Dynamic exit guidance method for vehicles with buffer lanes

Abstract

The present invention provides a vehicle dynamic exit guidance method with a buffer lane, the method comprising: in response to a departure operation triggered for a target vehicle, obtaining the payment status and vehicle image of the target vehicle; determining the position of the target vehicle according to the vehicle image; allocating a reference gate when the target vehicle leaves the venue according to the position of the target vehicle; estimating the arrival time of the target vehicle at the reference gate; identifying vehicle features of the vehicle image; outputting the departure priority of the target vehicle based on the vehicle features and the payment status; when the target vehicle is an unpaid vehicle, determining a buffer gate in the reference gates; updating the payment status of the target vehicle from an unpaid state to a paid state, then updating the departure priority of the target vehicle to a paid vehicle, and planning the departure path of the target vehicle according to the arrival time and the position of each reference gate; outputting prompt information corresponding to the departure path; and guiding the target vehicle to exit the venue based on the prompt information.

Description

[0001] This application is a divisional application of the invention patent with application number "202210332790.8", application date "2022.03.30", and name "Parking lot exit guidance method, device, electronic device and storage medium". Technical Field

[0002] The present invention relates to the field of video data processing, and in particular to a parking lot exit guidance method, device, electronic equipment and storage medium. Background Art

[0003] With the development of Internet technology, many parking lots have realized automated management through computer intelligent systems. The computer intelligent systems of parking lots usually have card readers, monitors, electronic displays, entrance and exit barriers and other equipment at the vehicle entrances and exits. These devices manage the vehicles entering and exiting the parking lot through the intelligent control of computer hardware and software.

[0004] However, when drivers are preparing to leave the parking lot, especially during peak hours, or when all vehicles choose to leave through the same exit at the same time, congestion may occur in the parking lot, preventing vehicles from leaving quickly.

[0005] Therefore, it is necessary to provide a parking lot exit guidance method and device to solve the above technical problems. Summary of the invention

[0006] The embodiment of the present invention provides a parking lot exit guidance method and device, which can reduce the time for vehicles to leave the parking lot, thereby improving the exit efficiency.

[0007] An embodiment of the present invention provides a parking lot exit guidance method, which includes:

[0008] In response to a departure operation triggered for a target vehicle, acquiring a payment status and a vehicle image of the target vehicle;

[0009] Determine the reference gate when the target vehicle leaves the venue according to the payment status;

[0010] estimating the arrival time of the target vehicle at the reference gate;

[0011] Dynamically planning the departure path of the target vehicle according to the arrival time, departure priority and departure status of the reference gate;

[0012] Outputting first prompt information corresponding to the departure path;

[0013] Based on the prompt information, the target vehicle is guided to exit the vehicle.

[0014] In the parking lot exit guidance method of the present invention, dynamically planning the exit path of the target vehicle according to the arrival time, the exit priority and the exit status of the reference gate includes:

[0015] When the departure priority is the first priority, determining the candidate gates for the target vehicle to leave according to the arrival time and the positions of the reference gates;

[0016] Dynamically plan the departure path of the target vehicle based on the departure status of the candidate gate

[0017] In the parking lot exit guidance method of the present invention, dynamically planning the exit path of the target vehicle according to the exit status of the candidate gate includes:

[0018] Get the processing rate of each candidate gate, and;

[0019] Obtain the number of vehicles arriving at the candidate gate within the time of path planning;

[0020] Based on the processing rate and the number of vehicles, calculating the state transition information of the candidate gate processing the vehicle departure;

[0021] Extracting a state transition feature corresponding to the state transition information;

[0022] According to the state transition characteristics, calculating the steady-state probability corresponding to the candidate gate;

[0023] Based on the steady-state probability, determining the processing quantity of the candidate gate corresponding to the departure of the target vehicle;

[0024] According to the processing quantity corresponding to each candidate gate, the departure path of the target vehicle is dynamically planned.

[0025] In the parking lot exit guidance method of the present invention, the candidate gates include gate s1 and gate s2, and determining the corresponding processing quantity of the candidate gates when the target vehicle leaves the parking lot based on the steady-state probability includes:

[0026] Determine the maximum queue number n1 of gate s1, and;

[0027] Determine the maximum queue number n2 of the gate s2;

[0028] The number of vehicles leaving the gate s1 within a preset time, E(L1), is calculated according to a first preset formula. The first preset formula is: as well as;

[0029] According to the second preset formula, the number of vehicles E(L2) processed by the gate s2 within the preset time is calculated. The second preset formula is: Among them, n1 is the maximum queue number entering gate s1, n2 is the maximum queue number entering gate s2, i is the number of vehicles entering gate s1, π ij is the steady-state probability that the number of vehicles entering gate s1 is i and the number of vehicles entering gate s2 is j in the current system;

[0030] Based on the quantity E(L1) and the quantity E(L2), a third preset formula is used to calculate the division coefficient of the current vehicle flow, wherein the third preset formula is: α=E(L1) / E(L2), wherein α is the division coefficient of the vehicle flow;

[0031] Based on the split coefficient, determining an initial split ratio between the quantity E(L1) and the quantity E(L2);

[0032] According to the initial split ratio, determine the splitting parameters corresponding to the gate s1 and the splitting parameters corresponding to the gate s2;

[0033] According to the segmentation parameters corresponding to the gate s1 and the segmentation parameters corresponding to the gate s2, the processing quantity corresponding to the gate s1 when the target vehicle leaves the site is determined, and the processing quantity corresponding to the gate s2 when the target vehicle leaves the site is determined.

[0034] In the parking lot exit guidance method of the present invention, dynamically planning the exit path of the target vehicle according to the exit status of the candidate gate includes:

[0035] Detecting the processing quantity of the candidate gate;

[0036] The gate whose processing quantity is less than or equal to the preset value is determined as the target gate;

[0037] When the processing quantity is greater than a preset value, returning to the step of detecting the processing quantity of the candidate gate until the target gate is determined;

[0038] Plan a departure path from the target vehicle to the target gate.

