A vehicle violation capture method based on a smart park

Abstract

The present invention relates to a method for capturing vehicle violations based on a smart park, including: determining a monitoring area and a vehicle to be captured in a twin park, where the twin park is generated based on digital twin technology and a smart park, obtaining the road position coordinates of each road in the monitoring area and the vehicle position coordinates of each vehicle, when the vehicle state of the vehicle to be captured is a dynamic state, realizing violation determination according to the dynamic distance value and the safety braking value of the vehicle to be captured, and then calculating the offset index of the vehicle to be captured according to the direction angle and the driving speed, and determining whether there is a violation through the offset index. When the vehicle state of the vehicle to be captured is a static state, starting the monitoring component of the twin park and using the monitoring component to realize the violation determination of the vehicle to be captured in the static state. The present invention can overcome the problem that the traditional method relies on deep learning algorithms to realize vehicle violation determination in a smart park, resulting in a large waste of computing resources.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent management of smart parks, and particularly to a vehicle violation capture method based on a smart park. Background Art

[0002] A smart park refers to a smart park that integrates new-generation information and communication technologies and has the capabilities of rapid information collection, high-speed information transmission, highly centralized computing, intelligent transaction processing, and ubiquitous service provision.

[0003] Currently, there are many intelligent operations based on smart parks, such as intelligent capture, license plate recognition, face recognition, automatic fire alarm, etc., among which vehicle violation capture is the most typical.

[0004] Currently, the vehicle violation capture method based on a smart park mainly relies on the monitoring devices in the smart park, that is, through the deep learning detection algorithm embedded in the monitoring devices of the smart park, first identify the vehicles in the smart park, and through deep learning operations such as convolutional layers and pooling layers, identify the position or driving speed of the vehicle, and then determine whether the driving, parking, etc. of the vehicle in the smart park are violations.

[0005] Although the deep learning algorithm embedded in the monitoring device can capture vehicle violations, it is common knowledge that the operation of the deep learning algorithm consumes a large amount of computing resources. When the number of vehicles in the smart park increases, the deep learning algorithm relying on the monitoring device is limited by the computing power of the monitoring device and cannot timely determine vehicle violations, resulting in untimely determination or missed determination. Summary of the Invention

[0006] The present invention provides a vehicle violation capture method based on a smart park, and its main purpose is to overcome the problem that the traditional method relies on a deep learning algorithm to determine vehicle violations in a smart park, which will cause a waste of a large amount of computing resources.

[0007] To achieve the above object, a vehicle violation capture method based on a smart park provided by the present invention includes:

[0008] Receive a vehicle violation capture instruction, start the twin park of the smart park according to the vehicle violation capture instruction, and determine a monitoring area and a vehicle to be captured in the twin park, where the twin park is generated based on digital twin technology and the smart park;

[0009] Obtain the road position coordinates of each road in the monitoring area and the vehicle position coordinates of each vehicle at the road position coordinates;

[0010] Determine the vehicle state of the vehicle to be captured, where the vehicle state includes a dynamic state and a static state;

[0011] When the vehicle state of the vehicle to be captured is a dynamic state, the vehicle closest to the vehicle to be captured is obtained according to the vehicle position coordinates of each vehicle in the monitoring area, and the close-range vehicle is obtained;

[0012] Calculate the dynamic distance value between the vehicle to be captured and the close-range vehicle, and determine whether the dynamic distance value is greater than a preset safety distance value. If the dynamic distance value is less than the safety distance value, generate a warning of illegal driving of the vehicle to be captured;

[0013] If the dynamic distance value is greater than or equal to the safety distance value, the braking distance value between the vehicle to be captured and the close-range vehicle is calculated, and it is determined whether the braking distance value is greater than a preset safety braking value. If the braking distance value is less than the safety braking value, the braking device of the vehicle to be captured is automatically triggered, and a driving violation prompt is generated;

[0014] If the braking distance value is greater than or equal to the safety braking value, then extracting the lane vector of the lane where the vehicle to be captured is located;

[0015] Obtaining the driving vector and driving speed of the vehicle to be captured, and calculating the direction angle between the driving vector and the lane vector;

[0016] According to the direction angle and the driving speed, the offset index of the vehicle to be captured is calculated using a pre-constructed offset index calculation formula, wherein the offset index calculation formula is as follows:

[0017] ;

[0018] in, represents the offset index of the i-th vehicle to be captured, represents the speed of the i-th vehicle to be captured, Indicates driving time. Indicates the direction angle between the driving vector and the lane vector;

[0019] Determining whether the deviation index is greater than a preset deviation threshold;

[0020] If the offset index is greater than the offset threshold, a driving violation prompt of the vehicle to be captured is generated;

[0021] If the offset index is not greater than the offset threshold, a prompt indicating that the vehicle to be captured has not been driven in violation of regulations is generated;

[0022] When the vehicle state of the vehicle to be captured is a static state, the monitoring component of the twin park is started, and the static position of the vehicle to be captured is photographed by the monitoring component, and a comparison is performed based on the static position and the road position coordinates to realize the violation judgment of the vehicle to be captured in the static state.

