The content of the invention
In order to solve the above technical problems, the invention provides a kind of parking management method, including：
Step A：Receive and be arranged on the target vehicle image that the entrance camera of Entrance to controlled parking zone is obtained；
Step B：The parking stall for receiving coverage goal parking stall images the parking space state image of unit, from the parking space state figureTarget vehicle image is identified as in, and determines the target parking position stopped of target vehicle.
Further, in addition to；
Parking space state image according to receiving determines parking stall seizure condition, parking quantity and/or the room of parking areaQuantity.
Further, it is described meet step A after, also include before the step B：
Receive the target that the track camera group of covering target vehicle wheelpath in the parking area is sentVehicle parking track；
Then the step B is specially：
The parking stall for receiving coverage goal parking stall images the parking space state image of unit, according to target vehicle parking railMark and the target vehicle image identify target vehicle image from the parking space state image, and determine the institute of target vehicleThe target parking position stopped.
Further, the target vehicle image includes angle point, edge, texture, profile, color and/or the car plate of vehicle.
Further, in addition to；
By locating base station to treating that parking is positioned into parking area, wherein described treat to be provided with parkingPositioning label corresponding with the locating base station；
Treat whether parking has come to a complete stop according to judging the location information of the positioning label；
It is determined that it is described after parking is come to a complete stop, according to the parking of the dead ship condition and the target vehicle for treating parkingState is managed to parking lot.
Further, the locating base station is UWB locating base stations, and the positioning label is that UWB positions label.
Further, in addition to according to treat that the dead ship condition of parking and the dead ship condition of the target vehicle judgeWhether positioning label is installed on the target vehicle.
On the other hand, present invention also offers a kind of parking management server, including：
In-let dimple module, the target vehicle figure that the entrance camera of Entrance to controlled parking zone is obtained is arranged on for receivingPicture；
Parking management module, the parking space state image of unit is imaged for receiving the parking stall on coverage goal parking stall, from instituteState and target vehicle image is identified in parking space state image, and determine the target parking position stopped of target vehicle.
Another aspect, the invention also discloses a kind of parking management system, including：At least one stops as described aboveManagement server, and the parking management server difference signal connection, cover Entrance to controlled parking zone entrance camera andCover the parking stall shooting unit on parking stall in parking area.
Further, a plurality of locating base stations that system also includes and the parking management server signal is connected, at leastOne is arranged on the positioning label treated in parking.
Compared with prior art, the application has the beneficial effect that：
Without i.e. compatible existing parking management system is transformed existing parking lot, improve the convenient of parking managementProperty and security.Be conducive to system to be spread out in different scenes, the video recognition system of the further present invention can also with it is existingRFID location system parking lot is uniformly managed, enhance the security and accuracy of system.
Embodiment three, on the basis of above-described embodiment, in addition to wireless location scheme is to facilitate compatible existing parking lot.System also includes, and is arranged on the upper positioning label of vehicle, and the positioning label coordinate be disposed on parking areaMultiple locating base stations, then method also include：
By locating base station to treating that parking is positioned into parking area, wherein described treat to be provided with parkingPositioning label corresponding with the locating base station；
Treat whether parking has come to a complete stop according to judging the location information of the positioning label；
It is determined that it is described after parking is come to a complete stop, according to the parking of the dead ship condition and the target vehicle for treating parkingState is managed to parking lot.
Further, the locating base station is UWB locating base stations, and the positioning label is that UWB positions label.
It is readily appreciated that, UWB positioning labels are arranged on vehicle, and for launching radio positioning signal, such as 6.5GHZ is wirelessSignal.Vehicle identity information (such as license plate number) and vehicle information are loaded preferably in radio positioning signal.Preferably positioned in UWBThe wireless communication module for realizing ETC (electronic non-parking automatic charging) system is set in label, such as 5.8GHZ wireless communication modules,Not parking automatic charging is realized to coordinate with ETC system.
UWB locating base stations are used to receive the radio positioning signal of UWB electronic tags transmitting and believed according to the wireless locationThe parameter value of the relatively described vehicle of each UWB locating base stations number is obtained respectively.The parameter of UWB base stations mentioned here relative vehicle canBe it is various can calculate the parameter of vehicle location by mathematical modeling, preferably received signal strength (RSSI), signal are reachedTime (TOA), reaching time-difference (TDOA), angle of arrival (AOA), more preferably reaching time-difference (TDOA).
