Parking lot lane monitoring method and system

Abstract

The present invention provides a parking lot lane monitoring method and system, which are applied to the field of data monitoring. The present invention dynamically labels each vehicle by applying a preset behavior classification algorithm, and can accurately capture various dynamic behaviors of the vehicle in the lane, which is helpful to accurately understand the vehicle's actions. A temporary identifier is used to uniquely mark each vehicle, which can avoid confusion between vehicles and ensure independent and accurate tracking of vehicle behaviors. At the same time, based on real-time collected vehicle behavior data, the lane status can be updated in real time, ensuring that the parking lot lane monitoring system can timely adjust lane resources and optimize vehicle flow and parking arrangements under complex situations such as vehicle flow and parking.

Description

Technical Field

[0001] The present invention relates to the field of data monitoring, and in particular to a parking lot lane monitoring method and system. Background Art

[0002] The current development of electronic payment, license plate recognition, and cloud platform technology has promoted the implementation of unmanned parking system applications.

[0003] The existing parking lot lane monitoring system needs to obtain lane status information in real time. Although it can accurately identify and track the position and movement trajectory of each vehicle, it often faces data delays or recognition errors in cases of dense or congested traffic. For example, parking lot lanes occasionally experience dynamic changes such as vehicles parking, reversing, and turning. In an environment with large dynamic changes, recognition is prone to difficulty, resulting in inaccurate or missed lane status monitoring, and an inability to accurately capture and update lane conditions in real time. Summary of the invention

[0004] The present invention aims to solve the problem that a parking lot lane monitoring system is difficult to accurately and real-time capture and update lane conditions when dynamic changes such as vehicle parking, reversing, turning, etc. occur, and provides a parking lot lane monitoring method and system.

[0005] The present invention adopts the following technical means to solve the technical problem:

[0006] The present invention provides a parking lot lane monitoring method, comprising:

[0007] Based on the preset entry and exit lanes of the parking lot, the number of vehicles to be entered and exited on the entry and exit lanes is detected by sensors set within the preset range of the entry and exit lanes;

[0008] Determining whether the number of vehicles to be entered or exited exceeds a preset upper threshold of the parking lot;

[0009] If not, then divide the temporary scanning area of ​​each vehicle from the entry and exit lane according to the preset monitoring points of the entry and exit lane, assign a corresponding temporary identifier to each vehicle on the entry and exit lane, dynamically mark each vehicle by using the temporary identifier, and collect the corresponding movement behavior of each vehicle, wherein the movement behavior specifically includes parking, reversing and turning;

[0010] Determining whether the movement behavior exceeds the temporary scanning area;

[0011] If it exceeds, a dynamic lane model is established in the temporary scanning area. The number of vehicles in and out of the lane and the occupied space ratio are calculated through the dynamic lane model. According to the number of vehicles and the occupied space ratio, the driving parameters of the entry and exit lane are detected. Based on the driving parameters, a preset independent monitoring logic is applied to update the lane conditions of the entry and exit lane in real time, wherein the driving parameters specifically include vehicle speed changes, vehicle spacing and lane congestion level, and the lane conditions specifically include entrance areas, main roads and parking area aisles.

[0012] Furthermore, before the step of dividing the temporary scanning area of ​​each vehicle from the entry and exit lane according to the preset monitoring points of the entry and exit lane, it also includes:

[0013] Based on the preset scanning parameters of the monitoring point, dynamically adjust the tracking range of the monitoring point for the vehicle, wherein the scanning parameters specifically include the vehicle approach sequence, speed and direction;

[0014] Determining whether the tracking range can match the vehicle in real time;

[0015] If possible, the preset laser radar is activated to identify the lane boundary line of the vehicle, divide the lane range of the vehicle in real time, construct a temporary scanning area of ​​the vehicle according to the lane range, and adaptively adjust the scanning frequency of the monitoring point according to the scanning parameters.

[0016] Furthermore, the step of collecting the movement behavior corresponding to each vehicle further includes:

[0017] Based on the monitoring point, identify the identity of the vehicle pre-recorded in the parking lot, bind the vehicle identity to the corresponding vehicle in the temporary scanning area, and obtain the movement status of the corresponding vehicle on the entry and exit lanes;

[0018] Determining whether the motion state conforms to the relative motion state of other vehicles in the same entry and exit area;

[0019] If so, construct the motion state vector of the corresponding vehicle, collect the moving trajectory of the corresponding vehicle based on the motion state vector, and generate the behavior characteristics of the corresponding vehicle based on the moving trajectory, wherein the motion state vector specifically includes position information, acceleration information and direction and posture information, and the behavior characteristics specifically include sharp turns and continuous emergency braking.

[0020] Furthermore, the step of establishing a dynamic lane model in the temporary scanning area and calculating the number of vehicles entering and exiting the lane and the occupied space ratio through the dynamic lane model further includes:

[0021] Identify the occupation parameters of the vehicle in the entry and exit lanes, and based on the occupation parameters, obtain the occupied space of the vehicle in the entry and exit lanes, wherein the occupation parameters specifically include vehicle geometric dimensions, occupation projection area, and lane relative position;

[0022] Determining whether the occupied space reaches a preset occupancy threshold;

[0023] If so, an independent lane model of the vehicle is constructed according to the occupied space, and the virtual lane width of the entry and exit lanes is dynamically adjusted based on the independent lane model, a preset buffer zone is introduced in the preset corner area of ​​the entry and exit lanes, and the virtual front and rear vehicle distances of the vehicle are adaptively adjusted.

[0024] Furthermore, the step of determining whether the number of vehicles to be entered or exited exceeds the preset upper threshold of the parking lot further includes:

[0025] Based on the preset idle lane position of the entry and exit lane, identifying the existing vehicles in the entry and exit lane;

[0026] Determining whether the existing vehicles have reached a preset monitoring upper limit;

[0027] If so, the length of time the existing vehicle stays in the entry and exit lane is detected, and based on the length of time, a preset diversion guidance is performed outside the entry and exit lane. Through the diversion guidance, other idle entry and exit lanes preset in the parking lot are generated, wherein the diversion guidance specifically includes temporary diversion area setting, dynamic path guidance and signal light guidance.

[0028] Furthermore, the step of determining whether the movement behavior exceeds the temporary scanning area further includes:

[0029] Based on the hierarchical areas pre-divided into the entry and exit lanes, detecting the feedback duration of the movement behavior in the hierarchical areas, wherein the hierarchical areas specifically include a core area, a buffer area, and a prohibited area;

[0030] Determining whether the feedback duration exceeds a preset feedback time limit;

[0031] If so, the monitoring sensitivity of the mobile behavior is dynamically adjusted according to the hierarchical area, and the corresponding boundary point density is introduced within the preset range of the vehicle according to the monitoring sensitivity, and the response period of the feedback duration is adaptively adjusted.

[0032] Furthermore, the step of detecting the number of vehicles to be entered or exited on the entry and exit lanes preset in the parking lot by using sensors set within the preset range of the entry and exit lanes further includes:

[0033] Based on the license plate recognition integrated device preset on the entry and exit lane, detecting the front and rear distance of the vehicle on the entry and exit lane;

[0034] Determine whether the front-to-back distance reaches a preset distance threshold;

[0035] If so, dynamically adjust the gate response time corresponding to the license plate recognition integrated device according to the front and rear distance, construct the vehicle's entry and exit events based on the gate response time, generate at least one parking order through the entry and exit events, and record the total number of vehicles entering and exiting from the parking order records.

[0036] The present invention also provides a parking lot lane monitoring system, comprising:

[0037] A detection module, which is used to detect the number of vehicles to be entered or exited on the entry and exit lanes preset in the parking lot through sensors set within the preset range of the entry and exit lanes;

[0038] A judgment module, used to judge whether the number of vehicles to be entered and exited exceeds the preset upper threshold of the parking lot;

[0039] an execution module, for, if not, dividing a temporary scanning area for each vehicle on the entry and exit lane according to the preset monitoring points of the entry and exit lane, assigning a corresponding temporary identifier to each vehicle on the entry and exit lane, dynamically marking each vehicle by applying a preset behavior classification algorithm through the temporary identifier, and collecting the corresponding movement behavior of each vehicle, wherein the movement behavior specifically includes parking, reversing and turning;

[0040] A second judging module, used for judging whether the moving behavior exceeds the temporary scanning area;

[0041] The second execution module is used to establish a dynamic lane model in the temporary scanning area if it exceeds the limit, calculate the number of vehicles in and out of the lane and the occupied space ratio through the dynamic lane model, detect the driving parameters of the lane according to the number of vehicles and the occupied space ratio, and based on the driving parameters, apply the preset independent monitoring logic to update the lane conditions of the lane in and out in real time, wherein the driving parameters specifically include vehicle speed changes, vehicle spacing and lane congestion level, and the lane conditions specifically include entrance areas, main roads and parking area aisles.

[0042] Furthermore, it also includes:

[0043] An adjustment module, used to dynamically adjust the tracking range of the monitoring point for the vehicle based on the preset scanning parameters of the monitoring point, wherein the scanning parameters specifically include the vehicle approach sequence, speed and direction;

[0044] A third judgment module is used to judge whether the tracking range can match the vehicle in real time;

[0045] The third execution module is used to activate the preset laser radar if possible, identify the lane boundary line of the vehicle, divide the lane range of the vehicle in real time, construct a temporary scanning area of ​​the vehicle according to the lane range, and adaptively adjust the scanning frequency of the monitoring point according to the scanning parameters.

[0046] Furthermore, the execution module also includes:

[0047] An acquisition unit, configured to identify the identity of a vehicle pre-recorded in the parking lot based on the monitoring point, bind the vehicle identity to a corresponding vehicle in the temporary scanning area, and acquire a motion state of the corresponding vehicle on the entry and exit lanes;

[0048] A judging unit, used to judge whether the motion state conforms to the relative motion state of other vehicles in the same entry and exit area;

[0049] The execution unit is used to construct a motion state vector of the corresponding vehicle, collect the moving trajectory of the corresponding vehicle according to the motion state vector, and generate the behavior characteristics of the corresponding vehicle according to the moving trajectory, wherein the motion state vector specifically includes position information, acceleration information and direction posture information, and the behavior characteristics specifically include sharp turns and continuous emergency braking.

