Unlocking method and system of parking lock based on vehicle identification

Abstract

The present invention relates to the field of parking lock unlocking technology, and in particular, to a method and system for unlocking a parking lock based on vehicle identification. The method comprises the following steps: a position range unit captures image data of a vehicle near an empty parking space to analyze whether the vehicle enters a preset range of the empty parking space. The parking unlocking module of the present invention calculates a comprehensive score based on the vehicle position score, the vehicle speed score and the vehicle direction score, and uses the comprehensive score to determine whether the vehicle intends to park in an empty parking space. The comprehensive score takes into account multiple factors such as the position, speed and direction of the vehicle, and can accurately analyze the parking behavior of the vehicle, reduce the misjudgment of the parking lock caused by the empty parking space wandering by the vehicle, avoid the situation where the empty parking space cannot be parked due to misjudgment, and improve the experience of the car owner. At the same time, when the vehicle approaches the empty parking space, the empty parking space lock unlocks the parking space in advance according to the comprehensive score, reduces the waiting time after the vehicle arrives at the parking space, and improves the parking efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of parking lock unlocking, and in particular to a parking lock unlocking method and system based on vehicle identification. Background Art

[0002] With the acceleration of urbanization, the management demand for parking lots is increasing. The traditional parking management method relies on manual intervention, which is inefficient and costly. With the development of vehicle identification technology, an automated parking management system has become possible. In the prior art, although there is a method for unlocking parking locks that identifies vehicles, the function and data are single, which interferes with the empty parking locks, resulting in low parking efficiency. When a vehicle passes through an empty parking space, it is impossible to accurately judge whether the vehicle has the intention to park because the parking behavior of the vehicle is not accurately analyzed through multiple factor data. Therefore, the misjudgment of the parking lock caused by the empty parking space when the vehicle is wandering is increased, causing the empty parking lock to be unlocked in advance, thereby reducing the empty parking space due to misjudgment. The situation that the empty parking space cannot be parked due to misjudgment reduces the experience of the owner. At the same time, when the vehicle is parking in an empty parking space, when the vehicle enters the range of the adjacent empty parking lock, the adjacent empty parking lock cannot confirm whether the vehicle is actually parked in the empty parking space, thereby increasing the frequency of mis-touching the adjacent empty parking lock. Therefore, we provide a method and system for unlocking parking locks based on vehicle identification. Summary of the invention

[0003] The purpose of the present invention is to provide a method and system for unlocking a parking lock based on vehicle identification, so as to solve the problems raised in the above background technology.

[0004] To achieve the above object, one of the objects of the present invention is to provide a method for unlocking a parking lock based on vehicle identification, comprising the following method steps:

[0005] S1. The position range unit captures the image data of the vehicle near the empty parking space to locate the vehicle, records the center position of the empty parking space and the center position of the adjacent empty parking spaces, and then analyzes whether the vehicle enters the preset range of the empty parking space;

[0006] S2, the vehicle speed unit extracts the first Frame vehicle position, and then calculate the The vehicle speed of each frame is used to analyze whether the vehicle slows down before an empty parking space;

[0007] S3, the parking space unlocking unit according to The vehicle position in the frame is used to calculate the vector of the vehicle's moving direction, and then the angle of the vector is calculated. The angle of the vector is used to analyze whether the vehicle is moving towards an empty parking space. When the vehicle is moving towards an empty parking space, the vehicle direction is scored and a comprehensive score is calculated to determine whether the vehicle has the intention to park in an empty parking space.

[0008] A second object of the present invention is to provide a system for operating an unlocking method of a parking lock based on vehicle identification including any one of the above, comprising a position range unit, a vehicle speed unit and a parking unlocking unit;

[0009] The position range unit captures the image data of the vehicle near the empty parking space through the camera device on the empty parking space lock, records the four vertex positions and the center position of the empty parking space, as well as the center position of the adjacent empty parking space, and then locates the vehicle position based on the captured vehicle image data, and analyzes whether the vehicle enters the preset range of the empty parking space;

[0010] The vehicle speed unit is used to receive the preset range command of the vehicle entering the empty parking space from the position range unit, and the vehicle speed unit obtains the captured vehicle image data from the position range unit and extracts the first Frame vehicle position, and then calculate the The vehicle speed of each frame is used to analyze whether the vehicle slows down before an empty parking space;

[0011] The parking space unlocking unit is used to receive the command from the vehicle speed unit that the vehicle decelerates in front of an empty parking space, and obtains the center position of the empty parking space, the vehicle position and the first position from the position range unit. The vehicle position in the frame is used to calculate the vector of the vehicle's moving direction, and then the angle of the vector is calculated. The angle of the vector is used to analyze whether the vehicle is moving towards an empty parking space. When the vehicle is moving towards an empty parking space, the vehicle direction is scored and a comprehensive score is calculated to determine whether the vehicle has the intention to park in the empty parking space.