[0023] Optionally, start the twin park of the smart park according to the vehicle violation capture instruction, and determine the monitoring area and the vehicle to be captured in the twin park, including:

[0024] Parse the vehicle violation capture instruction, where the vehicle violation capture instruction includes a violation monitoring area, and the monitoring area is less than or equal to the smart park;

[0025] Obtain the monitoring area from the vehicle violation capture instruction;

[0026] Start the twin park of the smart park, where the twin park is generated based on digital twin technology and the smart park;

[0027] Based on the twin park, divide a monitoring park corresponding to the monitoring area, and obtain all the vehicles to be captured from the monitoring park. The obtaining method includes:

[0028] Initiate a vehicle response instruction and send the vehicle response instruction to all vehicle sensing systems in the monitoring park, where each vehicle in the monitoring park is equipped with a vehicle sensing system;

[0029] Receive the return response instruction returned by each vehicle's vehicle sensing system according to the vehicle response instruction, where the return response instruction includes the vehicle appearance and license plate number of each vehicle;

[0030] Select the vehicles to be captured according to the vehicle appearance and license plate number of each vehicle.

[0031] Optionally, the vehicle sensing system includes a camera, millimeter wave radar, lidar, position locator, vehicle driving control system and vehicle operation system monitor installed on the vehicle.

[0032] Optionally, obtaining the road position coordinates of each road in the monitoring area and the vehicle position coordinates of each vehicle at the road position coordinates includes:

[0033] Obtain all park components in the monitoring area from the monitoring park corresponding to the monitoring area. The park components include vegetation components, power equipment components, monitoring components and road components, and the road components include road components, identification components and guiding line components;

[0034] Screen out the road components from all park components and obtain the position coordinates of each road component, where the position coordinates include road position, identification position and guiding line position;

[0035] Summarize the position coordinates of each road component in the monitoring area to obtain a road position coordinate set;

[0036] Initiate a vehicle position location instruction and send the vehicle response instruction to the position locator of each vehicle in the monitoring park;

[0037] The position locator of each vehicle receives the vehicle position response command transmitted back according to the vehicle position positioning command, where the vehicle position response command includes the vehicle position coordinates of each vehicle on the road position coordinates;

[0038] Extract the vehicle position coordinates of each vehicle from the vehicle position response command.

[0039] Optionally, determining the vehicle state of the vehicle to be captured includes:

[0040] Obtain the vehicle sensing system of the vehicle to be captured;

[0041] Index the vehicle operation system monitor of the vehicle to be captured from the vehicle sensing system, where the vehicle operation system monitor includes the current driving speed of the vehicle to be captured and multiple sets of historical driving speeds, and the time interval between the historical driving speed and the current driving speed does not exceed 3 seconds;

[0042] Judge whether the current driving speed and multiple sets of historical driving speeds are all 0. If the current driving speed and multiple sets of historical driving speeds are all 0, determine that the vehicle state of the vehicle to be captured is a static state;

[0043] If the current driving speed and multiple sets of historical driving speeds are not all 0, determine that the vehicle state of the vehicle to be captured is a dynamic state.

[0044] Optionally, calculating the dynamic distance value between the vehicle to be captured and the nearby vehicle includes:

[0045] Calculate the dynamic distance value according to the following formula:

[0046] ;

[0047] Where represents the dynamic distance value between the vehicle to be captured and the nearby vehicle, represents the actual distance value between the vehicle to be captured and the nearby vehicle, is the relative speed between the vehicle to be captured and the nearby vehicle, represents the preset safety time between the vehicle to be captured and the nearby vehicle.

[0048] Optionally, calculating the braking distance value between the vehicle to be captured and the nearby vehicle includes:

[0049] Calculate the braking distance value according to the following formula:

[0050] ;

[0051] Where represents the braking distance value between the vehicle to be captured and the nearby vehicle, is the braking time of the vehicle to be captured for braking, is the delay time for the vehicle to be captured for braking through the vehicle sensing system of the vehicle to be captured, is the maximum deceleration of the vehicle to be captured, is the maximum deceleration of the nearby vehicle, is the current driving speed of the vehicle to be captured, is the current driving speed of the nearby vehicle.

[0052] Optionally, the braking device for automatically triggering the vehicle to be captured includes:

[0053] Obtain the control right of the vehicle sensing system of the vehicle to be captured, where the control right includes the control of the vehicle driving control system of the vehicle to be captured;

[0054] Use the vehicle driving control system to generate a deceleration instruction and transmit the deceleration instruction to the vehicle to be captured, thereby triggering the braking device of the vehicle to be captured, where the braking device includes a braking device to achieve automatic braking of the vehicle to be captured.

