Roadside parking fee management system and vehicle detection and identification method

Abstract

The present invention provides a roadside parking fee management system, comprising: a vehicle detection and identification device, and a vehicle-mounted Bluetooth tag; the vehicle detection and identification device is used to be arranged between two adjacent roadside parking spaces and close to a side of a curb, and the vehicle-mounted Bluetooth tag is used to be arranged on a vehicle; the vehicle detection and identification device comprises a first power module, an MCU, a dual-channel ultrasonic radar module, a dual-channel Bluetooth module, and an interconnection communication module; the first power module supplies power to the MCU, the dual-channel ultrasonic radar module, the dual-channel Bluetooth module and the interconnection communication module; the dual-channel ultrasonic radar module comprises a first ultrasonic radar probe and a second ultrasonic radar probe, and the dual-channel Bluetooth module comprises a Bluetooth communication unit and a dual-directional antenna unit, wherein the dual-directional antenna unit comprises a radio frequency switch and a first Bluetooth directional antenna and a second Bluetooth directional antenna; the present invention can reduce system construction and deployment costs as well as manual operation costs.

Description

Technical Field

[0001] The invention relates to a roadside parking fee management system, in particular to a roadside parking fee management system based on a dual-channel ultrasonic radar module and a dual-channel Bluetooth module and a vehicle detection and identification method, belonging to the field of intelligent transportation technology. Background Art

[0002] As the number of cars increases, the ratio of parking spaces to cars continues to decline. Parking difficulties and traffic congestion have become two prominent problems facing urban transportation. As an important resource for urban parking, roadside parking is an effective supplementary measure to solve the problem of urban parking difficulties by using part of the space resources of existing roads to provide high-turnover parking services in areas where there is a serious imbalance between supply and demand of parking facilities in some cities.

[0003] Since most roadside parking lots are open, lack clear entrances and exits, and parking spaces are mostly distributed in parallel, the roadside parking fee management system must use the parking space as the basic management unit to obtain the license plate of the parked vehicle and the number or code of the parking space. Therefore, a variety of roadside fee collection systems have emerged, including manual PDA (Personal Digital Assistant) charging, geomagnetic + PDA charging, parking space locks, and high-position video. However, each faces different problems and challenges in terms of system construction and deployment costs, operating labor costs, etc. Among them, geomagnetic + PDA charging is the mainstream method of the current roadside parking fee management system. The initial system construction cost is relatively controllable, and a good balance has been achieved in terms of system construction and deployment costs and operating labor costs.

[0004] In the geomagnetic + PDA charging scheme, geomagnetism is generally deployed near the center of the parking space. One geomagnetic sensor can only manage a single parking space, which cannot further reduce the system construction cost. At the same time, in order to solve the problem of false detection (i.e. judging that there is a parked vehicle when there is no parked vehicle) caused by geomagnetism, geomagnetism currently mostly adopts a dual-mode method, i.e. geomagnetic sensor + microwave radar. However, microwave radar is easily affected by water, snow and ice on the parking road surface, which may cause certain missed judgments (i.e. there is a vehicle but it is not detected).

[0005] In recent years, as the government pays more and more attention to people's livelihood issues, how to ensure the high utilization rate of roadside parking resources while protecting the parking priority of nearby residents as much as possible has gradually become an important consideration for the government to choose or design a roadside parking fee system. Although the parking priority of nearby residents can be protected by adding a whitelist of license plates in the PDA and combining a differentiated charging strategy, it cannot reduce the manual operating costs required to manage these parked vehicles. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a roadside parking fee management system and a vehicle detection and identification method, which can reduce the system construction and deployment costs, and realize automatic detection and identification of vehicles entering parking spaces, accurately locate the parking spaces where vehicles are parked, and reduce manual operation costs. To achieve the above technical objectives, the technical solutions adopted in the embodiments of the present invention are:

