CN111739332B - Parking lot management system - Google Patents
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- CN111739332B CN111739332B CN201910228925.4A CN201910228925A CN111739332B CN 111739332 B CN111739332 B CN 111739332B CN 201910228925 A CN201910228925 A CN 201910228925A CN 111739332 B CN111739332 B CN 111739332B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
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Abstract
The invention provides a parking lot management system, which comprises: the system comprises one or more cameras, a control unit and a display unit, wherein the one or more cameras are arranged above parking spaces and used for shooting image frames of the corresponding parking spaces; and a work unit for processing the image frames photographed by the one or more cameras to recognize an occupancy state of a parking space, wherein the work unit includes: the image acquisition module is used for acquiring image frames shot by the one or more cameras and correcting each image frame; the parking space state identification module is used for identifying the occupation state of the corresponding parking space based on the corrected image frame; and the bottom layer communication module is used for exchanging bottom layer information between the image acquisition module and the parking space state identification module.
Description
Technical Field
The invention relates to the field of parking lot management, in particular to a parking lot management system.
Background
With the increase of vehicles in the market, parking space resources are increasingly tense, and finding parking spaces in people flow concentrated areas such as scenic spots or shopping malls has become a great trouble for car owners to go out. To improve parking lot management efficiency to optimize parking space resources, many parking lots use ultrasonic detection technology (e.g., ultrasonic radar) to identify empty spaces in the parking lot and display the identification results to a vehicle driver through LEDs to guide the driver to drive a vehicle into the parking lot having empty spaces.
The ultrasonic detection technology is that an ultrasonic distance measuring probe is arranged above each parking space, and whether a vehicle is parked under the probe is judged by measuring the distance. Because the ultrasonic probe is required to be arranged above each parking space, the detection method has higher equipment cost and inaccurate detection result. And the parking area can only count the empty parking stall quantity in the parking area in general, can't present the position and the occupation condition on each parking stall to the driver with audio-visual mode, even if this leads to the driver to drive the vehicle into the parking area, also can't conveniently, in time find suitable empty parking stall. In this regard, the parking lot manager may need to provide a dedicated service person to guide or replace the driver in parking, which increases the management cost of the parking lot.
Furthermore, with the rapid development of automatic driving technology, the passenger parking system installed on the vehicle can autonomously park the vehicle into an empty parking space or return the vehicle from the parking space to the parking lot exit without human intervention by means of sensing, positioning, path planning and motion control technology.
In the process of the passenger-replacing parking, in order to enable the vehicle to smoothly park in the empty parking space, the passenger-replacing parking system needs to detect and avoid surrounding obstacles, pedestrians and vehicles and detect the empty parking space mark and the occupied mark in the parking lot. Furthermore, in order to find an optimal parking space (e.g., the parking space closest to the entrance of the parking lot or a parking space of a proper size), the valet parking system needs to wander around the parking lot. Therefore, although many demonstration vehicles employ valet parking technology, these operations also take too long a parking time, and cause vehicle insecurity and unnecessary energy waste.
Disclosure of Invention
In order to solve the above problems in the prior art, the invention provides a parking lot management system, which utilizes a camera to identify the state of a parking space, and compared with the traditional ultrasonic detection technology, the parking lot management system has the advantages that the identification result is more accurate, and the installation structure is simpler. In addition, the system can realize the autonomous recognition of the occupation state of each parking space in the parking lot, even the boundary and position information of the parking space, and can present the information (or part of the information) to a vehicle driver or a parking guidance system of the vehicle in a visual mode, so that the vehicle can be conveniently guided to park in the optimal parking space, and the time for searching the parking space is saved.
Specifically, the parking lot management system according to the present invention includes: the system comprises one or more cameras, a control unit and a display unit, wherein the one or more cameras are arranged above parking spaces and used for shooting image frames of the corresponding parking spaces; and a working unit for processing the image frames photographed by the one or more cameras to recognize an occupied state of the parking space, wherein the working unit includes: the image acquisition module is used for acquiring image frames shot by the one or more cameras and correcting each image frame; the parking space state identification module is used for identifying the occupation state of the corresponding parking space based on the corrected image frame; and the bottom layer communication module is used for exchanging bottom layer information between the image acquisition module and the parking space state identification module.
