Vehicle identification method, device and system for roadside parking lot

Abstract

The present invention relates to the field of Internet of Things technology, and in particular to a vehicle identification method, device, and system for roadside parking lots, comprising: obtaining a baseline value of a geomagnetic sensor to construct a regional geomagnetic distribution; obtaining detection values in real time to update the regional geomagnetic distribution; determining a disturbance area, and preliminarily determining whether a vehicle is detected based on the disturbance area; if a vehicle is preliminarily detected, determining the vehicle's motion trajectory based on changes in the disturbance area over time; confirming whether the vehicle is detected based on the vehicle's motion trajectory; if a vehicle is detected, determining the parking space the vehicle is parked in based on the vehicle's motion trajectory; activating a card reader to obtain a tag sequence read by the card reader; filtering the tag sequence based on the location of the parking space the vehicle is parked in to obtain tag information of the target vehicle; and initiating billing based on the tag information of the target vehicle. The present invention provides a new solution for vehicle identification in roadside parking lots, reducing the requirements for cameras and recognition algorithms.

Description

Technical Field

[0001] The present invention relates to the technical field of Internet of Things, and in particular to a vehicle identification method, device and system for roadside parking lots. Background Art

[0002] Parking lots are designated areas for parking vehicles. Due to the increasing popularity of vehicles, there is a severe shortage of parking spaces. Roadside parking creates vacant areas on the road for parking, improving road utilization. By creating parking areas on existing roads without significantly increasing infrastructure investment, parking lot locations and spaces can be more flexible.

[0003] Because roadside parking spaces are arranged in single rows along the road, and lack fixed entrances and exits, management systems struggle to identify vehicles. Existing technology typically uses cameras positioned at a height, which capture images at a set frequency and use image recognition technology to detect parked vehicles for billing. Because distant objects appear smaller than nearby ones, distant vehicles occupy a smaller portion of the image, making them prone to misidentification. This problem can only be addressed by adding additional cameras.

[0004] Although image recognition technology is relatively mature, it is limited by the unique layout of parking spaces in roadside parking lots and can only be solved through hardware upgrades, which undoubtedly increases costs. Moreover, the cameras are mounted in the air and are easily affected by weather conditions. Therefore, existing technologies for vehicle recognition in roadside parking lots are subject to high costs, inconvenient hardware maintenance, and low accuracy. Summary of the Invention

[0005] Based on this, it is necessary to provide a vehicle identification method, device and system for roadside parking lots to address the above problems.

[0006] The embodiment of the present invention is implemented as follows: a method for identifying vehicles for roadside parking lots, the method comprising:

[0007] Obtaining reference values of each geomagnetic sensor and constructing regional geomagnetic distribution based on the reference values of each geomagnetic sensor;

[0008] Acquire detection values of each geomagnetic sensor in real time, and update the regional geomagnetic distribution according to the detection values;

[0009] Determine a disturbance area based on the updated regional geomagnetic distribution, preliminarily determine whether a vehicle is detected based on the disturbance area, and if a vehicle is preliminarily detected, determine the vehicle's trajectory based on changes in the disturbance area over time;

[0010] The vehicle's motion trajectory is used to determine whether the vehicle has been detected. If the vehicle has been detected, the vehicle's motion trajectory is used to determine the parking space the vehicle has parked in.

[0011] Start the card reader and obtain the tag sequence read by the card reader;

[0012] The tag sequence is filtered according to the position of the parking space where the vehicle is parked to obtain the tag information of the target vehicle;

[0013] Enable billing based on the target vehicle’s tag information;

[0014] Among them, the geomagnetic sensors are set on the side of the road, and each geomagnetic sensor is set at the junction of two adjacent parking spaces. The X-axis and Y-axis of each geomagnetic sensor are respectively facing one of the adjacent parking spaces, and the Z-axis is set upward. The number of geomagnetic sensors is less than or equal to half of the total number of parking spaces.

[0015] In one embodiment, the present invention provides a vehicle identification device for roadside parking, the vehicle identification device for roadside parking comprising:

[0016] An acquisition module is used to obtain the reference value of each geomagnetic sensor and construct the regional geomagnetic distribution based on the reference value of each geomagnetic sensor;

[0017] An updating module, configured to obtain detection values of each geomagnetic sensor in real time and update the regional geomagnetic distribution according to the detection values;

[0018] a preliminary detection module, configured to determine a disturbance region based on an updated regional geomagnetic distribution, preliminarily determine whether a vehicle is detected based on the disturbance region, and if a vehicle is preliminarily detected, determine a movement trajectory of the vehicle based on changes in the disturbance region over time;

[0019] The vehicle and parking space confirmation module is used to confirm whether the vehicle is detected based on the vehicle's motion trajectory. If the vehicle is detected, the parking space where the vehicle is parked is determined based on the vehicle's motion trajectory.