UWB locating base stations include：Antenna, UWB radio-frequency modules, clock generation module, signal transacting and control module, WIFIModule, tag activation and communication module, power supply automatic switching module.Antenna is used to receive aerial microwave signal.UWB radio frequency mouldsBlock is used to microwave signal is demodulated/modulated.Clock generation module is used for exporting local accurate clock to signal transacting and controlMolding block.Signal transacting and control module include：Extracting of positional parameters module, synchronization module and to data carry out decapsulate/The module of assembling.Synchronization module is used to enter other UWB locating base stations row clock synchronization, further to improve positioning precision.WIFI module is used between UWB locating base stations and data (are joined as positioned between UWB locating base stations and parking management serverNumber) transmission, in order to it is not take up 6.5GHZ locating channel.Tag activation is used for communication module and the auxiliary of label is led toLetter, using 433M frequencies, can enter the activation control of row label and data (as activated) transmission between label and base station, useAfter active module, vehicle can be made there was only the locating module for just opening label when entering parking area, to extend the label life-span.ElectricitySource automatic switching module can be switched over to exchange input and direct current input automatically.
Parking management server is used for the position letter that vehicle is determined according to the parameter value from least three UWB locating base stationsBreath, i.e. the positional parameter value for UWB locating base stations to be determined substitute into mathematical modeling, to determine the positional information of vehicle.
1st, circles/spheres location model：
Circle positioning is the target positioning to two dimensional surface, is received by measuring reference mode (i.e. UWB locating base stations)The RSSI or TOA of destination node (being loaded with the vehicle that UWB positions label) positioning signal, thus calculate reference mode to meshThe distance of node is marked, a circle can be determined apart from d by destination node to reference mode, destination node one is positioned at the circleOn.There are N (N when simultaneously>=when 3) individual reference mode participates in ranging localization, it is multiple it is circular between intersection point correspondence targetPosition, spherical positioning is then the realization of goal positioning to three dimensions.
Thus one group of circular equation is defined：
Solve the coordinate value that above-mentioned equation group can be obtained by destination node.Only needing to 2 equations in theory can try to achieveNon trivial solution, but in practice because the presence of various error sources is, it is necessary to carry out minimum variance or most to the equation of more than 3Maximum-likelihood processing can just obtain the position of destination node.
In three dimensions, destination node N position coordinates is (x, y, z), by calculating destination node N and reference mode NiThe distance between ri, so as to obtain using Ni as the centre of sphere, using ri as the sphere of the radius of a ball, then N is located at the intersection points of these spheres and obtainedEquation group：
The reference mode that selection is more than 4 is set up equation group and calculated, and target section can be calculated in three dimensionsThe position coordinates of point.
2nd, hyperbola/face location model：
This location model is the TDOA that same destination node positioning signal is received by measuring different reference modes, fromAnd different reference modes are calculated to the range difference of destination node, can by the range difference of destination node to any two reference modeTo determine one group of hyperbola.There are N (N when simultaneously>=when 3) individual reference mode participates in ranging, the intersection point between multiple hyperbolas is justObtain the estimation to target location.Compared with TOA, its key benefit is need not accurately to try to achieve reference mode and target againThe response of node and processing delay, only require that the clock of all reference modes for participating in measurement is synchronous.
In two dimensional surface, when the range difference between reference mode A and B and destination node X is d1, destination node must be located atUsing A and B as focus, with the range difference perseverances of two focuses determined by d1 solid line on hyperbola.Reference node is measured when simultaneouslyWhen point A and C and destination node X range difference are d2, it is possible to obtain another group using A and C as focus, and with the range difference of focusPerseverance for d2 the hyperbola that represents of solid line to upper, two groups of hyp intersection points are the position of destination node.
3rd, angle location model
The geometrical principle of angle location model be measurement destination node with LOS (... please supplement English full name and correspondence inText) reach reference mode signal angle, destination node is necessarily located on the straight line corresponding to the angle, that is, is utilizedOne geometrical model of AOA Information locatings.When two reference mode N1 and N2 measure the arrival that target sends the LOS of signal simultaneouslyAfter angle, the intersection point N of its corresponding two straight line is the position where destination node.
Assuming that the angle of arrival that reference mode N1 and reference mode N2 measure the signal that destination node is sent respectively is θ 1 and θ2, then obtain equation group as follows：
The coordinate value of destination node can be obtained by solving this equation group.As can be seen that angular surveying location model is only neededTwo reference modes, certainly, the reference mode number for participating in positioning are more, and the redundancy of its data is higher, the essence of positioningDegree and success rate will be higher.
