A radar-based parking queue length determination method and system
By converting vehicle data into a time series and utilizing an amplification buffer and a three-standard-deviation criterion, the problem of inaccurate radar calculation of vehicle parking queue length was solved, achieving a more stable and accurate determination of parking queue length.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- INTELLIGENT INTER CONNECTION TECH CO LTD
- Filing Date
- 2023-10-09
- Publication Date
- 2026-06-12
AI Technical Summary
In existing technologies, when calculating vehicle queuing intentions using acceleration information derived from Doppler velocity detected by radar, it is impossible to obtain a stable and accurate parking queue length, which leads to the need for frequent adjustments to thresholds and state variables.
By converting the first preset time frame data captured during the process of a vehicle moving from motion to stopping into a time series from stopping to starting, a preset magnification buffer and a three-standard-deviation criterion are used to obtain vehicles with the intention to stop and the stopping time points. A high-precision map and region are then established, and the three-standard-deviation criterion is used to determine whether there are vehicles starting among the stopped vehicles.
It improves the stability and accuracy of determining parking queue length, avoids inaccurate calculations caused by different radar target detection positions, and achieves more accurate queue length calculation.
Smart Images
Figure CN117593876B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of intelligent traffic management, and in particular to a radar-based method and system for determining parking queue length. Background Technology
[0002] With the acceleration of urbanization, the number of motor vehicles and road traffic volume in my country have increased dramatically, making the effective management of these vehicles one of the most pressing issues. Traffic lights play a crucial role in urban traffic networks, but a common problem associated with them is vehicle queuing. Therefore, accurately determining queue lengths is a vital prerequisite for intelligent transportation systems to control and time traffic lights, and it can also further improve traffic management efficiency and the capacity of the road system.
[0003] Currently, the calculation of vehicle queuing intentions and the determination of lane entry into a queuing state are typically based on acceleration information derived from Doppler velocity detected by radar. This method utilizes instantaneous vehicle information. However, the process of a vehicle moving from motion to stopping, and from stopping to moving again, is actually a time-dependent process. Calculating the intentions of a single vehicle to stop and then move after stopping using only instantaneous information would require frequent adjustments to thresholds and state variables, making it impossible to obtain stable and accurate results. Summary of the Invention
[0004] To address the aforementioned technical problems, this invention provides a radar-based method and system for determining parking queue length, which can solve the problems of poor stability and accuracy in existing parking queue length determination methods.
[0005] To achieve the above objectives, in one aspect, the present invention provides a radar-based method for determining parking queue length, the method comprising:
[0006] The first preset time frame data captured during the process of the vehicle moving from motion to stopping is converted into a time series from stopping to starting, and the vehicle with parking intention and parking time point are obtained according to the preset amplification buffer and three standard deviation criteria.
[0007] The vehicles with parking intentions are planned into standard parking spaces and a high-precision map of the lanes and regions is established.
[0008] For vehicles in a stopped state, extract data from a second preset time frame and use the three-standard-deviation criterion to determine whether any of the stopped vehicles are starting.
[0009] When two or more vehicles in the lane change their intention from parking to driving, radar motion identification information is assigned to the number of vehicles in the standard parking space.
[0010] Furthermore, the step of converting the first preset time frame data captured during the vehicle's journey from movement to stopping into a time series from stopping to starting, and obtaining the vehicle with parking intention and parking time point according to the preset amplification buffer and three-times standard deviation criterion, includes:
[0011] The first preset time frame data captured during the process of the vehicle moving from motion to stopping;
[0012] The data of the first preset time frame is expanded to a preset multiple of the original data volume by interpolation;
[0013] The expanded first preset time frame data is inverted and transformed into a time series process from long-term parking to startup.
[0014] The system uses a pre-defined amplification buffer and a three-standard-deviation criterion to identify vehicles with parking intentions and parking times.
[0015] Furthermore, the step of obtaining the vehicle with parking intention and the parking time point according to the preset amplification buffer and the three-standard-deviation criterion includes:
[0016] The changes in the converted data are amplified by a preset amplification buffer step;
[0017] Based on the amplified data and the three-standard-deviation criterion, we can identify vehicles with parking intentions and parking times.
[0018] Furthermore, the step of planning the target vehicle with parking intention into a standard parking space and establishing a high-precision map and area of the lane includes:
[0019] Vehicles intending to park are guided into standard parking spaces using a constant-speed straight-line driving mode, and a high-precision map and area of the lanes are created.
