actual scene of the parking lot. The cameras can be reasonably erected at the road intersections of the parking lot according to the size and/or the road distribution condition of the parking lot. And monitoring each road of the parking lot by each camera, wherein the monitoring area of each camera is an area selected by a dotted line frame in front of each camera, and each camera is connected with the server.

A vehicle guidance method according to an embodiment of the present invention will be described in detail below with a server in a vehicle guidance system in a parking lot as an execution subject. Referring to fig. 3, a vehicle guiding method according to an embodiment of the present invention includes the following steps:

s301, acquiring the parking space state of each current parking space in the parking lot, wherein the parking space state is that the parking space is occupied or is in an idle state, and the parking space state is acquired according to any parking space state detection method.

The server acquires the parking space state of each current parking space in the parking lot, and can be realized through the following two ways:

the first method is as follows: and the server receives the parking space states of the current parking spaces in the respective monitoring areas, which are sent by the plurality of cameras in the parking lot and are respectively obtained according to any one of the embodiments of the parking space state detection method.

The second method comprises the following steps: the server receives respective monitoring pictures sent by a plurality of cameras in the parking lot; and the server obtains the parking space state of each current parking space in each monitoring area according to the received monitoring picture of each camera and any parking space state detection method embodiment.

S302, according to the parking space state of each current parking space, a parking path from the current position to the target free parking space is planned for the vehicle to be parked in the parking lot.

The camera at the entrance of the parking lot identifies the license plate of the vehicle entering the parking lot, and sends monitoring information such as license plate information of the vehicle, entrance position information and the like to the server, and the server determines that the vehicle is a vehicle to be parked. And the server determines a target free parking space according to the current parking space state, such as a target free parking space with the nearest distance. And after the target free parking space is determined, planning a parking path from the current position of the vehicle to the target free parking space.

The server can track each vehicle in real time through a camera erected in the parking lot, and can obtain monitoring information such as real-time positions, historical paths, parking positions and the like of each vehicle in the parking lot. If the vehicle to be parked deviates from the originally planned parking path in the driving process, the target free parking space can be determined again, so that a parking path from the current position to the target free parking space is planned for the vehicle.

And S303, guiding the vehicle to be parked according to the parking path.

By applying the embodiment shown in fig. 3, the parking space state information is obtained based on the embodiment of the parking space state detection method, a path is planned for the vehicle to be parked, and the vehicle to be parked is guided to run. Due to the accuracy of parking space state detection, the accuracy of determining the target idle parking space can be improved, and the accuracy of parking guidance can be improved.

In an implementation manner of the embodiment of the present invention, a step of planning a parking path from a current position to a target vacant parking space for a vehicle to be parked in a parking lot according to a parking space state of each current parking space includes:

(1) acquiring congestion information of a current road in a parking lot;

the server can track each vehicle in real time through a camera erected in the parking lot, determine the real-time position of each vehicle in the parking lot, and accordingly determine the congestion information of the road according to the real-time position of each vehicle. For example, if the real-time position of the vehicle changes slowly and the vehicle is queued up on a road, the road may be considered to be congested. Or according to the real-time position of the vehicles, determining that the number of the vehicles on the road is small, or the distance is large, and no queuing phenomenon exists, and then considering that the road is smooth.

(2) And planning a parking path from the current position to the target free parking space for the vehicle to be parked in the parking lot according to the parking space state of each current parking space and the congestion information of the current road.

According to the current parking space state of each parking space and the acquired congestion information of the road, a parking path from the current position to the target idle parking space and bypassing the congested road section can be planned for the vehicle to be parked in the parking lot.

In one implementation of the embodiment of the present invention, the vehicle guidance system further includes a plurality of display screens erected at each intersection in the parking lot;

(1) acquiring license plate information and position information of a vehicle to be parked;

(2) determining the running direction of the nearest intersection to be passed through according to the position information and the parking path; determining guiding information according to the determined driving direction and the license plate information; and sending the guiding information to a display screen corresponding to the nearest intersection for displaying.