[0012] The position range unit receives a command from the parking space unlocking unit indicating that the vehicle intends to park in an empty parking space, and uses the four vertex positions of the empty parking space to analyze whether the vehicle enters a preset range of adjacent empty parking spaces;

[0013] The parking space unlocking unit receives a preset range command of a vehicle entering an adjacent empty parking space in the position range unit. The parking space unlocking unit obtains the center position of the adjacent empty parking space and the vehicle position from the position range unit to calculate a vector from the center position of the adjacent empty parking space to the vehicle position, and then calculates the vector angle from the center position of the adjacent empty parking space to the vehicle position to analyze whether the vehicle has accidentally touched the lock of the adjacent empty parking space.

[0014] As a further improvement of the technical solution, the position range unit captures the image data of the vehicle near the empty parking space through the camera device on the empty parking space lock, records the four vertex positions, center position and frame rate of the empty parking space, and then records the four vertex positions and center position of the adjacent empty parking space, and uses image recognition technology to locate the vehicle position based on the captured vehicle image data, and uses the vehicle position and the four vertex positions of the empty parking space to analyze whether the vehicle enters the preset range of the empty parking space. ,and When the vehicle enters the preset range of the empty parking space, the vehicle position score is 1, otherwise it is 0.

[0015] As a further improvement of the technical solution, the vehicle speed unit is used to receive a preset range command from the position range unit for the vehicle to enter an empty parking space, the vehicle speed unit obtains the captured vehicle image data and frame rate from the position range unit, and extracts the first frame rate from the captured vehicle image data. Frame and The vehicle position and vehicle taillight status data of the frame are based on the The vehicle position and frame rate of each frame are calculated Vehicle speed in frame , and then according to The vehicle position and frame rate of each frame are calculated Vehicle speed in frame , using the Vehicle speed in frame , No. Vehicle speed in frame , vehicle taillight status data analysis whether the vehicle slows down before an empty parking space, Less than , and the vehicle is in Frame and When the taillight of the frame vehicle is on, it is determined that the vehicle is in an empty parking space If the vehicle decelerated before the collision, the vehicle speed score is 1, otherwise it is 0.

[0016] As a further improvement of the technical solution, the parking space unlocking unit includes a vector angle module and a parking unlocking module;

[0017] The vector angle module is used to receive the command of the vehicle speed unit to slow down the vehicle before the empty parking space, and the vector angle module obtains the empty parking space center position, the vehicle position and the vehicle speed unit from the position range unit. Frame and The vehicle position of the frame is calculated using the vector algorithm according to the Frame and The vehicle position of the frame is used to calculate the vector of the vehicle's moving direction, and then the vector algorithm is used to calculate the vector from the center of the empty parking space to the vehicle position according to the center of the empty parking space and the vehicle position. The angle between the two vectors is calculated according to the vector of the vehicle's moving direction and the vector from the center of the empty parking space to the vehicle position. The angle between the two vectors is used to analyze whether the vehicle is moving towards the empty parking space. When the angle between the two vectors is greater than the set threshold angle, it is determined that the vehicle is moving towards the empty parking space, and the vehicle direction score is 1, otherwise it is 0;

[0018] The parking unlocking module is used to receive the command from the vector angle module for the vehicle to move toward the empty parking space. The parking unlocking module obtains the vehicle position score from the position range unit, the vehicle speed score from the vehicle speed unit, and the vehicle direction score from the vector angle module, and calculates a comprehensive score. The comprehensive score is used to determine whether the vehicle has the intention to park in the empty parking space. The specific determination conditions include:

[0019] Case ①: When the comprehensive score is greater than the set score threshold, it is determined that the vehicle intends to park in an empty parking space, and the lock in the empty parking space is triggered and automatically unlocked;

[0020] Case ②: When the comprehensive score is less than the set score threshold, it is determined that the vehicle has no intention to park in an empty parking space, and the lock in the empty parking space is not triggered and is not unlocked.

[0021] As a further improvement of the technical solution, the position range unit receives the vehicle's direction to the empty parking space in the parking unlocking module. The command of the intention to park is carried out, and the four vertex positions of the adjacent empty parking spaces and the vehicle position are used to analyze whether the vehicle enters the preset range of the adjacent empty parking spaces.