[0020] Furthermore, the step of extracting a second preset time frame of data from the data corresponding to the stationary vehicles and determining whether any of the stationary vehicles are starting up using a three-standard-deviation criterion includes:
[0021] For vehicles in a stopped state, extract data from a second preset time frame and use the three-standard-deviation criterion to determine whether there is more than one data point in the stopped vehicles that is greater than the standard deviation of the data.
[0022] If so, then it is determined that the vehicle's intention to park has ended.
[0023] On the other hand, the present invention provides a radar-based parking queue length determination system, the system comprising: an acquisition module, used to convert the first preset time frame data captured during the process of a vehicle moving from motion to stopping into a time sequence from stopping to starting, and to acquire vehicles with parking intentions and parking time points according to a preset amplification buffer and a three-times standard deviation criterion;
[0024] A module is established to plan the target vehicles with parking intentions into standard parking spaces and to establish a high-precision map of the lanes and regions.
[0025] The judgment module is used to extract a second preset time frame of data from the data corresponding to the vehicles in the stopped state and determine whether there are any vehicles that have started among the vehicles in the stopped state using the three-standard-deviation criterion.
[0026] The determination module is used to assign radar motion identification information to the number of vehicles in the standard parking space when the driving intention of two or more vehicles in the lane changes from parking to driving.
[0027] Furthermore, the acquisition module is specifically used to capture the first preset time frame data during the process of the vehicle moving from motion to stopping; to expand the first preset time frame data to a preset multiple of the original data volume through interpolation; to invert the expanded first preset time frame data and convert it into a time sequence process from long-term parking to starting; and to obtain the vehicle with parking intention and parking time point according to the preset amplification buffer and the three-times standard deviation criterion.
[0028] Furthermore, the acquisition module is specifically used to amplify the changes in the converted data through a preset amplification buffer; and to acquire vehicles with parking intentions and parking time points based on the amplified data and the three-standard-deviation criterion.
[0029] Furthermore, the establishment module is specifically used to plan vehicles with parking intentions into standard parking spaces through a constant speed straight driving mode and establish a high-precision map and area of the lane.
[0030] Furthermore, the judgment module is specifically used to extract a second preset time frame of data from the data corresponding to the vehicle in the stopped state and determine whether there is more than one data point in the vehicle in the stopped state that is greater than the standard deviation of the data using the three-times-standard-deviation criterion; if so, it is determined that the vehicle's parking intention has ended.
[0031] This invention provides a radar-based method and system for determining parking queue length. It acquires vehicles with parking intentions and parking time points based on a preset amplification buffer and a three-standard-deviation criterion. Furthermore, it uses the three-standard-deviation criterion to determine whether any vehicles in the stopped state are starting up. This fully utilizes a double-buffer structure, taking into account the time information of vehicles from movement to stopping and then back to movement. It integrates driving habits from movement to stopping and from stopping to movement, ultimately calculating the vehicle's parking intention, thus improving the stability of parking queue length determination. Moreover, it uses a high-precision map to perform queue planning for each parking target, achieving more accurate queue length calculation and avoiding the problem of inaccurate queue length calculation caused by different detection positions of the measured targets in radar. Attached Figure Description
[0032] Figure 1 This is a flowchart of a radar-based method for determining parking queue length provided by the present invention;
[0033] Figure 2 This is a schematic diagram of a radar-based parking queue length determination system provided by the present invention;
[0034] Figure 3 This is a high-precision map and a schematic diagram of the predetermined parking space division provided by the present invention. Detailed Implementation
[0035] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
[0036] like Figure 1 As shown in the figure, an embodiment of the present invention provides a radar-based method for determining parking queue length, which includes the following steps:
[0037] 101. The first preset time frame data captured during the process of the vehicle moving from motion to stopping is converted into a time series from stopping to starting, and the vehicle with the intention to stop and the stopping time point are obtained according to the preset amplification buffer and the three-times standard deviation criterion.
[0038] In this embodiment of the invention, step 101 may specifically include: capturing a first preset time frame data during the process of the vehicle moving from motion to stopping; expanding the first preset time frame data to a preset multiple of the original data volume through interpolation; reversing the expanded first preset time frame data and converting it into a time sequence process from long-term parking to starting; and obtaining the vehicle with parking intention and parking time point according to the preset amplification buffer and the three-times standard deviation criterion.