[0007] In a first aspect, an embodiment of the present invention provides a roadside parking fee management system, comprising: a vehicle detection and identification device, and a vehicle-mounted Bluetooth tag; the vehicle detection and identification device is used to be arranged between two adjacent roadside parking spaces and close to a curb, and the vehicle-mounted Bluetooth tag is used to be arranged on a vehicle;

[0008] The vehicle detection and identification device comprises a first power module, an MCU, a dual-channel ultrasonic radar module, a dual-channel Bluetooth module, and an interconnection communication module; the first power module supplies power to the MCU, the dual-channel ultrasonic radar module, the dual-channel Bluetooth module, and the interconnection communication module; the dual-channel ultrasonic radar module comprises a first ultrasonic radar probe and a second ultrasonic radar probe, the dual-channel Bluetooth module comprises a Bluetooth communication unit and a dual directional antenna unit, wherein the dual directional antenna unit comprises a radio frequency switch and a first Bluetooth directional antenna and a second Bluetooth directional antenna; the MCU is respectively connected to the dual-channel ultrasonic radar module, the interconnection communication module, and the Bluetooth communication unit, and the Bluetooth communication unit is respectively connected to the first Bluetooth directional antenna and the second Bluetooth directional antenna through the radio frequency switch;

[0009] The first Bluetooth directional antenna and the second Bluetooth directional antenna point to different directions; wherein the beam centerline of the first Bluetooth directional antenna and the detection signal centerline of the first ultrasonic radar probe point to the first direction; the beam centerline of the second Bluetooth directional antenna and the detection signal centerline of the second ultrasonic radar probe point to the second direction; the first direction is different from the second direction, so that the first direction can point to one of two adjacent roadside parking spaces, and at the same time the second direction can point to the other of the two adjacent roadside parking spaces;

[0010] The vehicle-mounted Bluetooth tag includes a Bluetooth transceiver unit, a speed detection unit and a power module; the second power module supplies power to the Bluetooth transceiver unit and the speed detection unit; and the Bluetooth transceiver unit is connected to the speed detection unit.

[0011] Furthermore, in the dual directional antenna unit, time division multiplexing of the first Bluetooth directional antenna and the second Bluetooth directional antenna is achieved through a radio frequency switch.

[0012] Furthermore, the vehicle detection and identification device is deployed in the middle of two adjacent roadside parking spaces and close to the curb, and the vehicle-mounted Bluetooth tag is deployed on the vehicle.

[0013] Furthermore, the angle between the first direction and the direction of vehicle travel in the lane is 135°, and the angle between the second direction and the direction of vehicle travel in the lane is 45°.

[0014] Furthermore, the MCU and the Bluetooth communication unit are integrally arranged in a Bluetooth microcontroller.

[0015] Furthermore, the detection angle of the first ultrasonic radar probe and the second ultrasonic radar probe is not greater than 60°, the measurement blind area is not greater than 0.1m, the maximum measurement distance is not less than 3m, and the measurement accuracy is not less than 5cm.

[0016] Furthermore, the speed detection unit adopts a three-axis MEMS accelerometer.

[0017] In a second aspect, an embodiment of the present invention provides a vehicle detection and identification method, which is applicable to the roadside parking fee management system as described above, comprising the following steps:

[0018] Step S10, deploying a vehicle detection and identification device between two adjacent roadside parking spaces and close to a curb, with a first direction pointing to an upstream parking space in the direction of vehicle travel, and a second direction pointing to a downstream parking space in the direction of vehicle travel; controlling the dual-path ultrasonic radar module to send ultrasonic radar detection signals alternately from the first ultrasonic radar probe and the second ultrasonic radar probe at a fixed radar detection period P;

[0019] Step S20, the Bluetooth transceiver unit of the vehicle-mounted Bluetooth tag is usually in a shut-off state, and the speed detection unit is in a working state. The speed detection unit is used to determine whether the vehicle is in a stationary state. When the vehicle stops in one of the parking spaces, the vehicle is in a stationary state. When the stationary state of the vehicle exceeds the time threshold S seconds, the Bluetooth transceiver unit is started to continuously listen to the Bluetooth notification message frame sent by the vehicle detection and identification device within the set listening time D seconds;