[0022] As a further improvement of the present technical solution, the vector angle module receives a preset range command of a vehicle entering an adjacent empty parking space in the position range unit, and the vector angle module obtains the center position of the adjacent empty parking space, the vehicle position, and the comprehensive score and the set score threshold from the parking unlocking module in the position range unit, and uses a vector algorithm to calculate the vector from the center position of the adjacent empty parking space to the vehicle position according to the center position of the adjacent empty parking space and the vehicle position, and calculates the angle between the two vectors according to the vector of the vehicle's movement direction and the vector from the center position of the adjacent empty parking space to the vehicle position, and uses the comprehensive score, the set score threshold, and the angle between the two vectors to analyze whether the vehicle has accidentally touched the lock of the adjacent empty parking space, and the specific judgment situations include:

[0023] Case 1: When the comprehensive score is greater than the set score threshold, and the angle between the two vectors is The angle between the two vectors is greater than the set threshold angle. When the angle is greater than the set threshold angle, it is determined that the vehicle intends to park in an empty parking space, but the vehicle does not accidentally touch the lock of the adjacent empty parking space;

[0024] Case 2: When the comprehensive score is greater than the set score threshold, the angle between the two vectors Angle less than the set threshold angle or the angle between two vectors When the angle is less than the set threshold angle, it is determined that the vehicle intends to park in an empty parking space, but in the process of parking in the empty parking space, the vehicle accidentally touches the lock of the adjacent empty parking space, and the command of the accidental touch is transmitted to the control center of the adjacent empty parking space lock, which controls the lock of the adjacent empty parking space not to be triggered.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. In the unlocking method and system of the parking lock based on vehicle identification, the parking unlocking module is used to receive the command of the vehicle moving toward the empty parking space in the vector angle module, the parking unlocking module obtains the vehicle position score from the position range unit, the vehicle speed score from the vehicle speed unit and the vehicle direction score from the vector angle module, and calculates a comprehensive score, and uses the comprehensive score to judge whether the vehicle has the intention to park in the empty parking space. The comprehensive score takes into account multiple factors such as the position, speed and direction of the vehicle, and can accurately analyze the parking behavior of the vehicle, reduce the misjudgment of the parking lock caused by the empty parking space wandering by the vehicle, avoid the situation that the empty parking space cannot be parked due to misjudgment, and improve the experience of the car owner. At the same time, when the vehicle approaches the empty parking space, the empty parking space lock unlocks the parking space in advance according to the comprehensive score, reduces the waiting time after the vehicle arrives at the parking space, and improves parking efficiency.

[0027] 2. In the unlocking method and system of the parking lock based on vehicle identification, the vector angle module calculates the vector from the center position of the adjacent empty parking space to the vehicle position according to the center position of the adjacent empty parking space and the vehicle position, and calculates the angle between the two vectors according to the vector of the vehicle's movement direction and the vector from the center position of the adjacent empty parking space to the vehicle position. The comprehensive score, the set score threshold, and the angle of the angle between the two vectors are used to analyze whether the lock of the adjacent empty parking space of the vehicle is accidentally touched. Through the comprehensive score and the angle of the angle between the two vectors, it can be further confirmed whether the vehicle is actually parked in the adjacent parking space, so as to make more reasonable decisions and reduce the frequency of accidentally touching the lock of the adjacent parking space. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a flowchart of the steps of the present invention;

[0029] Figure 2 A unit block diagram of the present invention;

[0030] Figure 3 It is a block diagram of the unit module of the present invention.

[0031] The meaning of each number in the figure is:

[0032] 1. Position range unit; 2. Vehicle speed unit; 3. Parking space unlocking unit;

[0033] 31. Vector angle module; 32. Parking unlock module. DETAILED DESCRIPTION

[0034] The following will be combined with the accompanying drawings in 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. Example

[0035] See also Figure 1 As shown, one of the purposes of this embodiment is to provide a method for unlocking a parking lock based on vehicle identification, comprising the following method steps:

[0036] S1, the position range unit 1 captures the image data of the vehicle near the empty parking space to locate the vehicle position, records the center position of the empty parking space and the center position of the adjacent empty parking spaces, and then analyzes whether the vehicle enters the preset range of the empty parking space;

[0037] S2, the vehicle speed unit 2 extracts the first Frame vehicle position, and then calculate the The vehicle speed of each frame is used to analyze whether the vehicle slows down before an empty parking space;

[0038] S3, the parking space unlocking unit 3 according to The vehicle position in the frame is used to calculate the vector of the vehicle's moving direction, and then the angle of the vector is calculated. The angle of the vector is used to analyze whether the vehicle is moving towards an empty parking space. When the vehicle is moving towards an empty parking space, the vehicle direction is scored and a comprehensive score is calculated to determine whether the vehicle has the intention to park in the empty parking space.