Determining the driving direction of the nearest intersection to be passed by according to the position information and the parking path; determining guiding information according to the determined driving direction and the license plate information; the step of sending the guiding information to the display screen corresponding to the nearest intersection for displaying can be realized as follows:

(1) before the vehicle to be parked passes through the first intersection, determining a first driving direction of the vehicle to be parked when the vehicle to be parked passes through the first intersection according to the parking path;

(2) determining first guide information according to the license plate information and the first driving direction;

(3) sending the first guide information to a display screen corresponding to the first intersection for display;

(4) after the vehicle passes through the first intersection, the display screen corresponding to the first intersection stops displaying the first guide information, and before the vehicle to be parked passes through the second intersection, the second driving direction of the vehicle to be parked when the vehicle to be parked passes through the second intersection is determined according to the parking path; the first intersection and the second intersection are adjacent intersections on the parking path;

(5) determining second guide information according to the license plate information and the second driving direction;

(6) and sending the second guide information to a display screen corresponding to the second intersection for display.

As shown in fig. 4, the guidance information includes at least one of a guidance word and a guidance symbol corresponding to the guidance word, and the license plate information, and the guidance word includes: at least one of straight, left turn, and right turn, the guide symbol comprising: at least one of a straight arrow, a left-turn arrow or a right-turn arrow.

In an implementation manner of the embodiment of the present invention, the method further includes:

(1) acquiring congestion information of a current road in a parking lot;

the explanation of this step can refer to the same steps as above, and is not described herein.

(2) And planning a driving-away path from the current position to a target exit for the vehicle to be driven away in the parking lot according to the congestion information of the current road. According to the acquired congestion information of the current road, a driving-off path which is from the current position to a target exit and bypasses the congested road section can be planned for the vehicles to be driven off in the parking lot.

Specifically, if the vehicle has a drive-off behavior, the server may obtain the license plate information of the vehicle, so as to determine the vehicle as a vehicle to be driven off.

(3) And guiding the vehicle which is driven away according to the driving away route.

Further, the vehicle guidance system further includes a plurality of display screens erected at each intersection in the parking lot; as shown in fig. 1, a display screen, which may be an LED display screen, is disposed in the parking lot, and may be specifically installed on the top of the parking lot to ensure that the driver of the following vehicle can see the guidance information of the vehicle.

The step of guiding the vehicle to be driven away according to the driving away route includes:

(1) acquiring license plate information and position information of a vehicle to be driven away;

(2) determining the driving direction of the nearest intersection to be passed through according to the position information and the driving-away path; determining guiding information according to the determined driving direction and the license plate information; and sending the guiding information to a display screen corresponding to the nearest intersection for displaying.

Determining the driving direction of the nearest intersection to be passed through according to the position information and the driving-away path; determining guiding information according to the determined driving direction and the license plate information; the step of sending the guiding information to the display screen corresponding to the nearest intersection for displaying can be realized as follows:

(1) determining a first driving direction of the vehicle to be driven when the vehicle to be driven passes through the first intersection according to the driving-away path before the vehicle to be driven passes through the first intersection;

(2) and determining first guide information according to the license plate information and the first driving direction.

(3) And sending the first guide information to a display screen corresponding to the first intersection for display.

(4) After the vehicle passes through the first intersection, the display screen corresponding to the first intersection stops displaying the first guide information, and before the vehicle to be driven passes through the second intersection, a second driving direction of the vehicle to be driven when the vehicle to be driven passes through the second intersection is determined according to the driving path; wherein the first intersection and the second intersection are intersections adjacent to each other on the driving-away path.

(5) And determining second guide information according to the license plate information and the second driving direction.

In the above embodiment, the route is for a certain vehicle traveling in the parking lot, and during the traveling of the vehicle, according to the current position of the vehicle and the route planned for the vehicle, it can be determined how the vehicle should travel next, specifically, straight, left turn or right turn, and the like. As shown in fig. 4, the arrow, the text and the license plate information are used as guiding information, and in the first piece of guiding information, the straight arrow has the same color as the right-turn arrow, and the left-turn arrow has a different color from the right-turn arrow, and represents that the vehicle corresponding to the license plate information should turn left at the intersection. In the second piece of guiding information, the left-turning arrow has the same color as the right-turning arrow, and the straight-going arrow has a different color from the left-turning arrow and the right-turning arrow, and represents that the vehicle corresponding to the license plate information should go straight at the intersection. In the third guiding message, the straight arrow has the same color as the left-turn arrow, and the right-turn arrow has a different color from the left-turn arrow, and represents that the vehicle corresponding to the license plate information should turn right at the intersection. Specifically, the arrows may be distinguished by green and red, with green arrows indicating directions that are directions, and red indicating directions that are not directions.