[0050] The present invention provides a parking lot lane monitoring method and system, which has the following beneficial effects:

[0051] The present invention dynamically labels each vehicle by applying a preset behavior classification algorithm, which can accurately capture various dynamic behaviors of vehicles in the lane, help to accurately understand the vehicle's actions, and use a temporary identifier to uniquely mark each vehicle to avoid confusion between vehicles and ensure independent and accurate tracking of vehicle behavior. At the same time, based on real-time collected vehicle behavior data, the lane status can be updated in real time, ensuring that the parking lot lane monitoring system can timely adjust lane resources and optimize vehicle flow and parking arrangements under complex situations such as vehicle flow and parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic diagram of a flow chart of an embodiment of a lane monitoring method for a parking lot according to the present invention;

[0053] Figure 2 The structure diagram of an embodiment of the lane monitoring system for a parking lot of the present invention is shown in FIG. DETAILED DESCRIPTION

[0054] 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. The implementation of the objectives, functional features and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] Reference Figure 1 , is a parking lot lane monitoring method in one embodiment of the present invention, comprising:

[0057] S1: Based on the preset entry and exit lanes of the parking lot, the number of vehicles to be entered and exited on the entry and exit lanes is detected by using sensors set within the preset range of the entry and exit lanes;

[0058] S2: Determine whether the number of vehicles to be entered or exited exceeds the preset upper threshold of the parking lot;

[0059] S3: If not, then divide the temporary scanning area of ​​each vehicle from the entry and exit lane according to the preset monitoring points of the entry and exit lane, assign a corresponding temporary identifier to each vehicle on the entry and exit lane, dynamically mark each vehicle by using the temporary identifier, and collect the corresponding movement behavior of each vehicle, wherein the movement behavior specifically includes parking, reversing and turning;

[0060] S4: Determine whether the movement behavior exceeds the temporary scanning area;

[0061] S5: If exceeded, a dynamic lane model is established in the temporary scanning area, and the number of vehicles entering and exiting the lane and the occupied space ratio are calculated through the dynamic lane model. According to the number of vehicles and the occupied space ratio, the driving parameters of the entering and exiting lane are detected, and based on the driving parameters, a preset independent monitoring logic is applied to update the lane conditions of the entering and exiting lane in real time, wherein the driving parameters specifically include vehicle speed changes, vehicle spacing and lane congestion level, and the lane conditions specifically include entrance areas, main roads and parking area aisles.

[0062] In this embodiment, the system detects the number of vehicles waiting to enter and exit the entry and exit lanes based on the entry and exit lanes preset in the parking lot through sensors set within the preset range of these entry and exit lanes, and then the system determines whether the number of vehicles waiting to enter and exit exceeds the entry and exit upper limit threshold preset in the parking lot to execute corresponding steps; for example, when the system determines that the number of vehicles waiting to enter and exit the entry and exit lanes exceeds the entry and exit upper limit threshold preset in the parking lot, the system will consider that the lanes or parking resources of the parking lot are close to or have reached their maximum processing capacity, which may cause traffic congestion, vehicle detention or other poor parking experience. The system will monitor the lane conditions and flow in real time and temporarily adjust the lane usage rules, such as increasing the number of entrances and exits. Or adjust the opening status of the entrance and exit to balance the lane load. At the same time, according to the actual flow of vehicles in the lane, the system dynamically adjusts the capacity of each lane. For example, if the lane has reached the upper limit, temporary flow limiting measures will be taken to reduce the entry of new vehicles to avoid further congestion. When the number of vehicles on the lane exceeds the limit, the system will analyze whether there are vehicles with abnormal behaviors such as reversing or backing up based on real-time data, issue alarms for these abnormal behaviors, and take intervention measures through the monitoring system to ensure the normal operation of the lane; for example, when the system determines that the number of vehicles waiting to enter and exit the entry and exit lanes does not exceed the entry and exit upper limit threshold set in advance by the parking lot, the system will consider that the lanes of the parking lot can still handle the entry and exit of vehicles and will not affect parking. Experience, the system will divide the temporary scanning area of ​​each vehicle from the entry and exit lanes according to the pre-set monitoring points on the entry and exit lanes, assign a corresponding temporary identifier to each vehicle on the entry and exit lanes, and dynamically mark each vehicle using the pre-set behavior classification algorithm through the temporary identifier to collect the corresponding movement behavior of each vehicle, which specifically includes parking, reversing and turning; by setting monitoring points on the entry and exit lanes and dividing each vehicle into temporary scanning areas, the system can accurately monitor the dynamic behavior of each vehicle in real time, including parking, reversing and turning, ensuring that the system can effectively respond to the current lane load condition and avoid congestion caused by exceeding the upper limit. At the same time, by assigning a temporary identifier to each vehicle By using the preset behavior classification algorithm and the time identifier, the system can accurately identify and mark the specific behavior of the vehicle. This precise classification not only helps to ensure that the vehicle status is accurately captured, but also can update the lane operation status in real time, making lane monitoring more intelligent and accurate. By collecting the movement behavior data of each vehicle, the system can accurately count and analyze the resource usage of the lane. These data can be used to optimize the use planning of the lane. For example, by adjusting the lane flow and scheduling strategy, the parking lot resources can be better managed to ensure that the lane will not be idle or overly congested. The system then determines whether the movement behavior of different vehicles exceeds its temporary scanning area to execute the corresponding steps.For example, when the system determines that the movement of a vehicle does not exceed its temporary scanning area, the system will consider that the behavior of the vehicle complies with the normal process set in the lane and parking lot, which means that the vehicle runs smoothly in the lane according to the predetermined trajectory and behavior, and will not cause additional interference to the smoothness of the lane. The system will continue to track the behavior of the vehicle in the temporary scanning area in real time to ensure that its subsequent dynamics are still within the controllable range. If the vehicle changes its driving state or has new dynamic behaviors, the system will respond immediately while maintaining dynamic monitoring of the lane to ensure that there are no other potential abnormal vehicle behaviors or lane occupancy. For example, if a vehicle is parked in a lane, the system should check whether it affects the passage of other vehicles, and evaluate the path planning of other vehicles to enter and exit based on the current lane occupancy. For example, if the vehicle occupies part of the lane when parking, the system needs to adjust the path of subsequent vehicles to optimize traffic flow. For example, when the system determines that the movement of a vehicle exceeds its temporary scanning area, At this time, the system will think that the behavior of the vehicle does not conform to the normal process set in the parking lot. The system will establish a dynamic lane model in the temporary scanning area. Through the dynamic lane model, the number of vehicles entering and exiting the lane and the proportion of occupied space are calculated. According to the vehicle data and the proportion of occupied space, the driving parameters of the lane are detected. The driving parameters specifically include speed changes, vehicle spacing and lane congestion. The pre-set independent monitoring logic is applied to update the lane conditions of the lanes in and out in real time. The lane conditions specifically include the entrance area, main road and parking area aisle; the system calculates the number of vehicles entering and exiting the lane and the proportion of occupied space through the dynamic lane model, which provides accurate data support for the evaluation of the lane status. With the dynamic changes of the vehicle, the occupancy status on the lane can be reflected in real time, helping the system understand which lane areas have been occupied and which areas can continue to be used, so as to make more appropriate scheduling decisions. At the same time, through the dynamic lane model and driving parameter monitoring, accurate scheduling can be performed based on real-time data. For example, if the system detects that the speed of a vehicle changes too quickly or the distance between vehicles is too small, it will remind the following vehicles to adjust their speed to avoid further congestion or collision. It can also evaluate the occupied space ratio of vehicles based on the dynamic lane model and optimize the use of lane resources according to the occupancy situation. By adjusting the use of lanes and scheduling strategies, the system can ensure that the lane resources in the parking lot are maximized and avoid waste or idleness of certain lane resources. ;

[0063] It should be noted that a temporary scanning area for each vehicle is divided from the entry and exit lanes, and a corresponding temporary identifier is assigned to each vehicle on the entry and exit lanes. Through the temporary identifier, a preset behavior classification algorithm is applied to dynamically mark each vehicle, and the movement behavior corresponding to each vehicle is collected. The specific examples are as follows:

[0064] Suppose an intelligent lane monitoring system is set up in the underground parking lot of a large shopping mall. The parking lot's entry and exit lanes have multiple sensors, including high-definition cameras, lidar, ground pressure sensors, etc. These sensors work together to accurately monitor the dynamic behavior of each vehicle. We will use a vehicle entering the lane as an example to show how the system works.

[0065] First, when the vehicle enters the lane, a temporary identifier is assigned. When the vehicle enters the lane of the parking lot, the system identifies the vehicle through the license plate recognition camera installed at the entrance of the lane. Assuming that the license plate number of the vehicle is "XYZ789", the system will generate a temporary identifier based on the license plate number or other characteristics of the vehicle (such as model, color, etc.); for example, the system assigns a temporary identifier of "CarID_XYZ789" to the vehicle.

[0066] Then a temporary scanning area is delineated. Once a vehicle enters the lane, the system will delineate a temporary scanning area on the lane based on the size and position of the vehicle to ensure that the movement of the vehicle can be fully captured. Assuming that the vehicle "XYZ789" is an ordinary sedan, about 4 meters long and 1.8 meters wide; the system will delineate a rectangular temporary scanning area for the vehicle, with a size of 4.5 meters x 2 meters (taking into account the forward and backward movement of the vehicle); this temporary scanning area will closely follow the vehicle and dynamically adjust with the movement of the vehicle;

[0067] Then the behavior classification algorithm is applied and dynamically labeled. The system will dynamically label the vehicle's status based on the vehicle's behavior in the lane and out of the lane through the preset behavior classification algorithm. The system will collect data such as the vehicle's speed, acceleration, and direction change in real time to determine the vehicle's current behavior. The following are several possible behaviors of vehicle "XYZ789" and how the system classifies them through the algorithm;

[0068] Behavior category 1, normal driving

[0069] Vehicle "XYZ789" is driving along the lane at a constant speed of about 20 km / h, and its direction is stable without turning or stopping. The system's behavior classification algorithm detects the vehicle's speed and driving trajectory through sensors and determines that this is a "normal driving" behavior.

[0070] Behavior classification: The system marks the vehicle's behavior as "normal driving";

[0071] Annotation content: The temporary identifier "CarID_XYZ789" is associated with the "normal driving" behavior, and the real-time record is that the vehicle's speed is 20 km / h and the direction is straight;

[0072] Behavior category 2: reversing

[0073] When vehicle "XYZ789" approaches the parking lot entrance, it starts to reverse and prepare to park. The system detects through the sensor that the vehicle's speed changes from a positive value to a negative value, and the vehicle's moving direction changes, and it starts to reverse. The sensor captures the vehicle's reverse behavior, and the system marks the vehicle as "reversing";

[0074] Behavior classification: The system marks the vehicle's behavior as "reversing";

[0075] Annotation content: The temporary identifier "CarID_XYZ789" is associated with the "reversing" behavior, and records that the vehicle's reversing speed is 5 km / h and the vehicle's direction changes to backward;

[0076] Behavior classification 3, turning

[0077] Assume that vehicle "XYZ789" enters the lane intersection and is about to turn into a parking area. The system detects a change in the vehicle's steering angle and records that the vehicle's speed remains at 10 km / h, indicating a significant change in direction.

[0078] Behavior classification: The system labels the vehicle’s behavior as “turning”;

[0079] Annotation content: The temporary identifier "CarID_XYZ789" is associated with the "turn" behavior, and the turning angle and vehicle speed are recorded;

[0080] Then, the mobile behavior data is collected. During the driving process of vehicle "XYZ789", the system will continuously collect the data of its mobile behavior, including but not limited to:

[0081] Vehicle speed: For example, the vehicle "XYZ789" has a normal driving speed of 20 km / h, a reverse speed of 5 km / h, and a turning speed of 10 km / h;

[0082] Direction change: changes in the direction of the vehicle's movement; for example, when reversing, the vehicle's direction changes from forward to backward; when turning, the vehicle's direction changes significantly at an angle;

[0083] Acceleration: The acceleration change of the vehicle. For example, when the vehicle accelerates, the acceleration is positive, and when it decelerates or stops, the acceleration is negative.