[0020] The tag reading module is used to start the card reader and obtain the tag sequence read by the card reader;

[0021] A screening module, configured to screen the tag sequence according to the location of the parking space where the vehicle is parked to obtain tag information of the target vehicle;

[0022] The billing module is used to enable billing based on the tag information of the target vehicle;

[0023] Among them, the geomagnetic sensors are set on the side of the road, and each geomagnetic sensor is set at the junction of two adjacent parking spaces. The X-axis and Y-axis of each geomagnetic sensor are respectively facing one of the adjacent parking spaces, and the Z-axis is set upward. The number of geomagnetic sensors is less than or equal to half of the total number of parking spaces.

[0024] In one embodiment, the present invention provides a vehicle identification system for roadside parking, the vehicle identification system for roadside parking comprising:

[0025] Several geomagnetic sensors are set on the side of the road, each of which is set at the intersection of two adjacent parking spaces. The X-axis and Y-axis of each geomagnetic sensor are respectively facing one of the adjacent parking spaces, and the Z-axis is set upward. The number of geomagnetic sensors is less than or equal to half of the total number of parking spaces;

[0026] A card reader for reading vehicle tag information; and

[0027] A computer device is connected to the geomagnetic sensor and the card reader respectively, and is used to execute the vehicle identification method for roadside parking lots according to the present invention.

[0028] The method provided by the present invention detects vehicles entering or leaving parking spaces through specially arranged geomagnetic sensors. This detection method is not affected by general weather conditions and has excellent scalability. The increase in the number of parking spaces will not significantly increase the hardware requirements for the method provided by the present invention, and there is no need to consider its shooting range and recognition accuracy like a camera. In addition, by combining with a card reader, the information stored in the vehicle tag is fully utilized, and there is no need to obtain vehicle information through image recognition or other methods. The information acquisition method of the present invention is more stable and reliable. Specifically, the present invention uses the detection value of the geomagnetic sensor to preliminarily determine whether a vehicle is detected, and then obtains the vehicle's movement trajectory and confirms whether the vehicle is detected. This method reduces misjudgments and improves the recognition rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A flowchart of a method for identifying vehicles in roadside parking lots provided in one embodiment;

[0030] Figure 2 A structural block diagram of a vehicle identification device for roadside parking lots provided in one embodiment;

[0031] Figure 3 A structural block diagram of a vehicle identification system for roadside parking lots provided in one embodiment;

[0032] Figure 4 FIG. 1 is a block diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0034] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script without departing from the scope of the present invention.

[0035] like Figure 1 As shown, in one embodiment, a method for identifying vehicles for roadside parking lots is proposed, which may specifically include the following steps:

[0036] S100, obtaining reference values of each geomagnetic sensor, and constructing a regional geomagnetic distribution based on the reference values of each geomagnetic sensor;

[0037] S200, acquiring detection values of each geomagnetic sensor in real time, and updating the regional geomagnetic distribution according to the detection values;

[0038] S300, determining a disturbance area based on the updated regional geomagnetic distribution, preliminarily determining whether a vehicle is detected based on the disturbance area, and if a vehicle is preliminarily detected, determining a movement trajectory of the vehicle based on changes in the disturbance area over time;

[0039] S400, confirming whether a vehicle is detected based on the vehicle's motion trajectory, and if the vehicle is detected, determining the parking space the vehicle is parked in based on the vehicle's motion trajectory;

[0040] S500, starting a card reader to obtain a tag sequence read by the card reader;

[0041] S600, filtering the tag sequence according to the position of the parking space where the vehicle is parked to obtain tag information of the target vehicle;

[0042] S700, starting billing based on the tag information of the target vehicle;

[0043] Among them, the geomagnetic sensors are set on the side of the road, and each geomagnetic sensor is set at the junction of two adjacent parking spaces. The X-axis and Y-axis of each geomagnetic sensor are respectively facing one of the adjacent parking spaces, and the Z-axis is set upward. The number of geomagnetic sensors is less than or equal to half of the total number of parking spaces.

[0044] In this embodiment, the baseline value is obtained when no vehicles are parked in any parking space. It serves as a reference value for the system. When a vehicle is parked in a parking space, some or all of the geomagnetic sensors will generate detection values based on the baseline value. In the present invention, the regional geomagnetic distribution refers to the distribution of the geomagnetic field within the parking space area, specifically the correspondence between location points and geomagnetic field strength.

[0045] In this embodiment, the so-called vibration area refers to an area where the intensity of the geomagnetic field changes, reflecting the fluctuations in the geomagnetic field caused by the entry of the vehicle. The position of the vehicle can be detected through these fluctuations.

[0046] In this embodiment, the initial judgment of the vehicle is to identify the area of vibration, but many small devices such as rickshaws, tricycles, carts, etc. will also cause fluctuations in the regional geomagnetic field. On this basis, the present invention uses the movement trajectory of the vehicle to further confirm whether the vehicle causing the fluctuation is a vehicle. This method improves the accuracy of detection and can exclude vehicles that are not parked in parking spaces, thereby achieving accurate billing.