The guiding information is displayed on the display screens in front of the vehicles, the drivers can drive along with the guiding information when seeing the guiding information, each display screen corresponds to one section of road and is used for displaying the guiding information so as to guide the vehicles which drive on the road, and the number of the most displayed display screens at each time can be set according to the length of the corresponding road, and can also be set according to other requirements. And displaying a plurality of pieces of guiding information on the same display screen, wherein each piece of guiding information comprises license plate information and driving direction information of a vehicle corresponding to the license plate information, and for example, 2, 3, 4 or 5 pieces of guiding information can be displayed.

In other embodiments, after the vehicle enters the parking lot, the driver may connect a smart device, such as a mobile phone, to the server in a communication manner, and the server may transmit information of the path planned for the driver to the mobile phone of the driver, and guide the vehicle to park by displaying the information of the path planned for the driver on the mobile phone. When the vehicle needs to drive away, the driver can also communicate and connect the intelligent device such as a mobile phone with the server, the server can send the information of the planned path to the mobile phone of the driver, and the vehicle is guided to drive out of the parking lot by displaying the information of the planned path on the mobile phone.

The vehicle guiding method provided by the embodiment of the invention utilizes the license plate to guide, and is a more accurate guiding mode. And the route can be planned or re-planned for the vehicle to be parked based on the whole-course monitoring, so that the guidance route can be optimized at any time.

Based on the embodiment of the parking space state detection method, an embodiment of the present invention further provides a parking space state detection device, and referring to fig. 5, the device includes:

and an acquiring module 51, configured to acquire a monitoring picture captured by the camera.

And the monitoring module 52 is used for monitoring whether the target vehicle in the camera monitoring area has parking behavior or driving-away behavior according to the acquired monitoring picture and the acquired monitoring picture.

And the first determining module 53 is configured to determine a road edge position where the target vehicle passes in the monitoring picture if the parking behavior or the driving-away behavior exists.

And the second determining module 54 is configured to determine a parking space corresponding to the road edge position in the monitoring picture.

A third determining module 55, configured to determine that the parking space is occupied by the target vehicle if there is a parking behavior; and if the driving-off behavior exists, determining that the parking space is in an idle state.

By applying the embodiment shown in fig. 5, through the technical scheme provided by the embodiment of the invention, the vehicle with the parking behavior or the driving-away behavior can be determined, the road edge position in the monitoring picture can be determined, the parking space can be determined according to the road edge position in the monitoring picture, and the parking space state can be determined according to the parking behavior or the driving-away behavior. Compared with the situation that the obstacle is not known, whether the parking space is occupied or not is judged through the distance from the obstacle, the parking space state is determined according to the position and the dynamic behavior of the vehicle, and the method is more pertinent, so that the accuracy of parking space state detection can be improved.

In an implementation manner of the embodiment of the present invention, the second determining module 54 is specifically configured to:

and determining the road edge position corresponding to the road edge position in the monitoring picture in the parking lot according to the corresponding relation between the position in the preset monitoring picture and the position in the parking lot.

In an implementation manner of the embodiment of the present invention, after a calibration point is set in the monitoring picture along the depth of field direction, the corresponding relationship between the position in the monitoring picture and the position in the parking lot is obtained by mapping the coordinates of the monitoring picture and the parking lot according to the set ratio between the calibration point and the monitoring picture.

In an implementation manner of the embodiment of the present invention, the monitoring module 52 is specifically configured to:

and monitoring whether the target vehicle in the monitoring area of the camera runs along the direction from the road to the edge of the road according to the acquired monitoring picture, and if so, monitoring that the target vehicle has a parking behavior.

