Parking space identification and occupation detection method and system

Abstract

The invention discloses a parking space identification and occupation detection method and system. The method comprises the following steps: collecting a panoramic look-around image of a parking area; inputting the panoramic look-around images into a target detection model, identifying the type and position of a target, and splicing the panoramic look-around images processed by the target detection model to obtain a bird's-eye view; and inputting the aerial view into a parking space detection model, obtaining a parking space occupation state, and sending the parking space occupation state. According to the invention, through the acquisition of the four-way look-around fisheye images, the blind area problem of a single view angle is overcome, and the complete coverage of the parking area is realized; the whole scheme is designed by adopting a low-calculation-power scheme, and a target detection model is combined with a parking space detection model, so that parking space identification and occupation judgment can be quickly completed, and the requirement of quick parking is met; by outputting the target object information to the human-computer interaction interface in real time, the understanding of the user on the parking state is improved, and the interaction experience is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of height measurement, and in particular to a parking space identification and occupancy detection method and system. Background Art

[0002] In the field of automatic parking assistance systems, parking space identification and occupancy detection are one of the key technologies to achieve automatic parking functions. These systems capture environmental information around the vehicle through cameras, radars or other sensors, and then use advanced image processing and machine learning algorithms to identify available parking spaces and determine whether the parking spaces are occupied. At present, many existing automatic parking assistance systems rely on spliced ​​bird's-eye view images for parking space identification and parking area status detection. This solution has been widely used in the industry because of its low computing resource requirements and easy implementation. By splicing images captured from different angles into a bird's-eye view, the system can provide a panoramic view of the parking area, thereby assisting in the identification and status judgment of parking spaces.

[0003] Although the parking space recognition and occupancy detection method based on bird's-eye view images has been widely used in automatic parking assistance systems, this method still has some challenges and limitations in practical applications. First, the image processing capability of a single perspective is limited and may not be able to fully capture all the details of the parking area, especially in the presence of multiple obstacles or complex environment layouts. Secondly, the stitched images may produce visual blind spots in the image overlapping areas. These blind spots may cause the system to be unable to accurately identify the actual occupancy status of the parking space, such as interference from pedestrians, ground locks or other obstacles. In addition, the existing technology also has shortcomings in dealing with dynamically changing environments. For example, when vehicles or pedestrians move quickly in the parking area, the system may not be able to update the parking space status information in real time. Finally, adaptability to changes in lighting conditions is also a problem with the existing technology. Different weather and time may cause image quality to deteriorate, affecting the accuracy of parking space recognition. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above existing problems, the present invention is proposed. Therefore, the present invention provides a parking space recognition and occupancy detection method to solve the problem that the parking space recognition and occupancy detection technology in the existing automatic parking assistance system is not accurate enough in complex environments.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a parking space identification and occupancy detection method, comprising:

[0008] Collect panoramic surround images of the parking area;

[0009] Inputting the panoramic view image into a target detection model to identify the target type and position, and stitching the panoramic view image processed by the target detection model to obtain a bird's-eye view;

[0010] The bird's-eye view image is input into a parking space detection model to detect and obtain the parking space occupancy status, and the parking space occupancy status is transmitted to a human-computer interaction interface in real time.

[0011] As a preferred solution of the parking space recognition and occupancy detection method of the present invention, wherein: the panoramic surround image is input into the target detection model, and the target type and position are identified,

[0012] The target detection model converts the identified target information into a bird's-eye view coordinate system, outputs the target type and position, and simultaneously performs information fusion on the overlapping parts of the field of view.

[0013] As a preferred solution of the parking space identification and occupancy detection method of the present invention, the parking space detection model includes:

[0014] The bird's-eye view image is input into a parking space detection model, each parking space corner point is output through the parking space detection model, and an area description of each parking space is generated based on the sequence of the parking space corner points.

[0015] As a preferred solution of the parking space identification and occupancy detection method of the present invention, the parking space occupancy status includes:

[0016] Analyze the bird's-eye view to obtain the positions of people and objects and identify the occupancy status of parking spaces;

[0017] The parking space occupation status includes multiple parking-unavailable states due to occupation by a person or an object, and multiple parking-available states;

[0018] The parking space occupancy status is updated in real time and sent to the user through the human-computer interaction interface.