[0055] Optionally, the step of using the monitoring component to capture the static position of the vehicle to be captured includes:

[0056] Determine one or more monitoring components whose distance value from the vehicle to be captured is less than a specified distance according to the vehicle position coordinates of the vehicle to be captured, where the monitoring component is a digital twin of the monitoring device;

[0057] Start the monitoring device corresponding to the monitoring component to capture the static state of the vehicle to be captured, and obtain vehicle static images from one or more perspectives;

[0058] While sending the vehicle static images from one or more perspectives to the management personnel of the digital twin park, and calibrate the position of the vehicle to be captured in each vehicle static image according to the vehicle position coordinates to obtain the static position of the vehicle to be captured.

[0059] Optionally, after sending the vehicle static images from one or more perspectives to the management personnel of the digital twin park, it further includes:

[0060] Receive the parking violation determination initiated by the management personnel according to the vehicle static images;

[0061] If the parking violation determination initiated by the management personnel is a determined parking violation, directly generate a parking violation determination prompt for the vehicle to be captured in the static state;

[0062] If the parking violation determination initiated by the management personnel is a determined non-parking violation, further compare the static position with the road position coordinates.

[0063] In order to solve the problems described in the background art, the embodiment of the present invention first starts the digital twin park of the smart park according to the vehicle violation capture instruction, and determines the monitoring area and the vehicle to be captured in the digital twin park. It can be seen that the application scenario of the embodiment of the present invention mainly relies on digital twin technology, that is, after using digital twin technology to generate a digital twin park corresponding to the smart park, the road position coordinates of each road in the monitoring area are obtained, and the vehicle position coordinates of each vehicle at the road position coordinates are obtained. Due to relying on digital twin technology, the vehicle position coordinates of the vehicle can be obtained in a timely and efficient manner. Importantly, the embodiment of the present invention first determines the vehicle state of the vehicle to be captured, where the vehicle state includes a dynamic state and a static state. It can be seen that the violation determination of the vehicle to be captured is different in the dynamic state and the static state. When the vehicle state of the vehicle to be captured is the dynamic state, according to the vehicle position coordinates of each vehicle in the monitoring area, the vehicle closest to the vehicle to be captured is obtained, and the close-range vehicle is obtained. Since in the dynamic state, it is extremely easy to have traffic risks due to too high vehicle speed, the traditional method only realizes vehicle speed prediction through the monitoring equipment in the smart park. When the predicted vehicle speed is greater than the set maximum speed, it is determined that the vehicle violates the regulations. However, since the vehicles near the vehicle to be captured are not considered, the intelligence level needs to be improved, and too frequent use of the deep learning algorithm in the monitoring equipment to detect vehicles and realize vehicle speed prediction will also cause a large amount of computing resource consumption. The embodiment of the present invention cleverly realizes the violation determination of the vehicle to be captured based on the dynamic distance value and the braking distance value, reducing the computing pressure of the smart park. After completing the monitoring of the vehicle speed, further, it is necessary to determine the degree of driving deviation. Through the calculation of the deviation index, the monitoring of the deviation degree of the vehicle to be captured is completed. Therefore, the vehicle violation capture method based on the smart park proposed by the present invention can overcome the problem that the traditional method relies on the deep learning algorithm to realize the vehicle violation determination in the smart park, resulting in a large amount of waste of computing resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 FIG. is a schematic flow chart of a vehicle violation capture method based on a smart park provided by an embodiment of the present invention;

[0065] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0066] 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.

[0067] Referring to Figure 1 as shown, it is a schematic flow chart of a vehicle violation capture method based on a smart park provided by an embodiment of the present invention. In this embodiment, the vehicle violation capture method based on the smart park includes:

[0068] S1. Receive a vehicle violation capture instruction, start the twin park of the smart park according to the vehicle violation capture instruction, and determine a monitoring area and vehicles to be captured within the twin park, where the twin park is generated based on digital twin technology and the smart park.

[0069] It should be explained that the vehicle violation capture instruction is generally issued by the management personnel of the smart park. Exemplarily, Zhang is a management personnel of a certain smart park and now wants to determine whether there are vehicles with violations in the smart park, so he initiates a vehicle violation capture instruction.

[0070] Further, the step of starting the twin park of the smart park according to the vehicle violation capture instruction and determining a monitoring area and vehicles to be captured within the twin park includes:

[0071] Analyze the vehicle violation capture instruction, where the vehicle violation capture instruction includes a violation monitoring area, and the monitoring area is less than or equal to the smart park;

[0072] Obtain the monitoring area from the vehicle violation capture instruction;

[0073] Start the twin park of the smart park, where the twin park is generated based on digital twin technology and the smart park;

[0074] Based on the twin park, divide a monitoring park corresponding to the monitoring area, and obtain all vehicles to be captured from the monitoring park, where the obtaining method includes:

[0075] Initiate a vehicle response instruction and send the vehicle response instruction to all vehicle sensing systems within the monitoring park, where each vehicle within the monitoring park is equipped with a vehicle sensing system;

[0076] Receive the return response instruction returned by each vehicle's vehicle sensing system according to the vehicle response instruction, where the return response instruction includes the vehicle appearance and license plate number of each vehicle;

[0077] Select the vehicles to be captured according to the vehicle appearance and license plate number of each vehicle.