[0047] In this embodiment, the card reader is installed on the roadside or buried underground. The reading range of the card reader can be several meters to tens of meters. By increasing the transmission power, the reading range can be further expanded to cover the entire parking area. In this embodiment, each activation of the card reader performs a full read of the entire vehicle area. This requires identifying parked vehicles, passing vehicles, and vehicles entering or exiting. The present invention solves this problem by combining the regional geomagnetic distribution established by the geomagnetic sensor.

[0048] The method provided by the present invention detects vehicles entering or leaving parking spaces through specially arranged geomagnetic sensors. This detection method is not affected by general weather conditions and has excellent scalability. The increase in the number of parking spaces will not significantly increase the hardware requirements for the method provided by the present invention, and there is no need to consider its shooting range and recognition accuracy like a camera. In addition, by combining with a card reader, the information stored in the vehicle tag is fully utilized, and there is no need to obtain vehicle information through image recognition or other methods. The information acquisition method of the present invention is more stable and reliable. Specifically, the present invention uses the detection value of the geomagnetic sensor to preliminarily determine whether a vehicle is detected, and then obtains the vehicle's movement trajectory and confirms whether the vehicle is detected. This method reduces misjudgments and improves the recognition rate.

[0049] As an optional embodiment of the present invention, constructing the regional geomagnetic distribution based on the reference values of each geomagnetic sensor includes:

[0050] Mark the location of each geomagnetic sensor within a given spatial range;

[0051] The magnetic field strength in any direction of each geomagnetic sensor is determined by the detection values of each geomagnetic sensor in the X-axis, Y-axis and Z-axis directions;

[0052] For any point in space, calculate the sum of the distances from each geomagnetic sensor to that point, and obtain the weight of the corresponding geomagnetic sensor by the ratio of the distance from each geomagnetic sensor to that point to the sum of the distances from each geomagnetic sensor to that point.

[0053] Calculate the magnetic field strength of the point based on the weight of each geomagnetic sensor and the magnetic field strength of each geomagnetic sensor in the direction of the point;

[0054] The above steps are used to obtain the magnetic field strength of a selected point within a given spatial range, thereby obtaining the regional geomagnetic distribution.

[0055] In this embodiment, the given spatial range includes the parking area. For example, horizontally, the given area is defined by a distance of 1 meter from the parking area's edge, and vertically, by a distance of 2.5 meters above the ground. Thus, the given area is defined as one or more rectangular areas, depending on the specific layout of the parking lot. In this embodiment, a corner point of the given spatial range can be used as the coordinate system origin. The choice of the coordinate system origin does not materially affect the present invention; it merely differs in the way relative positions are expressed.

[0056] In this embodiment, the magnetic field strength in any direction of each geomagnetic sensor is determined by the detection values of each geomagnetic sensor in the X-axis, Y-axis and Z-axis directions, and the magnetic field strength in any direction can be calculated by vector decomposition.

[0057] In this embodiment, the magnetic field strength at any point is calculated by multiplying the geomagnetic intensity components of each geomagnetic sensor in the direction of the point by the corresponding weight. This calculation is based on the direction vector. However, since the magnetic field strength deviation increases with the distance from the magnetic sensor, the direction deviation leads to a greater deviation in the magnetic field strength. Therefore, the above method of the present invention is only used to calculate the magnetic field strength at a specific point. The selected point here refers to the corner point of the cell after the cell division.

[0058] As an optional embodiment of the present invention, obtaining the magnetic field strength of a selected point within a given spatial range includes:

[0059] Divide the given space into rectangular parallelepiped units, so that the length, width, and height of each rectangular parallelepiped unit are respectively along the X-axis, Y-axis, and Z-axis of the geomagnetic sensor;

[0060] Determine the coordinates of each corner point of the rectangular unit and calculate the magnetic field strength of each corner point of the rectangular unit;

[0061] The arrangement direction of the geomagnetic sensors is selected as the reference direction, and the linear interpolation method is used along the reference direction to calculate the magnetic field strength at any position between two adjacent corner points whose connecting line is parallel to the reference direction;

[0062] A section is made perpendicular to the Z axis for each rectangular unit, and the magnetic field intensity at any point in the section is calculated from the components of the points in the X-axis and Y-axis directions corresponding to the section.

[0063] In this embodiment, considering the size of the vehicle, the size of the rectangular unit can be set to centimeters, for example, less than 5 cm. This division method can reduce the number of units and reduce the amount of calculation. The length-width-length ratio can be freely set, and cube units can also be used.

[0064] In this embodiment, the magnetic field strength at the corner points of the cuboid unit is calculated using the direction vector method given in the previous embodiment.