[0020] Step S30, determine the parking space of the vehicle by sending ultrasonic radar detection signals to two adjacent roadside parking spaces respectively through the dual-path ultrasonic radar module; determine the corresponding parking space number according to the number of the ultrasonic radar probe used to determine the parking space of the vehicle, and record the parking space time and parking space number of the vehicle; then start the Bluetooth communication unit to continuously send M Bluetooth notification message frames carrying the vehicle detection and identification device ID and the Bluetooth directional antenna number through the first Bluetooth directional antenna and the second Bluetooth directional antenna respectively in a Bluetooth detection period T;

[0021] Step S40, if the vehicle is equipped with an on-board Bluetooth tag; the Bluetooth transceiver unit receives the Bluetooth announcement message frames sent by the first Bluetooth directional antenna and the second Bluetooth directional antenna respectively within the listening time D seconds, selects the Bluetooth announcement message frame with a larger signal receiving strength RSS, and selects the Bluetooth directional antenna number in the Bluetooth announcement message frame as the antenna number; and sends a response message carrying the on-board Bluetooth tag ID, the received vehicle detection and identification device ID and the selected antenna number;

[0022] Step S50: If the vehicle detection and identification device receives a response message, it verifies that the vehicle detection and identification device ID in the response message is the same as the device's own ID and that the antenna number in the response message is consistent with the ultrasonic radar probe number used to determine the parking space vehicle entry. If the verification is successful, it is determined that the vehicle is equipped with an on-board Bluetooth tag, stops sending Bluetooth notification message frames, and sends a vehicle entry event notification containing the on-board Bluetooth tag ID, vehicle entry time, and parking space number to the backend of the roadside parking fee management system through the interconnection communication module.

[0023] If the vehicle detection and identification device does not receive a response message, or receives a response message from the on-board Bluetooth tag of another vehicle, a tagless vehicle entry event notification containing the vehicle entry time and parking space number is sent to the background of the roadside parking fee management system through the interconnection communication module.

[0024] Furthermore, in step S30, when a vehicle is detected to be in the parking space, the corresponding ultrasonic radar probe performs multiple consecutive distance measurements. The vehicle is determined to be in the parking space only when the measured distance values ​​of the multiple distance measurements are all less than or equal to the distance threshold R.

[0025] Furthermore, the radar detection period P defaults to 60 seconds; the time threshold S is set to 20 seconds to 30 seconds, the listening time D defaults to 120 seconds; and the Bluetooth detection period T defaults to 500ms.

[0026] The technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0027] 1) Through the built-in dual-channel ultrasonic radar module and dual-channel Bluetooth module, a single device can manage two parking spaces, reducing the overall construction and deployment costs of the roadside parking fee collection system, especially the deployment and installation costs.

[0028] 2) Two Bluetooth directional antennas are used to effectively identify vehicles equipped with on-board Bluetooth tags, and the results are integrated with the ultrasonic radar detection results to achieve automatic detection and identification of vehicles entering parking spaces, and accurate positioning of parking spaces where vehicles are parked. There is no need for on-site toll operators to manually enter the parking space, which increases the number of parking spaces managed per capita and reduces labor operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 4 is a system block diagram of an embodiment of the present invention.

[0030] Figure 2 The figure is a schematic diagram of the layout of the vehicle detection and identification device in the embodiment of the present invention.