[0084] This data will be sent to the parking management system in real time so that the vehicle behavior can be monitored and adjusted in real time;

[0085] Finally, the system dynamically adjusts and responds. If the system detects that the behavior of vehicle "XYZ789" does not conform to the normal process (for example, it exceeds the temporary scanning area or the speed is abnormal when reversing), the system will issue an alarm and adjust the lane status; for example, if the vehicle occupies two parking spaces in the lane during the reversing process, the system may calculate the congestion level of the lane through the dynamic lane model and trigger the parking lot's flow optimization mechanism, such as adjusting the guidance route of subsequent vehicles;

[0086] To sum up, through the above examples, the system can accurately and dynamically label the vehicle "XYZ789" and continuously track its movement behavior. Whenever the status of the vehicle changes, the system will update the vehicle's behavior label in real time and continuously collect vehicle-related behavior data (such as speed, direction, acceleration, etc.). This information not only helps managers understand the lane conditions of the parking lot in real time, but also provides data support for subsequent lane optimization, vehicle guidance and lane flow control, thereby improving the intelligence level and efficiency of parking lot management.

[0087] It should be added that the driving parameters of the in-and-out lanes are detected, and based on the driving parameters, the preset independent monitoring logic is applied to update the lane conditions of the in-and-out lanes in real time, wherein the driving parameters specifically include vehicle speed changes, vehicle spacing, and lane congestion, and the lane conditions specifically include entrance areas, main roads, and parking area aisles. Specific examples are as follows:

[0088] In the parking lot lane monitoring system, based on the real-time collected driving parameters (such as vehicle speed changes, vehicle spacing, lane congestion), the system applies preset independent monitoring logic to update the lane status in real time; this monitoring and update logic not only helps optimize lane traffic flow, but also improves the parking experience of car owners and reduces time wasted due to congestion;

[0089] First, define and monitor the driving parameters. The real-time update of lane conditions depends on the following driving parameters:

[0090] Speed ​​change: refers to the change in the speed of the vehicle in the lane; for example, a sharp drop in speed may indicate an obstacle or traffic jam ahead, and a sudden increase in speed may mean that traffic is clearing;

[0091] Inter-vehicle distance: the distance between the front and rear vehicles, usually monitored by sensors such as radar and cameras; a shortened inter-vehicle distance indicates that the lane is becoming congested, and too small a distance may increase the risk of an accident;

[0092] Lane congestion: refers to the density of vehicles in the lane, which is usually determined by the number of vehicles in the lane per unit time and the average speed of the vehicles; excessively high vehicle density and low speed may lead to lane congestion;

[0093] These driving parameters can be monitored by the following equipment:

[0094] Geomagnetic sensor: detects the time and location of a vehicle entering a lane, used to estimate vehicle speed and lane occupancy;

[0095] Radar sensor and laser rangefinder: detect the distance between vehicles in real time and assist in determining the distance between vehicles;

[0096] Video surveillance and license plate recognition technology: Identify the driving status of each vehicle (such as speed, stagnant or reversing) through image processing for lane congestion detection;

[0097] The lane status is then updated. The lane status is determined by real-time calculation and monitoring of driving parameters to determine the current traffic flow conditions in and out of the parking lot. Specifically, the lane status includes the following areas:

[0098] Entrance area: The initial area where vehicles enter the parking lot, usually using sensors and cameras to detect vehicle speed, traffic volume, and frequency of vehicle entry;

[0099] Main road: the main lane inside the parking lot, which is responsible for connecting various parking areas. The monitoring of the main road requires not only understanding the vehicle speed, but also paying attention to the lane congestion and vehicle flow;

[0100] Parking area aisle: a passage connecting various parking spaces. Vehicles may move slowly here, and special attention should be paid to speed fluctuations, reversing behavior, and parking intervals.

[0101] Based on real-time data, the system will dynamically update the lane conditions of the inbound and outbound lanes through preset monitoring logic, applying changes in vehicle speed, vehicle spacing, and lane congestion levels;

[0102] Then comes the application of monitoring logic, which dynamically evaluates lane usage and responds based on real-time driving parameters. The following are the detailed monitoring logic steps:

[0103] Vehicle speed change monitoring: if the vehicle speed is within the specified range (for example, between 10 km / h and 30 km / h) and the speed change is not large, the system considers the lane condition in the area to be good and updates it to "unblocked";

[0104] If the vehicle speed suddenly drops (for example, from 30 km / h to 5 km / h), the system will consider that there may be congestion or obstacles in the area and mark the lane status as "potential congestion". The system will determine whether the lane needs to be adjusted based on the magnitude and duration of the speed drop;

[0105] The vehicle speed increases rapidly. If the vehicle speed increases suddenly, the system will judge that the lane is idle and the traffic volume increases, and the lane status will be marked as "unblocked";

[0106] Vehicle spacing monitoring: if the vehicle spacing is greater than a set value (e.g. greater than 4 meters), the lane is considered “unblocked”, the flow is normal, and the lane congestion level is low;

[0107] If the vehicles are too close, and the distance between them is less than the set safe distance (e.g. less than 2 meters), the system will judge that the area is in a "mild congestion" state, and the vehicles are too dense, and the risk of lane congestion increases; at this time, the system will start a warning and provide reminders to the driver through the dynamic display screen in the parking lot, requiring him to maintain a safe distance;

[0108] The distance between vehicles is rapidly reduced. If the distance between vehicles is rapidly reduced from 5 meters to 1 meter, the system will determine that the lane is "severely congested" and may trigger other emergency response measures (such as dynamically adjusting the parking path or guiding vehicles to use other lanes);

[0109] Lane congestion monitoring: If the number of vehicles passing through the lane per unit time is normal and the speed is within a reasonable range, the lane will be marked as "smooth"; for example, the number of vehicles passing through the lane per minute is 20, the speed is above 10 km / h, and the distance between vehicles is normal;

[0110] Mild congestion: If the traffic volume in the lane is large and the speed begins to decrease (for example, the speed drops below 10 km / h), and the distance between vehicles is less than 4 meters, the lane will be marked as "mild congestion";

[0111] Severe congestion: If the lane traffic volume is extremely large, the vehicle density is extremely high, and the speed is less than 5 km / h, the lane will be marked as "severe congestion"; the system will automatically adjust the traffic distribution or issue an early warning according to the degree of congestion, inform the parking lot management staff or make adjustments through the lane guidance system;

[0112] Then the lane status is updated and examples are given. According to the above monitoring logic, the system will update the lane status in real time; for example:

[0113] In the entrance and exit lanes, the vehicle speed suddenly dropped from 20 km / h to 5 km / h. At the same time, the radar sensor detected that the distance between vehicles decreased from 4 meters to 1 meter. Based on this information, the system made the following judgment:

[0114] Vehicle speed change: If the vehicle speed drops suddenly, the system determines it as potential congestion;

[0115] Vehicle spacing: The distance between vehicles is too small, and the system marks the lane status as "mild congestion";

[0116] Lane congestion level: Based on the number of vehicles passing through the lane per unit time and the speed, the lane traffic volume is abnormally high and the speed is very slow, and the system eventually marks the lane as "severely congested";

[0117] Real-time update of lane status: The system updates the lane status to "severe congestion" and activates traffic guidance logic;

[0118] Adjust traffic flow: Use intelligent lane guidance systems to direct some vehicles to other exits, or provide real-time prompts to drivers through display screens to inform them of possible congestion areas;

[0119] Issue warnings: The system sends warning messages to parking lot managers to remind them to pay attention to the vehicle flow in the area, which may require manual intervention or adjustment of traffic signals;

[0120] To summarize, through the above examples, by real-time monitoring of vehicle speed changes, vehicle spacing and lane congestion, the system can accurately determine the condition of the lane and dynamically update the lane status. The monitoring logic combined with these driving parameters can not only provide car owners with a better parking experience, but also provide real-time lane condition feedback for parking lot management and make timely adjustments. In this way, the entry and exit lanes in the parking lot can be intelligently scheduled to reduce congestion and accident risks, and improve parking efficiency and safety.

[0121] In this embodiment, before step S3 of dividing the temporary scanning area of ​​each vehicle from the entry and exit lane according to the preset monitoring points of the entry and exit lane, the method further includes:

[0122] S301: dynamically adjusting the tracking range of the monitoring point for the vehicle based on the preset scanning parameters of the monitoring point, wherein the scanning parameters specifically include the vehicle approach sequence, speed and direction;

[0123] S302: Determine whether the tracking range can match the vehicle in real time;

[0124] S303: If possible, activate the preset laser radar, identify the lane boundary line of the vehicle, divide the lane range of the vehicle in real time, construct a temporary scanning area of ​​the vehicle according to the lane range, and adaptively adjust the scanning frequency of the monitoring point according to the scanning parameters.

[0125] In this embodiment, the system dynamically adjusts the tracking range of the monitoring point for the vehicle based on the scanning parameters pre-set at the monitoring point, which specifically include the vehicle approach sequence, speed and direction, and then the system determines whether the tracking range can match the vehicle in real time to execute the corresponding steps; for example, when the system determines that the tracking range of the monitoring point for the vehicle cannot match the vehicle in real time, the system will believe that the monitoring point may lose effective tracking of the vehicle due to changes in the relative positions between vehicles or environmental factors (such as other objects, buildings, etc.) blocking the line of sight. The system will adjust the scanning range of the monitoring point in real time according to the current speed, direction and distance of the vehicle, for example When the vehicle suddenly accelerates or turns, the system can recalculate and adjust the monitoring range of the sensor through an algorithm to ensure that the vehicle is always within the monitoring area. At the same time, by combining different types of sensors (such as cameras, radars, geomagnetic sensors, etc.), the system can capture vehicle dynamics more comprehensively and reduce the blind spot impact of a single sensor. For example, when the visual sensor cannot effectively capture the vehicle, the radar sensor can play a supplementary role, and when it detects a situation where it cannot match the vehicle, it can record the data at the abnormal moment, and through subsequent data analysis, optimize the layout of monitoring points and lane design to improve the reliability of future monitoring; for example, when the system determines that the monitoring point is not suitable for the vehicle, the radar sensor can be used to detect the vehicle. The tracking range can match the vehicle in real time. At this time, the system will think that the monitoring point is still effectively tracking the vehicle. The system will activate the pre-set laser radar, identify the lane boundary line of the vehicle, divide the lane range of the vehicle in real time, and build a temporary scanning area for the vehicle according to different lane ranges. According to the scanning parameters, the scanning frequency of the monitoring point is adaptively adjusted; the system identifies the lane boundary line through the laser radar, which can more accurately define the lane range of the vehicle. This precise spatial positioning can ensure that the dynamic behavior of the vehicle is accurately captured, avoiding the positioning error of traditional cameras or sensors in complex environments. At the same time, according to the changes in the speed, direction and lane range of the vehicle, The system can automatically adjust the scanning frequency of monitoring points, which means that when the vehicle is traveling fast or frequently changing lanes, the system can increase the scanning frequency to ensure a higher update rate and real-time response. When the vehicle is stationary or traveling at a low speed, the system can reduce the scanning frequency, thereby optimizing resource utilization and improving overall system performance. In addition, by identifying lane boundaries in real time and dynamically dividing the vehicle's temporary scanning area, the system can intelligently manage lanes. Especially when there is heavy traffic or complex lanes in the parking lot, changes in vehicle behavior will be reflected in the lane model in real time, making parking lot lane management more flexible and efficient, and avoiding lane congestion or problems with irregular parking of vehicles.