[0065] In this embodiment, the linear interpolation method is only used in the reference direction. For non-reference directions, there are more and more complex factors affecting the magnetic field intensity, and other methods need to be used for calculation. Specifically, the present invention uses the cross-section of the rectangular unit and calculates by vector decomposition in each cross-section, thereby reducing the error introduced by using different calculation methods. In this embodiment, for a cross-section, there is a corner point closest to the arrangement position (linear arrangement) of the geomagnetic sensor. With this corner point as the base point, two other adjacent corner points are selected. Then, of the two selected corner points, the line connecting one corner point and the base point is parallel to the X direction, and the line connecting the other corner point and the base point is parallel to the Y direction. By calculating the difference in magnetic field intensity between the corner point and the base point, the magnetic field vector of the base point in the X direction and the Y direction is obtained. By decomposing the two vectors to the target point in the cross-section, the magnetic field intensity of any point in the cross-section can be obtained.

[0066] As an optional embodiment of the present invention, determining the disturbance area based on the updated regional geomagnetic distribution includes:

[0067] The magnetic field intensity of each point in the updated regional geomagnetic distribution is subtracted from the magnetic field intensity of the corresponding point in the regional geomagnetic distribution constructed by the reference values of each geomagnetic sensor to obtain the changed area;

[0068] The areas in the change area where the magnetic field intensity is greater than the set threshold are screened to obtain the disturbance area.

[0069] In this embodiment, the change region is larger than the disturbance region. The disturbance region is the change region that meets a set threshold. The set threshold can be set by the user or based on a verification value, and is not specifically limited in this embodiment of the present invention. As an optional implementation, the threshold can be set by screening the ratio of the projected areas of the front and rear disturbance regions to the change region. For example, the area ratio can be set to a value between 0.9 and 0.95, thereby adjusting the set threshold.

[0070] As an optional embodiment of the present invention, the preliminarily determining whether a vehicle is detected based on the disturbance area includes:

[0071] Obtain the projection of the disturbance area on the XY plane and extract the maximum outer contour of the projection;

[0072] Select a first direction and a second direction perpendicular to each other on the XY plane, and draw a rectangle parallel to the first direction and the second direction so that the extracted maximum outer contour is completely within the rectangle;

[0073] Adjusting the orientations of the first direction and the second direction and the aspect ratio of the rectangle to minimize the area of the rectangle, and obtaining the length and width of the rectangle with the minimum area;

[0074] The vehicle model library is queried based on the length and width of the obtained rectangle. If a vehicle model that meets the conditions exists, it is preliminarily determined that the vehicle is detected.

[0075] In this embodiment, the above steps provide a method for initially determining whether a vehicle has been detected. Finally, the vehicle is determined by querying the vehicle model library to see if a vehicle model that meets the required length and width criteria exists. This condition means that the deviation between the length and width of the vehicle model in the model library and the length and width of the rectangle is less than a set deviation value, which can be 5%-10%.

[0076] As an optional embodiment of the present invention, determining the motion trajectory of the vehicle based on the change of the disturbance area over time includes:

[0077] Generate a line segment in the rectangle that is parallel to the length direction of the rectangle and passes through the center point of the rectangle, where the length of the line segment is less than or equal to the length of the rectangle, and obtain the coordinates of the center point and two endpoints of the line segment;

[0078] Get the changes of the coordinates of the center point and the two endpoints of the line segment over time, and get the change trajectory of the three points over time;

[0079] The moving trajectory of the vehicle is obtained from the changing trajectory of the center point, and the rotation trajectory of the vehicle is obtained from the relative values of the changing trajectories of the two end points;

[0080] The motion trajectory of the vehicle is obtained from the moving trajectory and the rotation trajectory of the vehicle.

[0081] In this embodiment, the vehicle's rotation is determined by the angle of the line segment. Therefore, the present invention can not only detect changes in the vehicle's position, but also distinguish vehicle body rotation when the vehicle's center position remains unchanged or changes slightly. The movement trajectory of the vehicle's center position and the changes in the vehicle's rotation angle at different positions together constitute the vehicle's motion trajectory.

[0082] As an optional embodiment of the present invention, the step of confirming whether a vehicle is detected based on the vehicle motion trajectory includes:

[0083] Set an interval time and get the midpoints of the three points before and after each interval time;

[0084] Draw a perpendicular line through the midpoint of the trajectory of the two endpoints, and the intersection of the two perpendicular lines determines the center of the circle;

[0085] Draw a circle with the determined center point through the front and rear positions of the center point to obtain the turning circle of the vehicle;

[0086] Determining whether the radius of the turning circle is greater than or equal to the minimum turning radius of the corresponding vehicle, and if so, confirming that the vehicle is detected;

[0087] Among them, the minimum turning radius of the vehicle is R=L / 2(Sinψ), where L is the vehicle length and ψ is the maximum turning angle of the vehicle.

[0088] In this embodiment, the turning circle radius in the path is compared with the vehicle's minimum turning radius through the above steps. If the turning circle radius is smaller than the vehicle's minimum turning radius, the initial judgment is inaccurate and the detected object may be a vehicle-like object. In this way, the present invention can achieve higher vehicle recognition accuracy.

