Illegal parking vehicle detection method and device, detection equipment and medium

Abstract

The invention relates to the technical field of vehicle traffic, in particular to an illegal parking vehicle detection method and device, detection equipment and a medium. The illegal parking vehicle detection method comprises the following steps: acquiring illegal parking area information, wherein the illegal parking area information comprises a parking forbidding road and parking forbidding time; judging whether the detection terminal is in an illegal parking area, if so, acquiring vehicle information on the right side of the forward direction of the detection terminal; judging whether the vehicle is in a parking state or not according to the vehicle information and the real-time speed of the detection terminal, and if yes, marking the vehicle as a suspicious vehicle; and acquiring parking position information of the suspicious vehicle, judging whether the suspicious vehicle is in an illegal parking area according to the position information, if so, judging that the suspicious vehicle is an illegal parking vehicle, otherwise, judging that the suspicious vehicle is not the illegal parking vehicle. According to the method, the influence of non-illegal parking factors is effectively reduced, the recognition amount of various images is reduced, and the operation difficulty and the operation amount can also be effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle traffic, and specifically, to a method, device, detection equipment and medium for detecting illegally parked vehicles. Background Art

[0002] With the rapid development of vehicle technology, the number of vehicles has increased sharply. However, the current parking spaces are not sufficient to accommodate these vehicles, resulting in most vehicles being parked on both sides of the road or directly occupying public roads, which affects traffic safety and the convenience of residents' travel.

[0003] Generally, to investigate and punish illegally parked vehicles, it is usually through manual investigation or camera recognition. Among them, the traffic-related departments arrange personnel to conduct road inspections for illegal parking, take pictures of illegally parked vehicles on the spot, record and punish them. However, this method seriously wastes labor costs and cannot record illegally parked vehicles on the road in a timely manner to ensure the smooth flow of the road. Moreover, the existing method of obtaining image information through a camera and then identifying illegally parked vehicles usually requires identifying various different rules and road signs, etc., so as to judge illegally parked vehicles.

[0004] In the process of implementing the present invention, the inventors of the present invention found that: currently, when using the existing method for detecting illegally parked vehicles for identification, it is necessary to identify different image factors in the image, with a large amount of identification and high identification difficulty, and it is easy to have the problem of inaccurate identification. Summary of the Invention

[0005] In view of the above problems, the present invention is proposed to provide a method, semiconductor laser and preparation method for detecting illegally parked vehicles that overcome the above problems or at least partially solve the above problems.

[0006] In a first aspect, an embodiment of the present invention provides a method for detecting illegally parked vehicles, the steps including; Obtain illegally parked area information, where the illegally parked area information is a road where parking is prohibited and a prohibited parking time; Judge whether the detection terminal is in the illegally parked area. If so, obtain the vehicle information on the right side of the forward direction of the detection terminal; Judge whether the vehicle is in a parked state according to the vehicle information and the real-time speed of the detection terminal. If so, mark it as a suspicious vehicle; Obtain the position information where the suspicious vehicle is parked, and judge whether it is in the illegally parked area according to the position information. If so, determine that the suspicious vehicle is an illegally parked vehicle, otherwise it is not an illegally parked vehicle.

[0007] Further, the specific steps for judging whether the detection terminal is in the illegally parked area are: mark the determined no-parking area in the electronic map to obtain an electronic version of the no-parking road; According to the real-time position of the detection terminal, by judging the matching of the real-time position with the electronic no-parking roads, when the real-time position is within the no-parking roads, the detection terminal is in a parking violation area.

[0008] Furthermore, after obtaining the vehicle information, it is also necessary to determine whether the vehicle information meets the requirements. The specific steps include: Using the detection device to obtain at least two image information respectively in the same no-parking area; Obtain the interval between the two image information, and judge whether the two image information meets the requirements according to the interval. If so, the vehicle is a parked vehicle in violation.

[0009] Furthermore, after obtaining the vehicle information, it is also necessary to determine whether the vehicle information meets the requirements. The specific steps include: Using the detection device to obtain at least two image information respectively in the same no-parking area; Obtain the interval between the two image information, and judge whether the two image information meets the requirements according to the interval. If so, the vehicle is a parked vehicle in violation.

[0010] Furthermore, to determine whether the detection terminal is in a parking violation area, if so, obtain the vehicle information on the right side of the forward direction of the detection terminal. The specific steps are: Obtain the trigger information, and the trigger information is the information sent by the switch device; Determine to be in the parking violation area according to the trigger information, obtain the trigger time of the trigger information, and obtain the vehicle information on the right side of the forward direction of the detection terminal according to the trigger time.