[0078] Exemplarily, Zhang is a management personnel of a certain smart park and now wants to determine whether there are vehicles with violations in the northeast direction of the smart park, so the northeast direction area of the smart park is the monitoring area.

[0079] In addition, digital twin makes full use of data such as physical models, sensor updates, and operation history, integrates the simulation processes of multiple disciplines, multiple physical quantities, multiple scales, and multiple probabilities, and completes the mapping in the virtual space, so as to reflect the entire life cycle process of the corresponding physical equipment. Therefore, before the vehicle violation capture is performed in the embodiments of the present invention, a twin park of the smart park is first constructed based on the digital twin technology. This construction method is a publicly disclosed technology and will not be elaborated here.

[0080] Further, the vehicle sensing system includes cameras, millimeter-wave radars, lidars, position locators, vehicle driving control systems, vehicle operation system monitors, etc. installed on the vehicle. Currently, all vehicle information of the vehicle is obtained from multiple dimensions, and the vehicle information includes vehicle position coordinates.

[0081] S2. Obtain the road position coordinates of each road in the monitoring area and the vehicle position coordinates of each vehicle at the road position coordinates.

[0082] Specifically, the obtaining of the road position coordinates of each road in the monitoring area and the vehicle position coordinates of each vehicle at the road position coordinates includes:

[0083] Obtain all park components in the monitoring area from the monitoring park corresponding to the monitoring area, where the park components include vegetation components, power equipment components, monitoring components, and road components, and the road components include road surface components, identification components, and guiding line components;

[0084] Screen out the road components from all park components and obtain the position coordinates of each road component, where the position coordinates include the road surface position, identification position, and guiding line position;

[0085] Summarize the position coordinates of each road component in the monitoring area to obtain a road position coordinate set;

[0086] Initiate a vehicle position positioning instruction and send the vehicle response instruction to the position locator of each vehicle in the monitoring park;

[0087] Receive the vehicle position response instruction returned by the position locator of each vehicle according to the vehicle position positioning instruction, where the vehicle position response instruction includes the vehicle position coordinates of each vehicle at the road position coordinates;

[0088] Extract the vehicle position coordinates of each vehicle from the vehicle position response instruction.

[0089] It can be understood that each smart park has a complex structure and is composed of multiple units such as roads, vegetation, power equipment, charging areas, and monitoring systems. Therefore, when generating the twin park corresponding to the smart park, the components of each unit are correspondingly generated, including vegetation components, power equipment components, monitoring components, and road components, etc.

[0090] It should be noted that the road position coordinates of each vehicle include the vehicle position coordinates of each vehicle, that is, the coordinate range of the road position coordinates of each vehicle is greater than or equal to the vehicle position coordinates of each vehicle.

[0091] In addition, the road components include road components, marking components, and guiding line components because an actual road consists of roads, markings on the roads, guiding lines drawn on the roads, etc.

[0092] S3. Determine the vehicle state of the vehicle to be captured, where the vehicle state includes a dynamic state and a static state.

[0093] It can be understood that the vehicle appearance and license plate number of each vehicle can be obtained within the monitoring area, and then the vehicle to be captured can be determined. Further, in the embodiments of the present invention, it is necessary to determine the vehicle state of the vehicle to be captured, so as to determine whether the vehicle violates the regulations according to the vehicle state.

[0094] Specifically, the determination of the vehicle state of the vehicle to be captured includes:

[0095] Obtain the vehicle sensing system of the vehicle to be captured;

[0096] Index from the vehicle sensing system to obtain the vehicle operation system monitor of the vehicle to be captured, where the vehicle operation system monitor includes the current driving speed of the vehicle to be captured and multiple groups of historical driving speeds, and the time interval between the historical driving speed and the current driving speed does not exceed 3 seconds;

[0097] Judge whether the current driving speed and multiple groups of historical driving speeds are both 0. If the current driving speed and multiple groups of historical driving speeds are both 0, it is determined that the vehicle state of the vehicle to be captured is a static state;

[0098] If the current driving speed and multiple groups of historical driving speeds are not both 0, it is determined that the vehicle state of the vehicle to be captured is a dynamic state.

[0099] It can be understood that the vehicle sensing system of the vehicle to be captured includes a vehicle operation system monitor. The main function of the vehicle operation system monitor is to monitor the operation process of the vehicle to be captured, such as driving speed, fuel quantity, tire pressure, etc. Therefore, the current driving speed and multiple groups of historical driving speeds can be obtained from the vehicle operation system monitor of the vehicle to be captured, so as to determine the vehicle state of the vehicle to be captured at the current moment.