[0089] As an optional embodiment of the present invention, the step of filtering the tag sequence according to the position of the parking space where the vehicle is parked to obtain the tag information of the target vehicle includes:

[0090] Determine the difference tag based on the tag sequence read this time and the tag sequence read last time;

[0091] The distance between the difference tag and the reader is calculated based on the communication delay of the difference tag, which is recorded as the first distance;

[0092] Calculate the distance between the parking space where the vehicle is parked and the card reader, and record it as the second distance;

[0093] Calculate the deviation between the first distance and the second distance, determine whether the first distance whose deviation satisfies the set range is unique, and if so, determine the label corresponding to the first distance that satisfies the conditions as the label of the target vehicle;

[0094] Parse the tag information of the target vehicle's tag.

[0095] In this embodiment, the vehicle tag can be a vehicle ETC identification card or other type of wireless identification tag, such as one based on RFID technology. Different types of tags require corresponding card readers. By configuring the above steps, the present invention can identify the target vehicle's tag from among the numerous tags read, thereby performing billing or settlement. The tag information herein includes, but is not limited to, license plate information.

[0096] like Figure 2 As shown, an embodiment of the present invention further provides a vehicle identification device for roadside parking, the vehicle identification device for roadside parking comprising:

[0097] An acquisition module is used to obtain the reference value of each geomagnetic sensor and construct the regional geomagnetic distribution based on the reference value of each geomagnetic sensor;

[0098] An updating module, configured to obtain detection values of each geomagnetic sensor in real time and update the regional geomagnetic distribution according to the detection values;

[0099] a preliminary detection module, configured to determine a disturbance region based on an updated regional geomagnetic distribution, preliminarily determine whether a vehicle is detected based on the disturbance region, and if a vehicle is preliminarily detected, determine a movement trajectory of the vehicle based on changes in the disturbance region over time;

[0100] The vehicle and parking space confirmation module is used to confirm whether the vehicle is detected based on the vehicle's motion trajectory. If the vehicle is detected, the parking space where the vehicle is parked is determined based on the vehicle's motion trajectory.

[0101] The tag reading module is used to start the card reader and obtain the tag sequence read by the card reader;

[0102] A screening module, configured to screen the tag sequence according to the location of the parking space where the vehicle is parked to obtain tag information of the target vehicle;

[0103] The billing module is used to enable billing based on the tag information of the target vehicle;

[0104] Among them, the geomagnetic sensors are set on the side of the road, and each geomagnetic sensor is set at the junction of two adjacent parking spaces. The X-axis and Y-axis of each geomagnetic sensor are respectively facing one of the adjacent parking spaces, and the Z-axis is set upward. The number of geomagnetic sensors is less than or equal to half of the total number of parking spaces.

[0105] In this embodiment, for the detailed explanation of the steps executed by the above modules, please refer to the content of the method of the present invention, which will not be described in detail in this embodiment.

[0106] like Figure 3 As shown, an embodiment of the present invention further provides a vehicle identification system for roadside parking lots, the vehicle identification system for roadside parking lots comprising:

[0107] Several geomagnetic sensors are set on the side of the road, each of which is set at the intersection of two adjacent parking spaces. The X-axis and Y-axis of each geomagnetic sensor are respectively facing one of the adjacent parking spaces, and the Z-axis is set upward. The number of geomagnetic sensors is less than or equal to half of the total number of parking spaces;

[0108] A card reader for reading vehicle tag information; and

[0109] A computer device is connected to the geomagnetic sensor and the card reader respectively, and is used to execute the vehicle identification method for roadside parking according to any one or more embodiments of the present invention.

[0110] In this embodiment, the geomagnetic sensor and the card reader are both existing devices. The present invention does not provide a detailed description of their working principles and structures, and reference may be made to the prior art. The computer device provided by the present invention can be set in the cloud or in the vicinity of a roadside parking lot, and is connected to the geomagnetic sensor and the card reader via a communication line or wirelessly. By executing the vehicle identification method for roadside parking lots provided by the embodiment of the present invention, the geomagnetic sensors arranged specifically are used to detect vehicles entering or leaving parking spaces. This detection method is not affected by general weather conditions and has excellent scalability. The increase in the number of parking spaces does not significantly increase the hardware requirements for the method provided by the present invention, and there is no need to consider the shooting range and recognition accuracy of the method as with a camera. In addition, by combining with the card reader, the information stored in the vehicle tag is fully utilized, and there is no need to obtain vehicle information through image recognition or other methods. The information acquisition method of the present invention is more stable and reliable. Specifically, the present invention uses the detection value of the geomagnetic sensor to preliminarily determine whether a vehicle is detected, and then obtains the vehicle's movement trajectory and confirms whether the vehicle is detected. This method reduces misjudgment and improves the recognition rate.