[0039] The parking lot exit guidance method of the present invention further includes:

[0040] When the number of dynamic planning times corresponding to the target vehicle is greater than a preset number, a target gate satisfying the preset conditions is selected from the reference gates, and a departure path from the target vehicle to the target gate is planned.

[0041] In the parking lot exit guidance method of the present invention, dynamically planning the exit path of the target vehicle according to the exit status of the candidate gate includes:

[0042] When the departure priority is the second priority, determining a buffer gate from the reference gates;

[0043] According to the second prompt information, guiding the target vehicle to the buffer gate;

[0044] When the payment status of the target vehicle is updated from an unpaid state to a paid state before the target vehicle exits the buffer lane corresponding to the buffer gate, an exit path for the target vehicle to travel to the paid gate is planned.

[0045] In the parking lot exit guidance method of the present invention, when the exit priority is the second priority, a buffer gate is determined in the reference gate, and the indicator light outputs a second prompt information, and the second prompt information indicates that the target vehicle enters the buffer gate; wherein the buffer gate is arranged in a spacious area of ​​the parking lot, and the interval between the indicator light and the buffer gate is greater than a first set value;

[0046] According to the second prompt information, guiding the target vehicle to the buffer gate;

[0047] When the target vehicle updates its payment status from an unpaid status to a paid status before exiting the buffer lane corresponding to the buffer gate, the indicator light is controlled to output a third prompt message, wherein the third prompt message indicates that the target vehicle enters the paid gate, the interval between the indicator light and the paid gate is greater than a second set value, and the interval between the paid gate and the buffer gate is greater than a third set value;

[0048] Plan the departure path for the target vehicle after the payment status is updated to travel to the paid gate.

[0049] In the parking lot exit guidance method of the present invention, determining the reference gate when the target vehicle leaves the parking lot according to the payment status and the vehicle image includes:

[0050] Based on the payment status, determining the departure status of the target vehicle;

[0051] A reference gate for the target vehicle when leaving the venue is allocated according to the departure status and the vehicle image.

[0052] In the parking lot exit guidance method of the present invention, the estimating the arrival time of the target vehicle at the reference gate includes:

[0053] Get parking lot image;

[0054] The arrival time of the target vehicle at the reference gate is estimated based on the vehicle image and the parking lot image.

[0055] The embodiment of the present invention further provides a parking lot exit guidance device, which includes:

[0056] An acquisition module, configured to acquire a payment status and a vehicle image of a target vehicle in response to a departure operation triggered for the target vehicle;

[0057] A determination module, used to determine a reference gate when the target vehicle leaves the venue according to the payment status;

[0058] An estimation module, used for estimating the arrival time of the target vehicle at the reference gate;

[0059] The guidance module is used to guide the target vehicle to exit the gate according to the arrival time, the vehicle image and the departure status of the reference gate.

[0060] An embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-mentioned parking lot exit guidance method when executing the program.

[0061] An embodiment of the present invention further provides a storage medium storing processor-executable instructions, wherein the instructions are loaded by one or more processors to execute the above-mentioned parking lot exit guidance method.

[0062] Compared with the prior art, the parking lot exit guidance method and the parking lot exit guidance device of the present invention respond to the departure operation triggered for the target vehicle, obtain the payment status and vehicle image of the target vehicle, determine the reference gate when the target vehicle leaves according to the payment status, and then estimate the arrival time of the target vehicle at the reference gate. Finally, according to the arrival time, the vehicle image and the departure situation of the reference gate, the target vehicle is guided to exit. It can be seen that when guiding the target vehicle to exit, the arrival time of the target vehicle to the reference gate is used, combined with the vehicle image and the departure situation of the reference gate. During the departure process, a large number of vehicles are avoided from leaving the parking lot. Therefore, the time for vehicles to leave the parking lot can be reduced, thereby improving the departure efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A schematic diagram of a scene of an existing parking lot exit guidance method;

[0064] Figure 2 A flowchart of a parking lot exit guidance method of the present invention;

[0065] Figures 3 to 7 A schematic diagram of a scene of an embodiment of a parking lot exit guidance device of the present invention;

[0066] Figure 8 Another flow chart of the parking lot exit guidance method of the present invention;

[0067] Fig. 9 It is a structural schematic diagram of an embodiment of a parking lot exit guiding device of the present invention;

[0068] Fig.10 It is a structural schematic diagram of a guidance module of an embodiment of a parking lot exit guidance device of the present invention;

[0069] Fig.11 It is a schematic diagram of the working environment structure of the electronic device where the parking lot exit guidance device of the present invention is located. DETAILED DESCRIPTION

[0070] Please refer to the drawings, in which the same component symbols represent the same components, and the principle of the present invention is illustrated by implementing it in an appropriate computing environment. The following description is based on the illustrated specific embodiment of the present invention, which should not be considered as limiting other specific embodiments of the present invention that are not described in detail herein.

[0071] In the following description, specific embodiments of the present invention will be described with reference to steps and symbols of operations performed by one or more computers, unless otherwise stated. Therefore, it will be understood that these steps and operations, which are several times referred to as being performed by a computer, include manipulation by a computer processing unit of electronic signals representing data in a structured form. This manipulation transforms the data or maintains it at a location in the memory system of the computer, which can be reconfigured or otherwise change the operation of the computer in a manner familiar to those skilled in the art. The data structure in which the data is maintained is a physical location in the memory, which has specific characteristics defined by the data format. However, the principles of the present invention are described in the above text, which does not represent a limitation, and those skilled in the art will understand that the various steps and operations described below can also be implemented in hardware.

[0072] The parking lot exit guidance method and exit guidance device of the present invention can be set in any electronic device, used to obtain the payment status and vehicle image of the target vehicle, determine the reference gate when the target vehicle leaves the parking lot according to the payment status, estimate the arrival time of the target vehicle at the reference gate, and guide the target vehicle to leave the parking lot according to the arrival time, the vehicle image and the departure situation of the reference gate. The electronic device includes but is not limited to a personal computer, a server computer, a multi-processor system, a consumer electronic device, a small computer, a large computer, a distributed computing environment including any of the above systems or devices, and the like. The parking lot exit guidance device is preferably a data processing terminal or server for vehicle data processing, which determines the reference gate when the target vehicle leaves the parking lot based on the payment status of the target vehicle, and estimates the arrival time of the target vehicle at the reference gate. Finally, according to the arrival time, the vehicle image and the departure situation of the reference gate, the target vehicle is guided to leave the parking lot. During the departure process, a large number of vehicles are avoided from leaving the parking lot from the same gate. Therefore, the time for vehicles to leave the parking lot can be reduced, thereby improving the departure efficiency.