[0039] See also Figure 2 As shown, the second object of the present invention is to provide a system for operating the above-mentioned method for unlocking a parking lock based on vehicle identification, comprising a position range unit 1, a vehicle speed unit 2 and a parking unlocking unit 3;

[0040] The position range unit 1 captures the image data of the vehicle near the empty parking space through the camera device on the empty parking space lock, records the four vertex positions and the center position of the empty parking space, as well as the center position of the adjacent empty parking space, and then locates the vehicle position based on the captured vehicle image data, and analyzes whether the vehicle enters the preset range of the empty parking space;

[0041] The vehicle speed unit 2 is used to receive the preset range command of the vehicle entering the empty parking space from the position range unit 1, and the vehicle speed unit 2 obtains the captured vehicle image data from the position range unit 1 and extracts the first Frame vehicle position, and then calculate the The vehicle speed of each frame is used to analyze whether the vehicle slows down before an empty parking space;

[0042] The parking space unlocking unit 3 is used to receive the command from the vehicle speed unit 2 that the vehicle decelerates in front of an empty parking space, and the parking space unlocking unit 3 obtains the empty parking space center position, the vehicle position and the first position from the position range unit 1. The vehicle position in the frame is used to calculate the vector of the vehicle's moving direction, and then the angle of the vector is calculated. The angle of the vector is used to analyze whether the vehicle is moving towards an empty parking space. When the vehicle is moving towards an empty parking space, the vehicle direction is scored and a comprehensive score is calculated to determine whether the vehicle has the intention to park in the empty parking space.

[0043] The position range unit 1 receives the command from the parking space unlocking unit 3 that the vehicle intends to park in an empty parking space, and uses the four vertex positions of the empty parking space to analyze whether the vehicle enters the preset range of the adjacent empty parking space;

[0044] The parking space unlocking unit 3 receives the preset range command of the vehicle entering the adjacent empty parking space from the position range unit 1, and the parking space unlocking unit 3 obtains the center position of the adjacent empty parking space and the vehicle position from the position range unit 1 to calculate the vector from the center position of the adjacent empty parking space to the vehicle position, and then calculates the vector angle from the center position of the adjacent empty parking space to the vehicle position to analyze whether the vehicle has accidentally touched the lock of the adjacent empty parking space;

[0045] The following is a refinement of the above units, see Figure 3 ;

[0046] The position range unit 1 captures the image data of the vehicle approaching the empty parking space at a high frame rate (e.g., 30 frames per second) through the camera device on the empty parking space lock, and records the empty parking space number. 、Empty parking space The four vertex positions , , , 、Empty parking space Central location and frame rate The empty parking space has four vertex positions because the shape of the parking space is a rectangle, and then record the empty parking space number Adjacent empty parking space number and adjacent empty parking spaces The four vertex positions , , , , adjacent empty parking spaces Central location , and the number of empty parking spaces Adjacent empty parking space number and adjacent empty parking spaces The four vertex positions , , , , adjacent empty parking spaces Central location , using OCR (Optical Character Recognition) technology to capture vehicle image data Identify the license plate number data, match the identified license plate number data with the license plate number in the license plate database to verify the authenticity of the license plate number, and then use image recognition technology to capture the vehicle image data Car location Positioning, and then use the vehicle position With empty parking space The four vertex positions , , , Perform analysis to determine whether the vehicle has entered an empty parking space The preset range is ,and When the vehicle enters an empty parking space By accurately analyzing whether the vehicle has parked in the parking space, it can help the parking lot to manage the parking space status more effectively, release the occupied parking space information in time, improve the turnover rate and utilization efficiency of the parking space, and score the vehicle position as 1, otherwise it is 0, and then the vehicle enters the empty parking space. The preset range command is transmitted to the vehicle speed unit 2;

[0047] The vehicle speed unit 2 is used to receive the vehicle entering the empty parking space in the position range unit 1. The vehicle speed unit 2 obtains the captured vehicle image data from the position range unit 1 according to the preset range command. , frame rate , and from the captured vehicle image data Extract the Frame, Frame and Vehicle position in frame , , , and then from the captured vehicle image data Extract the Frame and Frame vehicle taillight status data, according to Frame, Vehicle position in frame , and frame rate Calculate the Vehicle speed in frame , and then according to Frame, Vehicle position in frame , and frame rate Calculate the Vehicle speed in frame , using the Vehicle speed in frame , No. Vehicle speed in frame , No. Frame and Frame vehicle taillight status data is analyzed to analyze the vehicle in the empty parking space By analyzing the speed difference between two consecutive frames, the dynamic behavior of the vehicle can be monitored in real time, the deceleration signal of the vehicle approaching an empty parking space can be captured, and the parking intention can be judged in time; Less than , and the vehicle is in Frame and When the taillight of the frame vehicle is on, it is determined that the vehicle is in an empty parking space If the vehicle decelerates before the empty parking space, the vehicle speed score is 1, otherwise it is 0, and then the command of the vehicle decelerating before the empty parking space is transmitted to the parking space unlocking unit 3;

[0048] Calculate the The specific algorithm formula of the vehicle speed of the frame is:

[0049] ;

[0050] The formula is used to calculate the The vehicle speed of the frame can be analyzed by speed difference analysis of two consecutive frames to monitor the dynamic behavior of the vehicle in real time, capture the deceleration signal when the vehicle approaches an empty parking space, and judge the parking intention in time;

[0051] Calculate the The specific algorithm formula of the vehicle speed of the frame is:

[0052] ;