[0019] As a preferred solution of the parking space recognition and occupancy detection method of the present invention, wherein: the panoramic surround image is input into the target detection model, and the target type and position are identified,

[0020] Capture panoramic surround images simultaneously through multiple fisheye cameras;

[0021] Input the panoramic surround image into multiple identical object detection models to identify the object type and its location;

[0022] Target types include vehicles, pedestrians, ground locks, parking wheel chocks, speed bumps, and other obstacles.

[0023] As a preferred solution of the parking space identification and occupancy detection method of the present invention, the parking space corner points include:

[0024] The parking space corner points are published in a counterclockwise order, and the first order corner point and the second order corner point are respectively storage corner points, which are used to extract the first parking space line and the second parking space line respectively.

[0025] As a preferred solution of the parking space identification and occupancy detection method of the present invention, the target types include:

[0026] The output results of the vehicle type include the front / rear detection frame and the bird's-eye view coordinate system coordinates of the center point of the bottom edge of the detection frame;

[0027] The output results of the pedestrian type include the target detection frame, the bird's-eye view coordinates of the center point of the bottom edge of the detection frame, and the pedestrian area from the bird's-eye view.

[0028] The output results of ground locks, parking wheel chocks, speed bumps, and other obstacles include target detection frames and bird's-eye view target detection frames.

[0029] In a second aspect, the present invention provides a parking space identification and occupancy detection system, comprising:

[0030] A collection module, used for collecting panoramic surround images of the parking area;

[0031] A target detection module is used to input the panoramic view image into a target detection model, identify the target type and position, and stitch the panoramic view image processed by the target detection model to obtain a bird's-eye view;

[0032] The parking space detection module is used to input the bird's-eye view into a parking space detection model, obtain the parking space occupancy status, and send the parking space occupancy status.

[0033] In a third aspect, the present invention provides a computing device, comprising:

[0034] Memory and processor;

[0035] The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the parking space identification and occupancy detection method are implemented.

[0036] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the parking space identification and occupancy detection method.

[0037] Compared with the prior art, the present invention has the following beneficial effects: the present invention overcomes the blind spot problem of a single perspective by acquiring four-way surround fisheye images, and achieves comprehensive coverage of the parking area; the overall solution adopts a low-computing solution design, and uses a target detection model combined with a parking space detection model to quickly complete parking space identification and occupancy judgment, meeting the needs of fast parking. By outputting the target object information to the human-computer interaction interface in real time, the user's understanding of the parking status is improved, and the interactive experience is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0039] Figure 1 A schematic diagram of a general flow chart of a parking space identification and occupancy detection method according to an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of the overall process of a parking space identification and occupancy detection method according to an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of a parking corner point for a parking space recognition and occupancy detection method according to an embodiment of the present invention;

[0042] Figure 4 A schematic diagram of a parking space line of a parking space identification and occupancy detection method according to an embodiment of the present invention;

[0043] Figure 5 The figure is a schematic diagram of the internal structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0045] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0046] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0047] The present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0048] At the same time, in the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "upper, lower, inner and outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the system or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0049] In the present invention, unless otherwise clearly specified and limited, the terms "install, connect, connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection or an integral connection; it can also be a mechanical connection, an electrical connection or a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] Example 1

[0051] Reference Figure 1-4 , as an embodiment of the present invention, provides a parking space identification and occupancy detection method, comprising:

[0052] S100: collecting a panoramic surround image of the parking area;

[0053] Preferably, the panoramic surround image is captured simultaneously by multiple fisheye cameras;

[0054] In the embodiment of the present application, four fisheye cameras are used to simultaneously capture panoramic surround images to ensure full coverage of the entire parking area;

[0055] In another possible embodiment, a wide-angle camera or a panoramic camera can be selected, and the number of cameras can be two, three or more, depending on the size of the parking area and the required level of monitoring detail; for example, for a smaller parking area, only two wide-angle cameras are needed to cover the entire area; while for a larger parking area, more cameras are required to ensure that there are no blind spots in the monitoring.