[0073] The current exit guidance method of a parking lot is to set up a sign in the parking lot in advance. The sign is used to indicate the exit of the parking lot. However, it does not indicate how many gates are included at the exit, nor can it show the queue situation of vehicles at the exit.

[0074] See also Figure 1 , Figure 1 : It is a plan view of a parking lot, wherein a signboard (not shown in the figure) is provided at a preset position of the parking lot, and a signboard z1 is provided in area A1 where the target vehicle S is located, wherein the signboard z1 indicates that the exit closest to area A1 is exit a, and the signboard z2 corresponding to area A2 indicates that the exit of area A2 is exit b, wherein exit a includes gates a1, a2 and a3, and exit b includes gates b1, b2 and b3, wherein gates a1 and a2 have mechanical failures, and only gate a3 is in normal working condition, and gates b1, b2 and b3 are all in normal working condition, at this time, there is a traffic jam at exit a, and no vehicle is leaving at exit b, and in the current factory guidance method, the driver will control the target vehicle to go to exit a according to the instructions on the signboard, resulting in the target vehicle being unable to achieve the purpose of leaving quickly.

[0075] The present invention provides a parking lot exit guidance solution, which can guide a target vehicle to exit the parking lot based on the arrival time of the target vehicle at the gate, the vehicle image of the target vehicle and the exit situation of the gate, thereby avoiding a situation where a large number of vehicles leave the parking lot from the same gate. Therefore, the time for vehicles to leave the parking lot can be reduced, thereby improving the exit efficiency.

[0076] Please refer to Figure 2 , Figure 2 The flowchart of an embodiment of the parking lot exit guidance method of the present invention. The parking lot exit guidance method of this embodiment can be implemented using the above-mentioned electronic device, and the parking lot exit guidance method of this embodiment includes:

[0077] Step 101: in response to a departure operation triggered for a target vehicle, obtaining a payment status and a vehicle image of the target vehicle;

[0078] Step 102, determining a reference gate when the target vehicle leaves the venue according to the vehicle image;

[0079] Step 103, estimating the arrival time of the target vehicle at the reference gate;

[0080] Step 104: guide the target vehicle to exit the gate according to the arrival time, payment status and departure status of the reference gate.

[0081] The parking lot exit guidance method of this embodiment is described in detail below.

[0082] In step 101, the payment status includes a paid status and an unpaid status. In some embodiments, the payment status may also include a free-payment status. The vehicle image is an overall or partial image of the target vehicle taken by an image acquisition device. The vehicle image may carry information such as the vehicle's color, model, and license plate, to facilitate subsequent positioning of the vehicle.

[0083] In step 102, the gate is a channel blocking device. The gate of the parking lot mainly includes a processing device, a blocking body and a camera. The blocking body is used to block the vehicle from passing through, and the camera is used to collect vehicle information of the vehicle. When the vehicle information is verified, the processing device controls the blocking body to open so that the vehicle can leave. In the scheme of the present invention, different gates can be assigned to different vehicles according to the payment status. For example, the gate assigned to the paid vehicle is the gate closest to the vehicle of this type, which is convenient for the vehicle of this type to leave quickly; the fixed gate of this type of vehicle is assigned, such as a manual payment gate, so that the user does not need to perform a complicated payment process on the electronic device, and can leave quickly through the manual payment gate. That is, optionally, in some embodiments, step 102 can specifically include:

[0084] (11) determining the location of the target vehicle based on the vehicle image;

[0085] (12) Based on the location of the target vehicle, a reference gate is assigned when the target vehicle leaves the site.

[0086] It is understandable that the number of reference gates can be one or more. For example, the reference gates for the target vehicle to leave the site are gates a, b, and c, that is, when the target vehicle leaves the site, one of the gates can be selected from gates a, b, and c as the gate for leaving the site. It is understandable that in actual use, there may be cases where the gate is damaged. Therefore, the reference gate is not the optimal gate for the subsequent target vehicle to leave the site.

[0087] In step 103, the estimated time of arrival (ETA) is a basic function in the map software, which performs the following functions: given a route and a departure time on a map, the time required to complete the route is estimated. Therefore, a parking lot image can be obtained, and the arrival time of the target vehicle at the reference gate can be estimated based on the parking lot image and the vehicle image. That is, optionally, in some embodiments, step 103 may specifically include:

[0088] (21) Acquire parking lot image;

[0089] (22) Based on the vehicle image and the parking lot image, estimate the arrival time of the target vehicle at the reference gate.

[0090] Specifically, the current position of the target vehicle can be used as the starting point, and the position of the reference gate can be used as the end point. Based on the starting point and the end point, the route of the target vehicle to the reference gate can be determined. Finally, the route is input into the estimation model, and the estimation model estimates the arrival time of the target vehicle at the reference gate. Among them, the estimation model can be pre-set, and can be a deep residual network (ResNet) or an Inception convolutional neural network model. Taking ResNet as an example, ResNet introduces the core idea of ​​the so-called "Identity Shortcut Connection". The inspiration comes from: for a relatively shallow network that has achieved saturation accuracy, when several congruent mapping layers (ie, y = x) are added later, the error will not increase. In other words, deeper networks should not lead to an increase in errors on the training set. It should be noted that when estimating the arrival time of the target vehicle at the reference gate, the input of the model can also be increased. For example, when the target vehicle travels to the reference gate, the departure conditions of the other vehicles are input into the estimation model to improve the accuracy of the estimated arrival time and facilitate the subsequent guidance of the departure of the target vehicle.