[0126] In this embodiment, the step S3 of collecting the movement behavior corresponding to each vehicle further includes:

[0127] S31: Based on the monitoring point, identify the vehicle identity pre-recorded in the parking lot, bind the vehicle identity to the corresponding vehicle in the temporary scanning area, and obtain the movement status of the corresponding vehicle on the entry and exit lane;

[0128] S32: Determine whether the motion state conforms to the relative motion state of other vehicles in the same entry and exit area;

[0129] S33: If so, construct the motion state vector of the corresponding vehicle, collect the moving trajectory of the corresponding vehicle according to the motion state vector, and generate the behavior characteristics of the corresponding vehicle according to the moving trajectory, wherein the motion state vector specifically includes position information, acceleration information and direction posture information, and the behavior characteristics specifically include sharp turns and continuous emergency braking.

[0130] In this embodiment, the system identifies the identities of vehicles pre-recorded in the parking lot based on monitoring points, binds these vehicle identities to the corresponding vehicles in the temporary scanning area, obtains the motion status of different vehicles in the entry and exit lanes, and then the system determines whether the motion status of these vehicles conforms to the relative motion status of other vehicles in the same entry and exit area to execute the corresponding steps; for example, when the system determines that the motion status of these vehicles cannot conform to the relative motion status of other vehicles in the same entry and exit area, the system will consider that the behavior of these vehicles is abnormal or inconsistent with the motion trajectory of surrounding vehicles, and the system will dynamically adjust the lane path of the vehicle to avoid conflict with other vehicles. For example, the system can use lane indicator signs, electronic screens or other guidance means , guide abnormal vehicles to empty lanes or other parking areas. At the same time, based on the historical data and vehicle behavior patterns collected by the system, the system can perform behavioral analysis and predict which vehicles may have abnormal behaviors. For example, by analyzing the historical data of reversing, sudden braking or parking time, the system can identify potential abnormal vehicles in advance and issue warnings to help parking lot managers take countermeasures in advance, identify normal and abnormal vehicle behavior patterns, and gradually optimize the recognition rules. When the system detects that the behavior of a vehicle does not conform to the movement status of other vehicles in the same lane, the system can quickly identify the abnormal pattern based on the historical data model and trigger the corresponding processing flow; for example, when the system determines that the movement status of these vehicles can conform to the same The system collects the relative motion state of other vehicles entering and leaving the area. At this time, the system will consider that the behavior of these vehicles is normal, and the system will construct the motion state vectors of these vehicles. The motion state vectors specifically include position information, acceleration information, and direction and attitude information. According to these motion state vectors, the movement trajectories of these vehicles are collected, and according to different movement trajectories, the behavior characteristics of these vehicles are generated. The behavior characteristics specifically include sharp turns and continuous emergency braking. By collecting the motion state vectors (position information, acceleration information, and direction and attitude information) of the vehicle and generating its movement trajectory and behavior characteristics, the system can more accurately identify whether the vehicle has potential abnormal behavior. For example, sharp turns or continuous emergency braking during normal driving of the vehicle may indicate dangerous driving or system Compared with relying solely on position and speed monitoring, this method based on motion state vectors significantly improves the accuracy of abnormal behavior detection. At the same time, by generating vehicle behavior characteristics, the system can dynamically adjust the management rules for entering and exiting lanes, such as dynamically optimizing traffic guidance strategies, allocating wider lanes to vehicles that may be dangerous, avoiding interference with normal traffic, thereby improving the safety of lane use. By generating detailed behavior characteristics for each vehicle, the system can create a behavior profile for each vehicle, providing a basis for long-term data analysis, helping to improve the design and management strategies of parking lots, and combining vehicle behavior data with other monitoring data (such as license plate recognition, entry and exit time, etc.) to further optimize the system's ability to guide and control vehicles.

[0131] In this embodiment, a dynamic lane model is established in the temporary scanning area, and step S5 of calculating the number of vehicles entering and exiting the lane and the occupied space ratio by using the dynamic lane model further includes:

[0132] S51: Identify the occupation parameters of the vehicle in the entry and exit lanes, and based on the occupation parameters, obtain the occupied space of the vehicle in the entry and exit lanes, wherein the occupation parameters specifically include the geometric dimensions of the vehicle, the projected area of ​​the occupation, and the relative position of the lanes;

[0133] S52: Determine whether the occupied space reaches a preset occupancy threshold;

[0134] S53: If so, construct an independent lane model of the vehicle according to the occupied space, dynamically adjust the virtual lane width of the entry and exit lanes according to the independent lane model, introduce a preset buffer zone in the preset corner area of ​​the entry and exit lanes, and adaptively adjust the virtual front and rear vehicle distances of the vehicle.

[0135] In this embodiment, the system identifies the space occupied by the vehicle in the entry and exit lanes, which specifically include the vehicle's geometric dimensions, the projected area of ​​the space occupied, and the relative position of the lane. Based on these space occupied parameters, the system obtains the space occupied by the vehicle in the entry and exit lanes, and then determines whether these occupied spaces reach a preset occupancy threshold to execute corresponding steps; for example, when the system determines that the space occupied by a certain vehicle in the entry and exit lanes does not reach the preset occupancy threshold, the system will consider that the lane resources are still in a normal load state, and the system will continue to track the space occupied by the vehicle through sensors or monitoring points to ensure the dynamic update of the space occupied parameters, and at the same time, the space occupied by the vehicle The parameter data is stored in a real-time database to provide data support for subsequent analysis of vehicle flow, optimization of lane design or identification of abnormal behavior. If lane resources permit, the system can dynamically adjust the guidance strategy for other vehicles in and out of the lane according to the vehicle occupation parameters and the relative position of the lane to ensure maximum lane utilization efficiency. The system does not need to take special intervention measures for the vehicle, but needs to continue to monitor its subsequent behavior, such as whether the movement state or other parameters have changed, to ensure continuous smooth lane traffic. For example, when the system determines that the space occupied by a vehicle in the entry and exit lane has reached a preset occupancy threshold, the system will consider that the lane resources have reached the load, and the system will adjust the lane accordingly. The system dynamically adjusts the virtual lane width of the entry and exit lanes by building independent lane models for each vehicle, and builds independent lane models for each vehicle. The system can flexibly allocate lane resources according to actual occupancy by building independent lane models for each vehicle, so that the lane can accommodate more vehicles or guide existing vehicles more effectively, improve lane resource utilization, avoid congestion or waste of resources, and dynamically adjust the virtual lane width and vehicle load when the lane is high. The virtual front and rear vehicle distance can more reasonably plan the driving path and relative position of each vehicle, ensure the smooth passage of vehicles in corner areas or narrow lanes, reduce stagnation and waiting time, and by introducing a buffer zone in the corner area, the system can alleviate the risk of collision caused by sharp turns or high loads, and ensure a safe distance between vehicles. Under high load conditions, dynamic adjustment of the virtual front and rear vehicle distance can further reduce the probability of accidents caused by vehicles being too close. Under high load conditions, vehicles can still obtain the system's refined resource allocation and path planning, avoiding the inconvenience caused by congestion or chaos, improving the driver's parking experience, and reflecting the advantages of smart parking lot management.

[0136] In this embodiment, the step S2 of determining whether the number of vehicles to be entered or exited exceeds the preset upper threshold of the parking lot for entering or exiting further includes:

[0137] S21: Based on the preset idle lane position of the entry and exit lane, identifying the existing vehicles in the entry and exit lane;

[0138] S22: Determine whether the existing vehicles have reached a preset monitoring upper limit;

[0139] S23: If so, detect the length of time the existing vehicle stays in the entry and exit lane, and based on the length of time, perform preset diversion guidance outside the entry and exit lane, and generate other idle entry and exit lanes preset in the parking lot through the diversion guidance, wherein the diversion guidance specifically includes temporary diversion area setting, dynamic path guidance and traffic light guidance.

[0140] In this embodiment, the system identifies existing vehicles in the entry and exit lanes based on the pre-set idle lane positions on the entry and exit lanes, and then the system determines whether these existing vehicles have reached the pre-set monitoring upper limit to execute the corresponding steps; for example, when the system determines that the existing vehicles in the entry and exit lanes have not reached the pre-set monitoring upper limit, the system will consider that the idle positions in the lanes are still sufficient, the current lane conditions can support the normal entry and exit operations of the vehicles, and there is no congestion or resource saturation problem. The system will allocate the optimal idle lane position to the new vehicle in real time based on the current vehicle distribution status to ensure that the vehicle can complete the entry and exit operations with the shortest path and time. At the same time, based on the positions of existing vehicles in the entry and exit lanes, the system plans a path for each vehicle to avoid path conflicts and reduce stagnation time. For example, the system plans a path for the new vehicle to avoid existing vehicles to ensure that the entry and exit can be smoothly alternated, and the number and distribution data of existing vehicles in the entry and exit lanes are synchronized to the monitoring platform in real time for subsequent dynamic analysis to maintain a global control of the lane conditions; for example, when the system determines that the existing vehicles in the entry and exit lanes have reached the pre-set monitoring upper limit, the system will If the free positions in the lane are considered full, the system will detect the length of time these existing vehicles stay in the entry and exit lanes. According to different lengths of stay, the pre-set diversion guidance will be executed outside the entry and exit lanes. The diversion guidance specifically includes temporary diversion area setting, dynamic path guidance and signal light guidance. Through these diversion guidance, other free entry and exit lanes pre-set in the parking lot are generated; by detecting the length of time that existing vehicles stay, the system can effectively identify stranded vehicles in the lane, divert vehicles that exceed the stay time to the temporary diversion area, alleviate the congestion in the lane, generate other free entry and exit lanes, and avoid the decline in parking lot operation efficiency due to the saturation of single lane resources. At the same time, through dynamic path guidance and signal light guidance, vehicles can quickly enter the diversion area or alternative lanes, reducing the phenomenon of long waiting in the original lane. The diversion measures can disperse vehicle flow to multiple free lanes, reduce lane congestion, optimize vehicle turnover speed, and through reasonable diversion guidance, avoid poor experience caused by congestion, provide efficient and convenient parking services, and signal light guidance and dynamic path planning reduce parking operation errors caused by drivers' unfamiliarity with the route.

[0141] In this embodiment, the step S4 of determining whether the movement behavior exceeds the temporary scanning area further includes:

[0142] S41: Based on the hierarchical areas pre-divided into the entry and exit lanes, detecting the feedback duration of the movement behavior in the hierarchical areas, wherein the hierarchical areas specifically include a core area, a buffer area, and a prohibited area;

[0143] S42: Determine whether the feedback duration exceeds a preset feedback time limit;

[0144] S43: If yes, dynamically adjust the monitoring sensitivity of the mobile behavior according to the hierarchical area, introduce the corresponding boundary point density within the preset range of the vehicle according to the monitoring sensitivity, and adaptively adjust the response period of the feedback duration.

