A road intelligent parking device and system based on millimeter wave radar detection

Abstract

The present invention discloses a road intelligent parking device and system based on millimeter wave radar detection. The device includes: a radar module, a camera, a communication module and a pile body. The radar module is used to detect the status of road parking spaces. When the radar module detects that a vehicle enters, stops and leaves, the camera is triggered to take pictures of the vehicle to collect the image data of the vehicle's license plate number. At the same time, the radar module records the absolute time of triggering the photo; the communication module uploads the license plate number image data and the absolute time of triggering the photo. The present invention greatly reduces the cost of the pile body and the aesthetics of the public road, can well capture the movement behavior of the vehicle body, can identify vehicles that just pass by and do not occupy the parking space, and can distinguish between bicycles and pedestrians based on the point cloud, which can greatly improve the effective order rate, truly realize intelligence, and reduce the computing pressure of the server.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent equipment, and in particular relates to a road intelligent parking device and system based on millimeter wave radar detection. Background Art

[0002] In view of the current situation of road parking in China, the main problems faced are "difficult parking", inefficient manual management, high labor costs, irregular parking and lack of information and intelligence. Therefore, an intelligent road parking system with automatic charging is the best solution to the above problems and one of the important measures for the future development of smart cities.

[0003] The most critical technical link in realizing an intelligent parking system is the ability to automatically and accurately identify / judge the parking actions of vehicles in a specific parking area, including the vehicle's entry, parking, and departure, and then transmit the parking space status information to the next-level system for further collaborative processing, and finally generate a parking space order.

[0004] At present, road intelligent parking systems have emerged at home and abroad, but they have not been widely used and have their own defects and shortcomings. The following are some technologies for vehicle parking action recognition:

[0005] ① Infrared detection technology: It has been put into use abroad, but it can only achieve simple target entry reminders and manual intervention for charging, and cannot judge a series of parking actions of the vehicle;

[0006] ② Ultrasonic radar technology: Some businesses have used ultrasonic radar for testing, but the detection distance and angle of ultrasonic waves are very small, the detection range is very limited, and the false trigger rate is very high;

[0007] ③ Wireless geomagnetic induction technology: large initial investment, installation method is highly destructive to roads; easily interfered by magnetic objects (such as high-voltage wires), no filtering for vehicles and electric vehicles that pass by but do not occupy parking spaces, so the false trigger rate is also high;

[0008] ④Pure vision technology: The recognition and judgment accuracy of the video pole system is relatively high, but there are the following problems: 1) For roadside parking scenarios, the complexity of the weather (rain, snow, fog, night, etc.) and the user's parking method puts higher requirements on the automatic recognition system, which cannot be completed well by vision alone; 2) The data power consumption is large, and the video stream must continuously upload more than 10 megabytes of video data to the cloud, greatly increasing the operating burden of the server; 3) The cost is very high. Summary of the invention

[0009] The technical problem solved by the present invention is to provide a road intelligent parking device and system based on millimeter wave radar detection.

[0010] Technical solution: In order to solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0011] In a first aspect, the present invention provides a road intelligent parking device based on millimeter wave radar detection, comprising:

[0012] Radar module, used to detect the status of road parking spaces;

[0013] A camera is connected to the radar module through a camera driving circuit. When the radar module detects a change in the parking space status on the road, the camera is triggered to take a photo of the vehicle to collect the image data of the vehicle's license plate number. At the same time, the radar module records the absolute time when the photo is triggered;

[0014] A communication module connected to the radar module, for uploading the license plate number image data and the absolute time of triggering the photo-taking to a server, so that the server generates parking order information according to the license plate number and the absolute time of triggering the photo-taking, and the server sends the parking order information to the mobile client to complete the deduction operation;

[0015] The pile is used to fix the radar module and the camera on the side of the parking space away from the center of the road.

[0016] Furthermore, the pile body is arranged between two adjacent parking spaces, and two cameras are arranged on its upper side, the two cameras are respectively used to take pictures of the vehicle in one of the parking spaces, and the radar module is a millimeter wave radar module.

