A method and system for judging on-street parking behavior

Abstract

The present invention discloses a method for judging on-street parking behavior, which includes identifying the outer berth reference line and the inner berth reference line in a picture and marking the marking points of each berth on the outer berth reference line and the inner berth reference line; detecting multiple vehicle frames in the picture and calculating the coordinates, width and height of the target vehicle frame; finding the reference berth corresponding to the target vehicle frame according to the coordinates, height of the target vehicle frame and the marking points of each berth; and judging whether the vehicle is parked on the reference berth according to the coordinates, width, height of the target vehicle frame and the coordinates of the reference berth. By analyzing the ratio relationship between the line segments defined by the vehicle frame and the berth reference line and the line segments defined by the reference berth and the berth reference line, it can accurately judge whether the vehicle is parked on the berth, and the judgment method is simple; in the case where the inclination angle of the berth recognized in the picture is too large, since the proportional relationship of the line segments does not change, it can still accurately identify whether the vehicle is parked on the berth, so the adaptability is strong.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transportation, and particularly to a method, system, device and computer-readable storage medium for judging on-street parking behavior. Background Art

[0002] The on-street parking plan is an important part of urban traffic management. By reasonably planning and efficiently managing on-street parking resources, the urban space utilization rate can be effectively improved, and the parking difficulty problem can be alleviated. This plan has been successfully implemented in many cities, showing obvious social and economic benefits.

[0003] Currently, the mainstream parking behavior recognition solution is still a video solution, that is, the vehicle rectangle is recognized through the YOLO algorithm, and then the overlap ratio between the vehicle frame and the berth area is judged. However, what YOLO detects is a projection of a three-dimensional space vehicle on a two-dimensional plane, while the berth frame is another plane space perpendicular to this two-dimensional plane. When the inclination angle of the berth is too large, that is, when the slope of the reference line on the side close to the road center is small, its area ratio will change greatly, and this method cannot solve and adapt to this change.

[0004] Based on this, a new solution is needed. Summary of the Invention

[0005] The main purpose of the present invention is to provide a method and system for judging on-street parking behavior.

[0006] To achieve the above object, the present invention provides a method for judging on-street parking behavior, including the following steps:

[0007] Identify the outer berth reference line and the inner berth reference line in the picture, and mark the marking points of each berth on the outer berth reference line and the inner berth reference line, where the outer berth reference line is the reference line on the side close to the road center;

[0008] Detect multiple vehicle frames in the picture, and calculate the coordinates, width and height of the target vehicle frame;

[0009] According to the coordinates, height of the target vehicle frame and the marking points of each berth, find the reference berth corresponding to the target vehicle frame; and

[0010] According to the coordinates, width, height of the target vehicle frame and the coordinates of the reference berth, judge whether the vehicle is parked on the reference berth.

[0011] In the method for judging on-street parking behavior provided by the present invention, the YOLO algorithm is used to detect the multiple vehicle frames in the picture.

[0012] In the on-street parking behavior judgment method provided by the present invention, in the step of finding the reference berth corresponding to the target vehicle frame according to the coordinates, height of the target vehicle frame and the marking points of each berth, if the sum of the ordinate and height of the target vehicle frame is less than the ordinate of the marking point of the berth on the outer berth reference line, it is determined that the berth is the reference berth.

[0013] In the on-street parking behavior judgment method provided by the present invention, the steps of judging whether the vehicle is parked on the reference berth according to the coordinates, width, height of the target vehicle frame and the coordinates of the reference berth include:

[0014] Calculating a first ratio between the first length between the bottom edge of the target vehicle frame and the first intersection point and the length of the bottom edge of the vehicle frame, wherein the first intersection point is the intersection point of the bottom edge of the target vehicle frame and the outer berth reference line;

[0015] Calculating a second ratio between the second length between the third vertex of the reference berth and the second intersection point and the third length between the third vertex of the reference berth and the third intersection point, wherein the third vertex is the point of the reference berth located at the lower part of the inner berth reference line, the second intersection point is the intersection point of the horizontal line of the X-axis passing through the third vertex and the outer berth reference line, the third intersection point is the intersection point of the horizontal line of the X-axis passing through the third vertex and the vertical line of the Y-axis passing through the first vertex of the reference berth, and the first vertex is the point of the reference berth located at the upper part of the outer berth reference line; and

[0016] When the difference between the first ratio and the second ratio is less than a preset threshold, it is determined that the vehicle is on the reference berth.