Advantageously, the work unit further comprises: and the parking space detection module is used for acquiring the corrected image frame from the image acquisition module by means of the bottom layer communication module and detecting the position information and the boundary information of the corresponding parking space based on the corrected image frame, wherein the position information and the boundary information of the parking space detected by the parking space detection module are provided for the parking space state identification module by means of the bottom layer communication module so as to be used for identifying the occupation state of the parking space.
Advantageously, the work unit further comprises: and the operation management module is used for coordinating and managing the operation time of the image acquisition module, the parking space detection module, the parking space state identification module and the bottom layer communication module.
Advantageously, the work unit further comprises: and the database is used for storing the position information, the boundary information and the occupation state of each parking space, and a parking lot map is also stored in the database in advance.
Advantageously, the parking lot management system further comprises: a data transmission module connected to the database for transmitting information stored in the database to an external device.
Advantageously, the external device is a display for reading the position information, the boundary information and the occupancy status of each parking space from the database and displaying them graphically on the parking lot map.
Advantageously, the external device is a V2X system mounted on the vehicle, by means of which V2X system parking space information sharing between the parking lot and the vehicle is achieved.
Advantageously, the V2X system provides the position information, boundary information, and occupancy status of each parking space received from the data transmission module to the parking guidance system to guide the vehicle to perform the valet parking operation.
Advantageously, the data transmission module is a 4G communication module.
Advantageously, the parking space state identification module determines the occupancy state of the parking space by adopting the fusion of two different identification algorithms.
Other features and advantages of the system of the present invention will be apparent from, or are more particularly, described in the drawings incorporated herein, and in the detailed description which follows, together with the drawings, serve to explain certain principles of the invention.
Drawings
Fig. 1 shows a block diagram of a parking lot management system according to the present invention;
fig. 2 shows a schematic diagram of the application of the parking lot management system of fig. 1 to an external device; and
fig. 3 shows a flow chart of an empty space recognition method implemented by the space state recognition module in the system of fig. 1.
Detailed Description
A parking lot management system according to the present invention will be described below by way of embodiments with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention to those skilled in the art. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. Rather, it is contemplated that the invention may be practiced with any combination of the following features and elements, whether or not they relate to different embodiments. Thus, the following aspects, features, embodiments and advantages are merely illustrative and should not be considered elements or limitations of the claims except where explicitly recited in a claim(s).
Fig. 1 shows a structural diagram of a parking lot management system according to the present invention. The system utilizes cameras installed above the parking spaces to shoot real-time images of the parking spaces, wherein the number and the installation positions of the cameras depend on the parking space distribution condition in the parking lot, the visual field range of the cameras and the height of a ceiling of the parking lot. As an example, a camera is installed above every three parking spaces, and the camera can be installed on the ceiling of a parking lot (or a garage) in a suspension mode; alternatively, in the case of an open parking lot, a support rod may be provided at a side of the parking space to mount the camera. Each camera, after capturing a raw image of the corresponding parking space, transmits the raw image to a workstation (also referred to herein as a "work unit") via a local area network. And performing operations such as distortion correction and parking space boundary detection on the original image at a workstation, identifying the parking space occupation state, and writing the identification result into a database or transmitting the identification result to external equipment.
Specifically, the original image taken by the camera needs to be transmitted to an image acquisition module (i.e., a "frame grabber") disposed in the workstation for distortion correction. For example, the original image captured by the large-view-angle fish-eye camera with 180 ° has serious distortion, which increases the difficulty of subsequent parking space recognition, so that distortion correction needs to be performed on the original image at the image acquisition module, and the image distortion correction method adopted here may be any known correction method in the prior art.
After the distortion correction is completed, the image acquisition module transmits the corrected image to a bottom communication module, which serves as a bottom information exchange intermediary between the modules in the parking lot management system to achieve information sharing when the modules operate simultaneously or alternately.
According to an exemplary example, the bottom layer communication module may be connected to a parking space detection module, and the parking space detection module may detect position information and boundary information of a corresponding parking space based on the corrected image frame. The position information of the parking space can be determined by identifying the parking space number sprayed on the parking space; the boundary information of a parking space may comprise, for example, four corner points and/or four boundary lines of a rectangular parking space. A specific process of the parking space detection module detecting boundary information of the parking space based on the corrected image frame acquired from the underlying communication module is described in detail below.