[0017] Furthermore, it also includes a fill light, which is arranged on the pile body and connected to the radar module through a fill light driving circuit.

[0018] Furthermore, it also includes a status indicator light, which is arranged on the pile body and connected to the radar module through a status indicator light driving circuit.

[0019] Furthermore, the camera driving circuit includes a resistor R64 having one end connected to the radar module, the other end of the resistor R64 is connected to the base of the transistor Q11, the emitter of the transistor Q11 is grounded, and a resistor R66 is connected between the base and the emitter, the collector of the transistor Q11 is connected to one end of the resistor R44 and the gate of the MOS tube, the other end of the resistor R44 and the source of the MOS tube are respectively connected to the positive electrode of the power supply, and the drain of the MOS tube is connected to the camera.

[0020] Furthermore, the fill light driving circuit includes a MOS tube Q4 whose drain is connected to the negative electrode of the fill light, the gate of the MOS tube Q4 is connected to the resistor R4 and one end of the resistor R48, the other end of the resistor R4 and the source of the MOS tube Q4 are both grounded, and the other end of the resistor R48 is connected to the radar module.

[0021] Furthermore, the status indicator light driving circuit includes a MOS tube Q1 whose drain is connected to the negative electrode of the status indicator light, the gate of the MOS tube Q1 is respectively connected to the resistor R1 and one end of the resistor R45, the other end of the resistor R1 and the source of the MOS tube Q1 are both grounded, and the other end of the resistor R45 is connected to the radar module.

[0022] Furthermore, the millimeter-wave radar module includes a millimeter-wave radar module, a processor connected to the millimeter-wave radar module and a radar antenna, the processor is connected to a camera, a gigabit Ethernet module is connected between the processor and the communication module, and the millimeter-wave radar module and the processor are connected to a power module.

[0023] In a second aspect, the present invention provides a road intelligent parking system based on millimeter-wave radar detection, comprising a server and a mobile client connected to the server, and also comprising a device as described in any one of claims 1 to 8, wherein the server receives the vehicle license plate number image data and the absolute time of triggering photo taking uploaded by the device, and parses the vehicle license plate number based on image recognition technology. After the vehicle leaves, the server generates parking order information based on the license plate number and the absolute time of triggering photo taking, and sends the parking order information to the corresponding mobile client, and the mobile client completes the deduction operation based on the parking order information.

[0024] Furthermore, it also includes a manual call module, which is connected to the server. When the radar module detects that the parking space is occupied but the server cannot obtain the license plate number of the vehicle, the server triggers the manual call module to perform manual charging.

[0025] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0026] 1. In special weather conditions such as foggy weather and dark night, it is difficult or even impossible to recognize the license plate visually. The excellent penetration of millimeter-wave radar is not restricted by climate.

[0027] 2. The detection angle of the millimeter-wave corner radar can reach 150°. While ensuring a large detection range, one pile only needs to be equipped with one corner radar to cover the monitoring of two parking spaces, greatly reducing the cost of the pile and the aesthetics of the public road;

[0028] 3. Due to the diversity and complexity of roadside parking methods, such as parallel parking, front parking, straight-line parking, etc., millimeter-wave radar can well capture the movement of the vehicle with its 150° wide-angle detection;

[0029] 4. Compared with ultrasonic or wireless geomagnetic induction technology, millimeter wave radar adds the judgment of vehicle entry / stop / exit, can identify vehicles that are just passing by but not occupying parking spaces, and can distinguish bicycles and pedestrians based on point clouds, which can greatly improve the effective order rate and truly realize intelligence;

[0030] 5. The millimeter-wave radar consumes only 3W of power and only uploads a few 10K-level status photos of the vehicle entering / stopping / leaving to the server. Photos of vehicles that just pass by but do not actually occupy the parking space are not uploaded, thus greatly reducing data power consumption and reducing the computing pressure of the cloud server. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the structure of the road intelligent parking equipment based on millimeter wave radar detection;