And monitoring whether the target vehicle in the monitoring area of the camera runs along the direction from the edge of the road to the road according to the acquired monitoring picture, and if so, monitoring that the target vehicle has a driving-off behavior.

and monitoring whether a target vehicle in the monitoring area of the camera runs along the direction from the road to the road edge or not according to the acquired monitoring picture, and monitoring that the target vehicle has parking behavior if the target vehicle does not run into the monitoring area of the adjacent camera within a preset time period under the condition that the target vehicle is monitored to run along the direction from the road to the road edge.

And monitoring whether a target vehicle in the monitoring area of the camera runs along the direction from the edge of the road to the road or not according to the acquired monitoring picture, and monitoring that the target vehicle has a driving-away behavior if the target vehicle enters the monitoring area of an adjacent camera within a preset time period under the condition that the target vehicle is monitored to run along the direction from the edge of the road to the road.

In the parking space state detection device provided in the embodiment of the present invention, the steps executed by each module are the same as those in the above parking space state detection method, and the related explanations of the steps in the parking space state detection embodiment are also applicable to the explanation of the same steps executed by each module in the parking space state detection device, which are not described herein again.

Based on the embodiment of the vehicle guiding method, the embodiment of the present invention further provides a vehicle guiding apparatus applied to a server in a vehicle guiding system, the vehicle guiding system including a plurality of cameras installed in a parking lot and communicatively connected to the server, and referring to fig. 6, the apparatus includes:

the first obtaining module 61 is configured to obtain a parking space state of each current parking space in the parking lot.

The first planning module 62 is configured to plan a parking path from a current position to a target free parking space for a vehicle to be parked in the parking lot according to the parking space state of each current parking space; the parking space state is the occupied parking space or the idle parking space state, and the parking space state is obtained according to any parking space state detection method.

The first guiding module 63 is configured to guide the vehicle to be parked according to the parking path.

According to the vehicle guiding method provided by the embodiment of the invention, the parking space state information is obtained based on the parking space state detection method, a path is planned for the vehicle to be parked, and the vehicle to be parked is guided to run. Due to the accuracy of parking space state detection, the accuracy of determining the target idle parking space can be improved, and the accuracy of parking guidance can be improved.

In an implementation manner of the embodiment of the present invention, the first obtaining module 61 is specifically configured to:

receiving the parking space state of the current parking space in the respective monitoring area, which is transmitted by a plurality of cameras in the parking lot and is obtained according to the method of any one of claims 1 to 6 respectively.

In an implementation manner of the embodiment of the present invention, the first planning module 62 is specifically configured to:

and acquiring congestion information of the current road in the parking lot.

In one implementation of the embodiment of the present invention, the vehicle guidance system further includes a plurality of display screens installed at each intersection in the parking lot.

The first guiding module 63 is specifically configured to:

and acquiring license plate information and position information of the vehicle to be parked.

And determining the driving direction of the nearest intersection to be passed according to the position information and the parking path.

And determining guiding information according to the determined driving direction and the license plate information.

And sending the guiding information to a display screen corresponding to the nearest intersection for displaying.

In an implementation manner of the embodiment of the present invention, the apparatus further includes:

and the second acquisition module is used for acquiring the congestion information of the current road in the parking lot.

And the second planning module is used for planning a driving-away path from the current position to the target exit for the vehicle to be driven away in the parking lot according to the congestion information of the current road.

The second guiding module is specifically configured to:

and acquiring license plate information and position information of the vehicle to be driven away.

And determining the driving direction of the nearest intersection to be passed according to the position information and the driving-away path.

In an implementation manner of the embodiment of the present invention, the guidance information includes at least one of a guidance text and a guidance symbol corresponding to the guidance text, and license plate information, the guidance text includes at least one of a straight line, a left turn, and a right turn, and the guidance symbol includes at least one of a straight line arrow, a left turn arrow, or a right turn arrow.

In the vehicle guiding device provided in the embodiment of the present invention, the steps executed by each module are the same as those in the above vehicle guiding method embodiment, and the related explanations of the steps in the vehicle guiding method embodiment are also applicable to the explanation of the same steps executed by each module in the vehicle guiding device, which are not described herein again.