[0091] In step 104, the image features of the vehicle image may be extracted, and based on the image features, the difficulty of the target vehicle reaching each reference gate is determined. Finally, based on the difficulty and the departure status of the reference gate, the target vehicle is guided out of the gate. For example, see Figure 3 , the reference gates corresponding to the target vehicle are gate a and gate b, and gate a and gate b are both in an idle state. It can be seen from the figure that the target vehicle needs to pass a 90-degree corner when arriving at gate a, but does not need to pass a corner when arriving at gate b. The arrival time of the target vehicle at gate a is 30 seconds, and the arrival time of the target vehicle at gate a is 50 seconds. If the target vehicle is a truck, the difficulty of passing a 90-degree corner is greater than that of a general family car. Therefore, in this case, the target vehicle will be guided to leave from gate b; if the target vehicle is a car, it will be guided to leave from gate a.

[0092] In addition, the departure priority of the target vehicle can also be determined through image features. For example, for rescue vehicles such as fire trucks and ambulances, their departure priority is higher than other types of vehicles. Therefore, in a scenario where multiple vehicles leave the scene, rescue vehicles will be given priority to leave the scene. That is, optionally, in some embodiments, step 104 may specifically include:

[0093] (31) identifying vehicle features of the vehicle image;

[0094] (32) Based on the vehicle characteristics, output the departure priority of the target vehicle;

[0095] (33) Guide the target vehicle out of the gate based on the arrival time, departure priority, and departure status of the reference gate.

[0096] For example, the vehicle features of the vehicle image can be identified by the trained target detection model. Specifically, the anchor refinement module (ARM) in the target detection model can be used to extract features of the vehicle image to obtain vehicle features of the vehicle image at multiple scales. The vehicle features can include license plate features, vehicle model features and vehicle weight features. For example, the image features of the vehicle image at three scales of image size 40*40, 20*20 and 10*10 are extracted to obtain the image features corresponding to the three image sizes. Subsequently, based on these vehicle features, the departure priority of the target vehicle is output. For example, when the target vehicle is in the state of paying fees, the identified license plate feature is "Military XXXXX", the vehicle model feature is a van and the vehicle type feature is a military vehicle, then the departure priority of the target vehicle is output as the first level. Finally, according to the arrival time, departure priority and the departure situation of the reference gate, the target vehicle is guided to exit quickly. For another example, if only the vehicle model feature and vehicle type feature are identified, but the license plate feature is not identified, then the departure priority of the target vehicle can be output according to the vehicle model feature and vehicle weight feature.

[0097] Further, in some embodiments, the departure path may be dynamically planned according to the arrival time, departure priority and departure status of the reference gate, and the target vehicle may be guided to leave based on the departure path. That is, optionally, in some embodiments, the step of “guiding the target vehicle to leave according to the arrival time, departure priority and departure status of the reference gate” may specifically include:

[0098] (41) Dynamically plan the departure path of the target vehicle based on the arrival time, departure priority, and departure status of the reference gate;

[0099] (42) Outputting prompt information corresponding to the departure path;

[0100] (43) Based on the prompt information, guide the target vehicle to exit the scene.

[0101] For example, an electronic signboard can be installed in advance on each parking space in the parking lot. When the target vehicle needs to leave, the departure path and the license plate information of the target vehicle will be displayed on the signboard so that the owner can be informed. Finally, the owner can control the target vehicle to perform the vehicle departure operation based on the prompt information.

[0102] For another example, the departure path may be sent to the owner's mobile phone so that the owner may control the target vehicle to perform the vehicle departure operation based on the prompt information. Of course, the prompt information may also be output in other ways, which are not limited here.

[0103] It should be noted that, in some embodiments, in order to further improve the departure efficiency, the priority corresponding to special vehicle types can be set as the first priority in advance, and the priority corresponding to ordinary vehicle types that have paid the fee can be set as the first priority, and the priority corresponding to ordinary vehicle types that have not paid the fee can be set as the second priority, among which special vehicle types refer to vehicles that perform special duties and hang special vehicle license plates and are equipped with sirens and signal lights.

[0104] If it is detected that the departure priority of the target vehicle is the first priority, the corresponding gate can be allocated, and then the departure path of the target vehicle can be planned to guide the departure of the target vehicle. That is, optionally, in some embodiments, the step of "dynamically planning the departure path of the target vehicle according to the arrival time, the departure priority and the departure situation of the reference gate" can specifically include:

[0105] (51) When the departure priority is the first priority, determine the candidate gates for the target vehicle to leave based on the arrival time and the positions of the reference gates;

[0106] (52) Dynamically plan the departure path of the target vehicle based on the departure status of the candidate gates.

[0107] Optionally, in some embodiments, when the departure priority is the first priority, a Markov decision may be used to dynamically plan the departure path of the target vehicle, for example, see Figure 4 , the car owner triggers the departure operation through the applet, and the server corresponding to the parking system allocates candidate gates for vehicle C when it leaves, and the candidate gates are gates s1 and gates s2. Subsequently, the server obtains the processing rate of gate s1 and the processing rate of gate s2, and then obtains the number of vehicles arriving at gate s1 and the number of vehicles arriving at gate s2 within the same time (i.e., the time of planning the departure path). Thus, the state transition information A1 of gate s1 processing vehicle departure and the state transition information A2 of gate s2 processing vehicle departure can be calculated. Then, the state transition features corresponding to the state transition information A1 and the state transition features corresponding to the state transition information A2 are extracted respectively, and based on the extracted state transition features, the steady-state probability corresponding to gate s1 and the steady-state probability corresponding to gate s2 are calculated. Finally, based on the steady-state probability, the number of vehicle departures processed by gate s1 within the preset time and the number of vehicle departures processed by gate s2 within the preset time are determined. Specifically, after obtaining the steady-state probability, the number of vehicle departures processed by gate s1 within the preset time can be calculated as follows:

[0108]

[0109] Among them, n1 is the maximum queue number entering gate s1, n2 is the maximum queue number entering gate s2, i is the number of vehicles entering gate s1, π ij is the steady-state probability that the number of vehicles entering gate s1 is i and the number of vehicles entering gate s2 is j in the current system.

