CN-122024514-A - Method and system for determining parking position and parking position of vehicle

CN122024514ACN 122024514 ACN122024514 ACN 122024514ACN-122024514-A

Abstract

The invention discloses a method and a system for determining a vehicle parking position and a parking position, wherein the method comprises the following steps: the space relative position relation between the berth reference point and the projection coordinates of the front license plate and the rear license plate is judged by using the berth information database, and the method can be applied to parking scenes such as sequential parking, vertical parking and inclined parking. The parking position of the vehicle on the berth can be accurately determined through the projection coordinate points of the front license plate and the rear license plate of the vehicle and the berth information database, whether the vehicle has a berth-crossing parking behavior can be judged through the relative position relation between the projection coordinate points of the front license plate and the rear license plate of the vehicle and the berth reference point, the ratio of the front berth to the rear berth occupied by the vehicle can be calculated, and whether the vehicle is berthed on the berth reference point is identified. The accuracy of the determination of the vehicle parking position is improved.

Inventors

Jie Wenfeng
AN KE
GAO PENG
ZHANG SHUHUA
WU ZHENGYANG
HU YUNYAN
LI HUI
CUI YUNING
CHEN FEIFEI

Assignees

北京云星宇交通科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260204

Claims (10)

1. A method for determining a parking position and a parking position of a vehicle, comprising: Identifying a vehicle license plate through a camera of mobile inspection equipment, and generating a berth information database comprising information of roads, berth sections, berths, berth reference points and side bars of the berth sections in advance; If the berth type of the vehicle is forward parking, determining the relative positions of the berth reference point and the projection coordinates of the front license plate and the rear license plate on the first side rail of the berth section, and determining the berth number and the parking position of the vehicle according to the projection coordinates of the berth reference point, the projection coordinates of the front license plate and the rear license plate and the berth information database; If the type of the berth where the vehicle is parked is vertical parking, determining the relative position of the projection coordinates of the front license plate or the rear license plate and the berth at the first side rail of the berth section, and determining the berth number and the parking position of the vehicle parked according to the projection coordinates of the front license plate or the rear license plate, the projection coordinates of the berth starting point and the berth ending point and the berth information database; If the parking position type of the vehicle is inclined parking, determining a straight line perpendicular to the long side of the inclined parking position and projection coordinates of a front license plate or a rear license plate, a parking position starting point and an ending point on the straight line, and determining the parking position number and the parking position of the vehicle according to the projection coordinates of the front license plate or the rear license plate, the projection coordinates of the parking position starting point and the ending point and the parking position information database.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises, Types of the berth segments include forward berths, vertical berths and inclined berths; The types of berths include a starting berth, a first berth in a first direction in the berth segment; ending the berth, wherein the last berth in the first direction in the berth section; And the berths in the berth section are other than the starting berth and the ending berth.
3. The method of claim 1, wherein determining the phase position of the berth reference point and the projected coordinates of the front and rear license plates at the first side rail of the berth segment if the berth type in which the vehicle is parked is cis, comprises: taking a first edge of the berth section as a vector coordinate axis, and taking a patrol direction of the mobile patrol equipment as a vector coordinate direction; The method comprises the steps that when front and rear license plates of a vehicle are captured by a camera, projection coordinates on a vector coordinate axis and data recorded by a moving video are obtained, and a first projection coordinate G1 and a second projection coordinate G2 of the front and rear license plates of the vehicle on the vector coordinate axis are obtained respectively; determining a third projection coordinate G7 of the berth reference point on the vector coordinate axis; And determining the relative positions of the berth reference point and the front license plate and the rear license plate on the vector coordinate axis through projection coordinates G1, G2 and G7.
4. The method of claim 1, wherein determining a berth number and a berth location for parking the vehicle based on the projection coordinates of the berth reference point, the front and rear license plate projection coordinates, and the berth information database comprises: if the projection coordinates of the berth reference points are located between the projection coordinates of the front license plate and the rear license plate, inquiring the berth information database, and determining that the berth numbers corresponding to the berth reference points are berth numbers for parking the vehicle; If the projection coordinates of the berth reference point are not located between the front license plate projection coordinates and the rear license plate projection coordinates, and the front license plate or the rear license plate projection coordinates are located in the berth where the berth reference point is located, determining that the vehicle is parked across the berth.