[0011] Furthermore, the steps to determine whether the vehicle is in a stopped state according to the vehicle information and the real-time speed of the detection terminal include: Obtain the real-time speed of the detection device and compare the real-time speed with the speed threshold; Obtain multiple consecutive images of the vehicle, and the multiple consecutive images are multiple images of the vehicle within a certain period of time; Identify the vehicle according to the multiple consecutive images, and obtain the distance of the vehicle relative to the detection device in the image, and calculate the speed of the vehicle according to the distance; By judging the speed difference between the real-time speed and the vehicle, judge whether the vehicle is in a stopped state according to the speed difference.

[0012] Furthermore, the threshold speed is controlled at 25 km / h.

[0013] Furthermore, obtain the position information marked as suspicious vehicle parking, and judge whether it is in a parking violation area according to the position information. The steps include: Obtain the parking position of the vehicle, and the parking position is the position where the vehicle is located analyzed from the image information; Determine whether the parking position of the vehicle is on the motor vehicle driving road. If so, the vehicle is an illegally parked vehicle.

[0014] In a second aspect, a detection device for illegally parked vehicles is also disclosed. The device includes: An area acquisition module: acquires illegally parked area information, where the illegally parked area information is the road where parking is prohibited and the prohibited parking time; An image acquisition module: determines whether the detection terminal is in the illegally parked area. If so, acquires the vehicle information on the right side of the forward direction of the detection terminal; A speed judgment module: determines whether the vehicle is in a parked state according to the vehicle information and the real-time speed of the detection terminal. If so, marks it as a suspicious vehicle; A position judgment module: acquires the position information of the suspicious vehicle parked, and determines whether it is in the illegally parked area according to the position information. If so, determines the suspicious vehicle as an illegally parked vehicle; otherwise, it is not an illegally parked vehicle.

[0015] In a third aspect, a detection device is also disclosed. The device includes a processor and a memory. At least one instruction, at least one program, a code set or an instruction set is stored in the memory. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement a detection method for illegally parked vehicles as described in any one of the above.

[0016] In a fourth aspect, a computer-readable storage medium is also disclosed. Computer-executable instructions are stored in the storage medium. The computer-executable instructions are loaded and executed by the processor to implement a detection method for illegally parked vehicles as described in any one of the above.

[0017] The beneficial effects of the above technical solutions provided by the embodiments of the present invention at least include: In the embodiments of the present invention, a detection method for illegally parked vehicles is provided. The steps of the detection method for illegally parked vehicles include: quickly determining the illegally parked area, and then determining that after the detection device enters the illegally parked area, acquiring the image information of the illegally parked vehicle twice. When acquiring the image information, judge whether it is in a stopped state by the real-time speed of the detection device and the relative speed of the illegally parked vehicle, and then judge whether the illegally parked vehicle is on the illegally parked road. This method effectively reduces the influence of non-illegal parking factors, reduces the amount of various image recognitions, and can also effectively reduce the difficulty and amount of operations.

[0018] Other features and advantages of the present invention will be described in the following description, and, in part, will be obvious from the description, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written description and the drawings.

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Description of the Drawings

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required for the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally denoted by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0021] Figure 1 is a schematic diagram of a detection system for illegally parked vehicles in an embodiment; Figure 2 is a flowchart of the method for detecting illegally parked vehicles of the present invention; Figure 3 is a flowchart of determining whether the detection terminal is in an illegally parked area according to the first embodiment of the present invention; Figure 4 is a flowchart of determining whether the vehicle information meets the requirements according to the first embodiment of the present invention; Figure 5 is a flowchart of determining whether the vehicle is in a parked state of the present invention; Figure 6 is a structural diagram of the method for detecting illegally parked vehicles of the present invention; Figure 7 is a schematic diagram of the hardware structure of the device for implementing the method provided in the embodiment of the present invention; Figure 8 is a schematic diagram of the first picture in the first example of the present invention; Figure 9 is a schematic diagram of the second picture in the first example of the present invention; Figure 10 is a schematic diagram of the third picture in the first example of the present invention. Detailed Embodiments

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present application.

[0023] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0024] In the present application, the term "exemplary" is used to mean "serving as an example, illustration, or explanation". Any embodiment described as "exemplary" in the present application is not necessarily to be construed as more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the present application. In the following description, details are set forth for purposes of explanation. It should be understood that those of ordinary skill in the art can recognize that the present application can be implemented without the use of these specific details. In other instances, well-known structures and processes are not elaborated in detail to avoid obscuring the description of the present application with unnecessary details. Therefore, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in the present application. Before describing the embodiments of the present invention in detail, the design concept of the present invention is outlined below.