[0110] For gate s2, the target processing quantity within the preset time can be calculated as follows:

[0111]

[0112] Among them, n1 is the maximum queue number entering gate s1, n2 is the maximum queue number entering gate s2, i is the number of vehicles entering gate s1, π ij is the steady-state probability that the number of vehicles entering gate s1 is i and the number of vehicles entering gate s2 is j in the current system.

[0113] Then, according to the target processing quantity, the division coefficient of the current vehicle flow is determined, and the division coefficient can be specifically as follows:

[0114] α=E(L1) / E(L2)

[0115] Among them, α is the segmentation coefficient of the vehicle flow. When the number of candidate gates is greater than or equal to 2, the target processing quantity of each candidate gate can be compared respectively, so as to obtain the segmentation coefficient for segmenting the vehicle flow, and these segmentation coefficients are used as segmentation information. Then, the initial split ratio between the target processing quantity of each candidate gate is extracted from the segmentation information, and the segmentation parameters corresponding to the candidate gate are determined according to the initial split ratio. For example, for gates s1 and s2, when the initial split ratio is 1:1, the segmentation coefficients corresponding to the processing queue can be 0.5 and 0.5, that is, the vehicle flow is evenly distributed to gates s1 and s2. When the processing quantity of gate s1 increases, the subsequent vehicles that need to leave the site are allocated according to a certain ratio, such as 0.1:0.9, that is, 90% of the vehicles are allocated to gate s2. According to the allocation result, the departure path of the target vehicle is planned.

[0116] Optionally, in some embodiments, the step of "dynamically planning the departure path of the target vehicle according to the departure status of the candidate gates" may specifically include: detecting the processing number of the candidate gates; determining the gate with a processing number less than or equal to a preset value as the target gate; when the processing number is greater than the preset value, returning to the step of detecting the processing number of the candidate gates until the target gate is determined; and planning the departure path from the target vehicle to the target gate.

[0117] It should be noted that since Markov decision making is a dynamic planning process, multiple planning may occur in the actual planning process, causing the target vehicle to always look for the optimal gate to leave, thereby affecting the efficiency of vehicle departure. Therefore, in some embodiments, the number of planning times can be preset, that is, optionally, in some embodiments, it can also include: when the number of dynamic planning times corresponding to the target vehicle is greater than the preset number, a target gate that meets the preset conditions is selected from the reference gates, and the departure path from the target vehicle to the target gate is planned. The preset number can be 5 times, 2 times or 1 time, which can be set according to the actual situation, and will not be repeated here.

[0118] In addition, for the case where the departure priority is the second priority, that is, for ordinary vehicles that have not paid the fee, the target vehicle can be guided to the buffer gate so as to leave the venue through the buffer gate, that is, the step of "dynamically planning the departure path of the target vehicle according to the arrival time, departure priority and departure situation of the reference gate" can specifically include:

[0119] (61) When the departure priority is the second priority, a buffer gate is determined from the reference gates according to the arrival time and the departure status of the reference gates;

[0120] (62) Plan the departure path from the target vehicle to the buffer gate.

[0121] See also Figure 5 When the departure priority of the target vehicle C is the second priority, that is, the target vehicle C has not paid the fee, at this time, the target vehicle is guided to the buffer gate H. When the target vehicle drives to the buffer gate H, the buffer gate H opens. After the target vehicle C passes through the buffer gate H, it enters the buffer lane S. A payment reminder message can be set in the buffer lane S. When the target vehicle C completes the payment before exiting the buffer lane S, the departure priority of the target vehicle C can be updated to the first priority, and then the corresponding departure operation is performed. For the departure process with the first priority, please refer to the previous embodiment and will not be repeated here.

[0122] Optionally, in some embodiments, see Figure 6A paid gate Q can be set near the buffer gate H. When the target vehicle C completes payment before exiting the buffer lane S, the target vehicle C is instructed to leave through the paid gate Q. Optionally, an indicator light L can be set in front of the buffer gate H. When an unpaid vehicle drives in front of the indicator light L, the indicator light L instructs the target vehicle C to drive to the buffer gate H. When the target vehicle C completes payment before exiting the buffer lane S, the target vehicle C is instructed to drive to the paid gate Q to leave. It should be noted that a camera P can also be added in front of the buffer gate H, and the indicator light L is set between the camera P and the buffer gate H, so that the user can enter the buffer lane S without feeling, thereby improving the user experience of controlling the vehicle to leave.

[0123] Since the exit area of ​​a parking lot is generally narrow and it is not convenient to set up a vehicle guidance area, the above-mentioned indicator lights and buffer gates can be set up to set up corresponding buffer lanes in specific spacious areas of the parking lot, and unpaid vehicles can enter the buffer lanes without feeling, thus avoiding unpaid vehicles blocking the paid gate channel. This can reduce the time it takes for paid vehicles to leave the lot and improve the departure efficiency of paid vehicles. At the same time, after the unpaid vehicles have completed the payment, they can leave the lot quickly through the paid gate Q without having to re-determine their corresponding candidate gates for departure, thereby improving the departure efficiency of unpaid vehicles.

[0124] For example, when the target vehicle c enters the prompt area A1, the camera p in the recognition area A1 will recognize the license plate of the target vehicle c, thereby determining whether the target vehicle c is a paid vehicle or an unpaid vehicle. When the target vehicle c is a paid vehicle, the indicator light L outputs a prompt message of "Please turn left to leave", and the user can control the target vehicle c to turn left according to the prompt message and drive into the exit lane S1. At the same time, the paid gate Q opens to allow the paid vehicle to leave; when the target vehicle c is an unpaid vehicle, the indicator light L outputs a prompt message of "Please turn right to leave", and the user can control the target vehicle c to turn right according to the prompt message and drive into the buffer lane S2. At this time, the buffer gate T is in a closed state to prevent the target vehicle c from passing through, and a payment QR code can be provided on the wall of the buffer lane s2, and a prompt message of "Please scan the code to pay" can be provided below the payment QR code to prompt the user to pay. After the payment is completed, the buffer gate H opens, so that the target vehicle c completes the payment before leaving the buffer lane S2, and when the target vehicle c completes the payment and drives back to the prompt area Domain A1, at this time, after prompting area A1 recognizes the license plate of the target vehicle c, it determines that the target vehicle c is a paid vehicle. At this time, the indicator light L outputs the prompt information of "Please turn left to leave", wherein the indicator light L is respectively spaced a certain distance from the buffer gate H and the paid gate Q. Specifically, the distance between the indicator light L and the buffer gate H is greater than the first set value, the distance between the indicator light L and the paid gate Q is greater than the second set value, and the distance between the paid gate Q and the buffer gate H is greater than the third set value. Through the above method, the indication operation is more efficient, and the user can enter the departure lane S1 or the buffer lane S2 without feeling, avoiding the gate operation affecting the effectiveness of the indication operation; at the same time, the paid gate Q should be far away from the buffer gate H to avoid unpaid vehicles directly entering the paid gate Q, causing the unpaid vehicles to block the paid gate Q, so as to realize the diversion of paid vehicles and unpaid vehicles, thereby improving the efficiency of vehicle exit.