Embodiments of the present invention also provide a camera, as shown in fig. 7, including a processor 210 and a memory 220, wherein,

a memory 220 for storing a computer program;

the processor 210, when executing the program stored in the memory 220, implements the following steps:

and acquiring a monitoring picture shot by the camera.

And monitoring whether the target vehicle has parking behavior or driving-off behavior in the monitoring area of the camera according to the acquired monitoring picture and the acquired monitoring picture.

And if the parking behavior or the driving-away behavior exists, determining the edge position of the road where the target vehicle passes in the monitoring picture.

And determining the parking spaces corresponding to the road edge positions in the monitoring picture.

For specific implementation and related explanation of each step of the method, reference may be made to the method embodiment shown in fig. 2, which is not described herein again.

In addition, other implementation manners of the parking space state detection method implemented by the processor 210 executing the program stored in the memory 220 are the same as the implementation manners mentioned in the foregoing method embodiment, and are not described herein again.

The camera may be provided with a communication interface for enabling communication between the camera and another device.

The processor 210, the communication interface, and the memory 220 are configured to communicate with each other via a communication bus, where the communication bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc.

The Memory 220 may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor 210 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

By the technical scheme provided by the embodiment of the invention, the vehicle with the parking behavior or the driving-away behavior can be determined, the road edge position in the monitoring picture can be determined, the parking space can be determined according to the road edge position in the monitoring picture, and the parking space state can be determined according to the parking behavior or the driving-away behavior. Compared with the situation that the obstacle is not known, whether the parking space is occupied or not is judged through the distance from the obstacle, the parking space state is determined according to the position and the dynamic behavior of the vehicle, and the method is more pertinent, so that the accuracy of parking space state detection can be improved.

Embodiments of the present invention also provide a server, as shown in fig. 8, including a processor 310 and a memory 320, wherein,

a memory 320 for storing a computer program;

the processor 310, when executing the program stored in the memory 320, implements the following steps:

according to the parking space state of each current parking space, a parking path from the current position to a target free parking space is planned for a vehicle to be parked in the parking lot; the parking space state is obtained according to any parking space state detection method;

and guiding the vehicle to be parked according to the parking path.

For specific implementation and related explanation of each step of the method, reference may be made to the method embodiment shown in fig. 3, which is not described herein again.

The parking space state information is obtained based on the parking space state detection method, a path is planned for the vehicle to be parked, and the vehicle to be parked is guided to run. Due to the accuracy of parking space state detection, the accuracy of determining the target idle parking space can be improved, and the accuracy of parking guidance can be improved.

In addition, other implementation manners of the vehicle guiding method implemented by the processor 310 executing the program stored in the memory 320 are the same as those mentioned in the foregoing method embodiment, and are not described herein again.

The processor 310, the communication interface, and the memory 320 are configured to communicate with each other via a communication bus, where the communication bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc.

The Memory 320 may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor 310 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

In still another embodiment provided by the present invention, there is also provided a vehicle guidance system including the above-described camera and the above-described server.

By the vehicle guiding system, vehicles with parking behaviors or driving-away behaviors can be determined, the road edge position in the monitoring picture is determined, the parking space can be determined according to the road edge position in the monitoring picture, and the parking space state can be determined according to the parking behaviors or the driving-away behaviors. Compared with the situation that the obstacle is not known, whether the parking space is occupied or not is judged through the distance from the obstacle, the parking space state is determined according to the position and the dynamic behavior of the vehicle, and the method is more pertinent, so that the accuracy of parking space state detection can be improved. So that the accuracy of the system for guiding the vehicle can be improved.

In another embodiment of the present invention, a computer-readable storage medium is further provided, where instructions are stored in the computer-readable storage medium, and when the instructions are executed on a computer, the computer is enabled to execute the parking space state detection method or the vehicle guidance method in any one of the above embodiments.

In still another embodiment of the present invention, a computer program product containing instructions is provided, which when run on a computer, causes the computer to execute any one of the above-mentioned parking space state detection methods or vehicle guidance methods.