[0100] S4. When the vehicle state of the vehicle to be captured is a dynamic state, according to the vehicle position coordinates of each vehicle in the monitoring area, obtain the vehicle closest to the vehicle to be captured to obtain a close-range vehicle.

[0101] It is understandable that the vehicle position coordinates of each vehicle can be obtained according to the digital twin technology, and then the vehicle closest to the vehicle to be captured can be determined by a simple distance judgment formula to obtain the nearby vehicle.

[0102] S5. Calculate the dynamic distance value between the vehicle to be captured and the nearby vehicle, and determine whether the dynamic distance value is greater than a preset safety distance value. If the dynamic distance value is less than the safety distance value, generate a violation driving prompt for the vehicle to be captured.

[0103] It should be explained that the dynamic distance value is not simply obtained by calculating the distance between the two vehicles, but the relative speed between the two vehicles needs to be considered. Specifically, the calculation of the dynamic distance value between the vehicle to be captured and the nearby vehicle includes:

[0104] The dynamic distance value is calculated according to the following formula:

[0105] ;

[0106] Wherein, represents the dynamic distance value between the vehicle to be captured and the nearby vehicle, represents the actual distance value between the vehicle to be captured and the nearby vehicle, is the relative speed between the vehicle to be captured and the nearby vehicle, represents the preset safety time between the vehicle to be captured and the nearby vehicle.

[0107] Furthermore, in the embodiment of the present invention, the magnitude relationship between the dynamic distance value and the safety distance value is judged. When the dynamic distance value is less than the safety distance value, it indicates that the risk coefficient between the vehicle to be captured and the nearby vehicle is relatively large, which is not conducive to the safety of the smart park. Therefore, a violation driving prompt for the vehicle to be captured is generated, so that the driving speed of the vehicle to be captured decreases.

[0108] S6. If the dynamic distance value is greater than or equal to the safety distance value, calculate the braking distance value between the vehicle to be captured and the nearby vehicle, and determine whether the braking distance value is greater than a preset safety braking value. If the braking distance value is less than the safety braking value, automatically trigger the braking device of the vehicle to be captured and generate a violation driving prompt.

[0109] Furthermore, if the dynamic distance value is greater than or equal to the safety distance value, it indicates that the risk coefficient between the vehicle to be captured and the nearby vehicle is relatively low, and it is necessary to further judge whether the braking distance value meets the safety braking value set by the smart park. Specifically, the calculation of the braking distance value between the vehicle to be captured and the nearby vehicle includes:

[0110] The braking distance value is calculated according to the following formula:

[0111] ;

[0112] Among them, represents the braking distance value between the vehicle to be captured and the nearby vehicle, is the braking time for braking the vehicle to be captured, is the delay time for braking the vehicle to be captured through the vehicle sensing system of the vehicle to be captured, is the maximum deceleration of the vehicle to be captured, is the maximum deceleration of the nearby vehicle, is the current driving speed of the vehicle to be captured, is the current driving speed of the nearby vehicle.

[0113] It can be understood that the braking distance value between the vehicle to be captured and the nearby vehicle can be calculated according to the above formula. When the braking distance value is less than the safety braking value, it indicates that it is extremely likely that the vehicle to be captured and the nearby vehicle will collide. Therefore, through the corresponding twin park in the smart park, the braking device of the vehicle to be captured is controlled. Specifically, the braking device that automatically triggers the vehicle to be captured includes:

[0114] Obtain the control right of the vehicle sensing system of the vehicle to be captured, where the control right includes the control of the vehicle driving control system of the vehicle to be captured;

[0115] Generate a deceleration command using the vehicle driving control system and transmit the deceleration command to the vehicle to be captured, thereby triggering the braking device of the vehicle to be captured, where the braking device includes a braking device to achieve automatic braking of the vehicle to be captured.

[0116] It should be explained that the triggering of the vehicle braking device in the embodiment of the present invention does not directly make the vehicle brake urgently, but appropriately controls the driving speed of the vehicle to be captured in the smart park to prevent traffic risks caused by too high a driving speed.

[0117] S7. If the braking distance value is greater than or equal to the safety braking value, then extract the lane vector of the lane where the vehicle to be captured is located;

[0118] It can be understood that when the dynamic distance value is greater than or equal to the safety braking value, it indicates that there is no approaching vehicle before and after the vehicle to be captured, so it belongs to a reasonable driving space. At this time, it is necessary to further judge the deviation degree of the vehicle to be captured.

[0119] It can be explained that the lane vector refers to the unit vector of the standard driving direction of the lane, and the lane vector of each lane can be preset. For example: the lane vector of the right half lane of the road is basically the same as the facing direction of the driver, so the allowed driving direction of the right half lane is the facing direction of the driver. Another example: when the right half lane is north-south facing and the driving direction is from north to south, the lane direction is due south.

[0120] Further, the lane vectors at the intersection may cross each other.

[0121] S8. Obtain the driving vector and driving speed of the vehicle to be captured, and calculate the included angle between the driving vector and the lane vector.