[0017] In addition, to achieve the above object, the present invention also provides an on-street parking behavior judgment system, including:

[0018] A berth reference line identification and marking module, configured to identify the outer berth reference line and the inner berth reference line in the picture, and mark the marking points of each berth on the outer berth reference line and the inner berth reference line, wherein the outer berth reference line is the reference line closer to the center of the road;

[0019] A vehicle frame detection module, configured to detect a plurality of vehicle frames in the picture, and calculate the coordinates, width and height of the target vehicle frame;

[0020] A reference berth search module, configured to find the reference berth corresponding to the target vehicle frame according to the coordinates, height of the target vehicle frame and the marking points of each berth; and

[0021] A determination module, configured to determine whether a vehicle is parked on the reference parking space according to the coordinates, width, and height of the target vehicle frame and the coordinates of the reference parking space.

[0022] In the on-street parking behavior determination system provided by the present invention, the vehicle frame detection module uses the YOLO algorithm to detect the multiple vehicle frames in the picture.

[0023] In the on-street parking behavior determination system provided by the present invention, the reference parking space search module is configured to determine the parking space as a reference parking space when the sum of the ordinate and height of the target vehicle frame is less than the ordinate of the marked point of the parking space on the outer parking space reference line.

[0024] In the on-street parking behavior determination system provided by the present invention, the determination module includes:

[0025] A first calculation unit, configured to calculate a first ratio between a first length between the bottom edge of the target vehicle frame and a first intersection point and the length of the bottom edge of the vehicle frame, where the first intersection point is the intersection point of the bottom edge of the target vehicle frame and the outer parking space reference line;

[0026] A second calculation unit, configured to calculate a second ratio between a second length between the third vertex of the reference parking space and a second intersection point and a third length between the third vertex of the reference parking space and a third intersection point, where the third vertex is the point of the reference parking space located at the lower part of the inner parking space reference line, the second intersection point is the intersection point of the horizontal line of the X-axis passing through the third vertex and the outer parking space reference line, the third intersection point is the intersection point of the horizontal line of the X-axis passing through the third vertex and the vertical line of the Y-axis passing through the first vertex of the reference parking space, and the first vertex is the point of the reference parking space located at the upper part of the outer parking space reference line; and

[0027] A comparison unit, configured to determine that the vehicle is on the reference parking space when the difference between the first ratio and the second ratio is less than a preset threshold.

[0028] The present invention further provides an on-street parking behavior determination device, including a processor and a memory, where the memory stores a computer program, and when the computer program is executed by the processor, the steps of the on-street parking behavior determination method as described above are implemented.

[0029] The on-street parking behavior judgment system and method provided by the present invention have the following beneficial effects: The on-street parking behavior judgment method provided by the present invention can accurately judge whether a vehicle is parked on a berth by analyzing the ratio relationship between the line segment defined by the vehicle frame and the berth reference line and the line segment defined by the reference berth and the berth reference line. The judgment method is simple. At the same time, even when the inclination angle of the berth recognized in the picture is too large, since the proportional relationship of the line segments does not change, it can still accurately identify whether the vehicle is parked on the berth. Therefore, this method has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings:

[0031] Figure 1 The figure shows a flowchart of the on-street parking behavior judgment method provided by an embodiment of the present invention;

[0032] Figure 2 The figure shows a schematic diagram of the application scenario of the on-street parking behavior judgment method provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The typical embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0035] Figure 1 The figure shows a flowchart of the on-street parking behavior judgment method provided by an embodiment of the present invention. Figure 2 The figure shows a schematic diagram of the application scenario of the on-street parking behavior judgment method provided by an embodiment of the present invention. As Figure 2 shown, the on-street parking behavior judgment method provided by the present invention is mainly used to judge the pictures obtained by the video device above the berth, that is, according to the installation position and angle of the video device, each picture contains multiple berths. As Figure 1As shown in the figure, the method for judging the in-road parking behavior includes the following steps:

[0036] Step S1: Identify the outer berth reference line and the inner berth reference line in the picture, and mark the marking points of each berth on the outer berth reference line and the inner berth reference line, where the outer berth reference line is the reference line closer to the center of the road;

[0037] Specifically, in an embodiment of the present invention, after obtaining the picture taken by the video device, first identify the berth reference line in the picture, where the berth reference line refers to two parallel lines for defining the position of the berth, and the reference line closer to the center of the road is defined as the outer berth reference line, and the other one is defined as the inner berth reference line. For example, as Figure 2 shown, the line segment L1 is the outer berth reference line, and the line segment L2 is the inner berth reference line, and multiple berths are defined between L1 and L2.