[0032] Figure 2 This is a block diagram of the principle of road intelligent parking equipment based on millimeter wave radar detection;

[0033] Figure 3 is a wiring diagram of a processor according to an embodiment of the present invention;

[0034] Figure 4 is a schematic structural diagram of a camera driving circuit according to an embodiment of the present invention;

[0035] Figure 5 is a schematic structural diagram of a Gigabit Ethernet module according to an embodiment of the present invention;

[0036] Figure 6 is a structural schematic diagram of a fill light driving circuit according to an embodiment of the present invention;

[0037] Figure 7 is a schematic structural diagram of a status indicator light driving circuit according to an embodiment of the present invention;

[0038] Figure 8 It is a schematic diagram of the structure of the road intelligent parking system based on millimeter wave radar detection;

[0039] Fig. 9 It is a flow chart of a parking space status recognition method based on millimeter wave radar;

[0040] Fig.10 It is a schematic diagram of a parking space status recognition method based on millimeter wave radar. DETAILED DESCRIPTION

[0041] The present invention is further illustrated below in conjunction with specific examples. The examples are implemented based on the technical solutions of the present invention. It should be understood that these examples are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0042] like Figures 1 to 7 As shown, an embodiment of the present invention provides a method for identifying road parking space status based on millimeter wave radar, including a radar module 1, a camera 2 and a communication module 3. The radar module 1 is used to detect the road parking space status, and the road parking space status includes idle, vehicle entering, vehicle stopping and vehicle leaving.

[0043] The camera 2 of the embodiment of the present invention is connected to the radar module 1 through the camera driving circuit 4. When the radar module 1 detects that the vehicle enters, the vehicle stops, and the vehicle leaves, the camera is controlled to take pictures of the vehicle to collect the image data of the vehicle's license plate number. At the same time, when the radar module 1 detects that the vehicle enters, the vehicle stops, and the vehicle leaves, the absolute time of triggering the photo is recorded according to its internal clock. The communication module 3 is connected to the radar module 1 to upload the license plate number image data and the absolute time of triggering the photo to the server, thereby providing data support for generating a parking order. The server generates parking order information based on the license plate number and the absolute time of triggering the photo, and the server sends the parking order information to the mobile client to complete the deduction operation.

[0044] like Figure 1 As shown, the embodiment of the present invention further includes a pile body 5, which is used to fix the radar module 1 and the camera 2 on a side of the parking space away from the center of the road, so that the radar module 1 and the camera 2 can perform corresponding functions.

[0045] The camera 2 and the pile body 5 can be arranged in one-to-one correspondence with the parking spaces. In order to reduce costs, the pile body 5 is preferably arranged between two adjacent parking spaces, and two cameras 2 are arranged on each pile body 5, and the two cameras 2 are respectively used to take pictures of the vehicle in one of the parking spaces. The radar module preferably adopts a millimeter wave radar module, and the detection angle of the millimeter wave angle radar module can reach 150°. While ensuring a large detection range, one radar module 1 can cover the monitoring of two parking spaces.

[0046] like Figure 1 and 2 As shown, the embodiment of the present invention further includes a fill light 6, which is arranged on the pile body 5 and connected to the radar module 1 via a fill light driving circuit 7. When taking pictures, the radar module 1 controls the fill light 6 to work to perform light compensation.

[0047] like Figure 1 and 2 As shown, the embodiment of the present invention further includes a status indicator light 8, which is arranged on the pile body 5 and is connected to the radar module 1 through a status indicator light driving circuit 9. When the radar module 1 detects that the parking space is in a stable state, that is, the parking space is occupied, the status light is red, and other status positions are all green.

[0048] like Figure 4As shown, the camera driving circuit 4 of the embodiment of the present invention includes a resistor R64 connected to the radar module 1 at one end, the other end of the resistor R64 is connected to the base of the transistor Q11, the emitter of the transistor Q11 is grounded, and a resistor R66 is connected between its base and emitter, the collector of the transistor Q11 is connected to one end of the resistor R44 and the gate of the MOS tube, the other end of the resistor R44 and the source of the MOS tube are respectively connected to the positive electrode of the power supply, and the drain of the MOS tube is connected to the camera. In the embodiment where two cameras 2 are arranged on each pile body 5, the camera driving circuit 4 with the same circuit structure is adopted.