[0056] S102: inputting the panoramic view image into a target detection model, identifying the target type and position, and stitching the panoramic view image processed by the target detection model to obtain a bird's-eye view;

[0057] Preferably, the target detection model converts the identified target information into a bird's-eye view coordinate system, outputs the target type and position, and simultaneously performs information fusion on the overlapping parts of the field of view.

[0058] Preferably, the panoramic surround image is input into a plurality of identical target detection models to identify the target type and its location;

[0059] In the embodiment of the present application, the target types include vehicles, pedestrians, ground locks, parking wheel blockers, speed bumps, and other obstacles;

[0060] In another possible embodiment, the target type may be classified into obstacles, environmental features, parking assistance facilities, etc.; illustratively, obstacles may include pedestrians, vehicles, roadblocks, and the like.

[0061] In the embodiment of the present application, the output result of the vehicle type includes the front / rear detection frame and the bird's-eye view coordinate system coordinates of the center point of the bottom edge of the detection frame;

[0062] In another possible embodiment, the output result of the vehicle type may be the vehicle position, vehicle posture, motion state, etc.

[0063] In the embodiment of the present application, the output result of the pedestrian type includes a target detection frame, the bird's-eye view coordinate system coordinates of the center point of the bottom edge of the detection frame, and a pedestrian area from a bird's-eye view perspective;

[0064] In another possible embodiment, the output result of the pedestrian type may be the confidence of the target detection frame, the vertex coordinates of the detection frame, the orientation of the detection frame, and an indication of whether the pedestrian is obscured or the degree of obscuration, etc.

[0065] In an embodiment of the present application, the output results of ground locks, parking wheel chocks, speed bumps, and other obstacles include a target detection frame and a bird's-eye view target detection frame.

[0066] Specifically, we first obtain the real-time panoramic view data of the four fisheye cameras, and pair the panoramic views at the same time based on the timestamp to ensure the consistency and accuracy of the panoramic view; we use the target detection model for reasoning, which can identify key targets in the image, such as the front and rear of the vehicle, pedestrians, parking space line information, etc. In order to convert the targets in the fisheye image to a more intuitive perspective, we use the internal and external reference data to convert the four fisheye images to a bird's-eye view;

[0067] Based on the external reference data, the pedestrian position coordinates and target detection frame are converted into coordinates in the bird's-eye view coordinate system. At the same time, the vehicle position coordinates are fused with the parking space line information and converted into coordinates in the bird's-eye view coordinate system. In order to more comprehensively describe the vehicle's status, the process also calculates the vehicle's heading angle, which is calculated based on a fixed value.

[0068] The parking status of the parking space, ground locks, parking wheel blockers, speed bumps, bird's-eye view area, vehicle position coordinates, pedestrian position coordinates and heading angle are obtained to the human-computer interaction interface. Based on the output results, it can be determined whether the parking space is occupied, such as vehicle occupation, pedestrian occupation, ground lock occupation, etc., and whether the parking space contains wheel block limiters and other information, thereby providing users with accurate parking space information and navigation services.

[0069] It should be noted that four fisheye cameras are used to capture the panoramic surround image of the parking area, and the advanced target detection model is used to convert the identified target information into a bird's-eye view coordinate system, thereby realizing the accurate recognition and positioning of key targets such as vehicles, pedestrians, ground locks, parking wheel chocks, speed bumps, etc., which not only improves the accuracy of parking space detection and occupancy, but also provides users with more accurate and comprehensive parking space information and navigation services by outputting detailed vehicle position, pedestrian position, heading angle and parking space status information, thereby improving the performance of the automatic parking assistance system and user experience.