In still another embodiment of the present invention, a computer program is provided, which when running on a computer, causes the computer to execute any one of the above-described parking space state detection methods or vehicle guidance methods.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus, the system, the electronic device, the computer-readable storage medium, the computer program product, and the computer program embodiment, since they are substantially similar to the method embodiment, the description is relatively simple, and it is sufficient to refer to part of the description of the method embodiment.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A parking space state detection method is characterized by comprising the following steps:

acquiring a monitoring picture shot by a camera;

monitoring whether a target vehicle in a camera monitoring area has a parking behavior or a driving-away behavior according to the acquired monitoring picture;

2. The method of claim 1, wherein the step of determining the parking space corresponding to the road edge position in the monitoring picture comprises:

3. The method of claim 1, wherein the step of determining the parking space corresponding to the road edge position in the monitoring picture comprises:

4. The method of claim 3,

the corresponding relation between the position in the monitoring picture and the position in the parking lot is obtained by mapping the coordinates of the monitoring picture and the parking lot according to the set proportion of the calibration point and the monitoring picture after the calibration point is set in the monitoring picture along the depth of field direction.

5. The method according to claim 1, wherein the step of monitoring whether the target vehicle has parking behavior or driving-away behavior in the camera monitoring area according to the obtained monitoring picture comprises:

6. The method according to claim 1, wherein the step of monitoring whether the target vehicle has parking behavior or driving-away behavior in the camera monitoring area according to the obtained monitoring picture comprises:

7. A vehicle guidance method applied to a server in a vehicle guidance system including a plurality of cameras erected in a parking lot and communicatively connected to the server, the method comprising:

according to the parking space state of each current parking space, a parking path from the current position to a target free parking space is planned for a vehicle to be parked in the parking lot; the parking space state is an occupied parking space or an idle parking space, and the parking space state is obtained according to the method of any one of claims 1-6;

and guiding the vehicle to be parked according to the parking path.

8. The method of claim 7, wherein the step of obtaining the parking space status of the current parking spaces in the parking lot comprises:

receiving the parking space state of the current parking space in the respective monitoring area, which is sent by a plurality of cameras in the parking lot and is obtained according to the method of any one of claims 1 to 6 respectively.

9. The method as claimed in claim 7, wherein the step of planning a parking path from the current position to the destination vacant parking space for the vehicle to be parked in the parking lot according to the parking space status of the current parking spaces comprises:

acquiring congestion information of a current road in a parking lot;

10. The method of any one of claims 7-9, wherein the vehicle guidance system further comprises a plurality of display screens mounted at each intersection in the parking lot;

11. The method according to any one of claims 7-9, further comprising:

acquiring congestion information of a current road in a parking lot;

and guiding the driven vehicle according to the driven path.

12. The method of claim 11, wherein the vehicle guidance system further comprises a plurality of display screens mounted at each intersection in the parking lot;

13. The method of claim 10, wherein the guiding message comprises at least one of a guiding text and a guiding symbol corresponding to the guiding text, and the license plate message, wherein the guiding text comprises at least one of a straight line, a left turn and a right turn, and the guiding symbol comprises at least one of a straight line arrow, a left turn arrow or a right turn arrow.

14. The utility model provides a parking stall state detection device which characterized in that, the device includes:

15. The apparatus according to claim 14, wherein the monitoring module is specifically configured to:

16. A vehicle guidance apparatus applied to a server in a vehicle guidance system including a plurality of cameras erected in a parking lot and communicatively connected to the server, the apparatus comprising:

the first planning module is used for planning a parking path from the current position to a target free parking space for a vehicle to be parked in the parking lot according to the parking space state of each current parking space; the parking space state is an occupied parking space or an idle parking space, and the parking space state is obtained according to the method of any one of claims 1-6;

17. The apparatus of claim 16, wherein the vehicle guidance system further comprises a plurality of display screens mounted at each intersection in the parking lot;

the first guiding module is specifically configured to:

18. A camera, comprising a processor and a memory, wherein:

a memory for storing a computer program;

a processor for implementing the method steps of any of claims 1-6 when executing a program stored in the memory.

19. A server, comprising a processor and a memory, wherein:

a memory for storing a computer program;

a processor for implementing the method steps of any of claims 7 to 13 when executing a program stored in the memory.

20. A vehicle guidance system, characterized in that the system comprises the camera of claim 18 and the server of claim 19.

21. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 13.