[0049] like Figure 6 As shown, the fill light driving circuit 7 of the embodiment of the present invention includes a MOS tube Q4 whose drain is connected to the negative electrode of the fill light 6, the positive electrode of the fill light 6 is connected to the positive electrode of the power supply, the gate of the MOS tube Q4 is connected to the resistor R4 and one end of the resistor R48, the other end of the resistor R4 and the source of the MOS tube Q4 are both grounded, and the other end of the resistor R48 is connected to the radar module. In the embodiment where two cameras 2 are set on each pile body 5, two fill lights 6 are also used, and the circuit structure of the two fill light driving circuits 7 is the same.

[0050] like Figure 7 As shown, the state indicator driving circuit 9 of the embodiment of the present invention includes a MOS tube Q1 whose drain is connected to the negative electrode of the state indicator 8, the positive electrode of the state indicator 8 is connected to the positive electrode of the power supply, the gate of the MOS tube Q1 is connected to the resistor R1 and one end of the resistor R45 respectively, the other end of the resistor R1 and the source of the MOS tube Q1 are both grounded, and the other end of the resistor R45 is connected to the radar module. The driving circuit structure of the red light is the same as the driving circuit structure of the green light. In the embodiment in which two cameras 2 are set on each pile body 5, the state indicator 8 also adopts two groups, and the circuit structure of the two groups of state indicator driving circuits 9 is also the same.

[0051] like Figure 2As shown, the radar module 1 of the embodiment of the present invention includes a millimeter wave radar module 11, a processor 12 connected to the millimeter wave radar module 11, and a radar antenna 13, wherein the operating frequency of the millimeter wave radar module 11 is preferably above 60GHZ, and the model that can be used is S102. The radar antenna 13 includes a transmitting antenna and a receiving antenna, and the processor 12 is connected to the camera 2, the fill light 6 and the status indicator 7 respectively. The communication module 3 preferably uses a 4G wireless module, and a Gigabit Ethernet module 14 is connected between the processor 12 and the communication module 3. The embodiment of the present invention also includes a power supply 10, which outputs a DC12V voltage. The power supply 10 is connected to the millimeter wave radar module 11 and the processor 12 respectively through a power module 15. The power module 15 converts the input DC12V into DC5V and DC3V voltages in turn, and then supplies power to the millimeter wave radar module 11 and the processor 12. A battery can also be set as a backup power supply.

[0052] like Figure 8 As shown, based on the above embodiments, those skilled in the art can understand that the present invention also provides a road intelligent parking system based on high-frequency millimeter-wave radar detection, the system includes a server and a mobile client connected to the server, and also includes the above-mentioned intelligent parking device, the server receives the vehicle license plate number image data and the absolute time of triggering the photo shooting sent by the parking device, and parses the vehicle license plate number from the license plate number image data based on the image recognition technology, the server generates parking order information according to the license plate number and the absolute time of triggering the photo shooting, specifically, after the vehicle enters and stops steadily, the server can obtain the time when the vehicle stops steadily and the license plate number of the vehicle through the radar module 1 and the camera 2, and then the server can create a parking order according to the license plate number of the vehicle and the time when the vehicle stops steadily, when the vehicle leaves, the server can obtain the license plate number and the time of leaving of the leaving vehicle through the radar module 1 and the camera 2, so that the server can automatically complete the order information according to the license plate number, the time of stopping steadily and the time of leaving, and then send the parking order information to the corresponding mobile client, thereby realizing automatic charging. The server will only generate valid order information when the closed-loop logic of the vehicle entering, the vehicle stopping and the vehicle leaving is met. If the vehicle only enters and leaves but does not stop, the server will judge the vehicle as just passing by and will not generate valid order information.