[0125] Optionally, a payment reminder T can also be set at the buffer gate H. The payment reminder T can be a payment QR code, a text prompt or a voice prompt. Therefore, when an unpaid vehicle drives to the buffer gate H, the user can pay according to the payment reminder T. After the payment is completed, the buffer gate H opens, allowing the unpaid vehicle to complete the payment before leaving the buffer lane S2. Moreover, after the unpaid vehicle completes the payment, it can quickly leave the venue through the paid gate Q, thereby improving the departure efficiency of the unpaid vehicles.

[0126] Optional, see Figure 7, the target vehicle c1 is an unpaid vehicle, and the target vehicle c2 is a paid vehicle. Specifically, the target vehicles c1 and c2 enter the prompt area A1 successively. For the target vehicle c1, the indicator light L outputs the prompt message of "Please turn right to leave", and the user can control the target vehicle c1 to turn right according to the prompt message and drive into the buffer lane S2. The user can complete the payment according to the prompt message set in the buffer lane S2, so that the target vehicle c1 completes the payment before leaving the buffer lane S2; and for the target vehicle c2, the indicator light L outputs the prompt message of "Please turn left to leave", and the user can control the target vehicle c2 to turn left according to the prompt message and drive into the departure lane S1. At the same time, the paid gate Q is opened to allow the paid vehicle to leave.

[0127] In addition, when the target vehicle c1 completes payment and drives back to the prompt area A1, the target vehicle c2 has completed the departure operation. It can be seen that the unpaid status of the target vehicle c1 will not have any impact on the departure of the paid target vehicle c2. At the same time, the recognition operation of the payment status by the camera P is imperceptible to the users of the target vehicles c1 and c2. The indicator light L outputs the corresponding prompt according to the recognition result of the camera P. The user can enter the departure lane S1 or the buffer lane S2 without feeling, avoiding unpaid vehicles from directly entering the paid gate Q, causing unpaid vehicles to block the paid gate Q, and realizing the diversion of paid and unpaid vehicles, thereby improving the efficiency of vehicle exit.

[0128] This completes the parking lot exit guidance process of this embodiment.

[0129] The parking lot exit guidance method of the present embodiment determines the reference gate when the target vehicle leaves the parking lot based on the vehicle image of the target vehicle, and estimates the arrival time of the target vehicle at the reference gate. Finally, the target vehicle is guided to leave the parking lot according to the arrival time, payment status and departure situation of the reference gate. It guides the target vehicle to leave the parking lot by utilizing the arrival time of the target vehicle at the gate, the vehicle image of the target vehicle and the departure situation of the gate, thereby avoiding a large number of vehicles leaving the parking lot from the same gate. Therefore, the time it takes for vehicles to leave the parking lot can be reduced, thereby improving the departure efficiency.

[0130] The embodiment of the present invention also provides a parking lot exit guidance method, wherein the parking lot exit guidance device is integrated in a server, see Figure 8 , the specific process is as follows:

[0131] Step 201: In response to a departure operation triggered for a target vehicle, the server obtains a payment status and a vehicle image of the target vehicle;

[0132] Step 202, the server determines the reference gate when the target vehicle leaves the venue according to the vehicle image;

[0133] Step 203, the server estimates the arrival time of the target vehicle at the reference gate;

[0134] Step 204: The server guides the target vehicle out of the gate according to the arrival time, payment status, and departure status of the reference gate.

[0135] From the above, it can be seen that the server can guide the target vehicle out of the gate based on the arrival time of the target vehicle at the gate, the vehicle image of the target vehicle and the departure situation of the gate, so as to avoid a large number of vehicles leaving the same gate. Therefore, it can reduce the time for vehicles to leave the parking lot, thereby improving the departure efficiency.

[0136] The present invention also provides a parking lot exit guidance device, please refer to Fig. 9 , Fig. 9 1 is a schematic diagram of the structure of an embodiment of the parking lot exit guidance device of the present invention. The parking lot exit guidance device of this embodiment can be implemented using the parking lot exit guidance method described above. The parking lot exit guidance device 30 of this embodiment includes an acquisition module 301, a determination module 302, an estimation module 303 and a guidance module 304, which are specifically as follows:

[0137] The acquisition module 301 is used to acquire the payment status and vehicle image of the target vehicle in response to the departure operation triggered for the target vehicle.

[0138] The determination module 302 is used to determine the reference gate when the target vehicle leaves the venue according to the vehicle image.

[0139] The estimation module 303 is used to estimate the arrival time of the target vehicle at the reference gate.

[0140] The guidance module 304 is used to guide the target vehicle out of the gate according to the arrival time, payment status and departure status of the reference gate.

[0141] Optionally, in some embodiments, the determination module 302 may be specifically used to: determine the location of the target vehicle based on the vehicle image, and assign a reference gate when the target vehicle leaves the site according to the location of the target vehicle.

[0142] Optionally, in some embodiments, the estimation module 303 may be specifically used to: acquire a parking lot image, and estimate the arrival time of the target vehicle at the reference gate according to the vehicle image and the parking lot image.