[0053] The formula is used to calculate the The vehicle speed of the frame can be analyzed by speed difference analysis of two consecutive frames to monitor the dynamic behavior of the vehicle in real time, capture the deceleration signal when the vehicle approaches an empty parking space, and judge the parking intention in time;

[0054] The parking space unlocking unit 3 includes a vector angle module 31 and a parking unlocking module 32;

[0055] The vector angle module 31 is used to receive the command from the vehicle speed unit 2 that the vehicle decelerates before the empty parking space. The vector angle module 31 obtains the empty parking space from the position range unit 1. Central location , Vehicle location and vehicle speed unit 2 to obtain the Frame and Vehicle position in frame , , using vector algorithm according to Frame and Vehicle position in frame and Calculate the vector of the vehicle's direction of motion , and then use the vector algorithm to calculate the number of empty parking spaces Central location and vehicle location Calculate vacant parking spaces The vector from the center position to the vehicle position , according to the vector of the vehicle's motion direction and empty parking spaces The vector from the center position to the vehicle position Calculates the angle between two vectors , using the angle between the two vectors Analyze the vehicle direction at the set threshold angle to determine whether the vehicle is heading towards an empty parking space Moving forward, through more accurate parking behavior analysis, the intelligent level of parking management can be improved, unnecessary interference and misoperation can be reduced, and the user experience can be enhanced. When the angle is greater than the set threshold, the vehicle is judged to be heading towards an empty parking space. If the vehicle moves forward, the vehicle direction score is 1, otherwise it is 0 and the vehicle moves towards an empty parking space. The command to go is transmitted to the parking unlocking module 32;

[0056] Calculate the angle between two vectors:

[0057] Step 1: Use the cosine similarity formula to calculate the vector of the vehicle's moving direction and empty parking spaces The vector from the center position to the vehicle position Calculates the cosine of the angle between two vectors , the specific algorithm formula is:

[0058] ;

[0059] in, refers to the dot product (inner product) of two vectors. and Refers to the modulus (length) of two vectors, and the range of cosine values ​​is , this formula is used to calculate the cosine value of the angle between two vectors, which is convenient for the subsequent calculation of the angle between the two vectors;

[0060] Step 2: Use the arccosine function The cosine value Converts to the angle between two vectors , the specific algorithm formula is:

[0061] ;

[0062] Among them, the angle range value between the two vectors is , the radian is , this formula is used to convert the cosine value into the angle between two vectors. By calculating the angle between the vehicle's forward direction and the direction of the empty parking space, it can be determined whether the vehicle is heading towards the empty parking space, which improves the recognition of parking directionality;

[0063] The parking unlocking module 32 is used to receive the vehicle heading toward an empty parking space in the vector angle module 31. The parking unlocking module 32 obtains the vehicle position score from the position range unit 1, the vehicle speed score from the vehicle speed unit 2, and the vehicle direction score from the vector angle module 31, and inputs the vehicle position score, vehicle speed score, and vehicle direction score into the linear model. The linear model learns according to the input data and outputs the corresponding weight coefficient. , and , based on the vehicle position score, vehicle speed score, vehicle direction score and weight coefficient , , Calculate overall score , using comprehensive scoring The vehicle is judged by the set scoring threshold whether it has the ability to park in an empty space. The intention to park is considered through a comprehensive score that takes into account multiple factors such as the position, speed and direction of the vehicle. It can accurately analyze the parking behavior of the vehicle, reduce the misjudgment of the parking lock caused by the vehicle wandering in the empty parking space, and avoid the situation where the empty parking space cannot be parked due to misjudgment, thereby improving the experience of the car owner. At the same time, when the vehicle approaches an empty parking space, the empty parking space lock will unlock the parking space in advance according to the comprehensive score, reducing the waiting time after the vehicle arrives at the parking space and improving parking efficiency. The specific judgment situations include:

[0064] Situation ①: When the comprehensive score When the score is greater than the set threshold, the vehicle is judged to be heading for an empty parking space. If the intention to park is reached, the empty parking space is triggered The lock in the system is automatically unlocked;

[0065] Situation ②: When the comprehensive score When the score is less than the set threshold, it is determined that the vehicle is not heading for an empty parking space. If the intention to park is made, the empty parking space will not be triggered The lock in does not unlock;

[0066] The specific algorithm formula for comprehensive scoring is:

[0067] ;

[0068] Among them, the formula is used to calculate the comprehensive score ,

[0069] The position range unit 1 receives the vehicle's direction to the empty parking space from the parking unlocking module 32 Instructions to park the vehicle, using adjacent empty parking spaces The four vertex positions , , , and vehicle location Perform analysis to determine whether the vehicle has entered an empty parking space Adjacent empty parking spaces The preset range is ,and When the vehicle enters an empty parking space Adjacent empty parking spaces The preset range, and then use the adjacent empty parking space The four vertex positions , , , and vehicle location Perform analysis to determine whether the vehicle has entered an empty parking space Adjacent empty parking spaces The preset range is ,and When the vehicle enters an empty parking space Adjacent empty parking spaces The preset range of