[0039] The step of obtaining vehicles with parking intentions and parking time points based on a preset amplification buffer and a three-standard-deviation criterion includes: amplifying the changes in the transformed data through a preset amplification buffer; and obtaining vehicles with parking intentions and parking time points based on the amplified data and the three-standard-deviation criterion.
[0040] For example, the process of a car gradually decelerating and coming to a complete stop over a long period of time is different from the process of starting. Its positional change is far less drastic than during startup. Therefore, unlike the data calculation model during startup, a long buffer is not used. A small portion of the data is extracted and interpolated to eight times the original amount. This data is then inverted to transform it into a time series process from a long period of stopping to starting. Because the data changes in a less drastic manner during stopping, an amplification buffer is introduced to artificially amplify the changes. The 3σ criterion is then used to determine the stopping time point.
[0041] 102. The vehicles with parking intentions are planned into standard parking spaces and a high-precision map of the lanes and regions is established.
[0042] In this embodiment of the invention, step 102 may specifically include: planning a vehicle with the intention to park into a standard parking space by driving in a straight line at a constant speed and establishing a high-precision map and area of the lane.
[0043] For example, after determining that the target intends to park, a high-precision map of lanes and areas is created by planning standard parking space allocation for the target. Figure 3 When lane 1 is in a parked state, vehicles intending to park will be slowly guided into the standard parking space using a constant speed straight-line driving mode.
[0044] 103. Extract a second preset time frame of data from the data corresponding to the vehicles in the stopped state and determine whether there are any vehicles that have started by using the three-standard-deviation criterion.
[0045] In this embodiment of the invention, step 103 may specifically include: extracting a second preset time frame of data from the data corresponding to the vehicle in the stopped state and determining whether there is more than one data point in the vehicle in the stopped state that is greater than the standard deviation of the data using the three-times-standard-deviation criterion; if so, then determining that the vehicle's parking intention has ended.
[0046] It should be noted that the transition of a vehicle from parking to driving involves a relatively long period of parking followed by a sudden start during refueling. The system needs to reflect this time sequence. Therefore, a buffer system can be designed. After buffering, 10 frames of data can be extracted and judged using the 3σ criterion. If more than one data point exceeds the standard deviation of the data, the intention to stop is considered terminated.
[0047] 104. When two or more vehicles in the lane change their driving intention from parking to driving, radar motion identification information is configured for the number of vehicles in the standard parking space.
[0048] For example, when two or more vehicles change their intention from parking to driving, the parking status of all lanes will be cleared. Vehicles in all standard parking spaces will then be assigned their actual radar motion IDs. Vehicles without actual radar motion IDs will be deleted. This completes the entire process of a vehicle moving from parking to driving back to moving in one lane.
[0049] This invention provides a radar-based method for determining parking queue length. It acquires vehicles with parking intentions and parking time points based on a preset amplification buffer and a three-standard-deviation criterion. Furthermore, it uses the three-standard-deviation criterion to determine whether any vehicles in the stopped state are starting up. This fully utilizes a double-buffer structure, taking into account the time information of vehicles from movement to stopping and then back to movement. It integrates driving habits from movement to stopping and from stopping to movement, ultimately calculating the vehicle's parking intention, thus improving the stability of parking queue length determination. Moreover, it uses a high-precision map to perform queue planning for each parking target, achieving more accurate queue length calculation and avoiding the problem of inaccurate queue length calculation caused by different detection positions of the measured targets in radar.
[0050] To implement the method provided in the embodiments of the present invention, the embodiments of the present invention provide a radar-based parking queue length determination system, such as... Figure 2 As shown, the system includes: acquisition module 21, establishment module 22, judgment module 23, and determination module 24.
[0051] The acquisition module 21 is used to convert the first preset time frame data captured during the process of the vehicle moving from moving to stopping into a time series from stopping to starting, and to obtain the vehicle with parking intention and parking time point according to the preset amplification buffer and three standard deviation criteria.
[0052] Module 22 is used to plan the target vehicles with parking intentions into standard parking spaces and to create a high-precision map of the lanes and regions.
[0053] The judgment module 23 is used to extract the second preset time frame data of the data corresponding to the vehicles in the stopped state and determine whether there are any vehicles that have started among the vehicles in the stopped state using the three-times standard deviation criterion.
[0054] The determination module 24 is used to configure radar motion identification information for the number of vehicles in the standard parking space when the driving intention of two or more vehicles in the lane changes from parking to driving.