[0025] Referring to the attached Figure 1 As shown, a detection system for illegally parked vehicles includes a detection device, a server, and a duty vehicle. The detection device is arranged on the duty vehicle. The detection device can move along with the duty vehicle and can take pictures or video information on the road at any time. The detection device is communicatively connected to the server, and the detection device transmits the picture or video information to the server.

[0026] Referring to the attached Figure 2As shown in the figure, the present invention designs a detection method for illegally parked vehicles. The steps of the detection method for illegally parked vehicles include: quickly determining the illegal parking area, and after determining that the detection device enters the illegal parking area, obtaining the image information of the illegally parked vehicle twice. When obtaining the image information, it is judged whether it is in a stopped state by the relative speed between the real-time speed of the detection device and the illegally parked vehicle, and then it is judged whether the illegally parked vehicle is on the illegal parking road. This method effectively reduces the influence of non-illegal parking factors, reduces the amount of various image recognition, and can also effectively reduce the difficulty and amount of operation.

[0027] In an embodiment of the present invention, a detection method for illegally parked vehicles is provided. Referring to the appendix Figure 2 As shown, the steps include: Step S001: Obtain illegal parking area information, where the illegal parking area information is the road where parking is prohibited and the prohibited parking time.

[0028] Here, obtaining the illegal parking area information can be considered that the system obtains all road traffic management information through public road planning information, including the names of roads where parking is prohibited, the areas where parking is prohibited, or the time periods when parking is prohibited, etc. Then, a traffic control map is generated according to the road traffic management information. The map includes the no-parking information of each road, and the no-parking information includes the names of roads where parking is prohibited, the locations where parking is prohibited, and the time periods of no-parking, etc.

[0029] Usually, the duty vehicles of traffic policemen communicate with the server in real time. The server obtains the planning information of each street in this area, including the strictly managed streets in the city, the no-parking areas of roads, and the no-parking time periods of roads, etc. Generally speaking, the street and road planning is public. Therefore, the above information can be obtained according to the public road planning of the city, and it can also be judged whether it is a no-parking area by obtaining the signs on the road. In some areas, parking is prohibited on certain roads during certain time periods, and parking is allowed during other time periods. Therefore, the time period of this road needs to be judged.

[0030] Step S002: Judge whether the terminal is in the illegal parking area. If so, obtain the vehicle information on the right side of the advancing direction of the detection terminal.

[0031] It can be understood that after determining the no-parking area, it can be determined whether to enter the no-parking area by determining whether the real-time positioning coincides with the no-parking area. When the detection device enters the no-parking area, the image information in the no-parking area is obtained, and the vehicle information is identified through the image information. These vehicle information are all in the no-parking area, and it can be initially determined that they are illegally parked vehicles. According to the advancing direction of the vehicle, there is usually no illegal parking situation on the left side of the road, which is the driving lane. Therefore, only the image information on the right side of the road needs to be obtained for recognition.

[0032] Referring to the appendix Figure 3As shown in the embodiment, the specific steps for determining whether the detection terminal is in a no-parking area are as follows: Step S010: Mark the determined no-parking area on the electronic map to obtain an electronic version of the no-parking road; Step S011: According to the real-time position of the detection terminal, determine whether the real-time position matches the electronic version of the no-parking road by judgment. When the real-time position is within the no-parking road, the detection terminal is in the no-parking area.

[0033] In the embodiment, when the detection terminal is in the no-parking area, the detection device obtains the vehicle information of the vehicles parked illegally in the no-parking area. When obtaining the vehicle information, only the vehicle information on the right side of the forward direction of the detection terminal is obtained.

[0034] It should be noted that usually the left side of the forward direction of the road is the driving lane. Therefore, by only obtaining the vehicle information on the right side of the road, the amount of information obtained can be reduced, the influence of uncertain factors on the detection can also be reduced, the data of the detection information can be reduced, and the detection efficiency can be improved.

[0035] In the embodiment, the vehicle information includes the acquisition information timestamp, vehicle license plate information, and cab situation. That is, when obtaining the vehicle information, it is necessary to calibrate with the network standard time and obtain the timestamp at the time of information acquisition to ensure the efficiency and accuracy of the match when the image information is matched with the image information of other devices through the match of the timestamp. The vehicle license plate information includes the license plate number, the information of the vehicle driving license, the contact phone number, etc. By obtaining the image information of the cab, when judging whether there is an illegal parking situation of the vehicle, if there is a driver in the cab, the vehicle may be parked temporarily, and it is necessary to remind the vehicle to drive away as soon as possible.