[0070] S104: inputting the bird's-eye view into a parking space detection model, acquiring a parking space occupancy status, and sending the parking space occupancy status;

[0071] Preferably, the bird's-eye view image is input into a parking space detection model, each parking space corner point is outputted by the parking space detection model, and based on the sequence of the parking space corner points, an area description of each parking space is generated;

[0072] Preferably, the bird's-eye view is analyzed to obtain the positions of people and objects and identify the parking space occupation status; the parking space occupation status includes multiple parking-unavailable states with people or objects occupying the parking space and multiple parking-available states;

[0073] Preferably, the parking space occupancy status is updated in real time and the parking space occupancy status is sent to the user through the human-computer interaction interface;

[0074] In the embodiment of the present application, the parking space corner points are published in a counterclockwise order, and the first order corner point and the second order corner point are respectively the entry corner points, which are used to extract the first parking space line and the second parking space line respectively; Figure 3 Figure 4 As shown; among them, Figure 4 The parking line 1 is the first parking line, and the parking line 2 is the second parking line;

[0075] In an embodiment of the present application, the parking space occupancy status is identified by analyzing the bird's-eye view, and the parking space occupancy status includes no parking - vehicle occupied, no parking - pedestrian occupied, no parking - ground lock occupied / other obstacles, parking space available - with wheel chocks, and parking space available - without wheel chocks. The parking space occupancy status is updated in real time, and the user is provided with accurate parking space occupancy status through the human-computer interaction interface.

[0076] In an embodiment of the present application, the non-parking-vehicle occupied state and algorithm are designed as follows: the bird's-eye view coordinate system coordinates of the bottom edge center point of the vehicle and the direction of the parking space line are integrated to generate the position and heading angle information of the occupied vehicle, and the parking space state attribute is set to non-parking-parking occupied.

[0077] In an embodiment of the present application, the non-parking-pedestrian occupied state and algorithm are designed as follows: using the bird's-eye view coordinate system coordinates of the bottom edge center point, outputting pedestrian position information, and setting the parking space state attribute to non-parking-parking occupied.

[0078] In an embodiment of the present application, the parking space cannot be parked - ground lock occupied / other obstacles status and algorithm design are as follows: based on the IOU threshold of the target detection frame from a bird's-eye view and the parking space area, the parking space status attribute is set to parking cannot be parked - ground lock occupied / parking space cannot be parked - other obstacles.

[0079] In an embodiment of the present application, the parking space available for parking - including parking wheel blocker status and algorithm design are as follows: based on the bird's-eye view target detection frame of the parking wheel blocker, the occupied area of ​​the parking wheel blocker is output, and the parking space status attribute is set to the parking space available for parking - including parking wheel blocker.

[0080] In the embodiment of the present application, the parking space available for parking but not including a parking wheel blocker state and algorithm design are as follows: if it does not belong to the above 4 situations, the parking space state attribute is set to parking space available for parking but not including a parking wheel blocker.

[0081] Preferably, the identified target location information is transmitted to the human-computer interaction interface in real time so as to display the parking space status and related information in real time.

[0082] Specifically, from a bird's-eye view, the parking space detection model performs further reasoning to identify the parking area and the target detection frames within the parking space. These target detection frames include pedestrians, ground locks, parking wheel chocks, speed bumps and other obstacles. In order to determine the specific location of the parking space, the process extracts the bottom center points of the target detection frames. These center points are used as references for both pedestrian position coordinates and vehicle position coordinates.

[0083] In addition, it also includes the IOU judgment of the parking status of the parking space, that is, judging whether the parking space can be occupied based on the degree of overlap between the target detection frame and the parking space area. After obtaining the preliminary detection results, the four-way surround view target detection results are fused to improve the accuracy and reliability of the detection.

[0084] It should be noted that by inputting the bird's-eye view into the parking space detection model, accurate detection and real-time update of the parking space occupancy status are achieved, and it can accurately distinguish between multiple states such as no parking - vehicle occupied, no parking - pedestrian occupied, no parking - ground lock occupied / other obstacles, parking space available - with wheel chocks, and parking space available - without wheel chocks, and provide users with accurate parking space occupancy information through the human-computer interaction interface; at the same time, by extracting the bottom edge center point of the target detection frame as a position coordinate reference, and fusing the four-way surround view target detection results, the accuracy and reliability of the detection are further improved, providing users with a more convenient and efficient parking experience.

[0085] The above is a schematic scheme of a parking space identification and occupancy detection method of this embodiment. It should be noted that the technical scheme of the parking space identification and occupancy detection system and the technical scheme of the above parking space identification and occupancy detection method belong to the same concept, and the details not described in detail in the technical scheme of the parking space identification and occupancy detection system in this embodiment can be referred to the description of the technical scheme of the above parking space identification and occupancy detection method.