Vehicle positioning method comprises the following steps in some embodiments：
(1) entrance roadside unit (such as 5.8GHZ roadside units) is to driving into the positioning of the UWB on the vehicle of Entrance to controlled parking zoneLabel is waken up UWB after (activation), wake-up and positions label startup locating module, and such as transmission of 6.5GHZ signals is with receiving mouldBlock.Accordingly, when vehicle sails out of parking area outlet, the UWB triggered by exporting roadside unit on vehicle positions label and closedLocating module is closed, into park mode.The purpose of the step be for power saving, just only upon awakening UWB positioning label regularly/Or not timing transmitting radio positioning signal (such as 6.5GHZ signals)；
(2) vehicle enters parking area, and contained positioning label timing/not timing sends radio positioning signal, then parking areaUWB locating base stations in domain receive the signal, and will receive the temporal information of the signal (can be that original time is believed before calibrationArrival time information after breath or calibration) parking management server is sent to by WIFI；
(3) Wireless clock carried out in real time on locating channel (6.5GHZ channels) between each locating base station is synchronous so that eachClocking error between base station is no more than 1ns.Specifically synchronization frame can be sent by the synchronization module in a wherein locating base station, otherRealize that clock is synchronous by algorithm (such as time data filtering algorithm) after locating base station reception synchronization frame；
(4) multiple locating base stations (being no less than 3) are by receiving the 6.5GHz signals that positioning label is returned, when generation is receivedBetween, and the reception time is sent to the parking management server, parking management server by WIFI or 6.5GHZ channelsElectronic tag vehicle position is calculated according to TDOA algorithms；
(5) the parking management server real-time tracking installs positioning label vehicle position.
(6) (such as changed not in 10 seconds after installation positioning label vehicle position information does not change within a certain period of timeMore than+- 0.5m), then it is assumed that it stops traveling, is now matched vehicle identity information with parking stall list of locations by matching algorithmCorresponding relation to obtain vehicle and parking stall, so that it is determined that parking spot where each positioning label vehicle.Due to positioning markThe information such as license plate number, vehicle are contained in the transmitted location information of label, so vehicle can be corresponded to parking in systemPosition, facilitates car owner to search.
Obtain the corresponding parking stall of vehicle for installing positioning label；Target vehicle figure is identified from the parking space state imagePicture, and determine the target parking position stopped of target vehicle.Can be distinguished with reference to above-mentioned two parking space state has UWB to determine on parking stallThe vehicle of position label and the vehicle that label is positioned without UWB.Because video identification equipment may recognize that vehicle parking parking stall, and it is wirelessLocation technology can identify the Parking Stall of label vehicle, then the vehicle parking parking stall identified in video identification equipmentMiddle to remove the Parking Stall for having label vehicle, remaining is exactly the parking spot of no label vehicle.
Further can also be corresponding with parking stall progress including the vehicle to positioning label without UWB, facilitate manager to manageSearched with car owner.Because entrance has carried out car plate video identification to vehicle, while being carried out on vehicle running path to vehicleVideo tracking also is carried out with matching to vehicle on video tracking, parking stall, so the number-plate number without label vehicle is enteringMouth can be obtained, then the number-plate number without label vehicle can also be corresponded with parking stall where it.
Using this method, for having there is RFID system, for existing system without modification, it is only necessary to which additional video is recognizedSystem just could be formed with effect management, compatible RFID vehicle and the vehicle being fitted without.And for being mounted with RFID'sVehicle, then more one ensure again.Be conducive to the popularization of system.
Another further aspect, the invention also discloses a kind of parking management server, including：
In-let dimple module, the target vehicle figure that the entrance camera of Entrance to controlled parking zone is obtained is arranged on for receivingPicture；
Parking management module, the parking space state image of unit is imaged for receiving the parking stall on coverage goal parking stall, from instituteState and target vehicle image is identified in parking space state image, and determine the target parking position stopped of target vehicle.
Also include：
Fusion Module：For being merged to the image that each track camera is captured；
Locating module：Positional information for determining vehicle according to the parameter value from least three UWB locating base stations.
Further, a kind of parking management system is also disclosed, including：At least one parking management service as described aboveDevice, and parking management server difference signal connection, the entrance camera and covering for covering Entrance to controlled parking zone stopThe parking stall shooting unit on parking stall in region.
The track camera group that is connected with parking management server signal can also be included；
At least three locating base stations being connected with the parking management server signal, and at least one is arranged on and waits to stopPositioning label on.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-rowHis property is included, so that process, method, article or equipment including a series of key elements not only include those key elements, andAnd also including other key elements being not expressly set out, or also include for this process, method, article or equipment institute inherentlyKey element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including instituteAlso there is other identical element in process, method, article or the equipment of stating key element.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.A variety of modifications to these embodiments are it will be apparent that as defined herein one for those skilled in the artAs principle can realize in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention willIt will not be intended to be limited to the embodiments shown herein, and be to fit to consistent with principles disclosed herein and features of noveltyWidest range.