[0055] Furthermore, the acquisition module 21 is specifically used to capture the first preset time frame data during the process of the vehicle moving from motion to stopping; to expand the first preset time frame data to a preset multiple of the original data volume through interpolation; to invert the expanded first preset time frame data and convert it into a time sequence process from long-term parking to starting; and to obtain the vehicle with parking intention and parking time point according to the preset amplification buffer and the three-times standard deviation criterion.
[0056] Furthermore, the acquisition module 21 is specifically used to amplify the changes in the converted data through a preset amplification buffer; and to obtain vehicles with parking intentions and parking time points based on the amplified data and the three-times-standard-deviation criterion.
[0057] Furthermore, the establishment module 22 is specifically used to plan vehicles with parking intentions into standard parking spaces through a constant speed straight driving mode and establish a high-precision map and area of the lane.
[0058] Furthermore, the judgment module 23 is specifically used to extract a second preset time frame of data from the data corresponding to the vehicle in the stopped state and determine whether there is more than one data point in the vehicle in the stopped state that is greater than the standard deviation of the data using the three-times-standard-deviation criterion; if so, it is determined that the vehicle's parking intention has ended.
[0059] This invention provides a radar-based parking queue length determination system. It acquires vehicles with parking intentions and parking time points based on a preset amplification buffer and a three-standard-deviation criterion. Furthermore, it uses the three-standard-deviation criterion to determine whether any vehicles in the stopped state are starting up. This fully utilizes a double-buffer structure, taking into account the time information of vehicles from movement to stopping and then back to movement. It integrates driving habits from movement to stopping and from stopping to movement, ultimately calculating the vehicle's parking intention, thus improving the stability of parking queue length determination. Moreover, it uses a high-precision map to perform queue planning for each parking target, achieving more accurate queue length calculation and avoiding the problem of inaccurate queue length calculation caused by different detection positions of the measured targets in radar.
[0060] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.
[0061] In the above detailed description, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features of the single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, wherein each claim stands alone as a preferred embodiment of the invention.
[0062] The disclosed embodiments have been described above to enable any person skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments without departing from the spirit and scope of this disclosure. Therefore, this disclosure is not limited to the embodiments given herein, but is consistent with the broadest scope of the principles and novel features disclosed in this application.
[0063] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."
[0064] Those skilled in the art will also understand that the various illustrative logical blocks, units, and steps listed in the embodiments of the present invention can be implemented by electronic hardware, computer software, or a combination of both. To clearly demonstrate the interchangeability of hardware and software, the functions of the various illustrative components, units, and steps described above have been generally described. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functions using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of the present invention.
[0065] The various illustrative logic blocks or units described in the embodiments of this invention can be implemented or operate the described functions using a general-purpose processor, digital signal processor, application-specific integrated circuit (ASIC), field-programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. The general-purpose processor can be a microprocessor; alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented using a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.
[0066] The steps of the methods or algorithms described in the embodiments of this invention can be directly embedded in hardware, a software module executed by a processor, or a combination of both. The software module can be stored in RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from and write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and storage medium can be housed in an ASIC, which can be housed in a user terminal. Optionally, the processor and storage medium can also be housed in different components of the user terminal.
[0067] In one or more exemplary designs, the functions described in the embodiments of the present invention can be implemented in hardware, software, firmware, or any combination of these three. If implemented in software, these functions can be stored on a computer-readable medium or transmitted on a computer-readable medium in the form of one or more instructions or code. Computer-readable media include computer storage media and communication media that facilitate the transfer of computer programs from one place to another. Storage media can be any available media that can be accessed by a general-purpose or special-purpose computer. For example, such computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store program code in the form of instructions or data structures and other forms that can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Furthermore, any connection can be suitably defined as a computer-readable medium, for example, if the software is transmitted from a website, server or other remote resource via a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) or wirelessly, such as infrared, wireless and microwave, it is also included in the defined computer-readable medium. The disks and discs mentioned include compressed disks, laser discs, optical discs, DVDs, floppy disks, and Blu-ray discs. Disks typically copy data magnetically, while disks typically copy data optically using lasers. Combinations of the above can also be contained in computer-readable media.