[0111] Figure 4 FIG. 1 shows an internal structure diagram of a computer device in one embodiment. Figure 4 As shown, the computer device includes a processor, a memory, a network interface, an input device and a display screen connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor may implement the vehicle identification method for roadside parking lots provided in an embodiment of the present invention. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor may implement the vehicle identification method for roadside parking lots provided in an embodiment of the present invention. The display screen of the computer device may be a liquid crystal display or an electronic ink display screen. The input device of the computer device may be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0112] Those skilled in the art will understand that Figure 4The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present invention and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0113] In one embodiment, the vehicle identification device for roadside parking provided by the embodiment of the present invention can be implemented in the form of a computer program. The computer program can be used in Figure 4 The computer device shown in FIG. 1 is run on the computer device shown in FIG. The memory of the computer device can store various program modules constituting the vehicle identification device for roadside parking, such as: Figure 3 The computer program consisting of the acquisition module, update module, preliminary detection module, vehicle and parking space confirmation module, tag reading module, screening module, and billing module shown in the figure enables the processor to execute the steps of the vehicle identification method for roadside parking in various embodiments of the present invention described in this specification.

[0114] For example, Figure 4 The computer device shown can be Figure 3 The acquisition module in the vehicle identification device for roadside parking shown executes step S100; the computer device can execute step S200 through the update module; the computer device can execute step S300 through the preliminary detection module; the computer device can execute step S400 through the vehicle and berth confirmation module; the computer device can execute step S500 through the tag reading module; the computer device can execute step S600 through the screening module; and the computer device can execute step S700 through the billing module.

[0115] In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are performed:

[0116] Obtaining reference values of each geomagnetic sensor and constructing regional geomagnetic distribution based on the reference values of each geomagnetic sensor;

[0117] Acquire detection values of each geomagnetic sensor in real time, and update the regional geomagnetic distribution according to the detection values;

[0118] Determine a disturbance area based on the updated regional geomagnetic distribution, preliminarily determine whether a vehicle is detected based on the disturbance area, and if a vehicle is preliminarily detected, determine the vehicle's trajectory based on changes in the disturbance area over time;

[0119] The vehicle's motion trajectory is used to determine whether the vehicle has been detected. If the vehicle has been detected, the vehicle's motion trajectory is used to determine the parking space the vehicle has parked in.

[0120] Start the card reader and obtain the tag sequence read by the card reader;

[0121] The tag sequence is filtered according to the position of the parking space where the vehicle is parked to obtain the tag information of the target vehicle;

[0122] Enable billing based on the target vehicle’s tag information;

[0123] Among them, the geomagnetic sensors are set on the side of the road, and each geomagnetic sensor is set at the junction of two adjacent parking spaces. The X-axis and Y-axis of each geomagnetic sensor are respectively facing one of the adjacent parking spaces, and the Z-axis is set upward. The number of geomagnetic sensors is less than or equal to half of the total number of parking spaces.

[0124] In one embodiment, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor performs the following steps:

[0125] Obtaining reference values of each geomagnetic sensor and constructing regional geomagnetic distribution based on the reference values of each geomagnetic sensor;

[0126] Acquire detection values of each geomagnetic sensor in real time, and update the regional geomagnetic distribution according to the detection values;

[0127] Determine a disturbance area based on the updated regional geomagnetic distribution, preliminarily determine whether a vehicle is detected based on the disturbance area, and if a vehicle is preliminarily detected, determine the vehicle's trajectory based on changes in the disturbance area over time;

[0128] The vehicle's motion trajectory is used to determine whether the vehicle has been detected. If the vehicle has been detected, the vehicle's motion trajectory is used to determine the parking space the vehicle has parked in.

[0129] Start the card reader and obtain the tag sequence read by the card reader;

[0130] The tag sequence is filtered according to the position of the parking space where the vehicle is parked to obtain the tag information of the target vehicle;

[0131] Enable billing based on the target vehicle’s tag information;

[0132] Among them, the geomagnetic sensors are set on the side of the road, and each geomagnetic sensor is set at the junction of two adjacent parking spaces. The X-axis and Y-axis of each geomagnetic sensor are respectively facing one of the adjacent parking spaces, and the Z-axis is set upward. The number of geomagnetic sensors is less than or equal to half of the total number of parking spaces.