[0145] In this embodiment, the system detects the feedback time of the movement behavior in the hierarchical area based on the pre-divided hierarchical areas on the entry and exit lanes, which specifically include the core area, the buffer area and the no-entry area. The system then determines whether the feedback time exceeds the preset feedback time limit to execute the corresponding steps; for example, when the system determines that the feedback time of a vehicle's movement behavior in the hierarchical area does not exceed the preset feedback time limit, the system will consider that the vehicle's movement behavior in the core area, the buffer area and the no-entry area meets the preset standards, and there is no detention or abnormal situation. The system will record the current position of the vehicle in the hierarchical area, update its status to the real-time monitoring record, and ensure subsequent operations. The accuracy of the operation is improved. At the same time, according to the real-time movement status of the vehicle, the tracking frequency of the vehicle is adjusted to optimize the allocation of monitoring resources. For example, if the vehicle is about to enter the core area, the monitoring accuracy can be improved to ensure that the vehicle behavior is in full compliance with the regional rules. If the vehicle is about to leave the buffer area, the monitoring intensity can be reduced to save computing resources, and the scope of the buffer area or the restriction conditions of the forbidden area can be dynamically adjusted according to the current traffic flow to improve the utilization rate of regional resources. For example, when the system determines that the feedback time of a vehicle's movement behavior in the hierarchical area exceeds the preset feedback time limit, the system will consider that the vehicle's movement behavior in the parking lot is abnormal, and the system will dynamically adjust the vehicle according to different hierarchical areas. The system dynamically adjusts the monitoring sensitivity of mobile behavior. Based on the monitoring sensitivity, the corresponding boundary point density is introduced within the preset range of the vehicle, and the response period of the feedback duration is adaptively adjusted. Through real-time monitoring of the vehicle movement feedback duration, the system can respond quickly when the vehicle behavior deviates from the normal mode, and promptly identify possible anomalies, such as detention, path deviation, irregular parking, etc., which helps to discover potential safety risks or operational problems as early as possible. At the same time, for vehicle behaviors in different levels of areas, the system dynamically adjusts the monitoring sensitivity according to the characteristics of the hierarchical areas (such as high requirements for vehicle positioning in the core area and low requirements for vehicle adjustment direction in the buffer area). For areas with high requirements, the system will It provides higher sensitivity and accurately captures the vehicle's movement data. For areas with low demand, the system reduces sensitivity to improve efficiency and reduce unnecessary data processing burden. By adaptively adjusting the feedback duration, the system can dynamically allocate computing and monitoring resources according to the actual behavior of the vehicle. For stranded vehicles, the system ensures timely resolution of problems by increasing monitoring density and feedback response time. For vehicles with normal flow, it optimizes resource usage to avoid excessive interference with normal operations. When a vehicle is stranded due to abnormal behavior, the system can identify it in time through high-sensitivity monitoring and take corresponding adjustment measures, such as redirecting the vehicle to avoid affecting the passage of other vehicles due to the stranded vehicle.

[0146] It should be noted that, according to the hierarchical area, the monitoring sensitivity of the mobile behavior is dynamically adjusted, and according to the monitoring sensitivity, the corresponding boundary point density is introduced within the preset range of the vehicle, and the response period of the feedback duration is adaptively adjusted. The specific examples are as follows:

[0147] Assume that a smart parking lot has the following hierarchical areas:

[0148] Core area: parking spaces and their surroundings, used for precise parking of vehicles;

[0149] Buffer area: the entrance and exit of the parking lot and the connecting lane between the parking space and the main lane;

[0150] Prohibited areas: pedestrian passages and safety isolation areas, vehicles are prohibited from entering;

[0151] The system pre-sets the adjustment strategies of vehicle monitoring sensitivity, boundary point density and feedback duration response period to meet the needs of different levels of areas;

[0152] The monitoring process of vehicle A,

[0153] Step 1: Vehicle A enters the core area,

[0154] Vehicle A drives from the buffer area into the core area and prepares to park in the reserved parking space P5. Since the core area has limited space, the parking operation is complicated and involves multiple small movements, so the system monitors it with high precision.

[0155] The monitoring sensitivity is adjusted dynamically. When the system recognizes that vehicle A has entered the core area, it increases the monitoring sensitivity to a high value (for example, 90%) to capture every tiny movement of the vehicle.

[0156] The system introduces boundary point density, and defines high-density boundary points around vehicle A, with 50 points per square meter, to generate the geometric outline and movement trajectory of the vehicle in real time. The high-precision configuration of boundary point density ensures that the system can identify any abnormal movement in time to avoid vehicle collision or crossing the boundary.

[0157] Feedback duration response period setting: the system sets the feedback duration response period to 3 seconds to ensure that every movement and adjustment of the vehicle can be accurately recorded and analyzed;

[0158] Monitoring behavior, the movement of vehicle A includes multiple forward, backward and direction adjustments. The system generates a real-time parking path based on its boundary points and ensures no collision. Finally, vehicle A smoothly parks in parking space P5.

[0159] Step 2: Vehicle A enters the buffer zone.

[0160] Vehicle A leaves the parking space in the core area and enters the buffer area to drive to the main lane. The buffer area is a connecting area with dense traffic, but the movement of vehicles is relatively simple.

[0161] Dynamic adjustment of monitoring sensitivity. When the system recognizes that a vehicle has entered the buffer zone, it will reduce the monitoring sensitivity to a medium value (e.g. 60%) to accommodate faster movement.

[0162] The boundary point density was introduced and adjusted to 20 points per square meter, which moderately reduced the data processing burden while maintaining basic monitoring of vehicle trajectories;

[0163] Feedback time response period setting: the system adjusts the feedback time response period to 1 second, quickly updates the vehicle's movement trajectory to meet the needs of vehicles passing quickly in the buffer area;

[0164] Monitoring behavior: the moving trajectory of vehicle A in the buffer zone is captured in real time, and the system monitors its direction to ensure that there is no conflict with other vehicle trajectories, and guides the vehicle to the main lane;

[0165] Step 3: Vehicle A enters the prohibited area by mistake.

[0166] Due to driver error, vehicle A deviated from the main lane and entered the restricted area of ​​the pedestrian passage by mistake. The system immediately identified this abnormal behavior and took a series of measures.

[0167] Dynamically adjust the monitoring sensitivity. The system increases the monitoring sensitivity to the highest value (e.g. 100%) to capture every subtle movement of the vehicle in the restricted area and ensure timely intervention measures;

[0168] The boundary point density is introduced and increased to 100 points per square meter to generate accurate vehicle geometric boundaries and driving paths to determine the next movement trend of the vehicle;

[0169] Feedback time response period setting, the feedback time response period is shortened to 0.5 seconds, so as to quickly issue alarms and perform system intervention;

[0170] The system monitors the behavior and triggers an emergency notification to the parking lot manager, and generates a virtual boundary around the vehicle to restrict its further movement; the system activates voice warnings and prompt lights to guide the driver to drive the vehicle out of the restricted area;

[0171] To summarize, in the above examples, by dynamically adjusting the monitoring sensitivity, boundary point density and feedback time response period, high-precision monitoring of the core area enables vehicle A to complete parking smoothly and avoid collision with surrounding vehicles. At the same time, the sensitivity and boundary point density optimization of the buffer area effectively reduce the consumption of system resources, while ensuring the basic behavior monitoring of the vehicle. The high sensitivity and rapid response mechanism of the restricted area enable the system to quickly detect and deal with abnormal behavior in an emergency, ensure the safety of pedestrians and prevent potential accidents. That is, the system dynamically adjusts parameters according to the needs of different levels of areas, thereby improving the overall operating efficiency.

[0172] In this embodiment, based on the preset entry and exit lanes of the parking lot, the step S1 of detecting the number of vehicles to be entered and exited on the entry and exit lanes by using sensors set within the preset range of the entry and exit lanes also includes:

[0173] S11: Based on a license plate recognition integrated device preset on the entry and exit lane, detecting the front and rear distance of the vehicle on the entry and exit lane;

[0174] S12: Determine whether the front-to-back distance reaches a preset distance threshold;

[0175] S13: If yes, dynamically adjust the gate response time corresponding to the license plate recognition integrated device according to the front and rear distance, construct the vehicle entry and exit event based on the gate response time, generate at least one parking order through the entry and exit event, and record the total number of vehicles entering and exiting from the parking order.

[0176] In this embodiment, the system detects the front and rear distance of the vehicle in the entry and exit lane based on the license plate recognition integrated device pre-installed on the entry and exit lane, and then the system determines whether the front and rear distance reaches a preset distance threshold to execute the corresponding steps; for example, when the system determines that the front and rear distance of the vehicle in the entry and exit lane does not reach the preset distance threshold, the system will consider that there may be an abnormality in the lane, such as slow driving or stagnation, causing vehicles to gather, and the system will trigger the front signal light to switch to a flashing yellow light to guide the vehicle to slow down and pass. At the same time, through the distance information of the front and rear vehicles, the system optimizes the prompting of the front vehicle to speed up slightly or adjust the speed of the rear vehicle to restore the safe distance, and checks whether there are obstacles or abnormalities in the lane; for example, when the system determines that the front and rear distance of the vehicle in the entry and exit lane reaches a preset distance threshold, the system will consider that the lane is in a normal load state, and the system will dynamically adjust the gate response time corresponding to the license plate recognition integrated device according to different front and rear distances. time, construct entry and exit events of different vehicles, generate at least one parking order through these entry and exit events, and record the corresponding total number of vehicles entering and exiting from these parking orders; the system can intelligently optimize traffic management by adjusting the gate response time according to the front and rear distance of the vehicle. For vehicles with appropriate spacing, the system can accelerate passage to reduce unnecessary waiting time. For possible congestion, the system can extend the response time in a timely manner to ensure that the vehicle has enough time to enter the lane. At the same time, by constructing entry and exit events of different vehicles, the system can accurately record the entry and exit status of each vehicle or multiple vehicles to ensure that the data of parking orders is accurate and reliable, which provides effective operational data support for parking lot management, and by recording the entry and exit events and parking orders of each vehicle, the system can accumulate a large amount of data to provide support for the future optimization of the parking lot. For example, by analyzing the number of vehicles entering and exiting in different time periods, managers can adjust lane settings, adjust pricing strategies, or optimize traffic flow guidance inside and outside the parking lot.

[0177] It should be noted that if multiple users who go to the parking lot need to park at the same time, the first user who enters the parking lot can operate the license plate recognition integrated machine to record the parking orders of multiple users at the same time. When leaving the parking lot, the parking fees of multiple users can also be paid at the same time to facilitate quick passage in and out of the lane.

[0178] Reference Figure 2 , is a lane monitoring system for a parking lot in one embodiment of the present invention, comprising:

[0179] A detection module 10 is used to detect the number of vehicles to enter or exit the entry and exit lanes preset in the parking lot through sensors set within the preset range of the entry and exit lanes;

[0180] A judgment module 20 is used to judge whether the number of vehicles to be entered and exited exceeds the preset upper threshold of the parking lot;

[0181] The execution module 30 is used for, if not, dividing a temporary scanning area for each vehicle from the entry and exit lane according to the preset monitoring points of the entry and exit lane, assigning a corresponding temporary identifier to each vehicle on the entry and exit lane, dynamically marking each vehicle by applying a preset behavior classification algorithm through the temporary identifier, and collecting the corresponding movement behavior of each vehicle, wherein the movement behavior specifically includes parking, reversing and turning;

[0182] A second judging module 40 is used to judge whether the movement behavior exceeds the temporary scanning area;

[0183] The second execution module 50 is used to establish a dynamic lane model in the temporary scanning area if it exceeds the limit, calculate the number of vehicles in and out of the lane and the occupied space ratio through the dynamic lane model, detect the driving parameters of the lane according to the number of vehicles and the occupied space ratio, and apply the preset independent monitoring logic based on the driving parameters to update the lane conditions of the lane in and out in real time, wherein the driving parameters specifically include vehicle speed changes, vehicle spacing and lane congestion level, and the lane conditions specifically include entrance areas, main roads and parking area aisles.

