A vehicle positioning method and system based on short rod image acquisition

Abstract

The application discloses a kind of vehicle positioning method and system based on short pole image acquisition, comprising: vehicle image is obtained by short pole image acquisition equipment;Vehicle trajectory tracking is carried out, the position of feature anchor point and the position of positioning anchor point in feature information under unobstructed state are obtained by different frames unobstructed vehicle image, the feature parameter corresponding to feature anchor point is obtained;The movement distance of unobstructed feature anchor point under the state of obstruction is obtained;The movement distance of positioning anchor point under the state of obstruction is obtained;The position of positioning anchor point under the state of obstruction is obtained, the position of vehicle under the state of obstruction can be determined by the method, so that short pole image acquisition equipment can be widely used, vehicle recognition and positioning are carried out using short pole, the construction cost of L-shaped vertical pole can be effectively saved, and can be directly used on existing street lamp pole and other pole bodies, reduce the amount of engineering construction of long arm monitoring, avoid the vertical pole for roadside parking management to be separately constructed, effectively save cost.

Description

Technical Field

[0001] This invention belongs to the field of vehicle image processing technology, and specifically relates to a vehicle positioning method and system based on short pole image acquisition. Background Technology

[0002] With the development of smart city construction, effectively solving urban road parking management has become an urgent problem. Existing smart parking management solutions for urban roads use high-position intelligent recognition cameras mounted on L-shaped poles to identify and manage roadside parking vehicles. In traditional solutions, to facilitate the identification of license plate and parking space information and avoid mutual obstruction between vehicles, the L-shaped pole is typically at least 3 meters long. However, the longer the pole, the higher the construction cost, and it cannot be built using existing streetlight poles or other roadside poles. Using shorter poles with L-shaped poles shorter than 3 meters can effectively save on construction costs and can be mounted on existing streetlight poles. However, because the image acquisition angle of the short pole differs from that of the long pole, vehicles are prone to mutual obstruction, making it difficult to obtain feature information in traditional vehicle image processing methods and to determine the position and movement of vehicles under obstruction. Summary of the Invention

[0003] In order to solve the above-mentioned problems in the prior art, the purpose of the present invention is to provide a vehicle positioning method and system based on short pole image acquisition, which uses an image acquisition device mounted on a short pole to acquire vehicle images and accurately calculates the position and motion state of the occluded vehicle based on the occluded vehicle image.

[0004] The technical solution adopted in this invention is as follows:

[0005] A vehicle localization method based on short pole image acquisition includes:

[0006] Vehicle images are acquired using a short-pole image acquisition device;

[0007] Vehicle trajectory tracking is performed, and vehicle images are divided into unobstructed vehicle images and occluded vehicle images.

[0008] By obtaining the positions of feature anchors and positioning anchors in the feature information of vehicle images in different frames under unoccluded states, the movement distances of feature anchors and positioning anchors are calculated, and the feature parameters corresponding to the feature anchors are obtained.

[0009] The position of the unoccluded feature anchor point in the feature information of the occluded vehicle image is obtained by obtaining the position of the corresponding feature anchor point in the unoccluded state, and the movement distance of the unoccluded feature anchor point in the occluded state is obtained by combining the position of the corresponding feature anchor point in the unoccluded state.

[0010] The movement distance of the positioning anchor point under occlusion is obtained by the movement distance of the unoccluded feature anchor point under occlusion and the corresponding feature parameters.

[0011] The position of the positioning anchor point under occlusion is obtained by measuring the movement distance of the positioning anchor point under occlusion and the position of the positioning anchor point under unocclusion.

[0012] Furthermore, the positions of feature anchors and positioning anchors in the feature information under unobstructed conditions are obtained: the image start and end positions of feature anchors and positioning anchors are determined by the time sequence of vehicle image frames; a projection sphere is constructed with the short pole acquisition device as the center O and the height h of the short pole acquisition device as the radius, and the position F of the short pole acquisition device on the projection surface is obtained; the starting projection position L and ending position N of its feature anchors and the starting projection position K and ending projection position M of its positioning anchors are obtained, as well as the starting actual position C and ending actual position E of the feature anchors and the starting actual position G and ending actual position I of the positioning anchors.