[0031] Figure 3 4 is a flow chart of a method in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0033] like Figure 1 , Figure 2 As shown, an embodiment of the present invention provides a roadside parking fee management system, including: a vehicle detection and identification device, and a vehicle-mounted Bluetooth tag; the vehicle detection and identification device is used to be set between two adjacent roadside parking spaces and close to the side of the roadside, and the vehicle-mounted Bluetooth tag is used to be set on the vehicle;

[0034] The vehicle detection and identification device comprises a first power module, an MCU, a dual-channel ultrasonic radar module, a dual-channel Bluetooth module, and an interconnection communication module; the first power module supplies power to the MCU, the dual-channel ultrasonic radar module, the dual-channel Bluetooth module, and the interconnection communication module; the dual-channel ultrasonic radar module comprises a first ultrasonic radar probe and a second ultrasonic radar probe, the dual-channel Bluetooth module comprises a Bluetooth communication unit and a dual directional antenna unit, wherein the dual directional antenna unit comprises a radio frequency switch and a first Bluetooth directional antenna and a second Bluetooth directional antenna; the MCU is respectively connected to the dual-channel ultrasonic radar module, the interconnection communication module, and the Bluetooth communication unit, and the Bluetooth communication unit is respectively connected to the first Bluetooth directional antenna and the second Bluetooth directional antenna through the radio frequency switch;

[0035] The first Bluetooth directional antenna and the second Bluetooth directional antenna point to different directions; wherein the beam centerline of the first Bluetooth directional antenna and the detection signal centerline of the first ultrasonic radar probe point to the first direction; the beam centerline of the second Bluetooth directional antenna and the detection signal centerline of the second ultrasonic radar probe point to the second direction; the first direction is different from the second direction, so that the first direction can point to one of two adjacent roadside parking spaces, and at the same time the second direction can point to the other of the two adjacent roadside parking spaces;

[0036] The vehicle-mounted Bluetooth tag includes a Bluetooth transceiver unit, a speed detection unit and a power module; the second power module supplies power to the Bluetooth transceiver unit and the speed detection unit; the Bluetooth transceiver unit is connected to the speed detection unit;

[0037] In this embodiment, by deploying the vehicle detection and identification device in the middle of two adjacent roadside parking spaces and close to the curb, and deploying the vehicle-mounted Bluetooth tag on the vehicle, for example, on the right side of the front windshield of the vehicle, it is possible to automatically detect and identify the vehicle entering the parking space and accurately locate the parking space where the vehicle is parked;

[0038] Specifically, in the vehicle detection and identification device, the interconnection communication module may adopt an NB-IoT module for communicating with the background of the roadside parking fee management system, and the NB-IoT module is connected to the MCU through a UART interface; in this embodiment, the MCU and the Bluetooth communication unit are integrated in a Bluetooth microcontroller, and a microcontroller including a low-power Bluetooth communication unit such as the CC2652R7 of Texas Instruments may be adopted; in other embodiments, the two are also separately arranged; the MCU has multiple GPIO, I2C, SPI, UART and other interfaces, which are responsible for accessing the distance measurement data of the dual-channel ultrasonic radar module, configuring the measurement frequency, Bluetooth signal transmission power, Bluetooth signal transmission duration and other working parameters of the dual-channel ultrasonic radar module, and transmitting low-power Bluetooth notification message frames through two different Bluetooth directional antennas in a time-division manner; in the dual directional antenna unit, the RF switch is used for time-division multiplexing of the first Bluetooth directional antenna and the second Bluetooth directional antenna; the first Bluetooth directional antenna and the second Bluetooth directional antenna are both 2.4GHz antennas, and the Bluetooth directional antenna adopts a Moxon wire antenna with a simple structure and a small volume, and a -3dB beam width of 77°, which is easy to integrate into the device;

[0039] The detection angle of the two ultrasonic radar probes in the dual-channel ultrasonic radar module is no more than 60°, the measurement blind area is no more than 0.1m, the maximum measurement distance is no less than 3m, and the measurement accuracy is no less than 5cm; each ultrasonic radar probe is connected to the MCU through the UART interface to transmit the ranging results to the MCU;

[0040] As an optimization of this embodiment, the angle between the first direction and the vehicle travel direction of the lane is 135°, and the angle between the second direction and the vehicle travel direction of the lane is 45°; so as to better detect vehicles entering two connected parking spaces and prevent misjudgment;