After acquiring the corrected image frame from the bottom communication module, the parking space detection module firstly applies a filter to remove a non-white or gray (the boundary line of the parking space is white) area from the image frame; after that, smoothing the tiny noise in the image frame by applying a Gaussian blur filter; then, another algorithm is applied to enhance the white areas and remove the darker areas; then, finding out straight lines in the image by utilizing an edge detection algorithm and Hough transformation, wherein a plurality of straight lines actually representing one straight line on the image can be detected in the process, so that the straight lines can be combined into one straight line to obtain a boundary line of a parking space; finally, interpolation processing is performed on the detected boundary lines to obtain intersections indicating the positions of the parking space angular points.
The parking lot management system further comprises a parking space state identification module used for identifying the occupation state of the parking space in the parking lot, namely judging whether the parking space is an empty parking space. The parking space state identification module is also connected with the underlying communication module to receive the corrected image frame therefrom and apply fusion of two identification algorithms (such as a background difference algorithm and a feature matching algorithm) to the image frame to determine the occupancy state of the parking space. That is, the recognition module obtains two independent results about whether the parking space is occupied or not by using a background difference algorithm and a feature matching algorithm, respectively, and finally determines the occupancy state of the parking space based on the fusion of the two results. The background difference algorithm and the feature matching algorithm both involve two procedures, namely an initialization procedure and a working procedure. The implementation of these two recognition algorithms is explained in detail below.
For the background difference algorithm, the initialization process is a process of establishing a background model, namely, a plurality of image frames shot by a camera in a continuous time sequence are used for acquiring the background model corresponding to the parking space; the working process refers to that in an actual working scene, a real-time image frame shot by a camera is compared with a background model to extract pixels different from the background model, the extracted pixels are identified as target objects, and a first result about whether the parking space is occupied can be obtained based on the target objects, wherein the first result can be a first confidence degree between 0 and 1.
For the feature matching algorithm, the initialization process is that under the condition that a parking space is not occupied (an empty parking space), a background image of the parking space is obtained by a camera, feature detection is carried out on the background image to obtain stable background features, and a corresponding first descriptor is added according to the obtained background features; the working process refers to that in an actual working scene, feature detection is performed on a real-time image shot by a camera to obtain stable foreground features, a corresponding second descriptor is added for the obtained foreground features, then, the first descriptor and the second descriptor are matched, a second result about whether the parking space is occupied can be obtained based on the matching result, and the second result can be a second confidence coefficient between 0 and 1.
After the first result and the second result are obtained by respectively utilizing a background difference algorithm and a feature matching algorithm, the parking space state identification module finally determines the occupation state of the parking space based on the fusion of the two results. As an example, the parking space state identification module fuses the two results based on the D-S evidence theory to determine the occupancy state of the parking space.
As another example, the recognition module may perform a weighted calculation on the first confidence level and the second confidence level to determine whether the parking space is an empty space based on the weighted calculation result, wherein the weight occupied by each of the first confidence level and the second confidence level is preset based on the parking lot surroundings (light conditions, wind disturbance conditions, and the like), the parking lot traffic volume, the camera parameters, and the like. For example, in the case where the parking lot traffic is large, the first confidence is set to be heavier (compared to the second confidence); in the case of poor light conditions, the second confidence is set to be heavier (compared to the first confidence).
Here, it can be understood by those skilled in the art that the parking space detection module is intended to detect the position information and the boundary information of each parking space captured by the camera, and provide the information to the parking space state identification module (by means of the bottom layer communication module) for performing the occupancy state identification of the corresponding parking space. It is to be understood that the position and boundary information of the parking space is not limited to the above method or the above parking space detection module, but may be obtained in advance by any other method or module. For example, the position and boundary information of each parking space may be obtained in advance in a manual labeling manner and stored in the workstation, or detected in real time by the parking space state identification module in the process of executing identification of the parking space occupancy state, and all of these variations fall within the scope of the present invention.
In addition, the workstation can be provided with an operation management module for coordinating and managing the operation time and the stop time of the image acquisition module, the parking space detection module, the parking space state identification module and the bottom layer communication module.
As an example, the operation management module may set the image acquisition module and the parking space state recognition module to operate alternately or simultaneously. For example, the image acquisition module performs data reading operation (reading image frames from each camera) every 1s, and the parking space state identification module performs identification operation of the parking space occupation state; or the image acquisition module executes data reading operation every 1s, then does not work every 1s, and the parking space state identification module executes state identification operation at the intermittent time.