5. The method of claim 1, wherein if the type of berth where the vehicle is parked is vertical, determining the relative position of the projection coordinates of the front license plate or the rear license plate and the berth at the first side rail of the berth segment comprises using the first side rail of the berth segment as a vector coordinate axis and using the inspection direction of the mobile inspection device as a vector coordinate direction; The projection coordinate G3 on the vector coordinate axis when the front license plate or the rear license plate of the vehicle is captured by the camera; determining a third projection coordinate G7 of the berth reference point on the vector coordinate axis; And determining the relative positions of the berth reference points and the front license plate or the rear license plate on the vector coordinate axis through the projection coordinates G3 and G7.
6. The method of claim 1, wherein determining a parking number and a parking position for parking the vehicle based on projection coordinates of a front license plate or a rear license plate, projection coordinates of a parking start point and an end point, and the parking information database, comprises: If the projection coordinates of the front license plate or the rear license plate are positioned between the projection coordinates of the berth starting point and the projection coordinates of the end point, inquiring the berth information database, and determining that the berth number corresponding to the berth reference point is the berth number for parking the vehicle; and if the distance between G3 and G7 is greater than a preset first threshold value, determining that the vehicle is parked across the vehicle.
7. The method according to claim 1, wherein if the type of berth where the vehicle is parked is inclined, determining a straight line perpendicular to the long side of the inclined berth, and projection coordinates of the front license plate or the rear license plate, the berth start point and the end point on the straight line, comprises determining the straight line perpendicular to the long side of the inclined berth as a vector coordinate axis, and taking a patrol direction of the mobile patrol equipment as a vector coordinate direction; The projection coordinate G3 on the vector coordinate axis when the front license plate or the rear license plate of the vehicle is captured by the camera; determining a third projection coordinate G7 of the berth reference point on the vector coordinate axis; And determining the relative positions of the berth reference points and the front license plate or the rear license plate on the vector coordinate axis through the projection coordinates G3 and G7.
8. The method of claim 1, wherein determining a parking number and a parking position for parking the vehicle based on the projection coordinates of the front license plate or the rear license plate, the parking start point and the end point projection coordinates, and the parking information database, comprises: If the projection coordinates of the front license plate or the rear license plate are located between the projection coordinates of the berth starting point and the projection coordinates of the end point, inquiring the berth information database, and determining that the berth number corresponding to the berth reference point is the berth number for the vehicle to park; If the distance between G3 and G7 is smaller than a preset first threshold value, determining that the vehicle is parked on a parking reference point; and if the distance between G3 and G7 is greater than a preset first threshold value, determining that the vehicle is parked across the vehicle.
9. The method according to any one of claims 4, 6 and 8, further comprising: If the vehicle is determined to be parked across the vehicle, calculating the proportion of the vehicle occupying the adjacent berth according to the vehicle body parameters and the berth information of the vehicle, and determining the accurate position of the vehicle parking.
10. A system for determining a vehicle parking position and parking position, comprising: The berth information database determining module is used for identifying a vehicle license plate through a camera of the mobile inspection equipment and generating a berth information database containing information of roads, berth sections, berths, berth reference points and side bars of the berth sections in advance; The forward berthing position number determining module is used for determining the relative positions of the berthing reference points and the projection coordinates of the front license plate and the rear license plate on the first side rail of the berthing section if the berthing type of the vehicle is forward berthing, and determining the berthing number and the berthing position of the vehicle according to the projection coordinates of the berthing reference points, the projection coordinates of the front license plate and the rear license plate and the berthing information database; the vertical parking position number determining module is used for determining the relative position of the projection coordinates of the front license plate or the rear license plate and the parking position positioned on the first side rail of the parking position section if the parking position type of the vehicle is vertical parking, and determining the parking position number and the parking position of the vehicle according to the projection coordinates of the front license plate or the rear license plate, the projection coordinates of the starting point and the ending point of the parking position and the parking position information database; The system comprises an inclined berth number determining module, a berth information database and a parking position determining module, wherein the inclined berth number determining module is used for determining a straight line perpendicular to the long side of an inclined berth and projection coordinates of a front license plate or a rear license plate, berth starting point and ending point on the straight line if the berth type of the vehicle is inclined berth, and determining the berth number and the berth position of the vehicle according to the projection coordinates of the front license plate or the rear license plate, the projection coordinates of the berth starting point and ending point and the berth information database.