[0041] Specifically, in the in-vehicle Bluetooth tag, the Bluetooth transceiver unit includes a 2.4GHz PCB onboard antenna and a low-cost, low-power Bluetooth transceiver chip such as Texas Instruments' CC2640R2L, which has multiple interfaces such as GPIO and SPI; the speed detection unit can use a three-axis MEMS accelerometer and access the low-power Bluetooth transceiver chip through the SPI interface;

[0042] like Figure 3As shown, the embodiment of the present invention also provides a vehicle detection and identification method, comprising the following steps:

[0043] Step S10, deploy the vehicle detection and identification device in the middle of two adjacent roadside parking spaces and close to the curb, with the first direction pointing to the upstream parking space in the direction of vehicle travel, and the second direction pointing to the downstream parking space in the direction of vehicle travel; control the dual-path ultrasonic radar module to send ultrasonic radar detection signals alternately from the first ultrasonic radar probe and the second ultrasonic radar probe at a fixed radar detection period P; that is, the MCU selects an ultrasonic radar probe to send ultrasonic radar detection signals every P / 2 seconds, where P is a configurable parameter and the default is 60 seconds;

[0044] Step S20, the Bluetooth transceiver unit of the vehicle-mounted Bluetooth tag is usually in a shut-off state, and the speed detection unit is in a working state. The speed detection unit is used to determine whether the vehicle is in a stationary state. When the vehicle stops in one of the parking spaces, the vehicle is in a stationary state. When the stationary state of the vehicle exceeds the time threshold S seconds, the Bluetooth transceiver unit is started to continuously listen to the Bluetooth notification message frame sent by the vehicle detection and identification device within the set listening time D seconds; the time threshold S can be set to 20 seconds to 30 seconds, and the listening time D defaults to 120 seconds;

[0045] Step S30, determine whether a vehicle has entered the parking space by sending ultrasonic radar detection signals to two adjacent roadside parking spaces through the dual-path ultrasonic radar module; determine the corresponding parking space number according to the number of the ultrasonic radar probe used to determine the vehicle has entered the parking space, and record the vehicle entry time and parking space number; then start the Bluetooth communication unit to continuously send M Bluetooth notification message frames carrying the vehicle detection and identification device ID (the default length is 32 bits) and the Bluetooth directional antenna number (0 or 1) through the first Bluetooth directional antenna and the second Bluetooth directional antenna with a Bluetooth detection period T (the default is 500ms); the sending interval of the Bluetooth notification message frame on each Bluetooth directional antenna is 2T milliseconds;

[0046] Regardless of whether the vehicle is equipped with an on-board Bluetooth tag, when the vehicle parks and enters the parking space, the vehicle detection and identification device will detect the vehicle, that is, the measured distance value of the ultrasonic radar probe with the vehicle in the parking space is less than the distance threshold R; in order to reduce false alarms, when a vehicle is detected to be in the parking space, the corresponding ultrasonic radar probe will perform multiple consecutive distance measurements. The vehicle is determined to be in the parking space only when the measured distance values ​​of the multiple distance measurements are all less than or equal to the distance threshold R;

[0047] Step S40, if the vehicle is equipped with an on-board Bluetooth tag; the Bluetooth transceiver unit receives the Bluetooth announcement message frames sent by the first Bluetooth directional antenna and the second Bluetooth directional antenna respectively within the listening time D seconds, selects the Bluetooth announcement message frame with a larger signal receiving strength RSS, and selects the Bluetooth directional antenna number in the Bluetooth announcement message frame as the antenna number; and sends a response message carrying the on-board Bluetooth tag ID, the received vehicle detection and identification device ID and the selected antenna number;

[0048] Step S50, the vehicle detection and identification device performs different operations according to whether the vehicle is equipped with a vehicle-mounted Bluetooth tag;