[0133] It should be understood that, although the various steps in the flow chart of each embodiment of the present invention are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0134] Those skilled in the art will appreciate that all or part of the processes in the above-described embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-described methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0135] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0136] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A method for identifying vehicles in roadside parking lots, characterized in that: The method for identifying vehicles for roadside parking lots comprises: Obtaining reference values of each geomagnetic sensor and constructing regional geomagnetic distribution based on the reference values of each geomagnetic sensor; Acquire detection values of each geomagnetic sensor in real time, and update the regional geomagnetic distribution according to the detection values; Determine a disturbance area based on the updated regional geomagnetic distribution, preliminarily determine whether a vehicle is detected based on the disturbance area, and if a vehicle is preliminarily detected, determine the vehicle's trajectory based on changes in the disturbance area over time; The vehicle's motion trajectory is used to determine whether the vehicle has been detected. If the vehicle has been detected, the vehicle's motion trajectory is used to determine the parking space the vehicle has parked in. Start the card reader and obtain the tag sequence read by the card reader; The tag sequence is filtered according to the position of the parking space where the vehicle is parked to obtain the tag information of the target vehicle; Enable billing based on the target vehicle’s tag information; The geomagnetic sensors are arranged on the side of the road, each of which is arranged at the junction of two adjacent parking spaces. The X-axis and Y-axis of each geomagnetic sensor are respectively directed toward one of the adjacent parking spaces, and the Z-axis is arranged upward. The number of geomagnetic sensors is less than or equal to half of the total number of parking spaces. The preliminarily determining whether a vehicle is detected according to the disturbance area includes: Obtain the projection of the disturbance area on the XY plane and extract the maximum outer contour of the projection; Select a first direction and a second direction perpendicular to each other on the XY plane, and draw a rectangle parallel to the first direction and the second direction so that the extracted maximum outer contour is completely within the rectangle; Adjusting the orientations of the first direction and the second direction and the aspect ratio of the rectangle to minimize the area of the rectangle, and obtaining the length and width of the rectangle with the minimum area; The vehicle model library is searched based on the length and width of the obtained rectangle. If a vehicle model that meets the requirements exists, it is preliminarily determined that the vehicle has been detected. Determining the motion trajectory of the vehicle based on the change of the disturbance area over time includes: Generate a line segment in the rectangle that is parallel to the length direction of the rectangle and passes through the center point of the rectangle, where the length of the line segment is less than or equal to the length of the rectangle, and obtain the coordinates of the center point and two endpoints of the line segment; Get the changes of the coordinates of the center point and the two endpoints of the line segment over time, and obtain the change trajectory of the three points over time; The moving trajectory of the vehicle is obtained from the changing trajectory of the center point, and the rotation trajectory of the vehicle is obtained from the relative values of the changing trajectories of the two end points; The motion trajectory of the vehicle is obtained from the moving trajectory and the rotation trajectory of the vehicle; The step of confirming whether a vehicle is detected based on the vehicle's motion trajectory includes: Set an interval time and get the midpoints of the three points before and after each interval time; Draw a perpendicular line through the midpoint of the trajectory of the two endpoints, and the intersection of the two perpendicular lines determines the center of the circle; Draw a circle with the determined center point through the front and rear positions of the center point to obtain the turning circle of the vehicle; Determine whether the radius of the turning circle is greater than or equal to the minimum turning radius of the corresponding vehicle, and if so, confirm that the vehicle is detected; Among them, the minimum turning radius of the vehicle is R=L / 2(Sinψ), where L is the vehicle length and ψ is the maximum turning angle of the vehicle.

2. The vehicle identification method for roadside parking according to claim 1, characterized in that: The step of constructing a regional geomagnetic distribution based on the reference values of the respective geomagnetic sensors includes: Mark the location of each geomagnetic sensor within a given spatial range; The magnetic field strength in any direction of each geomagnetic sensor is determined by the detection values of each geomagnetic sensor in the X-axis, Y-axis and Z-axis directions; For any point in space, calculate the sum of the distances from each geomagnetic sensor to that point, and obtain the weight of the corresponding geomagnetic sensor by the ratio of the distance from each geomagnetic sensor to that point to the sum of the distances from each geomagnetic sensor to that point. Calculate the magnetic field strength of the point based on the weight of each geomagnetic sensor and the magnetic field strength of each geomagnetic sensor in the direction of the point; The above steps can be used to obtain the magnetic field strength of a selected point within a given spatial range, thereby obtaining the regional geomagnetic distribution.

3. The method for identifying vehicles in roadside parking lots according to claim 2, wherein: The obtaining of the magnetic field strength at a selected point within a given spatial range comprises: Divide the given space into rectangular parallelepiped units, so that the length, width, and height of each rectangular parallelepiped unit are respectively along the X-axis, Y-axis, and Z-axis of the geomagnetic sensor; Determine the coordinates of each corner point of the rectangular unit and calculate the magnetic field strength of each corner point of the rectangular unit; The arrangement direction of the geomagnetic sensors is selected as the reference direction, and the linear interpolation method is used along the reference direction to calculate the magnetic field strength at any position between two adjacent corner points whose connecting line is parallel to the reference direction; A section is made perpendicular to the Z axis for each rectangular unit, and the magnetic field intensity at any point in the section is calculated from the components of the points in the X-axis and Y-axis directions corresponding to the section.

4. The method for identifying vehicles for roadside parking lots according to claim 1, wherein: Determining the disturbance area based on the updated regional geomagnetic distribution includes: The magnetic field intensity of each point in the updated regional geomagnetic distribution is subtracted from the magnetic field intensity of the corresponding point in the regional geomagnetic distribution constructed by the reference values of each geomagnetic sensor to obtain the changed area; The areas in the change area where the magnetic field intensity is greater than the set threshold are screened to obtain the disturbance area.