[0053] In order to cope with the situation that a small number of uploaded photos cannot identify the license plate, but the radar module 1 has determined that the parking space is occupied, the embodiment of the present invention also includes a manual call module, and the manual call module is connected to the server. When the radar module 1 detects that the parking space is occupied, but the server cannot obtain the license plate number of the vehicle, the server triggers the manual call module to call relevant staff for manual charging to avoid missed orders.

[0054] Combination Fig. 9 and Fig.10 Based on the above embodiments, those skilled in the art can understand that the present invention also provides a method for identifying road parking space status based on millimeter wave radar, including: using a radar module to transmit and receive returned probe waves, and obtaining the returned probe waves through digital signal processing to obtain a target with radial velocity vector Vi (the velocity vector in the direction of the point trace and the radar), distance ρi (the straight-line distance between the point trace and the radar), angle θi (the angle between the point trace and the radar normal) and signal-to-noise ratio snri information in a coordinate system with the radar as the origin, and condensing the point trace into a target (object) and tracking it. The target clustering method is to obtain the center point Z of the scattered point traces through the signal-to-noise ratio weighting method. center , which is the target. The specific calculation method is as follows:

[0055] Define the scattered point trace as Z, then:

[0056] Z={ρ i ,θ i , V i , snr i} i＝1，2...n.

[0057] The current target center point Z can be obtained by weighting the signal-to-noise ratio center for:

[0058] z center ={ρ mean ,θ mean , V mean , snr mean}

[0059] Among them, the target formed by the point traces (center point Z center ) to the distance ρ from the radar module mean for:

[0060]

[0061] The target formed by the points (center point Z center ) and the normal of the radar module is θ mean for:

[0062]

[0063] The target formed by the points (center point Z center )'s radial velocity vector V mean for:

[0064]

[0065] The target formed by the points (center point Zcenter ) signal-to-noise ratio snr mean for:

[0066]

[0067] According to the target condensed by the points (center point Z center ) to the distance ρ from the radar module mean and angle θ mean (angle between the center point and the radar normal) to calculate the target longitudinal distance YL, where YL is calculated as follows:

[0068] YL=ρ mean *cosθ mean

[0069] According to the target longitudinal distance YL and the target radial velocity vector V mean Filter out suspected parking vehicles. For vehicles determined to be in the motorway, filter and ignore them. The screening method for suspected parking vehicles is as follows: when the target longitudinal distance YL is greater than the set longitudinal distance threshold, it is determined to be a motorway vehicle and filtered; when the target longitudinal distance is less than the set longitudinal distance threshold, the target is determined to be a suspected parking vehicle. For vehicles initially determined to be suspected parking vehicles, according to the target radial velocity vector V mean Further screening, when the absolute value of the target radial velocity |V mean | is greater than the set radial velocity absolute value threshold, it is determined as a motor vehicle lane vehicle and filtered out. mean |When the radial velocity vector is less than the set absolute value threshold, the target is determined to be a suspected parking vehicle. Generally, the width of a road parking space is between 2.2 and 2.4 meters. The longitudinal distance threshold can be set at around 2.3 meters, and the absolute value of the radial velocity vector threshold can be set to 1 to 10 m / s, which can effectively distinguish suspected parking vehicles from vehicles on the motorway.

[0070] Calculate the distance variance D of the point trace of the suspected parking vehicle target. The calculation method of the distance variance D is as follows:

[0071]

[0072] In the above formula, ρ1, ρ2, ρ n Represents ρ i The distance from different points to the radar module, n is an integer, where

[0073]

[0074] Whether the suspected parked vehicle is a motor vehicle is determined based on the point trace distance variance D of the suspected parked vehicle. The judgment method for motor vehicle parking is as follows: if the point trace distance variance D is less than the set point trace distance variance threshold, the suspected parked vehicle is determined to be a non-motor vehicle, and the non-motor vehicle is filtered and ignored. If the point trace distance variance D is greater than the set point trace distance variance threshold, the suspected parked vehicle is determined to be a parked vehicle. The point trace distance variance threshold can be set between 0.1 and 2, and a better value can be selected from it. This step can effectively distinguish between motor vehicles and non-motor vehicles (such as pedestrians, bicycles and electric vehicles), and avoid interference caused by non-motor vehicles.