[0013] Furthermore, the movement distances of the feature anchor point and the positioning anchor point are calculated as LN = 2 * OL * sin∠LON and KM = 2 * OK * sin∠KOM, respectively.

[0014] Furthermore, the characteristic parameters are sin∠KOM / sin∠LON;

[0015] Since a short-pole image acquisition system is used, sin∠KOM / sin∠LON=sin∠GOI / sin∠HOI=sin∠γ / sin∠θ;

[0016] With F as the origin, the ground as the X-axis, and OF as the line connecting the short pole image acquisition device O and the position F of the projected curved sphere, the Y-axis is defined.

[0017] Establish coordinate points G(a,0), I(c,0), C(a,b), E(c,b), and O(0,h);

[0018] In the coordinate system, establish the equations (hb)x + ay - ah = 0; (hb)x + cy - ch = 0;

[0019] The characteristic parameters are obtained by solving the equation:

[0020]

[0021] Where a is the vehicle's initial distance, b is the vehicle's height, c is the vehicle's current distance, and h is the height of the short pole acquisition device. The vehicle's height is calculated using the initial actual position C of the feature anchor point and the initial actual position of the positioning anchor point. The vehicle's initial distance is calculated using the initial actual position G of the positioning anchor point and the position F of the short pole acquisition device on the projection surface. The vehicle's current distance is calculated using the ending actual position G of the positioning anchor point and the position F of the short pole acquisition device on the projection surface.

[0022] After obtaining the feature parameters, the positions of the unoccluded feature anchor points in the feature information under occlusion are obtained from the vehicle image under occlusion. The movement distance of the unoccluded feature anchor points under occlusion is then calculated by combining the position of the corresponding feature anchor points under unocclusion conditions. In this embodiment, the movement distance of the vehicle roof under occlusion is calculated by combining the position of the unoccluded roof in the vehicle image under occlusion conditions with the position of the roof in the most recent unoccluded vehicle image.

[0023] The movement distance of the vehicle under the vehicle is obtained by multiplying the movement distance of the vehicle roof by the feature parameters. Then, the position of the vehicle under the vehicle in the occluded state is obtained by combining the position of the vehicle under the vehicle in the nearest unoccluded state image.

[0024] This method obtains the position of the vehicle's undercarriage under obstruction, then uses the position of the undercarriage to obtain the real-time 3D chassis position of the vehicle. The real-time 3D chassis position is matched with the set parking space coil to determine its entry and exit status, and vehicle management is completed by combining the entry and exit status.

[0025] In another embodiment, the vehicle feature information includes the roof, windows, and 3D chassis. The upper left, upper right, lower left, and lower right corners of each feature information are used as anchor points, the anchor points of the roof and windows are used as feature anchor points, and the anchor point of the 3D chassis is used as a positioning anchor point.

[0026] The present invention also provides a vehicle positioning system based on short pole image acquisition, comprising:

[0027] Short pole image acquisition device: The short pole image acquisition device includes a support pole, a short horizontal arm and an acquisition camera. The acquisition camera acquires vehicle images. The support pole and the short horizontal arm are perpendicular to each other and form an L-shaped structure. The length of the short horizontal arm does not exceed 3m.

[0028] Trajectory tracking module: Tracks vehicle trajectory based on vehicle image, determines vehicle occlusion status, and divides vehicle image;

[0029] Feature parameter calculation module: Obtain the position of feature anchor point and positioning anchor point in the feature information under the unoccluded state through vehicle images in different frames, calculate the movement distance of feature anchor point and positioning anchor point, and obtain the feature parameters corresponding to feature anchor point;

[0030] Distance acquisition module: Obtain the position of the unoccluded feature anchor point in the feature information of the occluded vehicle image, and obtain the movement distance of the unoccluded feature anchor point in the occluded state by combining the position of the corresponding feature anchor point in the unoccluded state.

[0031] Occlusion distance module: The movement distance of the positioning anchor point under occlusion is obtained by the movement distance of the unoccluded feature anchor point and the corresponding feature parameters under occlusion.

[0032] Occlusion positioning module: The position of the positioning anchor point under occlusion is obtained by measuring the movement distance of the positioning anchor point under occlusion and the position of the positioning anchor point under unocclusion.