[0122] It should be understood that the driving vector is the unit vector in the driving direction of the vehicle to be captured, and its direction changes in real time as the vehicle moves. It can be determined according to the positions of the vehicle before and after driving. When the vehicle to be captured is moving in the reverse direction, the included angle is greater than 90 degrees.

[0123] S9. According to the included angle and the driving speed, use the pre-constructed offset index calculation formula to calculate the offset index of the vehicle to be captured.

[0124] It can be explained that the offset index refers to the degree to which the vehicle to be captured deviates from the permitted driving direction. The larger the offset index, the greater the degree of deviation.

[0125] Specifically, the offset index calculation formula is as follows:

[0126] ;

[0127] Wherein, represents the offset index of the i-th vehicle to be captured, represents the driving speed of the i-th vehicle to be captured, represents the driving duration, represents the included angle between the driving vector and the lane vector.

[0128] It can be understood that when the included angle is less than or equal to 90 degrees, it indicates that the vehicle to be captured is driving on the right side of the road, but there may be an offset from the lane vector direction. In order to prevent the vehicle to be captured from driving out of the right lane, the cumulative offset index of the vehicle to be captured should be calculated. When entering the intersection, the lane vector should be coherent with the original lane vector.

[0129] Further, when the included angle is greater than 90 degrees, it indicates that the vehicle to be captured is in a reverse state. At this time, the farther the vehicle to be captured travels, the greater the degree of deviation.

[0130] S10. Determine whether the offset index is greater than a preset offset threshold.

[0131] It can be understood that due to vehicle driving conditions such as turning and lane changing, the offset index can be allowed to exist, but it should be limited within a certain threshold, otherwise there may be a risk of vehicle collision.

[0132] If the offset index is greater than the offset threshold, S11 is executed to generate a driving violation prompt of the vehicle to be captured.

[0133] It is understandable that when the deviation index is greater than the deviation threshold, it indicates that the vehicle to be captured is in great danger, so it is necessary to generate a warning of illegal driving.

[0134] If the offset index is not greater than the offset threshold, S12 is executed to generate a non-violation driving prompt for the vehicle to be captured.

[0135] S13. When the vehicle state of the vehicle to be captured is a static state, start the monitoring component of the twin park, use the monitoring component to capture the static position of the vehicle to be captured, and perform a comparison based on the static position and the road position coordinates to realize the violation judgment of the vehicle to be captured in the static state.

[0136] In detail, the method of using the monitoring component to capture the static position of the vehicle to be captured includes:

[0137] According to the vehicle position coordinates of the vehicle to be captured, determining one or more monitoring components whose distance values ​​from the vehicle to be captured are less than a specified distance, wherein the monitoring components are digital twins of the monitoring equipment;

[0138] Starting a monitoring device corresponding to the monitoring component to photograph the static state of the vehicle to be captured, and obtaining a static image of the vehicle from one or more viewing angles;

[0139] While sending the static images of the vehicle from one or more perspectives to the management personnel of the twin park, the static position of the vehicle to be captured is generated based on the static images of the vehicle from one or more perspectives and the vehicle position coordinates.

[0140] It is understandable that multiple monitoring devices are installed in the smart park, and each monitoring device cooperates with each other to monitor every corner of the smart park. Therefore, the embodiment of the present invention starts one or more monitoring devices near the vehicle to be captured to achieve the capture of the vehicle to be captured.

[0141] Further, the generating of the static position of the vehicle to be captured according to the static image of the vehicle from one or more viewing angles and the vehicle position coordinates includes:

[0142] According to the vehicle position coordinates, the position of the vehicle to be captured in each vehicle static image is calibrated to obtain the static position of the vehicle to be captured.

[0143] It is understandable that the embodiment of the present invention calculates whether the vehicle to be captured is illegally parked through the generated vehicle static image, which is more resource-saving than directly using the deep learning detection algorithm embedded in the monitoring equipment.

[0144] It should be understood that after sending the static vehicle images from one or more perspectives to the managers of the twin park, the following steps are further included:

[0145] Receiving the parking violation determination initiated by the manager based on the static vehicle images;

[0146] If the manager initiates a determination of a parking violation, directly generate a parking violation determination prompt for the vehicle to be captured in the static state;

[0147] If the manager initiates a determination of no parking violation, further perform a comparison between the static position and the road position coordinates.

[0148] In summary, according to the above technical steps, the violation determination of vehicles in the smart park can be achieved.