[0070] The vector angle module 31 receives the vehicle entering the empty parking space in the position range unit 1 Adjacent empty parking spaces The preset range command or vehicle enters an empty parking space Adjacent empty parking spaces The preset range command, the vector angle module 31 obtains the adjacent empty parking space from the position range unit 1 Central location , adjacent empty parking spaces Central location , Vehicle location and parking unlock module 32 to obtain a comprehensive score and the set scoring threshold, using the vector algorithm to sort adjacent empty parking spaces Central location and vehicle location Calculate adjacent empty parking spaces The vector from the center position to the vehicle position , and then use the vector algorithm to calculate the adjacent empty parking spaces Central location and vehicle location Calculate adjacent empty parking spaces The vector from the center position to the vehicle position , according to the vector of the vehicle's motion direction and adjacent empty parking spaces The vector from the center position to the vehicle position Calculates the angle between two vectors , and then according to the vector of the vehicle's moving direction and adjacent empty parking spaces The vector from the center position to the vehicle position Calculates the angle between two vectors , using the comprehensive score , the set scoring threshold, the angle between the two vectors , the angle between the two vectors Analyze vehicles against empty parking spaces Whether the lock of the adjacent empty parking space is accidentally touched or not, through the comprehensive score and the angle between the two vectors, it can be further confirmed whether the vehicle is actually parked in the adjacent parking space, so as to make a more reasonable decision and reduce the frequency of accidentally touching the lock of the adjacent parking space. The specific judgment situations include:

[0071] Situation 1: When the comprehensive score The angle between the two vectors is greater than the set scoring threshold. The angle between the two vectors is greater than the set threshold angle. When the angle is greater than the set threshold, it is determined that the vehicle is heading towards an empty parking space. The intention to park the vehicle is that the vehicle does not accidentally touch the lock of an adjacent empty parking space;

[0072] Case 2: When the comprehensive score The angle between the two vectors is greater than the set scoring threshold. Angle less than the set threshold angle or the angle between two vectors When the angle is less than the set threshold, it is determined that the vehicle is heading towards an empty parking space. The vehicle intends to park, but moves towards an empty parking space During parking, adjacent empty parking spaces Lock or adjacent empty parking space If the lock of the parking space is accidentally touched, the command of accidentally touching the lock will be transmitted to the adjacent empty parking space. Lock or adjacent empty parking space The lock control center controls adjacent empty parking spaces Lock or adjacent empty parking space The lock is not triggered.