[0075] If it is determined to be a parking vehicle, then according to the target radial velocity vector V mean and longitudinal distance YL to determine the parking space status. The parking space status is determined as follows: If the target radial velocity vector V mean is a negative value, that is, the parking vehicle moves in the radial direction toward the radar module, and the parking space status is determined as a vehicle entering; if the target radial velocity vector V mean When the continuous stable frame number is 0 and the number of continuous stable frames is greater than the set stable frame number threshold, the parking space state is determined to be a stable vehicle state. If the continuous stable frame number is less than the set stable frame number threshold and the vehicle moves, the vehicle radial velocity vector V mean When it reaches 0 again, the count is restarted. If the target radial velocity vector V mean is a positive value, that is, the parked vehicle moves away from the radar module in the radial direction, and it is determined that the vehicle is leaving; if the target radial velocity vector V mean When it is alternating between positive and negative, if the target longitudinal distance YL is decreasing, the parking space is judged as a vehicle entering; if the target longitudinal distance YL is increasing, the parking space is judged as a vehicle leaving; after the vehicle leaves, the vacant space is counted. If the number of consecutive stable frames of the vacant space is greater than the set idle frame threshold, the parking space is judged as idle. The parking frame threshold and the idle frame threshold need to be set according to the refresh cycle of the radar module. Taking the refresh cycle of the radar module as 50 milliseconds as an example, the parking frame threshold and the idle frame threshold can be set at about 200. In this way, the time corresponding to the parking frame threshold and the idle frame threshold is about 10 seconds.

[0076] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A road intelligent parking device based on millimeter wave radar detection, It is characterized in that include: Radar module, used to detect the status of road parking spaces; A camera is connected to the radar module through a camera driving circuit. When the radar module detects a change in the parking space status on the road, the camera is triggered to take a photo of the vehicle to collect the image data of the vehicle's license plate number. At the same time, the radar module records the absolute time when the photo is triggered; A communication module connected to the radar module, for uploading the license plate number image data and the absolute time of triggering the photo-taking to a server, so that the server generates parking order information according to the license plate number and the absolute time of triggering the photo-taking, and the server sends the parking order information to the mobile client to complete the deduction operation; A pile body is used to fix the radar module and the camera on the side of the parking space away from the center of the road; The radar module detects the road parking space status in the following manner: The returned probe wave is transmitted and received, and the returned probe wave is processed by digital signal to obtain the radial velocity vector V in the coordinate system with the radar as the origin. i , distance ρ i , angle θ i and signal-to-noise ratio SNR i information, and condense the information into a target and track it; The distance ρ from the target to the radar module according to the point trace condensation mean and angle θ mean Calculate the target longitudinal distance YL, based on the target longitudinal distance YL and the target radial velocity vector V mean Screen out suspected parked vehicles; Calculating the distance variance D of the trace of the suspected parked vehicle, and judging whether the suspected parked vehicle is a motor vehicle according to the distance variance D of the trace of the suspected parked vehicle; If yes, then according to the target radial velocity vector V mean and longitudinal distance YL to determine the parking space status; The screening method of the suspected parked vehicles is as follows: When the target longitudinal distance YL is greater than the set longitudinal distance threshold, it is determined to be a motor vehicle and filtered; when the target longitudinal distance YL is less than the set longitudinal distance threshold, the target is determined to be a suspected parking vehicle; When the absolute value of the target radial velocity |V mean | is greater than the set radial velocity absolute value threshold, it is determined as a motor vehicle lane vehicle and filtered out. mean |When the radial velocity is less than the set absolute value threshold, the target is determined to be a suspected parking vehicle; The parking space status is determined as follows: If the target radial velocity vector V mean If it is a negative value, the parking space status is determined as vehicle entering; If the target radial velocity vector V mean When it is 0 and the number of continuous stable frames is greater than the set stable frame number threshold, the parking space state is determined to be a stable vehicle state; If the target radial velocity vector V mean If it is a positive value, it is judged that the vehicle has left; If the target radial velocity vector V mean When it is alternating between positive and negative, if the target longitudinal distance YL is decreasing, the parking space is judged as a vehicle entering; if the target longitudinal distance YL is increasing, the parking space is judged as a vehicle leaving. After the vehicle leaves, the empty space is counted. If the number of consecutive stable frames of the empty space is greater than the set idle frame number threshold, the parking space status is determined to be idle.