[0033] Furthermore, a vehicle positioning system based on short pole image acquisition also includes:

[0034] Vehicle binding module: Based on trajectory tracking information, the vehicle feature information in different frames obtained by trajectory tracking in the trajectory tracking module is identified as the same vehicle and assigned a vehicle ID, and the identified license plate information is added to the license plate recognition list corresponding to the vehicle ID;

[0035] Parking management module: By using the location anchor point in the occlusion positioning module, the location anchor point is expanded into a 3D chassis. The 3D chassis position is matched with the parking space coil to determine the entry and exit status. Based on the entry and exit status, the corresponding vehicle is selected from the license plate recognition list and a management order is pushed according to its feature information.

[0036] The beneficial effects of this invention are as follows:

[0037] 1. The present invention acquires vehicle images using a short-pole image acquisition device, obtains feature parameters through feature information in the unobstructed state, calculates the movement distance of the obstructed positioning anchor point by combining the movement distance of the unobstructed anchor point with the feature parameters in the obstructed state, and then obtains the position of the positioning anchor point in the obstructed state by combining the position of the unobstructed positioning anchor point with the position of the unobstructed positioning anchor point, thereby obtaining the position of the vehicle in the obstructed state, which facilitates the management of vehicles in the obstructed state.

[0038] 2. The method for locating vehicles under obstructed conditions adopted in this invention enables the widespread use of short pole image acquisition equipment. Using short poles for vehicle identification and location can effectively save the construction cost of L-shaped poles and can be directly mounted on existing street light poles and other poles, reducing the amount of engineering construction required for long-arm monitoring and avoiding the need to build separate poles for roadside parking management, thus effectively saving costs.

[0039] 3. The present invention also provides a positioning system using short pole image acquisition, which can be directly applied to parking spaces using short pole image acquisition, effectively avoiding obstruction by adjacent vehicles, accurately locating the position of vehicles leaving the parking space, obtaining relevant vehicle information, and completing the relevant management of vehicles entering and leaving the parking space. Attached Figure Description

[0040] Figure 1 This is a flowchart illustrating the present invention.

[0041] Figure 2 This is a system schematic diagram of the present invention.

[0042] Figure 3 This is a schematic diagram of the short pole image acquisition and projection of the present invention.

[0043] Figure 4 This is a schematic diagram illustrating the calculation of feature values ​​for short pole image acquisition according to the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0045] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the invention can be combined with each other.

[0046] like Figure 1 As shown, this embodiment of a vehicle positioning method based on short pole image acquisition includes:

[0047] Vehicle images are acquired using a short-pole image acquisition device; vehicle trajectory tracking is performed, dividing the vehicle images into unobstructed and occluded states; the positions of feature anchors and positioning anchors in the feature information of the unobstructed state are obtained from different frames of the unobstructed state vehicle images, and the movement distances of the feature anchors and positioning anchors are calculated to obtain the corresponding feature parameters; the positions of unobstructed feature anchors in the feature information of the occluded state are obtained from the occluded state vehicle images, and the movement distances of the unobstructed feature anchors in the occluded state are obtained by combining the positions of the corresponding feature anchors in the unobstructed state; the movement distances of the positioning anchors in the occluded state are obtained by using the movement distances of the unobstructed feature anchors and their corresponding feature parameters; and the positions of the positioning anchors in the occluded state are obtained by using the movement distances of the positioning anchors in the occluded state and the positions of the positioning anchors in the unobstructed state.

[0048] This invention acquires vehicle images using a short-pole image acquisition device, extracts feature information from vehicle images across different frames, calculates the cosine distance between the feature information, and determines feature information where the cosine distance exceeds a distance threshold as belonging to the same vehicle in different frames. The feature information from different vehicle frames is then assigned the same vehicle ID, completing trajectory tracking. During trajectory tracking, license plates are also identified in the vehicle images. Upon identification of a license plate, the information is added to the license plate recognition list corresponding to the vehicle ID. Through vehicle trajectory tracking, vehicle images are divided into unobstructed and occluded vehicle images.