[0143] Optionally, in some embodiments, see Fig.10 , Fig.10A schematic diagram of the structure of a guidance module of an embodiment of a parking lot exit guidance device of the present invention, wherein the guidance module 304 may specifically include an identification unit 3041, an output unit 3042 and a guidance unit 3043.

[0144] Among them, the recognition unit 3041 is used to recognize the vehicle characteristics of the vehicle image; the output unit 3042 is used to output the departure priority of the target vehicle based on the vehicle characteristics and payment status; the guidance unit 3043 is used to guide the target vehicle out of the gate according to the arrival time, departure priority, and departure status of the reference gate.

[0145] Optionally, in some embodiments, the guiding unit 3043 may specifically include:

[0146] The planning subunit is used to dynamically plan the departure path of the target vehicle based on the arrival time, departure priority and departure status of the reference gate;

[0147] An output subunit, used to output prompt information corresponding to the departure path;

[0148] The guiding subunit is used to guide the target vehicle out of the scene based on the prompt information.

[0149] Optionally, in some embodiments, the planning subunit can be specifically used to: when the departure priority is the first priority, determine the candidate gates when the target vehicle leaves according to the arrival time and the position of each reference gate; and dynamically plan the departure path of the target vehicle according to the departure status of the candidate gates.

[0150] Optionally, in some embodiments, the planning subunit can also be used to: detect the processing number of candidate gates; determine the gate with a processing number less than or equal to a preset value as the target gate; when the processing number is greater than the preset value, return to the step of detecting the processing number of the candidate gates until the target gate is determined; plan the departure path of the target vehicle to the target gate.

[0151] Optionally, in some embodiments, the planning subunit may also be specifically used to: when the number of dynamic planning times corresponding to the target vehicle is greater than a preset number, select a target gate that meets preset conditions from the reference gates, and plan a departure path from the target vehicle to the target gate.

[0152] Optionally, in some embodiments, the planning subunit may also be specifically used for: when the departure priority is the second priority, determining a buffer gate among the reference gates according to the arrival time and the departure status of the reference gate; and planning a departure path from the target vehicle to the buffer gate.

[0153] This completes the process of guiding vehicles to exit the parking lot by the parking lot exit guiding device 30 of the present embodiment.

[0154] The specific working principle of the parking lot exit guidance device of this embodiment is the same as or similar to the description in the embodiment of the parking lot exit guidance method mentioned above. For details, please refer to the detailed description in the embodiment of the parking lot exit guidance method mentioned above.

[0155] The parking lot exit guidance device of the present embodiment responds to the departure operation triggered for the target vehicle, obtains the payment status and vehicle image of the target vehicle, determines the reference gate when the target vehicle leaves based on the vehicle image, and then estimates the arrival time of the target vehicle at the reference gate. Finally, based on the arrival time, payment status and departure status of the reference gate, the target vehicle is guided to exit the parking lot, thereby avoiding the situation where a large number of vehicles leave the same gate. Therefore, the time it takes for vehicles to leave the parking lot can be reduced, thereby improving the departure efficiency.

[0156] As used herein, the terms "component," "module," "system," "interface," "process," and the like are generally intended to refer to a computer-related entity: hardware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable application, a thread of execution, a program, and / or a computer. By way of illustration, both an application running on a controller and the controller can be components. One or more components can reside within a process and / or thread of execution, and a component can be localized on one computer and / or distributed between two or more computers.

[0157] Fig.11 The following discussion provides a brief, general description of the working environment of the electronic device in which the video data transmission apparatus described in the present invention is implemented. Fig.11 The working environment of is only one example of a suitable working environment and is not intended to suggest any limitation as to the scope of use or functionality of the working environment. Example electronic devices 1012 include, but are not limited to, wearable devices, head mounted devices, personal computers, server computers, handheld or laptop devices, mobile devices (such as mobile phones, personal digital assistants (PDAs), media players, etc.), multi-processor systems, consumer electronic devices, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and the like.

[0158] Although not required, embodiments are described in the general context of "computer readable instructions" being executed by one or more electronic devices. Computer readable instructions may be distributed via computer readable media (discussed below). Computer readable instructions may be implemented as program modules, such as functions, objects, application programming interfaces (APIs), data structures, etc. that perform specific tasks or implement specific abstract data types. Typically, the functionality of the computer readable instructions may be arbitrarily combined or distributed in a variety of environments.

[0159] Fig.11 An example of an electronic device 1012 including one or more embodiments of the video data transmission apparatus of the present invention is shown. In one configuration, the electronic device 1012 includes at least one processing unit 1016 and a memory 1018. Depending on the exact configuration and type of the electronic device, the memory 1018 may be volatile (such as RAM), non-volatile (such as ROM, flash memory, etc.), or some combination of the two. Figure 1 This is illustrated by dashed line 1014.

[0160] In other embodiments, the electronic device 1012 may include additional features and / or functionality. For example, the device 1012 may also include additional storage devices (e.g., removable and / or non-removable), including but not limited to magnetic storage devices, optical storage devices, etc. Such additional storage devices may be stored in the form of a memory card or a memory card. Fig.11 1020. In one embodiment, computer readable instructions for implementing one or more embodiments provided herein may be in the storage device 1020. The storage device 1020 may also store other computer readable instructions for implementing an operating system, application programs, etc. The computer readable instructions may be loaded into the memory 1018 and executed by, for example, the processing unit 1016.

[0161] The term "computer-readable medium" as used herein includes computer storage media. Computer storage media include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions or other data. Memory 1018 and storage device 1020 are examples of computer storage media. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical storage device, cassette, magnetic tape, magnetic disk storage device or other magnetic storage device, or any other medium that can be used to store the desired information and can be accessed by the electronic device 1012. Any such computer storage medium can be part of the electronic device 1012.

[0162] The electronic device 1012 may also include a communication connection 1026 that allows the electronic device 1012 to communicate with other devices. The communication connection 1026 may include, but is not limited to, a modem, a network interface card (NIC), an integrated network interface, a radio frequency transmitter / receiver, an infrared port, a USB connection, or other interfaces for connecting the electronic device 1012 to other electronic devices. The communication connection 1026 may include a wired connection or a wireless connection. The communication connection 1026 may transmit and / or receive communication media.