[0036] Refer to the appendix Figure 4 As shown in the embodiment, after obtaining the vehicle information, it is also necessary to judge whether the vehicle information meets the requirements. The specific steps include: Step S020: The detection device obtains at least two image information respectively in the same no-parking area; Step S021: Obtain the interval between the two image information, and judge whether the two image information meets the requirements according to the interval. If so, the vehicle is an illegally parked vehicle.

[0037] In the embodiment, the illegally parked vehicle needs to appear twice in the image information detected in the same area. The two image information are obtained continuously by detection, and each detection needs to be separated by a period of time to prevent inaccurate detection results.

[0038] In the embodiment, a warning also needs to be issued when obtaining the vehicle information to prevent inaccurate results. That is, after detecting the vehicle information on the right side of the road, a warning signal is issued in real time, and the vehicle parked temporarily is required to drive away from the area through the warning signal to ensure the accuracy of the detection result.

[0039] In an embodiment, obtaining vehicle information on the right side of the advancing direction of the detection terminal means obtaining image information on the right side of the road in the same illegal parking area at least twice, and the image information includes the same vehicle information existing at least twice at different time periods, and the interval between the different time periods is greater than a preset time value, then it can be determined that the vehicle is an illegally parked vehicle.

[0040] For example: When the duty vehicle of the traffic police enters the illegal parking area, the detection device on the duty vehicle starts to detect the image information on the right side of the advancing direction, then analyzes the vehicle information from the image information, and obtains the image information obtained in the area within 24 hours from the historical database, and compares the vehicle information to analyze whether there is the vehicle information detected previously in the area. If there is in the historical database, the previously detected vehicle information is the first detection information, and the vehicle information detected by the detection device this time is the second detection information, and then it is determined whether the time interval between the first detection information and the second detection information meets the set threshold. The preset threshold in the embodiment is not less than 10 minutes. If it is less than 10 minutes, the image information of the vehicle in the image information obtained this time is marked as invalid.

[0041] For example, if the vehicle information does not exist in the database, the image information detected by the duty vehicle this time is the first detection information, and image information is obtained again in the area, and the interval exceeds 10 minutes. The vehicle information detected this time is the second detection information. Among them, the same vehicle information is detected in both the first detection information and the second detection information, then it can be determined that the vehicle is an illegally parked vehicle.

[0042] In an embodiment, according to the real-time positioning of the duty vehicle of the traffic police, combined with the no-parking area, it is determined whether the vehicle is in the no-parking area. Specifically, through the real-time positioning information of the duty vehicle of the traffic police, it is determined whether the duty vehicle of the traffic police is in the no-parking area of the traffic control map. If the duty vehicle of the traffic police enters the no-parking area, By setting an image device on the duty vehicle of the traffic police, the image device is used to obtain pictures or video information of illegally parked vehicles, such as cameras, cameras. The image on the right side of the road in the advancing direction of the duty vehicle is obtained in real time through the image device, and then it is analyzed whether there is a vehicle on the right side of the road, and the vehicle information is obtained. Here, the vehicle information includes the license plate of the vehicle and the situation of the driver's cab. And when the duty vehicle of the traffic police detects the vehicle information, the speaker of the duty vehicle makes a sound to require the parked vehicle to drive away, which affects the driving of motor vehicles and ensures smooth traffic.

[0043] In another embodiment, the illegal parking area can also be determined by other means. The specific steps are as follows: Obtain a trigger message, and the trigger message is the message sent by the switch device; Determine that it is in a parking violation area according to the trigger information, obtain the trigger time of the trigger information, and obtain the vehicle information on the right side of the forward direction of the detection terminal according to the trigger time.

[0044] It can be understood that by receiving the trigger information sent by the switch device, it can be confirmed that it has entered the parking violation area after receiving the trigger information. That is, at this time, by obtaining the image information on the right side of the forward direction of the detection device, and the vehicle information obtained from the image information is the target vehicle parked in violation. Through the trigger method of the switch device, the flexibility of detecting parked vehicles in violation can be improved, and the error during detection can be reduced.

[0045] For example, when the traffic police's duty vehicle enters the parking violation area, the traffic police presses the switch device. At this time, the detection device on the vehicle receives the trigger information that the switch device has been pressed. At this time, the camera of the detection device on the duty vehicle is turned on, and the camera starts to obtain the image information on the right side of the road. That is, it can be determined that the vehicle information obtained from this time on can be regarded as the vehicle parked in violation. Through the regulations of the traffic police's temporary management, the detection device can be turned on or off at any time to ensure the rationality of the detection.