[0049] To obtain the positions of feature anchors and positioning anchors in the unobstructed state: The temporal sequence of vehicle image frames determines the image start and end positions of feature anchors and positioning anchors; a projection sphere is constructed with the short-pole acquisition device as the center O and its height h as the radius, and the position F of the short-pole acquisition device on the projection surface is obtained; the starting projection position L and ending position N of its feature anchors, the starting projection position K and ending projection position M of its positioning anchors, the starting actual position C and ending actual position E of its feature anchors, and the starting actual position G and ending actual position I of its positioning anchors are obtained. For example... Figure 3 As shown, in this embodiment, the feature information is taken from the roof of the vehicle. One point on the roof is used as the feature anchor point, and one point on the bottom of the vehicle is used as the positioning anchor point. Based on the time sequence of the vehicle image frames, the feature anchor point position and the positioning anchor point position in the earlier image are taken as the starting position, and the feature anchor point position and the positioning anchor point position in the later image are taken as the ending position.

[0050] The characteristic parameters are calculated using the distance LN = 2 * OL * sin∠LON and the distance KMKM = 2 * OK * sin∠KOM that the vehicle roof moves.

[0051] The characteristic parameters are sin∠KOM / sin∠LON;

[0052] Since a short-pole image acquisition system is used, sin∠KOM / sin∠LON=sin∠GOI / sin∠HOI=sin∠γ / sin∠θ;

[0053] With F as the origin, the ground as the X-axis, and OF as the line connecting the short pole image acquisition device O and the position F of the projected curved sphere, the Y-axis is defined.

[0054] Establish coordinate points G(a,0), I(c,0), C(a,b), E(c,b), and O(0,h); establish as follows Figure 4 The diagram shown illustrates the calculation of feature values ​​for short pole image acquisition.

[0055] Establish the equations (hb)x + ay - ah = 0; (hb)x + cy - ch = 0;

[0056] The characteristic parameters are obtained by solving the equation:

[0057]

[0058] Where a is the vehicle's initial distance, b is the vehicle's height, c is the vehicle's current distance, and h is the height of the short pole acquisition device. The vehicle's height is calculated using the initial actual position C of the feature anchor point and the initial actual position G of the positioning anchor point. The vehicle's initial distance is calculated using the initial actual position G of the positioning anchor point and the position F of the short pole acquisition device on the projection surface. The vehicle's current distance is calculated using the ending actual position I of the positioning anchor point and the position F of the short pole acquisition device on the projection surface.

[0059] In another embodiment, the vehicle feature information includes the roof, windows, and 3D chassis. The upper left, upper right, lower left, and lower right corners of each feature are used as anchor points. The anchor points of the roof and windows are used as feature anchor points, and the center of the 3D chassis is used as a positioning anchor point. Using vehicle image information from multiple frames in an unobstructed state, the positions of each feature anchor point and positioning anchor point are obtained. The movement distance of the corresponding feature anchor point in different frames is calculated, and the average of the calculated movement distances is taken. The center position of the 3D chassis is calculated using the 3D chassis anchor point positions. The movement distance of the chassis center position in different frames is calculated and averaged. The feature parameters corresponding to each positioning anchor point are obtained using the average movement distance of each positioning anchor point and the average movement distance of the 3D chassis center point. In the occluded vehicle image, the positions of the unoccluded feature anchor points are obtained. Combined with the movement distance from the corresponding anchor point position in the unoccluded vehicle image to this feature anchor point, the movement distance of the 3D chassis center is obtained using the feature parameters of the corresponding feature anchor point. Then, the 3D chassis center position in the occluded state is obtained by combining the 3D chassis center position in the unoccluded state vehicle image.

[0060] In this embodiment, the method obtains the center position of the 3D chassis in the occluded state, expands the 3D chassis center position as the origin to obtain the real-time 3D chassis position of the vehicle in the occluded state, matches the real-time 3D chassis position with the set parking space coil, determines its entry and exit status, and completes vehicle management by combining the entry and exit status.

[0061] The present invention also provides a vehicle positioning system based on short pole image acquisition, comprising:

[0062] Short pole image acquisition device: The short pole image acquisition device includes a support pole, a short horizontal arm and an acquisition camera. The acquisition camera acquires vehicle images. The support pole and the short horizontal arm are perpendicular to each other and form an L-shaped structure. The length of the short horizontal arm does not exceed 3m.