[0163] The term "computer-readable medium" may include communication media. Communication media typically embodies computer-readable instructions or other data in a "modulated data signal" such as a carrier wave or other transport mechanism, and includes any information delivery media. The term "modulated data signal" may include a signal that has one or more of its characteristics set or changed in such a manner as to encode information into the signal.

[0164] The electronic device 1012 may include an input device 1024, such as a keyboard, a mouse, a pen, a voice input device, a touch input device, an infrared camera, a video input device, and / or any other input device. The device 1012 may also include an output device 1022, such as one or more displays, speakers, a printer, and / or any other output device. The input device 1024 and the output device 1022 may be connected to the electronic device 1012 via a wired connection, a wireless connection, or any combination thereof. In one embodiment, an input device or an output device from another electronic device may be used as an input device 1024 or an output device 1022 of the electronic device 1012.

[0165] The components of the electronic device 1012 may be connected via various interconnections (e.g., buses). Such interconnections may include a peripheral component interconnect (PCI) (e.g., PCI Express), a universal serial bus (USB), FireWire (IEEE 13104), an optical bus structure, and the like. In another embodiment, the components of the electronic device 1012 may be interconnected via a network. For example, the memory 1018 may be composed of multiple physical memory units located in different physical locations and interconnected via a network.

[0166] Those skilled in the art will recognize that storage devices for storing computer-readable instructions can be distributed across a network. For example, an electronic device 1030 accessible via network 1028 can store computer-readable instructions for implementing one or more embodiments provided by the present invention. Electronic device 1012 can access electronic device 1030 and download a portion or all of the computer-readable instructions for execution. Alternatively, electronic device 1012 can download multiple computer-readable instructions as needed, or some instructions can be executed at electronic device 1012 and some instructions can be executed at electronic device 1030.

[0167] Various operations of the embodiments are provided herein. In one embodiment, the one or more operations described may constitute computer-readable instructions stored on one or more computer-readable media, which, when executed by an electronic device, will cause a computing device to perform the operations. The order in which some or all operations are described should not be interpreted as implying that these operations must be sequence-dependent. Those skilled in the art will appreciate alternative sequencing with the benefit of this specification. Moreover, it should be understood that not all operations must exist in each embodiment provided herein.

[0168] Moreover, although the present disclosure has been shown and described with respect to one or more implementations, those skilled in the art will think of equivalent variations and modifications based on the reading and understanding of this specification and the accompanying drawings. The present disclosure includes all such modifications and variations, and is limited only by the scope of the appended claims. In particular, with respect to the various functions performed by the above-mentioned components (such as elements, resources, etc.), the terms used to describe such components are intended to correspond to any component (unless otherwise indicated) that performs the specified function of the component (such as it is functionally equivalent), even if the structure is not equivalent to the disclosed structure of the function in the exemplary implementation of the present disclosure shown herein. In addition, although the specific features of the present disclosure have been disclosed with respect to only one of several implementations, such features can be combined with one or more other features of other implementations that may be desired and advantageous for a given or specific application. Moreover, insofar as the terms "including", "having", "containing" or their variations are used in specific embodiments or claims, such terms are intended to be included in a manner similar to the term "comprising".

[0169] The functional units in the embodiments of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc. The above-mentioned devices or systems may execute the methods in the corresponding method embodiments.

[0170] In summary, although the present invention has been disclosed as above by embodiments, the serial numbers before the embodiments are only used for convenience of description and do not limit the order of the embodiments of the present invention. Moreover, the above embodiments are not used to limit the present invention. A person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A method for guiding vehicles to exit dynamically with a buffer lane, characterized in that: include: In response to a departure operation triggered for a target vehicle, acquiring a payment status and a vehicle image of the target vehicle; Determine the position of the target vehicle according to the vehicle image; allocate a reference gate when the target vehicle leaves the site according to the position of the target vehicle; estimating the arrival time of the target vehicle at the reference gate; identifying vehicle features of the vehicle image; Based on the vehicle characteristics and payment status, output the departure priority of the target vehicle; When the departure priority of the target vehicle is a common vehicle that has not paid the fee, a buffer gate is determined in the reference gates; The buffer gate is arranged in a spacious area of ​​the parking lot. When the target vehicle enters the buffer lane, the buffer gate is closed. After the payment is completed, the buffer gate is opened. Before the target vehicle exits the buffer lane corresponding to the buffer gate, the payment status of the target vehicle is updated from an unpaid state to a paid state, the departure priority of the target vehicle is updated to a vehicle of a common type that has paid, and the departure path of the target vehicle is planned according to the arrival time and the positions of each reference gate; Outputting prompt information corresponding to the departure path; Based on the prompt information, the target vehicle is guided to exit the vehicle.

2. The method according to claim 1, characterized in that The buffer lane is provided with payment reminder information.

3. The method according to claim 2, characterized in that The payment reminder information is arranged in front of the buffer gate so that the target vehicle completes the payment operation before leaving the buffer lane.

4. The method according to claim 1, characterized in that: An indicator light is arranged in front of the buffer gate; if the departure priority of the target vehicle is unpaid, the indicator light instructs the target vehicle to drive to the buffer gate; if the departure priority of the target vehicle is paid, the indicator light instructs the target vehicle to drive to the paid gate to leave.

5. The method according to claim 4, characterized in that A camera is also provided in front of the indicator light, and the camera is used to identify the license plate of the target vehicle to determine whether the target vehicle is a paid vehicle or an unpaid vehicle.

6. The method according to claim 4, characterized in that The interval between the indicator light and the buffer gate is greater than a first set value, so that the user can enter the buffer lane without feeling.

7. The method according to claim 4, characterized in that The distance between the indicator light and the paid gate is greater than a second set value so that the user can enter the departure lane without feeling.

8. The method according to claim 4, characterized in that The distance between the paid gate and the buffer gate is greater than a third set value to prevent unpaid vehicles from directly entering the paid gate, causing the unpaid vehicles to block the paid gate.

Images