[0038] Specifically, in an embodiment of the present invention, after identifying the berth reference line in the picture, mark the marking points of each berth on the outer berth reference line and the inner berth reference line respectively. The specific position of each berth is defined by the marking points. For example, in the picture shown in Figure 2 , the points of the berths on the L1 and L2 straight lines from top to bottom are: M1(xm1, ym1), N1(xn1, yn1), M2(xm2, ym2), N2(xn2, yn2), M3(xm3, ym3), N3(xn3, yn3), and so on.

[0039] Step S2: Detect multiple vehicle frames in the picture, and calculate the coordinates, width and height of the target vehicle frame;

[0040] Specifically, in an embodiment of the present invention, the YOLO algorithm is used to detect multiple vehicle frames in the current picture. Those skilled in the art can understand that when detecting multiple vehicle frames in the current picture, if there are multiple vehicles parked in the berth, then multiple vehicle frames will be detected in this step. Then select one of the vehicle frames for analysis through the subsequent steps S3 and S4. After the analysis, select the next vehicle frame for analysis, and so on. For the selected target vehicle frame, obtain the characteristic parameters of the target vehicle frame, and the characteristic parameters include the coordinates P(x, y), width w and height h. In the picture shown in Figure 2 , the coordinate origin of the image is the upper left corner of the picture, and the coordinates P(x, y) of the target vehicle frame obtained here are the coordinates of the upper left corner of the vehicle frame.

[0041] Step S3: According to the coordinates, height of the target vehicle frame and the marking points of each berth, find the reference berth corresponding to the target vehicle frame;

[0042] Specifically, in an embodiment of the present invention, after obtaining the characteristic parameters of the target vehicle frame, it is necessary to determine the reference parking space of the target vehicle frame, that is, to determine the parking space where the target vehicle frame may park. Specifically, after using the ordinate and height of the target vehicle frame, each parking point on the outer parking space reference line is traversed in turn, that is Figure 2 M1(xm1, ym1), M2(xm2, ym2), Mi(xmi, ymi)... etc. on the line segment L1 shown in the figure, when satisfying the reference parking space Mi is found. That is, in step S2, if the sum of the ordinate and height of the target vehicle frame is less than the ordinate of the marked point of the parking space on the outer parking space reference line, it is determined that the parking space is the reference parking space.

[0043] Specifically, in an embodiment of the present invention, after positioning the reference parking space, the coordinate information of the reference parking space is obtained. Among them, the point at the upper part of the reference parking space on the outer parking space reference line is defined as the first vertex of the reference parking space (that is Figure 2 the point P1(x1, y1) shown in the figure), the point at the upper part of the reference parking space on the inner parking space reference line is defined as the second vertex of the reference parking space (that is Figure 2 the point P2(x2, y2) shown in the figure), the point at the lower part of the reference parking space on the inner parking space reference line is defined as the third vertex of the reference parking space (that is Figure 2 the point P3(x3, y3) shown in the figure), and the point at the lower part of the reference parking space on the outer parking space reference line is defined as the fourth vertex of the reference parking space (that is Figure 2 the point P4(x4, y4) shown in the figure).

[0044] Step S4: Determine whether the vehicle is parked on the reference parking space according to the coordinates, width, height of the target vehicle frame and the coordinates of the reference parking space;

[0045] Specifically, in an embodiment of the present invention, first, the intersection point of the outer parking space reference line L1 and the bottom edge of the target vehicle frame is calculated and defined as R1(x5, y5), where the Y-axis coordinate and X-axis coordinate are calculated as follows:

[0046] y5 = y + h;

[0047] The two-point form of the straight line passing through P1(x1, y1) and P4(x4, y4):

[0048] ;

[0049] Substitute the coordinate value of y5: y + h, and get the following formula:

[0050] ;

[0051] After conversion, the x5 coordinate is:

[0052] .