[0068] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A radar-based method for determining parking queue length, characterized in that, The method includes: The first preset time frame data captured during the process of the vehicle moving from motion to stopping is converted into a time series from stopping to starting, and the vehicle with parking intention and parking time point are obtained according to the preset amplification buffer and three standard deviation criteria. The vehicles with parking intentions are planned into standard parking spaces and a high-precision map of the lanes and regions is established. For vehicles in a stopped state, extract data from a second preset time frame and use the three-standard-deviation criterion to determine whether any of the stopped vehicles are starting. When two or more vehicles in the lane change their intention from parking to driving, radar motion identification information is configured for the vehicles in the standard parking space.
2. The radar-based parking queue length determination method according to claim 1, characterized in that, The steps of converting the first preset time frame data captured during the vehicle's journey from movement to stopping into a time series from stopping to starting, and obtaining the vehicle with parking intention and parking time point according to the preset amplification buffer and three-standard-deviation criterion, include: The first preset time frame data captured during the process of the vehicle moving from motion to stopping; The data of the first preset time frame is expanded to a preset multiple of the original data volume by interpolation; The expanded first preset time frame data is inverted and transformed into a time series process from long-term parking to startup. The system uses a pre-defined amplification buffer and a three-standard-deviation criterion to identify vehicles with parking intentions and parking times.
3. The radar-based method for determining parking queue length according to claim 2, characterized in that, The steps for obtaining vehicles with parking intentions and parking times based on a preset amplification buffer and a three-standard-deviation criterion include: The changes in the converted data are amplified by a preset amplification buffer step; Based on the amplified data and the three-standard-deviation criterion, we can identify vehicles with parking intentions and parking times.
4. The radar-based method for determining parking queue length according to claim 1, characterized in that, The steps of planning the target vehicles with parking intentions into standard parking spaces and establishing high-precision lane maps and regions include: Vehicles intending to park are guided into standard parking spaces using a constant-speed straight-line driving mode, and a high-precision map and area of the lanes are created.
5. The radar-based method for determining parking queue length according to claim 1, characterized in that, The step of extracting a second preset time frame of data from the data corresponding to the stationary vehicles and determining whether any of the stationary vehicles have started using the three-standard-deviation criterion includes: For vehicles in a stopped state, extract data from a second preset time frame and use the three-standard-deviation criterion to determine whether there is more than one data point in the stopped vehicles that is greater than the standard deviation of the data. If so, then it is determined that the vehicle's intention to park has ended.
6. A radar-based parking queue length determination system, characterized in that, The system includes: The acquisition module is used to convert the first preset time frame data captured during the process of the vehicle moving from motion to stopping into a time series from stopping to starting, and to obtain the vehicle with parking intention and parking time point according to the preset amplification buffer and three standard deviation criteria. A module is established to plan the target vehicles with parking intentions into standard parking spaces and to establish a high-precision map of the lanes and regions. The judgment module is used to extract a second preset time frame of data from the data corresponding to the vehicles in the stopped state and determine whether there are any vehicles that have started among the vehicles in the stopped state using the three-standard-deviation criterion. The determination module is used to assign radar motion identification information to vehicles in the standard parking space when the driving intention of two or more vehicles in the lane changes from parking to driving.
7. A radar-based parking queue length determination system according to claim 6, characterized in that, The acquisition module is specifically used to capture the first preset time frame data during the process of the vehicle moving from motion to stopping; to expand the first preset time frame data to a preset multiple of the original data volume through interpolation; and to invert the expanded first preset time frame data to convert it into a time sequence process from long-term parking to starting. The system uses a pre-defined amplification buffer and a three-standard-deviation criterion to identify vehicles with parking intentions and parking times.
8. The radar-based parking queue length determination system method according to claim 7, characterized in that, The acquisition module is further configured to amplify the changes in the converted data through a preset amplification buffer; and to acquire vehicles with parking intentions and parking times based on the amplified data and the three-standard-deviation criterion.
9. A radar-based parking queue length determination system according to claim 6, characterized in that, The establishment module is specifically used to plan vehicles with parking intentions into standard parking spaces through a constant speed straight driving mode and to establish a high-precision map and area of the lane.
10. A radar-based parking queue length determination system according to claim 6, characterized in that, The judgment module is specifically used to extract a second preset time frame of data from the data corresponding to the vehicle in the stopped state and use the three-times-standard-deviation criterion to determine whether there is more than one data point in the vehicle in the stopped state that is greater than the standard deviation of the data. If so, then it is determined that the vehicle's intention to park has ended.