5. The method for identifying vehicles for roadside parking lots according to claim 1, wherein: The step of filtering the tag sequence according to the position of the parking space where the vehicle is parked to obtain the tag information of the target vehicle includes: Determine the difference tag based on the tag sequence read this time and the tag sequence read last time; The distance between the difference tag and the reader is calculated based on the communication delay of the difference tag, which is recorded as the first distance; Calculate the distance between the parking space where the vehicle is parked and the card reader, and record it as the second distance; Calculate the deviation between the first distance and the second distance, determine whether the first distance whose deviation satisfies the set range is unique, and if so, determine the label corresponding to the first distance that satisfies the conditions as the label of the target vehicle; Parse the tag information of the target vehicle's tag.

6. A vehicle identification device for roadside parking, characterized in that: The vehicle identification device for roadside parking includes: An acquisition module is used to obtain the reference value of each geomagnetic sensor and construct the regional geomagnetic distribution based on the reference value of each geomagnetic sensor; An updating module, configured to obtain detection values of each geomagnetic sensor in real time and update the regional geomagnetic distribution according to the detection values; a preliminary detection module, configured to determine a disturbance region based on an updated regional geomagnetic distribution, preliminarily determine whether a vehicle is detected based on the disturbance region, and if a vehicle is preliminarily detected, determine a movement trajectory of the vehicle based on changes in the disturbance region over time; The vehicle and parking space confirmation module is used to confirm whether the vehicle is detected based on the vehicle's motion trajectory. If the vehicle is detected, the parking space where the vehicle is parked is determined based on the vehicle's motion trajectory. The tag reading module is used to start the card reader and obtain the tag sequence read by the card reader; A screening module, configured to screen the tag sequence according to the location of the parking space where the vehicle is parked to obtain tag information of the target vehicle; The billing module is used to enable billing based on the tag information of the target vehicle; The geomagnetic sensors are arranged on the side of the road, each of which is arranged at the junction of two adjacent parking spaces. The X-axis and Y-axis of each geomagnetic sensor are respectively directed toward one of the adjacent parking spaces, and the Z-axis is arranged upward. The number of geomagnetic sensors is less than or equal to half of the total number of parking spaces. The preliminarily determining whether a vehicle is detected according to the disturbance area includes: Obtain the projection of the disturbance area on the XY plane and extract the maximum outer contour of the projection; Select a first direction and a second direction perpendicular to each other on the XY plane, and draw a rectangle parallel to the first direction and the second direction so that the extracted maximum outer contour is completely within the rectangle; Adjusting the orientations of the first direction and the second direction and the aspect ratio of the rectangle to minimize the area of the rectangle, and obtaining the length and width of the rectangle with the minimum area; The vehicle model library is searched based on the length and width of the obtained rectangle. If a vehicle model that meets the requirements exists, it is preliminarily determined that the vehicle has been detected. Determining the motion trajectory of the vehicle based on the change of the disturbance area over time includes: Generate a line segment in the rectangle that is parallel to the length direction of the rectangle and passes through the center point of the rectangle, where the length of the line segment is less than or equal to the length of the rectangle, and obtain the coordinates of the center point and two endpoints of the line segment; Get the changes of the coordinates of the center point and the two endpoints of the line segment over time, and obtain the change trajectory of the three points over time; The moving trajectory of the vehicle is obtained from the changing trajectory of the center point, and the rotation trajectory of the vehicle is obtained from the relative values of the changing trajectories of the two end points; The motion trajectory of the vehicle is obtained from the moving trajectory and the rotation trajectory of the vehicle; The step of confirming whether a vehicle is detected based on the vehicle's motion trajectory includes: Set an interval time and get the midpoints of the three points before and after each interval time; Draw a perpendicular line through the midpoint of the trajectory of the two endpoints, and the intersection of the two perpendicular lines determines the center of the circle; Draw a circle with the determined center point through the front and rear positions of the center point to obtain the turning circle of the vehicle; Determining whether the radius of the turning circle is greater than or equal to the minimum turning radius of the corresponding vehicle, and if so, confirming that the vehicle is detected; Among them, the minimum turning radius of the vehicle is R=L / 2(Sinψ), where L is the vehicle length and ψ is the maximum turning angle of the vehicle.

7. A vehicle identification system for roadside parking lots, characterized in that: The roadside parking vehicle identification system includes: Several geomagnetic sensors are set on the side of the road, each of which is set at the intersection of two adjacent parking spaces. The X-axis and Y-axis of each geomagnetic sensor are respectively facing one of the adjacent parking spaces, and the Z-axis is set upward. The number of geomagnetic sensors is less than or equal to half of the total number of parking spaces; A card reader for reading vehicle tag information; and A computer device, wherein the computer device is connected to the geomagnetic sensor and the card reader respectively, and is used to execute the vehicle identification method for roadside parking according to any one of claims 1 to 5.

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