[0184] In this embodiment, the detection module 10 detects the number of vehicles to be in and out of the entry and exit lanes based on the entry and exit lanes preset in the parking lot through sensors set within the preset range of these entry and exit lanes, and then the judgment module 20 judges whether the number of vehicles to be in and out exceeds the entry and exit upper limit threshold preset in the parking lot to execute the corresponding steps; for example, when the system determines that the number of vehicles to be in and out of the entry and exit lanes exceeds the entry and exit upper limit threshold preset in the parking lot, the system will consider that the lanes or parking resources of the parking lot are close to or have reached their maximum processing capacity, which may cause traffic congestion, vehicle detention or other poor parking experience. The system will monitor the lane conditions and flow in real time and temporarily adjust the lane usage rules, such as adding exit The number of entrances or the open status of the entrances and exits are adjusted to balance the lane load. At the same time, according to the actual flow of vehicles in the lane, the system dynamically adjusts the capacity of each lane. For example, if the lane has reached the upper limit, temporary flow limiting measures are taken to reduce the entry of new vehicles to avoid further congestion. When the number of vehicles on the lane exceeds the limit, the system analyzes whether there are vehicles with abnormal behaviors such as reversing or reversing based on real-time data, issues alarms for these abnormal behaviors, and takes intervention measures through the monitoring system to ensure the normal operation of the lane; for example, when the system determines that the number of vehicles to be entered and exited on the entry and exit lanes does not exceed the entry and exit upper limit threshold preset by the parking lot, the execution module 30 will consider that the lanes of the parking lot can still handle the vehicles entering and leaving the lot, and will not affect the normal operation of the lanes. In order to affect the parking experience, the system will divide the temporary scanning area of ​​each vehicle from the entry and exit lanes according to the pre-set monitoring points on the entry and exit lanes, assign a corresponding temporary identifier to each vehicle on the entry and exit lanes, and dynamically mark each vehicle using the pre-set behavior classification algorithm through the temporary identifier to collect the corresponding movement behavior of each vehicle, which specifically includes parking, reversing and turning. By setting monitoring points on the entry and exit lanes and dividing the temporary scanning area for each vehicle, the system can accurately monitor the dynamic behavior of each vehicle in real time, including parking, reversing and turning, ensuring that the system can effectively respond to the current lane load condition and avoid congestion caused by exceeding the upper limit. At the same time, by assigning a temporary identifier to each vehicle By using the preset behavior classification algorithm, the system can accurately identify and mark the specific behavior of the vehicle. This accurate classification not only helps to ensure that the status of the vehicle is accurately captured, but also can update the operation status of the lane in real time, making lane monitoring more intelligent and accurate. By collecting the movement behavior data of each vehicle, the system can accurately count and analyze the resource usage of the lane. These data can be used to optimize the use planning of the lane, such as by adjusting the traffic flow and scheduling strategy of the lane, so as to better manage parking resources and ensure that the lane will not be idle or overly congested. Then the second judgment module 40 judges whether the movement behavior of different vehicles exceeds its temporary scanning area to execute the corresponding steps.For example, when the system determines that the movement of a vehicle does not exceed its temporary scanning area, the system will consider that the behavior of the vehicle complies with the normal process set in the lane and parking lot, which means that the vehicle runs smoothly in the lane according to the predetermined trajectory and behavior, and will not cause additional interference to the smoothness of the lane. The system will continue to track the behavior of the vehicle in the temporary scanning area in real time to ensure that its subsequent dynamics are still within the controllable range. If the vehicle changes its driving state or has new dynamic behaviors, the system will respond immediately while maintaining dynamic monitoring of the lane to ensure that there are no other potential abnormal vehicle behavior or lane occupancy. For example, if a vehicle is parked in a lane, the system should check whether it affects the passage of other vehicles and evaluate the path planning of other vehicles to enter and exit based on the current lane occupancy. For example, if the vehicle occupies part of the lane when parking, the system needs to adjust the path of subsequent vehicles to optimize traffic flow. For example, when the system determines that the movement of a vehicle exceeds its temporary scanning area, the system will automatically adjust the path of subsequent vehicles to optimize traffic flow. The second execution module 50 will consider that the behavior of the vehicle does not conform to the normal process set in the parking lot. The system will establish a dynamic lane model in the temporary scanning area. Through the dynamic lane model, the number of vehicles entering and exiting the lane and the proportion of occupied space are calculated. Based on the vehicle data and the proportion of occupied space, the driving parameters of the lane are detected. The driving parameters specifically include vehicle speed changes, vehicle spacing and lane congestion. The pre-set independent monitoring logic is applied to update the lane conditions of the lanes in real time. The lane conditions specifically include the entrance area, main road and parking area aisle; the system calculates the number of vehicles entering and exiting the lane and the proportion of occupied space through the dynamic lane model, which provides accurate data support for the evaluation of the lane status. With the dynamic changes of the vehicle, the occupancy status on the lane can be reflected in real time, helping the system understand which lane areas have been occupied and which areas can continue to be used, so as to make more appropriate scheduling decisions. At the same time, through the dynamic lane model and driving parameter monitoring, accurate scheduling can be performed based on real-time data. For example, if the system detects that the speed of a vehicle changes too quickly or the distance between vehicles is too small, it will remind the following vehicles to adjust their speed to avoid further congestion or collision. It can also evaluate the occupied space ratio of vehicles based on the dynamic lane model and optimize the use of lane resources according to the occupancy situation. By adjusting the use of lanes and scheduling strategies, the system can ensure that the lane resources in the parking lot are maximized and avoid waste or idleness of certain lane resources. ;

[0185] In this embodiment, it also includes:

[0186] An adjustment module, used to dynamically adjust the tracking range of the monitoring point for the vehicle based on the preset scanning parameters of the monitoring point, wherein the scanning parameters specifically include the vehicle approach sequence, speed and direction;

[0187] A third judgment module is used to judge whether the tracking range can match the vehicle in real time;

[0188] The third execution module is used to activate the preset laser radar if possible, identify the lane boundary line of the vehicle, divide the lane range of the vehicle in real time, construct a temporary scanning area of ​​the vehicle according to the lane range, and adaptively adjust the scanning frequency of the monitoring point according to the scanning parameters.

[0189] In this embodiment, the system dynamically adjusts the tracking range of the monitoring point for the vehicle based on the scanning parameters pre-set at the monitoring point, which specifically include the vehicle approach sequence, speed and direction, and then the system determines whether the tracking range can match the vehicle in real time to execute the corresponding steps; for example, when the system determines that the tracking range of the monitoring point for the vehicle cannot match the vehicle in real time, the system will believe that the monitoring point may lose effective tracking of the vehicle due to changes in the relative positions between vehicles or environmental factors (such as other objects, buildings, etc.) blocking the line of sight. The system will adjust the scanning range of the monitoring point in real time according to the current speed, direction and distance of the vehicle, for example When the vehicle suddenly accelerates or turns, the system can recalculate and adjust the monitoring range of the sensor through an algorithm to ensure that the vehicle is always within the monitoring area. At the same time, by combining different types of sensors (such as cameras, radars, geomagnetic sensors, etc.), the system can capture vehicle dynamics more comprehensively and reduce the blind spot impact of a single sensor. For example, when the visual sensor cannot effectively capture the vehicle, the radar sensor can play a supplementary role, and when it detects a situation where it cannot match the vehicle, it can record the data at the abnormal moment, and through subsequent data analysis, optimize the layout of monitoring points and lane design to improve the reliability of future monitoring; for example, when the system determines that the monitoring point is not suitable for the vehicle, the radar sensor can be used to detect the vehicle. The tracking range can match the vehicle in real time. At this time, the system will think that the monitoring point is still effectively tracking the vehicle. The system will activate the pre-set laser radar, identify the lane boundary line of the vehicle, divide the lane range of the vehicle in real time, and build a temporary scanning area for the vehicle according to different lane ranges. According to the scanning parameters, the scanning frequency of the monitoring point is adaptively adjusted; the system identifies the lane boundary line through the laser radar, which can more accurately define the lane range of the vehicle. This precise spatial positioning can ensure that the dynamic behavior of the vehicle is accurately captured, avoiding the positioning error of traditional cameras or sensors in complex environments. At the same time, according to the changes in the speed, direction and lane range of the vehicle, The system can automatically adjust the scanning frequency of monitoring points, which means that when the vehicle is traveling fast or frequently changing lanes, the system can increase the scanning frequency to ensure a higher update rate and real-time response. When the vehicle is stationary or traveling at a low speed, the system can reduce the scanning frequency, thereby optimizing resource utilization and improving overall system performance. In addition, by identifying lane boundaries in real time and dynamically dividing the vehicle's temporary scanning area, the system can intelligently manage lanes. Especially when there is heavy traffic or complex lanes in the parking lot, changes in vehicle behavior will be reflected in the lane model in real time, making parking lot lane management more flexible and efficient, and avoiding lane congestion or problems with irregular parking of vehicles.

[0190] In this embodiment, the execution module further includes:

[0191] An acquisition unit, configured to identify the identity of a vehicle pre-recorded in the parking lot based on the monitoring point, bind the vehicle identity to a corresponding vehicle in the temporary scanning area, and acquire a motion state of the corresponding vehicle on the entry and exit lanes;

[0192] A judging unit, used to judge whether the motion state conforms to the relative motion state of other vehicles in the same entry and exit area;

[0193] The execution unit is used to construct a motion state vector of the corresponding vehicle, collect the moving trajectory of the corresponding vehicle according to the motion state vector, and generate the behavior characteristics of the corresponding vehicle according to the moving trajectory, wherein the motion state vector specifically includes position information, acceleration information and direction posture information, and the behavior characteristics specifically include sharp turns and continuous emergency braking.