[0149] In order to solve the problems described in the background technology, the embodiment of the present invention first starts the twin park of the smart park according to the vehicle violation capture instruction, and determines the monitoring area and the vehicle to be captured in the twin park. It can be seen that the application scenario of the embodiment of the present invention mainly relies on digital twin technology, that is, after generating a twin park corresponding to the smart park by using digital twin technology, the road position coordinates of each road in the monitoring area and the vehicle position coordinates of each vehicle at the road position coordinates are obtained. Due to relying on digital twin technology, the vehicle position coordinates of the vehicle can be obtained in a timely and efficient manner. Importantly, the embodiment of the present invention first determines the vehicle state of the vehicle to be captured, where the vehicle state includes a dynamic state and a static state. It can be seen that the violation determination of the vehicle to be captured is different in the dynamic state and the static state. When the vehicle state of the vehicle to be captured is the dynamic state, according to the vehicle position coordinates of each vehicle in the monitoring area, the vehicle closest to the vehicle to be captured is obtained, and the close-range vehicle is obtained. Since in the dynamic state, it is very easy for the vehicle speed to be too high and cause traffic risks, the traditional method only realizes vehicle speed prediction through the monitoring devices in the smart park. When the predicted vehicle speed is greater than the set maximum speed, it is determined that the vehicle violates the regulations. However, since the vehicles near the vehicle to be captured are not considered, the intelligence level needs to be improved. Moreover, frequently using the deep learning algorithm in the monitoring device to detect vehicles and realize vehicle speed prediction will also cause a large consumption of computing resources. The embodiment of the present invention cleverly realizes the violation determination of the vehicle to be captured based on the dynamic distance value and the braking distance value, reducing the computing pressure of the smart park. After completing the monitoring of the vehicle speed, further, it is necessary to determine the degree of driving deviation. Through the calculation of the deviation index, the monitoring of the deviation degree of the vehicle to be captured is completed. Therefore, the vehicle violation capture method based on the smart park proposed by the present invention can overcome the problem that the traditional method relies on the deep learning algorithm to realize the vehicle violation determination in the smart park, resulting in a large waste of computing resources.

[0150] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A vehicle violation capture method based on a smart park, characterized in that, the method includes: Receiving a vehicle violation capture instruction, starting the twin park of the smart park according to the vehicle violation capture instruction, and determining a monitoring area and a vehicle to be captured in the twin park, where the twin park is generated based on digital twin technology and the smart park; Obtaining the road position coordinates of each road in the monitoring area, and the vehicle position coordinates of each vehicle at the road position coordinates; Determining the vehicle state of the vehicle to be captured, where the vehicle state includes a dynamic state and a static state; When the vehicle state of the vehicle to be captured is the dynamic state, according to the vehicle position coordinates of each vehicle in the monitoring area, obtaining the vehicle closest to the vehicle to be captured to obtain a close-range vehicle; Calculating the dynamic distance value between the vehicle to be captured and the close-range vehicle, and determining whether the dynamic distance value is greater than a preset safe distance value. If the dynamic distance value is less than the safe distance value, generating a violation driving prompt for the vehicle to be captured; If the dynamic distance value is greater than or equal to the safe distance value, calculating the braking distance value between the vehicle to be captured and the close-range vehicle, and determining whether the braking distance value is greater than a preset safe braking value. If the braking distance value is less than the safe braking value, automatically triggering the braking device of the vehicle to be captured and generating a violation driving prompt; If the braking distance value is greater than or equal to the safe braking value, extracting the lane vector of the lane where the vehicle to be captured is located; Obtaining the driving vector and driving speed of the vehicle to be captured, and calculating the direction angle between the driving vector and the lane vector; According to the direction angle and the driving speed, using a pre-constructed offset index calculation formula, calculating the offset index of the vehicle to be captured, where the offset index calculation formula is as follows: ； Among them, represents the offset index of the i-th vehicle to be captured; represents the driving speed of the i-th vehicle to be captured; represents the driving duration; represents the direction angle between the driving vector and the lane vector. Determining whether the offset index is greater than a preset offset threshold; If the offset index is greater than the offset threshold, generating a violation driving prompt for the vehicle to be captured; If the offset index is not greater than the offset threshold, generating a non-violation driving prompt for the vehicle to be captured; When the vehicle state of the vehicle to be captured is the static state, starting the monitoring component of the twin park, using the monitoring component to photograph the static position of the vehicle to be captured, and performing a comparison based on the static position and the road position coordinates to achieve the violation determination of the vehicle to be captured in the static state.

2. The vehicle violation capture method according to claim 1, characterized in that, the starting the twin park of the smart park according to the vehicle violation capture instruction and determining a monitoring area and a vehicle to be captured in the twin park includes: Parsing the vehicle violation capture instruction, where the vehicle violation capture instruction includes a violation monitoring area, and the monitoring area is less than or equal to the smart park; Obtaining the monitoring area from the vehicle violation capture instruction; Starting the twin park of the smart park, where the twin park is generated based on digital twin technology and the smart park; Based on the twin park, dividing a monitoring park corresponding to the monitoring area, and obtaining all vehicles to be captured from the monitoring park, where the obtaining method includes: Initiate a vehicle response instruction and send the vehicle response instruction to all vehicle sensing systems within the monitored park, where each vehicle within the monitored park is equipped with a vehicle sensing system; Receive the feedback response instructions transmitted back by the vehicle sensing system of each vehicle according to the vehicle response instruction, where the feedback response instructions include the vehicle appearance and license plate number of each vehicle; Select the vehicle to be captured according to the vehicle appearance and license plate number of each vehicle.