[0063] Trajectory tracking module: Tracks vehicle trajectory based on vehicle image, determines vehicle occlusion status, and divides vehicle image;

[0064] Feature parameter calculation module: Obtain the position of feature anchor point and positioning anchor point in the feature information under the unoccluded state through vehicle images in different frames, calculate the movement distance of feature anchor point and positioning anchor point, and obtain the feature parameters corresponding to feature anchor point;

[0065] Distance acquisition module: Obtain the position of the unoccluded feature anchor point in the feature information of the occluded vehicle image, and obtain the movement distance of the unoccluded feature anchor point in the occluded state by combining the position of the corresponding feature anchor point in the unoccluded state.

[0066] Occlusion distance module: The movement distance of the positioning anchor point under occlusion is obtained by the movement distance of the unoccluded feature anchor point and the corresponding feature parameters under occlusion.

[0067] Occlusion positioning module: The position of the positioning anchor point under occlusion is obtained by measuring the movement distance of the positioning anchor point under occlusion and the position of the positioning anchor point under unocclusion.

[0068] like Figure 2 As shown, in one embodiment of the present invention, a vehicle positioning system based on short pole image acquisition further includes:

[0069] Vehicle binding module: Based on trajectory tracking information, the vehicle feature information in different frames obtained by trajectory tracking in the trajectory tracking module is identified as the same vehicle and assigned a vehicle ID, and the identified license plate information is added to the license plate recognition list corresponding to the vehicle ID;

[0070] Parking management module: By using the location anchor point in the occlusion positioning module, the location anchor point is expanded into a 3D chassis. The 3D chassis position is matched with the parking space coil to determine the entry and exit status. Based on the entry and exit status, the corresponding vehicle is selected from the license plate recognition list and a management order is pushed according to its feature information.

[0071] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. A vehicle localization method based on short pole image acquisition, characterized in that, include: Vehicle images are acquired using a short-pole image acquisition device; Vehicle trajectory tracking is performed, and vehicle images are divided into unobstructed vehicle images and occluded vehicle images. By obtaining the positions of feature anchors and positioning anchors in the feature information of vehicle images in different frames under unoccluded states, the movement distances of feature anchors and positioning anchors are calculated, and the feature parameters corresponding to the feature anchors are obtained. The position of the unoccluded feature anchor point in the feature information of the occluded vehicle image is obtained by obtaining the position of the corresponding feature anchor point in the unoccluded state, and the movement distance of the unoccluded feature anchor point in the occluded state is obtained by combining the position of the corresponding feature anchor point in the unoccluded state. The movement distance of the positioning anchor point under occlusion is obtained by the movement distance of the unoccluded feature anchor point under occlusion and the corresponding feature parameters. The position of the anchor point under occlusion is obtained by measuring the movement distance of the anchor point under occlusion and the position of the anchor point under unocclusion. The time sequence of vehicle image frames determines the image start and end positions of feature anchors and positioning anchors. A projection sphere is constructed with the short-pole acquisition device as the center O and its height h as the radius. The position F of the short-pole acquisition device on the projection surface is obtained. The starting projection positions L and N of its feature anchors, the starting projection positions K and M of its positioning anchors, the starting actual positions C and E of its feature anchors, and the starting actual positions G and I of its positioning anchors are also obtained. The movement distances of the feature anchor point and the positioning anchor point are calculated as LN=2*OL*sin(1 / 2∠LON) and KM=2*OK*sin(1 / 2∠KOM), respectively.