[0049] If the vehicle detection and identification device receives a response message, it verifies that the vehicle detection and identification device ID in the response message is the same as the device's own ID and that the antenna number in the response message is consistent with the ultrasonic radar probe number used to determine the parking space vehicle is in place. If the verification is successful, it is determined that the vehicle is equipped with an on-board Bluetooth tag, stops sending Bluetooth notification message frames, and sends a vehicle entry event notification containing the on-board Bluetooth tag ID, vehicle entry time, and parking space number to the backend of the roadside parking fee management system through the interconnection communication module; the backend of the roadside parking fee management system can determine the corresponding license plate number for billing based on the on-board Bluetooth tag ID;

[0050] If the vehicle detection and identification device does not receive a response message, or receives a response message from the on-board Bluetooth tag of another vehicle, because the vehicle detection and identification device ID in the on-board Bluetooth tag response message of another vehicle is different from the device's own ID, or the antenna number is inconsistent with the ultrasonic radar probe number for determining the vehicle's entry into the parking space, then a tagless vehicle entry event notification including the vehicle entry time and parking space number is sent to the backend of the roadside parking fee management system through the interconnection communication module; at this time, the backend of the roadside parking fee management system pushes a manual entry message to the PDA of the on-site toll operator, and the on-site personnel are responsible for manual entry;

[0051] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A vehicle detection and identification method, applicable to a roadside parking fee management system, the roadside parking fee management system comprising: Vehicle detection and identification devices, vehicle-mounted Bluetooth tags; The vehicle detection and identification device is used to be arranged between two adjacent roadside parking spaces and close to the curb, and the vehicle-mounted Bluetooth tag is used to be arranged on the vehicle; The vehicle detection and identification device comprises a first power module, an MCU, a dual-channel ultrasonic radar module, a dual-channel Bluetooth module, and an interconnection communication module; the first power module supplies power to the MCU, the dual-channel ultrasonic radar module, the dual-channel Bluetooth module, and the interconnection communication module; the dual-channel ultrasonic radar module comprises a first ultrasonic radar probe and a second ultrasonic radar probe, the dual-channel Bluetooth module comprises a Bluetooth communication unit and a dual directional antenna unit, wherein the dual directional antenna unit comprises a radio frequency switch and a first Bluetooth directional antenna and a second Bluetooth directional antenna; the MCU is respectively connected to the dual-channel ultrasonic radar module, the interconnection communication module, and the Bluetooth communication unit, and the Bluetooth communication unit is respectively connected to the first Bluetooth directional antenna and the second Bluetooth directional antenna through the radio frequency switch; The first Bluetooth directional antenna and the second Bluetooth directional antenna point to different directions; wherein the beam centerline of the first Bluetooth directional antenna and the detection signal centerline of the first ultrasonic radar probe point to the first direction; the beam centerline of the second Bluetooth directional antenna and the detection signal centerline of the second ultrasonic radar probe point to the second direction; the first direction is different from the second direction, so that the first direction can point to one of two adjacent roadside parking spaces, and at the same time the second direction can point to the other of the two adjacent roadside parking spaces; The vehicle-mounted Bluetooth tag includes a Bluetooth transceiver unit, a speed detection unit and a second power supply module; The second power supply module supplies power to the Bluetooth transceiver unit and the speed detection unit; the Bluetooth transceiver unit is connected to the speed detection unit; It is characterized by comprising the following steps: Step S10, deploying a vehicle detection and identification device between two adjacent roadside parking spaces and close to a curb, with a first direction pointing to an upstream parking space in the direction of vehicle travel, and a second direction pointing to a downstream parking space in the direction of vehicle travel; controlling the dual-path ultrasonic radar module to send ultrasonic radar detection signals alternately from the first ultrasonic radar probe and the second ultrasonic radar probe at a fixed radar detection period P; Step S20, the Bluetooth transceiver unit of the vehicle-mounted Bluetooth tag is usually in a shut-off state, and the speed detection unit is in a working state. The speed detection unit is used to determine whether the vehicle is in a stationary state. When the vehicle stops in one of the parking spaces, the vehicle is in a stationary state. When the stationary state of the vehicle exceeds the time threshold S seconds, the Bluetooth transceiver unit is started to continuously listen to the Bluetooth notification message frame sent by the vehicle detection and identification device within the set listening time D seconds; Step S30, determine the parking space of the vehicle by sending ultrasonic radar detection signals to two adjacent roadside parking spaces respectively through the dual-path ultrasonic radar module; determine the corresponding parking space number according to the number of the ultrasonic radar probe used to determine the parking space of the vehicle, and record the parking space time and parking space number of the vehicle; then start the Bluetooth communication unit to continuously send M Bluetooth notification message frames carrying the vehicle detection and identification device ID and the Bluetooth directional antenna number through the first Bluetooth directional antenna and the second Bluetooth directional antenna respectively in a Bluetooth detection period T; Step S40, if the vehicle is equipped with an on-board Bluetooth tag; the Bluetooth transceiver unit receives the Bluetooth announcement message frames sent by the first Bluetooth directional antenna and the second Bluetooth directional antenna respectively within the listening time D seconds, selects the Bluetooth announcement message frame with a larger signal receiving strength RSS, and selects the Bluetooth directional antenna number in the Bluetooth announcement message frame as the antenna number; and sends a response message carrying the on-board Bluetooth tag ID, the received vehicle detection and identification device ID and the selected antenna number; Step S50: If the vehicle detection and identification device receives a response message, it verifies that the vehicle detection and identification device ID in the response message is the same as the device's own ID and that the antenna number in the response message is consistent with the ultrasonic radar probe number used to determine the parking space vehicle entry. If the verification is successful, it is determined that the vehicle is equipped with an on-board Bluetooth tag, stops sending Bluetooth notification message frames, and sends a vehicle entry event notification containing the on-board Bluetooth tag ID, vehicle entry time, and parking space number to the backend of the roadside parking fee management system through the interconnection communication module. If the vehicle detection and identification device does not receive a response message, or receives a response message from the on-board Bluetooth tag of another vehicle, a tagless vehicle entry event notification containing the vehicle entry time and parking space number is sent to the background of the roadside parking fee management system through the interconnection communication module.