[0073] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for unlocking a parking lock based on vehicle identification, characterized in that: The method comprises the following steps: S1, the position range unit (1) captures the image data of the vehicle near the empty parking space to locate the vehicle, records the center position of the empty parking space and the center positions of the adjacent empty parking spaces, and then analyzes whether the vehicle enters the preset range of the empty parking space; S2, the vehicle speed unit (2) extracts the first Frame vehicle position, and then calculate the The vehicle speed of each frame is used to analyze whether the vehicle slows down before an empty parking space; S3, the parking space unlocking unit (3) according to The vehicle position in the frame is used to calculate the vector of the vehicle's moving direction, and then the angle of the vector is calculated. The angle of the vector is used to analyze whether the vehicle is moving towards an empty parking space. When the vehicle is moving towards an empty parking space, the vehicle direction is scored and a comprehensive score is calculated to determine whether the vehicle has the intention to park in the empty parking space. The parking space unlocking unit (3) comprises a vector angle module (31) and a parking unlocking module (32); The vector angle module (31) is used to receive a command from the vehicle speed unit (2) for the vehicle to decelerate in front of an empty parking space. The vector angle module (31) obtains the empty parking space center position, the vehicle position, and the first position from the position range unit (1) and the vehicle speed unit (2). Frame and The vehicle position of the frame is calculated using the vector algorithm according to the Frame and The vehicle position of the frame is used to calculate the vector of the vehicle's moving direction, and then the vector algorithm is used to calculate the vector from the center of the empty parking space to the vehicle position according to the center of the empty parking space and the vehicle position. The angle between the two vectors is calculated according to the vector of the vehicle's moving direction and the vector from the center of the empty parking space to the vehicle position. The angle between the two vectors is used to analyze whether the vehicle is moving towards the empty parking space. When the angle between the two vectors is greater than the set threshold angle, it is determined that the vehicle is moving towards the empty parking space, and the vehicle direction score is 1, otherwise it is 0; The parking unlocking module (32) is used to receive a command from the vector angle module (31) for the vehicle to move toward an empty parking space. The parking unlocking module (32) obtains the vehicle position score from the position range unit (1), the vehicle speed score from the vehicle speed unit (2), and the vehicle direction score from the vector angle module (31), and calculates a comprehensive score. The comprehensive score is used to determine whether the vehicle has the intention to park in the empty parking space. The specific determination conditions include: Case ①: When the comprehensive score is greater than the set score threshold, it is determined that the vehicle intends to park in an empty parking space, and the lock in the empty parking space is triggered and automatically unlocked; Case ②: When the comprehensive score is less than the set score threshold, it is determined that the vehicle has no intention to park in an empty parking space, and the lock in the empty parking space is not triggered and is not unlocked; The position range unit (1) receives the vehicle's directional empty parking space from the parking unlocking module (32) A command of the intention to park is executed, and the four vertex positions of the adjacent empty parking spaces and the vehicle position are used to analyze whether the vehicle enters the preset range of the adjacent empty parking spaces; The vector angle module (31) receives a preset range command from the position range unit (1) that the vehicle enters an adjacent empty parking space. The vector angle module (31) obtains the center position of the adjacent empty parking space, the vehicle position, and the comprehensive score and a set score threshold from the parking unlocking module (32) from the position range unit (1). The vector algorithm is used to calculate the vector from the center position of the adjacent empty parking space to the vehicle position based on the center position of the adjacent empty parking space and the vehicle position. The angle between the two vectors is calculated based on the vector of the vehicle's moving direction and the vector from the center position of the adjacent empty parking space to the vehicle position. The comprehensive score, the set score threshold, and the angle between the two vectors are used to analyze whether the lock of the adjacent empty parking space of the vehicle is accidentally touched. The specific judgment situation includes: Case 1: When the comprehensive score is greater than the set score threshold, and the angle between the two vectors is The angle between the two vectors is greater than the set threshold angle. When the angle is greater than the set threshold angle, it is determined that the vehicle intends to park in an empty parking space, but the vehicle does not accidentally touch the lock of the adjacent empty parking space; Case 2: When the comprehensive score is greater than the set score threshold, the angle between the two vectors Angle less than the set threshold angle or the angle between two vectors When the angle is less than the set threshold angle, it is determined that the vehicle intends to park in an empty parking space, but in the process of parking in the empty parking space, the vehicle accidentally touches the lock of the adjacent empty parking space, and the command of the accidental touch is transmitted to the control center of the adjacent empty parking space lock, which controls the lock of the adjacent empty parking space not to be triggered.