2. The vehicle positioning method based on short pole image acquisition according to claim 1, characterized in that, The characteristic parameter is sin(1 / 2∠KOM) / sin(1 / 2∠LON); Since a short-rod image acquisition system is used, sin(1 / 2∠KOM) / sin(1 / 2∠LON) = sin(1 / 2∠GOI) / sin(1 / 2∠HOI) = sin(1 / 2∠γ) / sin(1 / 2∠θ). With F as the origin, the ground as the X-axis, and OF as the line connecting the short pole image acquisition device O and the position F of the projected curved sphere, the Y-axis is defined. Establish coordinate points G(a,0), I(c,0), C(a,b), E(c,b), and O(0,h); In the coordinate system, establish the equations (hb)x + ay - ah = 0; (hb)x + cy - ch = 0; The characteristic parameters are obtained by solving the equation: Where a is the vehicle's initial distance, b is the vehicle's height, c is the vehicle's current distance, and h is the height of the short pole acquisition device. The vehicle's height is calculated using the initial actual position C of the feature anchor point and the initial actual position of the positioning anchor point. The vehicle's initial distance is calculated using the initial actual position G of the positioning anchor point and the position F of the short pole acquisition device on the projection surface. The vehicle's current distance is calculated using the ending actual position G of the positioning anchor point and the position F of the short pole acquisition device on the projection surface.

3. The vehicle positioning method based on short pole image acquisition according to claim 1, characterized in that, The method also includes obtaining the position of the positioning anchor point under the obstruction state, obtaining the real-time 3D chassis position of the vehicle through the position of the positioning anchor point, matching the real-time 3D chassis position with the set parking space coil, determining its entry and exit status, and completing vehicle management by combining the entry and exit status.

4. The vehicle positioning method based on short pole image acquisition according to claim 1, characterized in that, The trajectory tracking includes acquiring vehicle images through a short-pole image acquisition device, extracting feature information from vehicle images between different frames, calculating the cosine distance between the feature information, determining feature information whose cosine distance exceeds a distance threshold as the same vehicle, and assigning the feature information from different frames of vehicle images to the same vehicle to complete trajectory tracking.

5. The vehicle positioning method based on short pole image acquisition according to claim 1, characterized in that, The trajectory tracking also includes recognizing license plate information in vehicle images and binding the license plate information with corresponding vehicle feature information.

6. The vehicle positioning method based on short pole image acquisition according to any one of claims 1-5, characterized in that, Vehicle feature information includes the roof, windows, and 3D chassis. The top left, top right, bottom left, and bottom right corners of each feature are used as anchor points. The anchor points of the roof and windows are used as feature anchor points, and the anchor points of the 3D chassis are used as positioning anchor points.

7. A vehicle positioning system based on short pole image acquisition, characterized in that, The vehicle positioning method based on short pole image acquisition as described in any one of claims 1-6 includes: Short pole image acquisition device: The short pole image acquisition device includes a support pole, a short horizontal arm and an acquisition camera. The acquisition camera acquires vehicle images. The support pole and the short horizontal arm are perpendicular to each other and form an L-shaped structure. The length of the short horizontal arm does not exceed 3m. Trajectory tracking module: Tracks vehicle trajectory based on vehicle image, determines vehicle occlusion status, and segments vehicle image; Feature parameter calculation module: Obtain the position of feature anchor point and positioning anchor point in the feature information under the unoccluded state through vehicle images in different frames, calculate the movement distance of feature anchor point and positioning anchor point, and obtain the feature parameters corresponding to feature anchor point; Distance acquisition module: Obtain the position of the unoccluded feature anchor point in the feature information of the occluded vehicle image, and obtain the movement distance of the unoccluded feature anchor point in the occluded state by combining the position of the corresponding feature anchor point in the unoccluded state. Occlusion distance module: The movement distance of the positioning anchor point under occlusion is obtained by the movement distance of the unoccluded feature anchor point and the corresponding feature parameters under occlusion. Occlusion positioning module: The position of the positioning anchor point under occlusion is obtained by measuring the movement distance of the positioning anchor point under occlusion and the position of the positioning anchor point under unocclusion.

8. The vehicle positioning system based on short pole image acquisition according to claim 7, characterized in that, The system also includes: Vehicle binding module: Based on trajectory tracking information, the vehicle feature information in different frames obtained by trajectory tracking in the trajectory tracking module is identified as the same vehicle and assigned a vehicle ID, and the identified license plate information is added to the license plate recognition list corresponding to the vehicle ID; Parking management module: By using the location anchor point in the occlusion positioning module, the location anchor point is expanded into a 3D chassis. The 3D chassis position is matched with the parking space coil to determine the entry and exit status. Based on the entry and exit status, the corresponding vehicle is selected from the license plate recognition list and management order is pushed according to its feature information.

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