3. The vehicle violation capture method according to claim 2, characterized in that, the vehicle sensing system includes a camera, a millimeter-wave radar, a lidar, a position locator, a vehicle driving control system, and a vehicle operation system monitor installed on the vehicle.

4. The vehicle violation capture method according to claim 3, characterized in that, the obtaining of the road position coordinates of each road in the monitoring area and the vehicle position coordinates of each vehicle at the road position coordinates includes: Obtain all park components within the monitoring area from the corresponding monitored park of the monitoring area, where the park components include vegetation components, power equipment components, monitoring components, and road components, and the road components include road surface components, marking components, and guiding line components; Screen out the road components from all park components and obtain the position coordinates of each road component, where the position coordinates include the road surface position, the marking position, and the guiding line position; Summarize the position coordinates of each road component in the monitoring area to obtain a set of road position coordinates; Initiate a vehicle position location instruction and send the vehicle response instruction to the position locator of each vehicle within the monitored park; Receive the vehicle position response instruction transmitted back by the position locator of each vehicle according to the vehicle position location instruction, where the vehicle position response instruction includes the vehicle position coordinates of each vehicle at the road position coordinates; Extract the vehicle position coordinates of each vehicle from the vehicle position response instruction.

5. The vehicle violation capture method according to claim 4, characterized in that, the determining of the vehicle state of the vehicle to be captured includes: Obtain the vehicle sensing system of the vehicle to be captured; Index the vehicle operation system monitor of the vehicle to be captured from the vehicle sensing system, where the vehicle operation system monitor includes the current driving speed of the vehicle to be captured and multiple sets of historical driving speeds, and the time interval between the historical driving speed and the current driving speed does not exceed 3 seconds; Judge whether the current driving speed and multiple sets of historical driving speeds are all 0. If the current driving speed and multiple sets of historical driving speeds are all 0, then determine that the vehicle state of the vehicle to be captured is a static state; If the current driving speed and multiple sets of historical driving speeds are not all 0, then determine that the vehicle state of the vehicle to be captured is a dynamic state.

6. The vehicle violation capture method according to claim 5, characterized in that, the calculating of the dynamic distance value between the vehicle to be captured and the nearby vehicle includes: Calculate the dynamic distance value according to the following formula: ； Among them, represents the dynamic distance value between the vehicle to be captured and the nearby vehicle, represents the actual distance value between the vehicle to be captured and the nearby vehicle, is the relative speed between the vehicle to be captured and the nearby vehicle, represents the preset safety time between the vehicle to be captured and the nearby vehicle.

7. The vehicle violation capture method according to claim 6, characterized in that, the calculating of the braking distance value between the vehicle to be captured and the nearby vehicle includes: Calculate the braking distance value according to the following formula: ； Among them, represents the braking distance value between the vehicle to be captured and the nearby vehicle, is the braking time for braking the vehicle to be captured, is the delay time for braking the vehicle to be captured through the vehicle sensing system of the vehicle to be captured, is the maximum deceleration of the vehicle to be captured, is the maximum deceleration of the nearby vehicle, is the current driving speed of the vehicle to be captured, is the current driving speed of the nearby vehicle.

8. The vehicle violation capture method according to claim 7, characterized in that, The braking device for automatically triggering the vehicle to be captured includes: Obtain the control right of the vehicle sensing system of the vehicle to be captured, where the control right includes the control of the vehicle driving control system of the vehicle to be captured; Generate a deceleration command using the vehicle driving control system and transmit the deceleration command to the vehicle to be captured, thereby triggering the braking device of the vehicle to be captured, where the braking device includes a braking device to achieve automatic braking of the vehicle to be captured.

9. The vehicle violation capture method according to claim 8, characterized in that The step of using the monitoring component to capture the static position of the vehicle to be captured includes: Determine one or more monitoring components whose distance value from the vehicle to be captured is less than a specified distance according to the vehicle position coordinates of the vehicle to be captured, where the monitoring component is a digital twin of the monitoring device; Start the monitoring device corresponding to the monitoring component to capture the static state of the vehicle to be captured, and obtain vehicle static images from one or more perspectives; While sending the vehicle static images from one or more perspectives to the management personnel of the twin park, mark the position of the vehicle to be captured in each vehicle static image according to the vehicle position coordinates to obtain the static position of the vehicle to be captured.

10. The vehicle violation capture method according to claim 9, characterized in that After sending the vehicle static images from one or more perspectives to the management personnel of the twin park, the method further includes: Receive the determination of whether there is illegal parking initiated by the management personnel according to the vehicle static image; If the determination initiated by the management personnel is that there is illegal parking, directly generate a prompt for the determination of illegal parking of the vehicle to be captured in the static state; If the determination initiated by the management personnel is that there is no illegal parking, further compare the static position with the road position coordinates.

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