Description

Method and system for determining parking position and parking position of vehicle Technical Field The invention relates to the technical field of intelligent transportation, in particular to a method and a system for determining a vehicle parking position and a parking position. Background With the continuous development of urban intelligent parking management systems, high-level video, geomagnetic detection, mobile video inspection and other technical means are widely adopted in road side parking scenes. The mobile video inspection adopts a camera of front-end inspection equipment to identify a vehicle license plate, a high-precision positioning antenna is used for acquiring positioning information, a pre-generated parking information database comprising roads, parking sections, parking positions, side rail information of the parking sections and the like is used for finding out adjacent parking positions, calculating the parking positions where the motor vehicle is parked, and binding the identified vehicle license plate with the parking positions where the motor vehicle is parked, so that a parking order is generated. The road side parking berth types comprise forward parking, inclined parking and vertical parking. When a vehicle owner parks on the road side, most vehicles are parked in the middle of a single berth in a standard manner. However, the situation that the vehicle is influenced by surrounding environment or the vehicle owner deliberately parks across the berth exists, and in practical application, when the vehicle is parked in the middle of the berth, the mobile video equipment judges the berth of the vehicle relatively accurately, and geomagnetic equipment can also accurately trigger timing. However, when a vehicle is in a cross-berth parking condition, the prior art does not accurately identify the vehicle's parking berth. Disclosure of Invention In view of the above technical problems, the present invention provides a method for determining a parking position and a parking position of a vehicle, including: Identifying a vehicle license plate through a camera of mobile inspection equipment, and generating a berth information database comprising information of roads, berth sections, berths, berth reference points and side bars of the berth sections in advance; If the berth type of the vehicle is forward parking, determining the relative positions of the berth reference point and the projection coordinates of the front license plate and the rear license plate on the first side rail of the berth section, and determining the berth number and the parking position of the vehicle according to the projection coordinates of the berth reference point, the projection coordinates of the front license plate and the rear license plate and the berth information database; If the type of the berth where the vehicle is parked is vertical parking, determining the relative position of the projection coordinates of the front license plate or the rear license plate and the first side rail of the berth section, and if the projection coordinates of the front license plate or the rear license plate are positioned between the projection coordinates of the berth starting point and the projection coordinates of the berth ending point, inquiring the berth information database, and determining that the berth number corresponding to the berth reference point is the berth number where the vehicle is parked; If the type of the berth where the vehicle is parked is inclined parking, determining a straight line perpendicular to the long side of the inclined berth and projection coordinates of a front license plate or a rear license plate, a berth starting point and an ending point on the straight line, and if the projection coordinates of the front license plate or the rear license plate are positioned between the projection coordinates of the berth starting point and the ending point, querying the berth information database to determine the berth number and the parking position where the vehicle is parked. Further, the method comprises the steps of, Types of the berth segments include forward berths, vertical berths and inclined berths; The types of berths include a starting berth, a first berth in a first direction in the berth segment; ending the berth, wherein the last berth in the first direction in the berth section; And the berths in the berth section are other than the starting berth and the ending berth. Further, if the parking position type of the vehicle is forward parking, determining the phase position of the parking position reference point and the projection coordinates of the front license plate and the rear license plate located on the first side rail of the parking position section includes: taking a first edge of the berth section as a vector coordinate axis, and taking a patrol direction of the mobile patrol equipment as a vector coordinate direction; The method comprises the steps that when front and rea