[0053] Then, calculate the intersection point of the outer berth reference line L1 and the horizontal line passing through the third vertex P3(x3, y3) of the reference berth, which is defined as R2(x6, y6), where the Y-axis coordinate and the X-axis coordinate are respectively:

[0054] y6 = y3;

[0055] Two-point form of the straight line passing through P1(x1, y1) and P4(x4, y4):

[0056] ;

[0057] Substitute the coordinate value of y6: y3, and get the following formula:

[0058] ;

[0059] After conversion, the x6 coordinate is:

[0060] ;

[0061] Then, calculate the intersection point of the horizontal line of the X-axis passing through the third vertex P3(x3, y3) of the reference berth and the vertical line of the Y-axis passing through the first vertex P1(x1, y1) of the reference berth, which is defined as R3(x7, y7), where the Y-axis coordinate and the X-axis coordinate are respectively:

[0062] y7 = y3;

[0063] x7 = x1;

[0064] Finally, calculate the ratio of the length of each part distributed inside the berth to the total length after the bottom side of the target vehicle frame and the line segment between the third vertex of the reference berth and the intersection point R3 are divided by the outer berth reference line. As Figure 2 shown, the bottom side of the target vehicle frame is divided into a1 and b1 by the outer berth reference line L1, and the line segment between the third vertex of the reference berth and the intersection point R3 is divided into a2 and b2 by the outer berth reference line L1. Therefore,

[0065] The calculation formula for the ratio of the length b2 of the line segment between the third vertex of the reference berth and the intersection point R3 distributed inside the berth to the line segment between the third vertex of the reference berth and the intersection point R3 is:

[0066] ;

[0067] The calculation formula for the ratio of the length b1 of the bottom edge of the target vehicle frame distributed inside the parking space to the bottom edge of the target vehicle frame is: .

[0068] Based on the analysis of multiple parking data, usually when the vehicle is parked in the parking space, , therefore, when the difference between the two is less than a preset threshold (for example, 0.1), it is considered that the vehicle is in the parking space.

[0069] Therefore, step S4 includes:

[0070] Step S41, calculate the first ratio of the first length between the bottom edge of the target vehicle frame and the first intersection point and the length of the bottom edge of the vehicle frame, where the first intersection point is the intersection point of the bottom edge of the target vehicle frame and the outer parking space reference line;

[0071] Step S42, calculate the second ratio of the second length between the third vertex of the reference parking space and the second intersection point and the third length between the third vertex of the reference parking space and the third intersection point, where the second intersection point is the intersection point of the horizontal line of the X-axis passing through the third vertex and the outer parking space reference line, and the third intersection point is the intersection point of the horizontal line of the X-axis passing through the third vertex and the vertical line of the Y-axis passing through the first vertex of the reference parking space; and

[0072] Step S43, when the difference between the first ratio and the second ratio is less than the preset threshold, determine that the vehicle is on the reference parking space.

[0073] The on-street parking behavior judgment method provided by the present invention can accurately judge whether a vehicle is parked on a parking space by analyzing the ratio relationship of the line segments defined by the vehicle frame and the parking space reference line and the line segments defined by the reference parking space and the parking space reference line. The judgment method is simple; at the same time, even when the inclination angle of the parking space recognized in the picture is too large, since the proportional relationship of the line segments does not change, it can still accurately identify whether the vehicle is parked on the parking space. Therefore, this method has strong adaptability.

[0074] Accordingly, the present invention further provides a roadside parking behavior judgment system, including: a berth reference line recognition and marking module, configured to recognize the outer berth reference line and the inner berth reference line in a picture, and mark the marking points of each berth on the outer berth reference line and the inner berth reference line, wherein the outer berth reference line is the reference line closer to the center of the road; a vehicle frame detection module, configured to detect a plurality of vehicle frames in the picture, and calculate the coordinates, width and height of a target vehicle frame; a reference berth search module, configured to search for the reference berth corresponding to the target vehicle frame according to the coordinates, height of the target vehicle frame and the marking points of each berth; and a determination module, configured to determine whether the vehicle is parked on the reference berth according to the coordinates, width, height of the target vehicle frame and the coordinates of the reference berth.