In addition, the operation management module can set the parking space detection module to execute detection operation only once in the initialization process, but does not work during the identification process of the parking space occupation state. This makes it possible to minimize the operating load of the processor, since the boundary information of the parking space does not have to be detected in real time in each recognition operation, but rather only in the initialization process, the detections are carried out and are made available to the parking space state recognition module for the subsequent overall parking space state recognition process.
The workstation can also be provided with a database for storing the position information, the boundary information and the occupation state of each parking space. Preferably, a parking lot map is stored in the database in advance. The database can be connected to a data transmission module (e.g. a 4G module) in order to transmit information stored in the database (e.g. position information, boundary information or occupancy status of parking spaces) to an external device by means of the data transmission module.
Fig. 2 shows a schematic diagram of applying the parking lot management system of fig. 1 to an external device. As one example, the external device may be a monitor (or display) that can read position information, boundary information, and occupancy status of individual parking spaces in a parking lot from a database and display them graphically on a parking lot map.
As another example, the external device may be a V2X system mounted on a vehicle, by means of which V2X system parking space information sharing between a parking lot and the vehicle can be achieved. Further, the V2X system may communicate with a parking guidance system on the vehicle, so that the parking guidance system may guide the vehicle to perform a valet parking operation, such as automatically parking the vehicle into an empty space closest to an entrance of the parking lot, according to the location information, the boundary information, and the occupancy status of each parking space in the parking lot.
Fig. 3 shows a flow chart of an empty space recognition method implemented by the space state recognition module in the parking lot management system of fig. 1. As shown in fig. 3, the empty space recognition method according to the present invention includes: determining a first decision result as to whether a parking space is occupied based on a background difference algorithm (decision 1); determining a second decision result as to whether the parking space is occupied based on a feature matching algorithm (decision 2); and obtaining a final conclusion whether the parking space is occupied or not based on the fusion of the decision 1 and the decision 2. The specific operation flow of the identification method is described in detail below.
In the background difference algorithm process, firstly, a background model corresponding to the parking space needs to be established based on a plurality of image frames shot by a camera in a continuous time sequence, and the background model can be updated at any time along with the change of the occupancy state of the parking space. The background model may preferably be determined in the case of an empty parking space, i.e. a plurality of image frames are continuously captured in the case of an unoccupied parking space and the background model corresponding to the parking space is determined on the basis of the plurality of image frames. Wherein the background model may be established using any modeling method known in the art, including but not limited to median modeling, mean modeling, kalman filter model, gaussian distribution model, or codebook modeling.
In the codebook modeling method, a code element is allocated to each pixel point in an image, and the code elements of one image form a codebook. In order to obtain the background model, an initial codebook is established in the initialization process, then a plurality of frames of images are input for each code element in the codebook for codebook learning, and the code elements which do not appear for a period of time are periodically deleted during the period, so that a final codebook is obtained to be used as the learned background model.
After obtaining the background model of the parking space, in the actual working process, the real-time image frame captured by the camera is compared with the background model to extract pixels different from the background model (background subtraction), and then the extracted pixels can be determined as the target object, and the decision result about whether the parking space is occupied or not can be determined based on the target object (i.e., "decision 1"). For example, feature detection may be performed on the extracted target object, and whether or not the parking space is occupied may be determined based on the detected feature.
In the process of the feature matching algorithm, firstly, under the condition that a parking space is not occupied (empty space), a background image of the parking space is obtained by a camera, feature detection is carried out on the background image so as to obtain stable background features, and a corresponding first descriptor is added according to the obtained background features. The above process of acquiring the background feature and the first descriptor is referred to as an initialization process herein.
After the background features and the first descriptors are obtained, in an actual working scene, feature detection is carried out on a real-time image shot by a camera to obtain stable foreground features, and corresponding second descriptors are added according to the obtained foreground features; subsequently, the first descriptor is compared with the second descriptor, and a decision result as to whether the parking space is occupied is determined based on the comparison result (i.e., "decision 2"). For example, if the matching/similarity ratio between the first descriptor and the second descriptor is less than a predetermined threshold, the foreground feature is considered to be more different from the background feature, i.e., the parking space is more likely to be occupied.
After the decision results about whether the parking space is occupied are respectively obtained by using the background difference algorithm and the feature matching algorithm, the parking space state identification module finally determines the occupation state of the parking space based on the fusion of the two decision results (namely, decision 1 and decision 2). As an example, the parking space state identification module fuses the two decision results based on the D-S evidence theory to determine the occupancy state of the parking space.