[0086] Example 2

[0087] This embodiment provides a parking space identification and occupancy detection system, including:

[0088] A collection module, used for collecting panoramic surround images of the parking area;

[0089] A target detection module is used to input the panoramic view image into a target detection model, identify the target type and position, and stitch the panoramic view image processed by the target detection model to obtain a bird's-eye view;

[0090] The parking space detection module is used to input the bird's-eye view into a parking space detection model, obtain the parking space occupancy status, and send the parking space occupancy status.

[0091] The above-mentioned unit systems may be embedded in or independent of the processor in the computer device in the form of hardware, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned systems.

[0092] Example 3

[0093] This embodiment provides a computer device, which may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input system connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a parking space identification and occupancy detection method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input system of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0094] The present embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements: collecting a panoramic surround image of a parking area; inputting the panoramic surround image into a target detection model to identify the target type and position, and stitching the panoramic surround image processed by the target detection model to obtain a bird's-eye view; inputting the bird's-eye view into a parking space detection model to obtain a parking space occupancy status, and sending the parking space occupancy status.

[0095] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A parking space identification and occupancy detection method, characterized in that: include: Collect panoramic surround images of the parking area; Inputting the panoramic view image into a target detection model to identify the target type and position, and stitching the panoramic view image processed by the target detection model to obtain a bird's-eye view; The bird's-eye view image is input into a parking space detection model to obtain a parking space occupancy status, and the parking space occupancy status is sent.

2. The parking space identification and occupancy detection method according to claim 1, characterized in that: Inputting the panoramic image into a target detection model to identify the target type and location includes: The target detection model converts the identified target information into a bird's-eye view coordinate system, outputs the target type and position, and simultaneously performs information fusion on the overlapping parts of the field of view.

3. The parking space identification and occupancy detection method according to claim 1 or 2, characterized in that: The parking space detection model includes: The bird's-eye view image is input into a parking space detection model, each parking space corner point is output through the parking space detection model, and an area description of each parking space is generated based on the sequence of the parking space corner points.

4. The parking space identification and occupancy detection method according to claim 3, characterized in that: Parking space occupancy status includes: Analyze the bird's-eye view to obtain the positions of people and objects and identify the occupancy status of parking spaces; The parking space occupation status includes multiple parking-unavailable states due to occupation by a person or an object, and multiple parking-available states; The parking space occupancy status is updated in real time and sent to the user through the human-computer interaction interface.

5. The parking space identification and occupancy detection method according to claim 4, characterized in that: Inputting the panoramic image into a target detection model to identify the target type and location also includes: Capture panoramic surround images simultaneously through multiple fisheye cameras; Input the panoramic surround image into multiple identical object detection models to identify the object type and its location; Target types include vehicles, pedestrians, ground locks, parking wheel chocks, speed bumps, and other obstacles.

6. The parking space identification and occupancy detection method according to claim 5, characterized in that: Parking corner points include: The parking space corner points are published in a counterclockwise order, and the first order corner point and the second order corner point are respectively storage corner points, which are used to extract the first parking space line and the second parking space line respectively.

7. The parking space identification and occupancy detection method according to claim 6, characterized in that: Target types include: The output results of the vehicle type include the front / rear detection frame and the bird's-eye view coordinates of the center point of the bottom edge of the detection frame; The output results of the pedestrian type include the target detection frame, the bird's-eye view coordinates of the center point of the bottom edge of the detection frame, and the pedestrian area from the bird's-eye view. The output results of ground locks, parking wheel chocks, speed bumps, and other obstacles include target detection frames and bird's-eye view target detection frames.

8. A parking space identification and occupancy detection system, characterized in that: include, A collection module, used for collecting panoramic surround images of the parking area; A target detection module is used to input the panoramic view image into a target detection model, identify the target type and position, and stitch the panoramic view image processed by the target detection model to obtain a bird's-eye view; The parking space detection module is used to input the bird's-eye view into a parking space detection model, obtain the parking space occupancy status, and send the parking space occupancy status.

9. An electronic device, comprising: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the parking space identification and occupancy detection method described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the parking space identification and occupancy detection method according to any one of claims 1 to 7.

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