[0075] Specifically, in an embodiment of the present invention, the vehicle frame detection module uses the YOLO algorithm to detect the plurality of vehicle frames in the picture.

[0076] Specifically, in an embodiment of the present invention, the reference berth search module is configured to determine that the berth is a reference berth when the sum of the ordinate and height of the target vehicle frame is less than the ordinate of the marking point of the berth on the outer berth reference line.

[0077] Specifically, in an embodiment of the present invention, the determination module includes: a first calculation unit, configured to calculate a first ratio between the first length between the bottom edge of the target vehicle frame and the first intersection point and the length of the bottom edge of the vehicle frame, wherein the first intersection point is the intersection point of the bottom edge of the target vehicle frame and the outer berth reference line; a second calculation unit, configured to calculate a second ratio between the second length between the third vertex of the reference berth and the second intersection point and the third length between the third vertex of the reference berth and the third intersection point, wherein the third vertex is the point of the reference berth located at the lower part of the inner berth reference line, the second intersection point is the intersection point of the horizontal line of the X-axis passing through the third vertex and the outer berth reference line, the third intersection point is the intersection point of the horizontal line of the X-axis passing through the third vertex and the vertical line of the Y-axis passing through the first vertex of the reference berth, and the first vertex is the point of the reference berth located at the upper part of the outer berth reference line; and a comparison unit, configured to determine that the vehicle is on the reference berth when the difference between the first ratio and the second ratio is less than a preset threshold.

[0078] An embodiment of the present invention further provides a roadside parking behavior judgment device, which may include:

[0079] a memory, configured to store a computer program;

[0080] a processor, configured to implement the following steps when executing the computer program stored in the above memory:

[0081] Identify the outer berth reference line and the inner berth reference line in the picture, and mark the marking points of each berth on the outer berth reference line and the inner berth reference line, where the outer berth reference line is the reference line closer to the center of the road; detect multiple vehicle frames in the picture, and calculate the coordinates, width and height of the target vehicle frame; find the reference berth corresponding to the target vehicle frame according to the coordinates, height of the target vehicle frame and the marking points of each berth; and determine whether the vehicle is parked on the reference berth according to the coordinates, width, height of the target vehicle frame and the coordinates of the reference berth.

[0082] An embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the following steps can be implemented;

[0083] Identify the outer berth reference line and the inner berth reference line in the picture, and mark the marking points of each berth on the outer berth reference line and the inner berth reference line, where the outer berth reference line is the reference line closer to the center of the road; detect multiple vehicle frames in the picture, and calculate the coordinates, width and height of the target vehicle frame; find the reference berth corresponding to the target vehicle frame according to the coordinates, height of the target vehicle frame and the marking points of each berth; and determine whether the vehicle is parked on the reference berth according to the coordinates, width, height of the target vehicle frame and the coordinates of the reference berth.

[0084] The computer-readable storage medium may include: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical discs that can store program codes.

[0085] In the specification provided here, a large number of specific details are described. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and technologies are not shown in detail so as not to obscure the understanding of this specification.

[0086] Similarly, it should be understood that, for the purpose of streamlining the present disclosure and facilitating the understanding of one or more of the various inventive aspects, in the foregoing description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, the inventive aspects lie in less than all the features of the single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate embodiment of the present invention.

[0087] Those skilled in the art can understand that the modules in the devices in the embodiments can be adaptively changed and disposed in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be adopted to combine all the features disclosed in this specification (including the accompanying claims, abstract and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) can be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0088] In addition, those skilled in the art can understand that although some of the embodiments herein include certain features included in other embodiments rather than other features, the combination of the features of different embodiments means that it is within the scope of the present invention and forms different embodiments. For example, in the following claims, any one of the claimed embodiments can be used in any combination.

[0089] The various component embodiments of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components according to the embodiments of the present invention. The present invention can also be implemented as a device or apparatus program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0090] It should be noted that the above embodiments are illustrative of the present invention rather than restrictive thereof, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices may be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words may be interpreted as names.