2. A system for operating the unlocking method of the parking lock based on vehicle identification in claim 1, characterized in that: It includes a position range unit (1), a vehicle speed unit (2) and a parking space unlocking unit (3); The position range unit (1) captures image data of a vehicle near an empty parking space through a camera device on an empty parking space lock, records the four vertex positions and the center position of the empty parking space, as well as the center position of an adjacent empty parking space, locates the vehicle position based on the captured vehicle image data, and analyzes whether the vehicle enters a preset range of the empty parking space; The vehicle speed unit (2) is used to receive a preset range command from the position range unit (1) for the vehicle to enter an empty parking space, and the vehicle speed unit (2) obtains the captured vehicle image data from the position range unit (1) and extracts the first Frame vehicle position, and then calculate the The vehicle speed of each frame is used to analyze whether the vehicle slows down before an empty parking space; The parking space unlocking unit (3) is used to receive a command from the vehicle speed unit (2) for the vehicle to decelerate in front of an empty parking space. The parking space unlocking unit (3) obtains the empty parking space center position, the vehicle position, and the first position from the position range unit (1) and the second position from the vehicle speed unit (2). The vehicle position in the frame is used to calculate the vector of the vehicle's moving direction, and then the angle of the vector is calculated. The angle of the vector is used to analyze whether the vehicle is moving towards an empty parking space. When the vehicle is moving towards an empty parking space, the vehicle direction is scored and a comprehensive score is calculated to determine whether the vehicle has the intention to park in the empty parking space. The parking space unlocking unit (3) comprises a vector angle module (31) and a parking unlocking module (32); The vector angle module (31) is used to receive a command from the vehicle speed unit (2) for the vehicle to decelerate in front of an empty parking space. The vector angle module (31) obtains the empty parking space center position, the vehicle position, and the first position from the position range unit (1) and the vehicle speed unit (2). Frame and The vehicle position of the frame is calculated using the vector algorithm according to the Frame and The vehicle position of the frame is used to calculate the vector of the vehicle's moving direction, and then the vector algorithm is used to calculate the vector from the center of the empty parking space to the vehicle position according to the center of the empty parking space and the vehicle position. The angle between the two vectors is calculated according to the vector of the vehicle's moving direction and the vector from the center of the empty parking space to the vehicle position. The angle between the two vectors is used to analyze whether the vehicle is moving towards the empty parking space. When the angle between the two vectors is greater than the set threshold angle, it is determined that the vehicle is moving towards the empty parking space, and the vehicle direction score is 1, otherwise it is 0; The parking unlocking module (32) is used to receive a command from the vector angle module (31) for the vehicle to move toward an empty parking space. The parking unlocking module (32) obtains the vehicle position score from the position range unit (1), the vehicle speed score from the vehicle speed unit (2), and the vehicle direction score from the vector angle module (31), and calculates a comprehensive score. The comprehensive score is used to determine whether the vehicle has the intention to park in the empty parking space. The specific determination conditions include: Case ①: When the comprehensive score is greater than the set score threshold, it is determined that the vehicle intends to park in an empty parking space, and the lock in the empty parking space is triggered and automatically unlocked; Case ②: When the comprehensive score is less than the set score threshold, it is determined that the vehicle has no intention to park in an empty parking space, and the lock in the empty parking space is not triggered and is not unlocked; The position range unit (1) receives a command from the parking space unlocking unit (3) indicating that the vehicle intends to park in an empty parking space, and uses the four vertex positions of the empty parking space to analyze whether the vehicle enters a preset range of empty parking spaces adjacent to the empty parking space; The position range unit (1) receives the vehicle's directional empty parking space from the parking unlocking module (32) A command of the intention to park is executed, and the four vertex positions of the adjacent empty parking spaces and the vehicle position are used to analyze whether the vehicle enters the preset range of the adjacent empty parking spaces; The parking space unlocking unit (3) receives a preset range command from the position range unit (1) indicating that the vehicle enters an empty parking space adjacent to the empty parking space. The parking space unlocking unit (3) obtains the center position of the adjacent empty parking space and the vehicle position from the position range unit (1) to calculate a vector from the center position of the adjacent empty parking space to the vehicle position, and then calculates the vector angle from the center position of the adjacent empty parking space to the vehicle position to analyze the vehicle's position to the empty parking space. Whether the lock of the adjacent empty parking space is accidentally touched; The vector angle module (31) receives a preset range command from the position range unit (1) that the vehicle enters an adjacent empty parking space. The vector angle module (31) obtains the center position of the adjacent empty parking space, the vehicle position, and the comprehensive score and a set score threshold from the parking unlocking module (32) from the position range unit (1). The vector algorithm is used to calculate the vector from the center position of the adjacent empty parking space to the vehicle position based on the center position of the adjacent empty parking space and the vehicle position. The angle between the two vectors is calculated based on the vector of the vehicle's moving direction and the vector from the center position of the adjacent empty parking space to the vehicle position. The comprehensive score, the set score threshold, and the angle between the two vectors are used to analyze whether the lock of the adjacent empty parking space of the vehicle is accidentally touched. The specific judgment situation includes: Case 1: When the comprehensive score is greater than the set score threshold, and the angle between the two vectors is The angle between the two vectors is greater than the set threshold angle. When the angle is greater than the set threshold angle, it is determined that the vehicle intends to park in an empty parking space, but the vehicle does not accidentally touch the lock of the adjacent empty parking space; Case 2: When the comprehensive score is greater than the set score threshold, the angle between the two vectors Angle less than the set threshold angle or the angle between two vectors When the angle is less than the set threshold angle, it is determined that the vehicle intends to park in an empty parking space, but in the process of parking in the empty parking space, the vehicle accidentally touches the lock of the adjacent empty parking space, and the command of the accidental touch is transmitted to the control center of the adjacent empty parking space lock, which controls the lock of the adjacent empty parking space not to be triggered.

3. The system of the method for unlocking a parking lock based on vehicle identification according to claim 2 is characterized in that: The position range unit (1) captures image data of a vehicle near an empty parking space through a camera device on an empty parking space lock, records the four vertex positions, center position and frame rate of the empty parking space, and then records the four vertex positions and center position of an adjacent empty parking space, locates the vehicle position based on the captured vehicle image data using image recognition technology, and uses the vehicle position and the four vertex positions of the empty parking space to analyze whether the vehicle has entered a preset range of the empty parking space. ,and When the vehicle enters the preset range of the empty parking space, the vehicle position score is 1, otherwise it is 0.

4. The system of the method for unlocking a parking lock based on vehicle identification according to claim 3 is characterized in that: The vehicle speed unit (2) is used to receive a preset range command from the position range unit (1) for the vehicle to enter an empty parking space. The vehicle speed unit (2) obtains the captured vehicle image data and frame rate from the position range unit (1), and extracts the first Frame and The vehicle position and vehicle taillight status data of the frame are based on the The vehicle position and frame rate of each frame are calculated Vehicle speed in frame , and then according to The vehicle position and frame rate of each frame are calculated Vehicle speed in frame , using the Vehicle speed in frame , No. Vehicle speed in frame , vehicle taillight status data analysis whether the vehicle slows down before an empty parking space, Less than , and the vehicle is in Frame and When the taillight of the frame vehicle is on, it is determined that the vehicle is in an empty parking space If the vehicle decelerated before the collision, the vehicle speed score is 1, otherwise it is 0.

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