[0194] In this embodiment, the system identifies the identities of vehicles pre-recorded in the parking lot based on monitoring points, binds these vehicle identities to the corresponding vehicles in the temporary scanning area, obtains the motion status of different vehicles in the entry and exit lanes, and then the system determines whether the motion status of these vehicles conforms to the relative motion status of other vehicles in the same entry and exit area to execute the corresponding steps; for example, when the system determines that the motion status of these vehicles cannot conform to the relative motion status of other vehicles in the same entry and exit area, the system will consider that the behavior of these vehicles is abnormal or inconsistent with the motion trajectory of surrounding vehicles, and the system will dynamically adjust the lane path of the vehicle to avoid conflict with other vehicles. For example, the system can use lane indicator signs, electronic screens or other guidance means , guide abnormal vehicles to empty lanes or other parking areas. At the same time, based on the historical data and vehicle behavior patterns collected by the system, the system can perform behavioral analysis and predict which vehicles may have abnormal behaviors. For example, by analyzing the historical data of reversing, sudden braking or parking time, the system can identify potential abnormal vehicles in advance and issue warnings to help parking lot managers take countermeasures in advance, identify normal and abnormal vehicle behavior patterns, and gradually optimize the recognition rules. When the system detects that the behavior of a vehicle does not conform to the movement status of other vehicles in the same lane, the system can quickly identify the abnormal pattern based on the historical data model and trigger the corresponding processing flow; for example, when the system determines that the movement status of these vehicles can conform to the same The system collects the relative motion state of other vehicles entering and leaving the area. At this time, the system will consider that the behavior of these vehicles is normal, and the system will construct the motion state vectors of these vehicles. The motion state vectors specifically include position information, acceleration information, and direction and attitude information. According to these motion state vectors, the movement trajectories of these vehicles are collected, and according to different movement trajectories, the behavior characteristics of these vehicles are generated. The behavior characteristics specifically include sharp turns and continuous emergency braking. By collecting the motion state vectors (position information, acceleration information, and direction and attitude information) of the vehicle and generating its movement trajectory and behavior characteristics, the system can more accurately identify whether the vehicle has potential abnormal behavior. For example, sharp turns or continuous emergency braking during normal driving of the vehicle may indicate dangerous driving or system Compared with relying solely on position and speed monitoring, this method based on motion state vectors significantly improves the accuracy of abnormal behavior detection. At the same time, by generating vehicle behavior characteristics, the system can dynamically adjust the management rules for entering and exiting lanes, such as dynamically optimizing traffic guidance strategies, allocating wider lanes to vehicles that may be dangerous, avoiding interference with normal traffic, thereby improving the safety of lane use. By generating detailed behavior characteristics for each vehicle, the system can create a behavior profile for each vehicle, providing a basis for long-term data analysis, helping to improve the design and management strategies of parking lots, and combining vehicle behavior data with other monitoring data (such as license plate recognition, entry and exit time, etc.) to further optimize the system's ability to guide and control vehicles.

[0195] In this embodiment, the second execution module further includes:

[0196] an identification unit, used to identify the occupation parameters of the vehicle in the entry and exit lanes, and based on the occupation parameters, obtain the occupied space of the vehicle in the entry and exit lanes, wherein the occupation parameters specifically include the geometric dimensions of the vehicle, the projected area of ​​the occupation, and the relative position of the lanes;

[0197] A second judgment unit, used to judge whether the occupied space reaches a preset occupancy threshold;

[0198] The second execution unit is used to construct an independent lane model of the vehicle according to the occupied space, dynamically adjust the virtual lane width of the entry and exit lanes according to the independent lane model, introduce a preset buffer zone in the preset corner area of ​​the entry and exit lanes, and adaptively adjust the virtual front and rear vehicle distances of the vehicle.

[0199] In this embodiment, the system identifies the space occupied by the vehicle in the entry and exit lanes, which specifically include the vehicle's geometric dimensions, the projected area of ​​the space occupied, and the relative position of the lane. Based on these space occupied parameters, the system obtains the space occupied by the vehicle in the entry and exit lanes, and then determines whether these occupied spaces reach a preset occupancy threshold to execute corresponding steps; for example, when the system determines that the space occupied by a certain vehicle in the entry and exit lanes does not reach the preset occupancy threshold, the system will consider that the lane resources are still in a normal load state, and the system will continue to track the space occupied by the vehicle through sensors or monitoring points to ensure the dynamic update of the space occupied parameters, and at the same time, the space occupied by the vehicle The parameter data is stored in a real-time database to provide data support for subsequent analysis of vehicle flow, optimization of lane design or identification of abnormal behavior. If lane resources permit, the system can dynamically adjust the guidance strategy for other vehicles in and out of the lane according to the vehicle occupation parameters and the relative position of the lane to ensure maximum lane utilization efficiency. The system does not need to take special intervention measures for the vehicle, but needs to continue to monitor its subsequent behavior, such as whether the movement state or other parameters have changed, to ensure continuous smooth lane traffic. For example, when the system determines that the space occupied by a vehicle in the entry and exit lane has reached a preset occupancy threshold, the system will consider that the lane resources have reached the load, and the system will adjust the lane accordingly. The system dynamically adjusts the virtual lane width of the entry and exit lanes by building independent lane models for each vehicle, and builds independent lane models for each vehicle. The system can flexibly allocate lane resources according to actual occupancy by building independent lane models for each vehicle, so that the lane can accommodate more vehicles or guide existing vehicles more effectively, improve lane resource utilization, avoid congestion or waste of resources, and dynamically adjust the virtual lane width and vehicle load when the lane is high. The virtual front and rear vehicle distance can more reasonably plan the driving path and relative position of each vehicle, ensure the smooth passage of vehicles in corner areas or narrow lanes, reduce stagnation and waiting time, and by introducing a buffer zone in the corner area, the system can alleviate the risk of collision caused by sharp turns or high loads, and ensure a safe distance between vehicles. Under high load conditions, dynamic adjustment of the virtual front and rear vehicle distance can further reduce the probability of accidents caused by vehicles being too close. Under high load conditions, vehicles can still obtain the system's refined resource allocation and path planning, avoiding the inconvenience caused by congestion or chaos, improving the driver's parking experience, and reflecting the advantages of smart parking lot management.

[0200] In this embodiment, the judgment module further includes:

[0201] A second identification unit, configured to identify an existing vehicle in the entry / exit lane based on a preset idle lane position of the entry / exit lane;

[0202] A third judgment unit is used to judge whether the existing vehicles have reached a preset monitoring upper limit;

[0203] The third execution unit is used to detect the length of time the existing vehicle stays in the entry and exit lane, and based on the length of time, perform preset diversion guidance outside the entry and exit lane, and generate other idle entry and exit lanes preset in the parking lot through the diversion guidance, wherein the diversion guidance specifically includes temporary diversion area setting, dynamic path guidance and signal light guidance.

[0204] In this embodiment, the system identifies existing vehicles in the entry and exit lanes based on the pre-set idle lane positions on the entry and exit lanes, and then the system determines whether these existing vehicles have reached the pre-set monitoring upper limit to execute the corresponding steps; for example, when the system determines that the existing vehicles in the entry and exit lanes have not reached the pre-set monitoring upper limit, the system will consider that the idle positions in the lanes are still sufficient, the current lane conditions can support the normal entry and exit operations of the vehicles, and there is no congestion or resource saturation problem. The system will allocate the optimal idle lane position to the new vehicle in real time based on the current vehicle distribution status to ensure that the vehicle can complete the entry and exit operations with the shortest path and time. At the same time, based on the positions of existing vehicles in the entry and exit lanes, the system plans a path for each vehicle to avoid path conflicts and reduce stagnation time. For example, the system plans a path for the new vehicle to avoid existing vehicles to ensure that the entry and exit can be smoothly alternated, and the number and distribution data of existing vehicles in the entry and exit lanes are synchronized to the monitoring platform in real time for subsequent dynamic analysis to maintain a global control of the lane conditions; for example, when the system determines that the existing vehicles in the entry and exit lanes have reached the pre-set monitoring upper limit, the system will If the free positions in the lane are considered full, the system will detect the length of time these existing vehicles stay in the entry and exit lanes. According to different lengths of stay, the pre-set diversion guidance will be executed outside the entry and exit lanes. The diversion guidance specifically includes temporary diversion area setting, dynamic path guidance and signal light guidance. Through these diversion guidance, other free entry and exit lanes pre-set in the parking lot are generated; by detecting the length of time that existing vehicles stay, the system can effectively identify stranded vehicles in the lane, divert vehicles that exceed the stay time to the temporary diversion area, alleviate the congestion in the lane, generate other free entry and exit lanes, and avoid the decline in parking lot operation efficiency due to the saturation of single lane resources. At the same time, through dynamic path guidance and signal light guidance, vehicles can quickly enter the diversion area or alternative lanes, reducing the phenomenon of long waiting in the original lane. The diversion measures can disperse vehicle flow to multiple free lanes, reduce lane congestion, optimize vehicle turnover speed, and through reasonable diversion guidance, avoid poor experience caused by congestion, provide efficient and convenient parking services, and signal light guidance and dynamic path planning reduce parking operation errors caused by drivers' unfamiliarity with the route.

[0205] In this embodiment, the second determination module further includes:

[0206] A detection unit, configured to detect the feedback duration of the moving behavior in the hierarchical area based on the hierarchical area pre-divided into the entry and exit lanes, wherein the hierarchical area specifically includes a core area, a buffer area, and a prohibited area;

[0207] A third judging unit, used to judge whether the feedback duration exceeds a preset feedback time limit;

[0208] The third execution unit is used to dynamically adjust the monitoring sensitivity of the mobile behavior according to the hierarchical area, introduce the corresponding boundary point density within the preset range of the vehicle according to the monitoring sensitivity, and adaptively adjust the response period of the feedback duration.

[0209] In this embodiment, the system detects the feedback time of the movement behavior in the hierarchical area based on the pre-divided hierarchical areas on the entry and exit lanes, which specifically include the core area, the buffer area and the no-entry area. The system then determines whether the feedback time exceeds the preset feedback time limit to execute the corresponding steps; for example, when the system determines that the feedback time of a vehicle's movement behavior in the hierarchical area does not exceed the preset feedback time limit, the system will consider that the vehicle's movement behavior in the core area, the buffer area and the no-entry area meets the preset standards, and there is no detention or abnormal situation. The system will record the current position of the vehicle in the hierarchical area, update its status to the real-time monitoring record, and ensure subsequent operations. The accuracy of the operation is improved. At the same time, according to the real-time movement status of the vehicle, the tracking frequency of the vehicle is adjusted to optimize the allocation of monitoring resources. For example, if the vehicle is about to enter the core area, the monitoring accuracy can be improved to ensure that the vehicle behavior is in full compliance with the regional rules. If the vehicle is about to leave the buffer area, the monitoring intensity can be reduced to save computing resources, and the scope of the buffer area or the restriction conditions of the forbidden area can be dynamically adjusted according to the current traffic flow to improve the utilization rate of regional resources. For example, when the system determines that the feedback time of a vehicle's movement behavior in the hierarchical area exceeds the preset feedback time limit, the system will consider that the vehicle's movement behavior in the parking lot is abnormal, and the system will dynamically adjust the vehicle according to different hierarchical areas. The system dynamically adjusts the monitoring sensitivity of mobile behavior. Based on the monitoring sensitivity, the corresponding boundary point density is introduced within the preset range of the vehicle, and the response period of the feedback duration is adaptively adjusted. Through real-time monitoring of the vehicle movement feedback duration, the system can respond quickly when the vehicle behavior deviates from the normal mode, and promptly identify possible anomalies, such as detention, path deviation, irregular parking, etc., which helps to discover potential safety risks or operational problems as early as possible. At the same time, for vehicle behaviors in different levels of areas, the system dynamically adjusts the monitoring sensitivity according to the characteristics of the hierarchical areas (such as high requirements for vehicle positioning in the core area and low requirements for vehicle adjustment direction in the buffer area). For areas with high requirements, the system will It provides higher sensitivity and accurately captures the vehicle's movement data. For areas with low demand, the system reduces sensitivity to improve efficiency and reduce unnecessary data processing burden. By adaptively adjusting the feedback duration, the system can dynamically allocate computing and monitoring resources according to the actual behavior of the vehicle. For stranded vehicles, the system ensures timely resolution of problems by increasing monitoring density and feedback response time. For vehicles with normal flow, it optimizes resource usage to avoid excessive interference with normal operations. When a vehicle is stranded due to abnormal behavior, the system can identify it in time through high-sensitivity monitoring and take corresponding adjustment measures, such as redirecting the vehicle to avoid affecting the passage of other vehicles due to the stranded vehicle.