2. The road intelligent parking device based on millimeter wave radar detection according to claim 1, It is characterized in that The pile body is arranged between two adjacent parking spaces, and two cameras are arranged on the upper side thereof, the two cameras are respectively used to take pictures of the vehicle in one of the parking spaces, and the radar module is a millimeter wave radar module.

3. The road intelligent parking device based on millimeter wave radar detection according to claim 1, It is characterized in that It also includes a fill light, which is arranged on the pile body and connected to the radar module through a fill light driving circuit.

4. The road intelligent parking device based on millimeter wave radar detection according to claim 1, It is characterized in that It also includes a status indicator light, which is arranged on the pile body and connected to the radar module through a status indicator light driving circuit.

5. The road intelligent parking device based on millimeter wave radar detection according to claim 1, It is characterized in that The camera driving circuit includes a resistor R64 having one end connected to the radar module, the other end of the resistor R64 is connected to the base of the transistor Q11, the emitter of the transistor Q11 is grounded, and a resistor R66 is connected between the base and the emitter, the collector of the transistor Q11 is connected to one end of the resistor R44 and the gate of the MOS tube, the other end of the resistor R44 and the source of the MOS tube are respectively connected to the positive electrode of the power supply, and the drain of the MOS tube is connected to the camera.

6. The road intelligent parking device based on millimeter wave radar detection according to claim 3, It is characterized in that The fill light driving circuit includes a MOS tube Q4 whose drain is connected to the cathode of the fill light, a gate of the MOS tube Q4 is connected to a resistor R4 and one end of a resistor R48, the other end of the resistor R4 and the source of the MOS tube Q4 are both grounded, and the other end of the resistor R48 is connected to the radar module.

7. The road intelligent parking device based on millimeter wave radar detection according to claim 4, It is characterized in that The status indicator driving circuit includes a MOS tube Q1 whose drain is connected to the negative electrode of the status indicator, the gate of the MOS tube Q1 is respectively connected to the resistor R1 and one end of the resistor R45, the other end of the resistor R1 and the source of the MOS tube Q1 are both grounded, and the other end of the resistor R45 is connected to the radar module.

8. The road intelligent parking device based on millimeter wave radar detection according to claim 2, It is characterized in that The millimeter-wave radar module includes a millimeter-wave radar module, a processor connected to the millimeter-wave radar module, and a radar antenna. The processor is connected to a camera. A gigabit Ethernet module is connected between the processor and the communication module. The millimeter-wave radar module and the processor are connected to a power module.

9. A road intelligent parking system based on millimeter wave radar detection, comprising a server and a mobile client connected to the server, It is characterized in that It also includes the device described in any one of claims 1 to 8, the server receiving the vehicle's license plate number image data and the absolute time of triggering the photo taking uploaded by the device, and parsing the vehicle's license plate number based on image recognition technology. After the vehicle leaves, the server generates parking order information based on the license plate number and the absolute time of triggering the photo taking, and sends the parking order information to the corresponding mobile client, and the mobile client completes the deduction operation based on the parking order information.

10. The road intelligent parking system based on millimeter wave radar detection according to claim 9, It is characterized in that It also includes a manual call module, which is connected to the server. When the radar module detects that the parking space is occupied but the server cannot obtain the license plate number of the vehicle, the server triggers the manual call module to perform manual charging.

Images