In conclusion, the empty parking space identification method simultaneously considers a background difference method and a feature matching method, wherein the background difference method has sensitive target identification capacity and can identify a plurality of objects which cannot be identified by a neural network; the characteristic matching method has strong light robustness and is less interfered by the environment; the recognition result obtained by adopting the fusion of the two algorithms is more accurate, and meanwhile, the rapid processing requirement in the recognition process can be met, and the real-time recognition of the parking space can be realized.
According to the parking lot management system, the parking space state is identified by the camera, and compared with the traditional ultrasonic detection technology, the identification result is more accurate. In addition, the system can realize the independent recognition of the occupation state of each parking space in the parking lot, even the boundary and position information of the parking space, and can present the information to a vehicle driver or a parking guidance system of the vehicle in a visual mode, so that the vehicle can be conveniently guided to park in the optimal parking space, and the time for searching the parking space is saved.
In the present application, one of ordinary skill in the art will appreciate that the disclosed system may be implemented in other ways. The above-described system embodiments are merely illustrative, for example, the division of the modules is only one logical division, and in actual implementation, there may be other divisions, for example, the functions of a plurality of modules may be combined or the function of a module may be further split. Each module in the embodiments of the present application may be integrated into one processing unit, or each module may exist alone physically, or two or more modules may be integrated into one unit. The integrated module can be realized in a form of hardware or a form of a software functional unit.
Furthermore, it will be understood by those skilled in the art that all or part of the steps of implementing the above-described identification method may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks. In the method embodiment of the present invention, the order of the steps is not limited to the listed order, and for those skilled in the art, the order of the steps is not changed and is within the protection scope of the present invention without creative efforts.
Although the present invention has been described with reference to the preferred embodiments, it is not to be limited thereto. Various changes and modifications within the spirit and scope of the present invention will become apparent to those skilled in the art from this disclosure, and it is intended that the scope of the present invention be defined by the appended claims.
Claims (9)
1. A parking lot management system, the parking lot management system comprising:
the system comprises one or more cameras, a control unit and a display unit, wherein the one or more cameras are arranged above parking spaces and used for shooting image frames of the corresponding parking spaces; and
a working unit for processing image frames captured by the one or more cameras to identify an occupancy state of a parking space, wherein the working unit includes:
the image acquisition module is used for acquiring image frames shot by the one or more cameras and correcting each image frame;
the parking space state identification module is used for identifying the occupation state of the corresponding parking space based on the corrected image frame; and
a bottom layer communication module for bottom layer information communication between the image acquisition module and the parking space state identification module,
the parking space state identification module is configured to acquire two corresponding decision results by respectively adopting a background difference algorithm and a feature matching algorithm for the corrected image frame, and fuse the two acquired decision results based on a D-S evidence theory to determine the occupancy state of the parking space.
2. The parking lot management system according to claim 1, wherein the work unit further comprises:
a parking space detection module for acquiring the corrected image frame from the image acquisition module by means of the bottom layer communication module and detecting the position information and the boundary information of the corresponding parking space based on the corrected image frame,
the position information and the boundary information of the parking space detected by the parking space detection module are provided to the parking space state identification module by means of the bottom layer communication module so as to be used for carrying out the occupation state identification of the parking space.
3. The parking lot management system according to claim 2, wherein the work unit further comprises:
and the operation management module is used for coordinating and managing the operation time of the image acquisition module, the parking space detection module, the parking space state identification module and the bottom layer communication module.
4. The parking lot management system according to claim 2, wherein the work unit further comprises:
and the database is used for storing the position information, the boundary information and the occupation state of each parking space, and a parking lot map is also stored in the database in advance.
5. The parking lot management system according to claim 4, further comprising:
a data transmission module connected to the database for transmitting information stored in the database to an external device.
6. The parking lot management system according to claim 5, wherein the external device is a display for reading the position information, the boundary information, and the occupancy status of each parking space from the database and graphically displaying them on a parking lot map.
7. The parking lot management system according to claim 5, wherein the external device is a V2X system mounted on a vehicle, by which parking lot information sharing between a parking lot and the vehicle is achieved by means of the V2X system.
8. The parking lot management system according to claim 7, wherein the V2X system provides the position information, the boundary information, and the occupancy status of each parking space received from the data transmission module to a parking guidance system to guide the vehicle to perform the valet parking operation.
9. The parking lot management system according to claim 5, wherein the data transmission module is a 4G communication module.
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| CN111739332A (en) | 2020-10-02 |
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