[0210] In this embodiment, the detection module further includes:

[0211] A second detection unit is used to detect the front and rear distance of the vehicle on the entry and exit lane based on a license plate recognition integrated device preset on the entry and exit lane;

[0212] A fourth judgment unit, used to judge whether the front-to-back distance reaches a preset distance threshold;

[0213] The fourth execution unit is used to dynamically adjust the gate response time corresponding to the license plate recognition integrated device according to the front and rear distance, construct the vehicle entry and exit event based on the gate response time, generate at least one parking order through the entry and exit event, and record the total number of vehicles entering and exiting from the parking order.

[0214] In this embodiment, the system detects the front and rear distance of the vehicle in the entry and exit lane based on the license plate recognition integrated device pre-installed on the entry and exit lane, and then the system determines whether the front and rear distance reaches a preset distance threshold to execute the corresponding steps; for example, when the system determines that the front and rear distance of the vehicle in the entry and exit lane does not reach the preset distance threshold, the system will consider that there may be an abnormality in the lane, such as slow driving or stagnation, causing vehicles to gather, and the system will trigger the front signal light to switch to a flashing yellow light to guide the vehicle to slow down and pass. At the same time, through the distance information of the front and rear vehicles, the system optimizes the prompting of the front vehicle to speed up slightly or adjust the speed of the rear vehicle to restore the safe distance, and checks whether there are obstacles or abnormalities in the lane; for example, when the system determines that the front and rear distance of the vehicle in the entry and exit lane reaches a preset distance threshold, the system will consider that the lane is in a normal load state, and the system will dynamically adjust the gate response time corresponding to the license plate recognition integrated device according to different front and rear distances. time, construct entry and exit events of different vehicles, generate at least one parking order through these entry and exit events, and record the corresponding total number of vehicles entering and exiting from these parking orders; the system can intelligently optimize traffic management by adjusting the gate response time according to the front and rear distance of the vehicle. For vehicles with appropriate spacing, the system can accelerate passage to reduce unnecessary waiting time. For possible congestion, the system can extend the response time in a timely manner to ensure that the vehicle has enough time to enter the lane. At the same time, by constructing entry and exit events of different vehicles, the system can accurately record the entry and exit status of each vehicle or multiple vehicles to ensure that the data of parking orders is accurate and reliable, which provides effective operational data support for parking lot management, and by recording the entry and exit events and parking orders of each vehicle, the system can accumulate a large amount of data to provide support for the future optimization of the parking lot. For example, by analyzing the number of vehicles entering and exiting in different time periods, managers can adjust lane settings, adjust pricing strategies, or optimize traffic flow guidance inside and outside the parking lot.

[0215] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A parking lot lane monitoring method, characterized in that: The following steps are involved: Based on the preset entry and exit lanes of the parking lot, the number of vehicles to be entered and exited on the entry and exit lanes is detected by sensors set within the preset range of the entry and exit lanes; Determining whether the number of vehicles to be entered or exited exceeds a preset upper threshold of the parking lot; If not, then divide the temporary scanning area of ​​each vehicle from the entry and exit lane according to the preset monitoring points of the entry and exit lane, assign a corresponding temporary identifier to each vehicle on the entry and exit lane, dynamically mark each vehicle by using the temporary identifier, and collect the corresponding movement behavior of each vehicle, wherein the movement behavior specifically includes parking, reversing and turning; Determining whether the movement behavior exceeds the temporary scanning area; If it exceeds, a dynamic lane model is established in the temporary scanning area. The number of vehicles in and out of the lane and the occupied space ratio are calculated through the dynamic lane model. According to the number of vehicles and the occupied space ratio, the driving parameters of the entry and exit lane are detected. Based on the driving parameters, a preset independent monitoring logic is applied to update the lane conditions of the entry and exit lane in real time, wherein the driving parameters specifically include vehicle speed changes, vehicle spacing and lane congestion level, and the lane conditions specifically include traffic flow conditions in the entrance area, traffic flow conditions on the main road and traffic flow conditions in the parking area aisle.

2. The parking lot lane monitoring method according to claim 1, characterized in that: Before the step of dividing the temporary scanning area of ​​each vehicle from the entry and exit lane according to the preset monitoring points of the entry and exit lane, the method further includes: Based on the preset scanning parameters of the monitoring point, dynamically adjust the tracking range of the monitoring point for the vehicle, wherein the scanning parameters specifically include the vehicle approach sequence, speed and direction; Determining whether the tracking range can match the vehicle in real time; If possible, the preset laser radar is activated to identify the lane boundary line of the vehicle, divide the lane range of the vehicle in real time, construct a temporary scanning area of ​​the vehicle according to the lane range, and adaptively adjust the scanning frequency of the monitoring point according to the scanning parameters.

3. The parking lot lane monitoring method according to claim 1, characterized in that: The step of collecting the movement behavior corresponding to each vehicle further includes: Based on the monitoring point, identify the identity of the vehicle pre-recorded in the parking lot, bind the vehicle identity to the corresponding vehicle in the temporary scanning area, and obtain the movement status of the corresponding vehicle on the entry and exit lanes; Determining whether the motion state conforms to the relative motion state of other vehicles in the same entry and exit area; If so, construct the motion state vector of the corresponding vehicle, collect the moving trajectory of the corresponding vehicle based on the motion state vector, and generate the behavior characteristics of the corresponding vehicle based on the moving trajectory, wherein the motion state vector specifically includes position information, acceleration information and direction posture information, and the behavior characteristics specifically include sharp turns and continuous emergency braking.

4. The parking lot lane monitoring method according to claim 1, characterized in that: The step of establishing a dynamic lane model in the temporary scanning area and calculating the number of vehicles entering and exiting the lane and the occupied space ratio through the dynamic lane model also includes: Identify the occupation parameters of the vehicle in the entry and exit lanes, and based on the occupation parameters, obtain the occupied space of the vehicle in the entry and exit lanes, wherein the occupation parameters specifically include vehicle geometric dimensions, occupation projection area, and lane relative position; Determining whether the occupied space reaches a preset occupancy threshold; If so, an independent lane model of the vehicle is constructed according to the occupied space, and the virtual lane width of the entry and exit lanes is dynamically adjusted based on the independent lane model, a preset buffer zone is introduced in the preset corner area of ​​the entry and exit lanes, and the virtual front and rear vehicle distances of the vehicle are adaptively adjusted.

5. The parking lot lane monitoring method according to claim 1, characterized in that: The step of determining whether the number of vehicles to be entered or exited exceeds the preset upper threshold of the parking lot entry or exit may further include: Based on the preset idle lane position of the entry and exit lane, identifying the existing vehicles in the entry and exit lane; Determining whether the existing vehicles have reached a preset monitoring upper limit; If so, the length of time the existing vehicle stays in the entry and exit lane is detected, and based on the length of time, a preset diversion guidance is performed outside the entry and exit lane. Through the diversion guidance, other idle entry and exit lanes preset in the parking lot are generated, wherein the diversion guidance specifically includes temporary diversion area setting, dynamic path guidance and signal light guidance.

6. The parking lot lane monitoring method according to claim 1, characterized in that: The step of determining whether the movement behavior exceeds the temporary scanning area further includes: Based on the hierarchical areas pre-divided into the entry and exit lanes, detecting the feedback duration of the movement behavior in the hierarchical areas, wherein the hierarchical areas specifically include a core area, a buffer area, and a prohibited area; Determining whether the feedback duration exceeds a preset feedback time limit; If so, the monitoring sensitivity of the mobile behavior is dynamically adjusted according to the hierarchical area, and the corresponding boundary point density is introduced within the preset range of the vehicle according to the monitoring sensitivity, and the response period of the feedback duration is adaptively adjusted.

7. The parking lot lane monitoring method according to claim 1, characterized in that: The step of detecting the number of vehicles to be entered or exited on the entry and exit lanes preset in the parking lot by using sensors set within the preset range of the entry and exit lanes also includes: Based on the license plate recognition integrated device preset on the entry and exit lane, detecting the front and rear distance of the vehicle on the entry and exit lane; Determine whether the front-to-back distance reaches a preset distance threshold; If so, dynamically adjust the gate response time corresponding to the license plate recognition integrated device according to the front and rear distance, construct the vehicle's entry and exit events based on the gate response time, generate at least one parking order through the entry and exit events, and record the total number of vehicles entering and exiting from the parking order records.

8. A parking lot lane monitoring system, characterized in that: include: A detection module, which is used to detect the number of vehicles to be entered or exited on the entry and exit lanes preset in the parking lot through sensors set within the preset range of the entry and exit lanes; A judgment module, used to judge whether the number of vehicles to be entered and exited exceeds the preset upper threshold of the parking lot; an execution module, for, if not, dividing a temporary scanning area for each vehicle on the entry and exit lane according to the preset monitoring points of the entry and exit lane, assigning a corresponding temporary identifier to each vehicle on the entry and exit lane, dynamically marking each vehicle by applying a preset behavior classification algorithm through the temporary identifier, and collecting the corresponding movement behavior of each vehicle, wherein the movement behavior specifically includes parking, reversing and turning; A second judging module, used for judging whether the moving behavior exceeds the temporary scanning area; The second execution module is used to establish a dynamic lane model in the temporary scanning area if it exceeds the limit, calculate the number of vehicles in and out of the lane and the occupied space ratio through the dynamic lane model, detect the driving parameters of the lane according to the number of vehicles and the occupied space ratio, and apply the preset independent monitoring logic based on the driving parameters to update the lane conditions of the lane in and out in real time, wherein the driving parameters specifically include vehicle speed changes, vehicle spacing and lane congestion level, and the lane conditions specifically include traffic flow conditions in the entrance area, traffic flow conditions in the main road and traffic flow conditions in the parking area aisle.

9. The parking lot lane monitoring system according to claim 8, characterized in that: Also includes: An adjustment module, used to dynamically adjust the tracking range of the monitoring point for the vehicle based on the preset scanning parameters of the monitoring point, wherein the scanning parameters specifically include the vehicle approach sequence, speed and direction; A third judgment module is used to judge whether the tracking range can match the vehicle in real time; The third execution module is used to activate the preset laser radar if possible, identify the lane boundary line of the vehicle, divide the lane range of the vehicle in real time, construct a temporary scanning area of ​​the vehicle according to the lane range, and adaptively adjust the scanning frequency of the monitoring point according to the scanning parameters.

10. The parking lot lane monitoring system according to claim 8, characterized in that: The execution module also includes: An acquisition unit, configured to identify the identity of a vehicle pre-recorded in the parking lot based on the monitoring point, bind the vehicle identity to a corresponding vehicle in the temporary scanning area, and acquire a motion state of the corresponding vehicle on the entry and exit lanes; A judging unit, used to judge whether the motion state conforms to the relative motion state of other vehicles in the same entry and exit area; The execution unit is used to construct a motion state vector of the corresponding vehicle, collect the moving trajectory of the corresponding vehicle according to the motion state vector, and generate the behavior characteristics of the corresponding vehicle according to the moving trajectory, wherein the motion state vector specifically includes position information, acceleration information and direction posture information, and the behavior characteristics specifically include sharp turns and continuous emergency braking.

Images