Claims

1. A method for judging on-street parking behavior, characterized in that, Including the following steps: Identifying the outer berth reference line and the inner berth reference line in the picture, and marking the marking points of each berth on the outer berth reference line and the inner berth reference line, wherein the outer berth reference line is the reference line on the side close to the road center; Detecting a plurality of vehicle frames in the picture, and calculating the coordinates, width and height of the target vehicle frame; Finding the reference berth corresponding to the target vehicle frame according to the coordinates, height of the target vehicle frame and the marking points of each berth; and Judging whether the vehicle is parked on the reference berth according to the coordinates, width, height of the target vehicle frame and the coordinates of the reference berth; The step of judging whether the vehicle is parked on the reference berth according to the coordinates, width, height of the target vehicle frame and the coordinates of the reference berth includes: Calculating a first ratio of the first length that the bottom edge of the target vehicle frame is located inside the reference berth to the length of the bottom edge of the vehicle frame; Calculating a second ratio of the second length between the third vertex and the second intersection point of the reference berth to the third length between the third vertex and the third intersection point of the reference berth, wherein the third vertex is the point at the lower part of the reference berth on the inner berth reference line, the second intersection point is the intersection point of the horizontal line of the X-axis passing through the third vertex and the outer berth reference line, the third intersection point is the intersection point of the horizontal line of the X-axis passing through the third vertex and the vertical line of the Y-axis passing through the first vertex of the reference berth, and the first vertex is the point at the upper part of the reference berth on the outer berth reference line; and Determining that the vehicle is on the reference berth when the difference between the first ratio and the second ratio is less than a preset threshold.

2. The on-street parking behavior judgment method according to claim 1, characterized in that Using the YOLO algorithm to detect the plurality of vehicle frames in the picture.

3. The on-street parking behavior judgment method according to claim 1, wherein, In the step of finding the reference berth corresponding to the target vehicle frame according to the coordinates, height of the target vehicle frame and the marking points of each berth, if the sum of the ordinate and the height of the target vehicle frame is less than the ordinate of the marking point of the berth on the outer berth reference line, then determining that the berth is the reference berth.

4. A system for judging on-street parking behavior, characterized in that, Including: A berth reference line identification and marking module, configured to identify the outer berth reference line and the inner berth reference line in the picture, and mark the marking points of each berth on the outer berth reference line and the inner berth reference line, wherein the outer berth reference line is the reference line on the side close to the road center; A vehicle frame detection module, configured to detect a plurality of vehicle frames in the picture, and calculate the coordinates, width and height of the target vehicle frame; A reference berth search module, configured to find the reference berth corresponding to the target vehicle frame according to the coordinates, height of the target vehicle frame and the marking points of each berth; and A determination module, configured to judge whether the vehicle is parked on the reference berth according to the coordinates, width, height of the target vehicle frame and the coordinates of the reference berth; The determination module includes: A first calculation unit, configured to calculate a first ratio of the first length that the bottom edge of the target vehicle frame is located inside the reference berth to the length of the bottom edge of the vehicle frame; A second calculation unit, configured to calculate a second ratio between a second length between a third vertex of the reference berth and a second intersection point and a third length between the third vertex of the reference berth and a third intersection point, wherein the third vertex is a point of the reference berth located below the inner berth reference line, the second intersection point is an intersection point of a horizontal line of the X-axis passing through the third vertex and the outer berth reference line, the third intersection point is an intersection point of a horizontal line of the X-axis passing through the third vertex and a vertical line of the Y-axis passing through a first vertex of the reference berth, and the first vertex is a point of the reference berth located above the outer berth reference line; and A comparison unit, configured to determine that the vehicle is on the reference berth when a difference between the first ratio and the second ratio is less than a preset threshold value.

5. The on-street parking behavior judgment system according to claim 4, wherein The vehicle frame detection module uses the YOLO algorithm to detect the multiple vehicle frames in the picture.

6. The on-street parking behavior judgment system according to claim 4, wherein The reference berth search module is configured to determine that the berth is a reference berth when the sum of the ordinate and the height of the target vehicle frame is less than the ordinate of the marked point of the berth on the outer berth reference line.

7. A device for judging on-street parking behavior, characterized in that, Comprising a processor and a memory, the memory stores a computer program, and when the computer program is executed by the processor, the steps of the on-street parking behavior judgment method according to any one of claims 1 to 3 are implemented.

8. A computer-readable storage medium storing a computer program therein, characterized in that: When the computer program is executed by the processor, the method according to any one of claims 1 to 3 is implemented.

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