2. The vehicle detection and identification method according to claim 1, characterized in that: In step S30, when a vehicle is detected to be in the parking space, the corresponding ultrasonic radar probe performs multiple consecutive distance measurements. The vehicle is determined to be in the parking space only when the measured distance values ​​of the multiple distance measurements are all less than or equal to the distance threshold R.

3. The vehicle detection and identification method according to claim 1, characterized in that: The radar detection period P defaults to 60 seconds; the time threshold S is set to 20 seconds to 30 seconds, the listening time D defaults to 120 seconds; the Bluetooth detection period T defaults to 500ms.

4. The vehicle detection and identification method according to claim 1, characterized in that: In the dual directional antenna unit, time division multiplexing of the first Bluetooth directional antenna and the second Bluetooth directional antenna is achieved through a radio frequency switch.

5. The vehicle detection and identification method according to claim 1, characterized in that: The vehicle detection and identification device is deployed in the middle of two adjacent roadside parking spaces and close to the curb, and the vehicle-mounted Bluetooth tag is deployed on the vehicle.

6. The vehicle detection and identification method according to claim 5, characterized in that: The angle between the first direction and the vehicle traveling direction of the lane is 135°, and the angle between the second direction and the vehicle traveling direction of the lane is 45°.

7. The vehicle detection and identification method according to claim 1, characterized in that: The MCU and the Bluetooth communication unit are integrally arranged in a Bluetooth microcontroller.

8. The vehicle detection and identification method according to claim 1, characterized in that: The detection angle of the first ultrasonic radar probe and the second ultrasonic radar probe is not greater than 60°, the measurement blind area is not greater than 0.1m, the maximum measurement distance is not less than 3m, and the measurement accuracy is not less than 5cm.

9. The vehicle detection and identification method according to claim 1, characterized in that: The speed detection unit adopts a three-axis MEMS accelerometer.

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