[0046] Step S003: Judge whether the vehicle is in a parked state according to the vehicle information and the real-time speed of the detection terminal. If so, mark it as a suspicious vehicle.

[0047] It can be understood that by obtaining the real-time speed of the detection terminal and judging by the speed difference between the detection terminal and the parked vehicle. That is, when the speed difference between the two meets the set threshold, the vehicle is a parked vehicle in violation, otherwise it is considered that the target vehicle is not a parked vehicle in violation.

[0048] Refer to the appendix Figure 5 As shown, the steps of judging whether the vehicle is in a parked state according to the vehicle information and the real-time speed of the detection terminal include: Step S030: Obtain the real-time speed of the detection device and compare the real-time speed with the speed threshold; Step S031: Obtain multiple consecutive images of the vehicle. The multiple consecutive images are multiple images of the vehicle obtained within a certain period of time; Step S032: Identify the vehicle according to the multiple consecutive images, obtain the distance of the vehicle relative to the detection device in the image, and calculate the speed of the vehicle according to the distance; Step S033: Judge whether the vehicle is in a stopped state by judging the speed difference between the real-time speed and the vehicle.

[0049] In an embodiment, the specific steps of judging the speed difference between the real-time speed and the vehicle include: Obtain multiple consecutive images of the vehicle, where the multiple consecutive images are multiple images of the vehicle obtained within a certain period of time; Identify the vehicle based on the multiple consecutive images, obtain the distance of the vehicle relative to the detection device in the image, and calculate the speed of the vehicle based on the distance.

[0050] It can be understood that through multiple consecutive photos, the detection device calculates the speed difference with the vehicle, thereby determining whether the vehicle is in a parked state, thus ensuring the accuracy of the detection result.

[0051] In an embodiment, by obtaining multiple consecutive images and arranging them in chronological order, the first image in which the vehicle first appears and the second image in which the vehicle second appears are obtained. Then, based on the distance S that the vehicle moves between the first image and the second image, and the time difference between the first image and the second image Calculate the speed of the vehicle 。

[0052] Then, calculate the speed difference based on the actual speed V0 of the detection device and the speed V1 of the vehicle. Determine whether the vehicle is in a parked state based on the speed difference. If the speed difference is less than 0.1, then the vehicle is in a parked state.

[0053] Speed difference: V0 - V1 = V; In the embodiment, the detection device 20 includes at least two cameras. One camera obtains the image in front of the right side of the duty vehicle, and the other camera obtains the image behind the right side of the duty vehicle. And the camera takes 25 pictures per second. Among all the obtained image information, all the pictures of the vehicle are obtained, and the pictures are arranged in chronological order, and the distance of the vehicle relative to the camera is obtained from the pictures, and the speed of the vehicle is calculated based on the distance.

[0054] The specific calculation method is as follows: Determine the time interval between the photo shootings. If 25 photos are taken per second, then the time interval between two photos is: And arrange the photos in chronological order.

[0055] In two or more consecutive photos, identify the same reference point of the vehicle (such as the license plate at the front of the vehicle or the license plate at the center of the rear of the vehicle), and judge the relative moving distance of the reference point.

[0056] Refer to the appendix Figures 8 - 10 By obtaining the first image in which the vehicle first appears and the second image in which the vehicle second appears in multiple consecutive images, calculate the speed V1 of the vehicle based on the distance change of the vehicle's rear end between the first image and the second image. Specifically, for example, the rear end of the vehicle moves 0.2 m in the image between the first image and the second image of the vehicle, and the speed of the vehicle 10 is calculated through the formula: 5 m / s.

[0057] Then, calculate the speed difference based on the actual speed of the detection device and the speed of the vehicle, and determine whether the vehicle is in a parked state according to the speed difference. The speed difference is 5 m / s - 5 m / s = 0, that is, the vehicle is in a parked state, ensuring the accuracy of the detection.

[0058] For example: In one embodiment, a traffic police vehicle enters a strictly managed street at a speed of 5 m / s. At this time, the imaging device on the police vehicle obtains the image information of the strictly managed street, detects the real-time speed of the police vehicle as 5 m / s, and compares this speed with the preset threshold speed of 6.94 m / s. The real-time speed is less than the threshold speed. Then, judge the speed difference between the police vehicle and the vehicle in the image information. If the speed difference between the target vehicle on the right side of the strictly managed street and the police vehicle is 0 km / h, it can be determined that the target vehicle is stationary, that is, in a parked state.

[0059] Step S004: Obtain the position information of the vehicle marked as suspiciously parked, and determine whether it is in a non-parking area according to the position information. If so, determine that the suspicious vehicle is an illegally parked vehicle; otherwise, it is not an illegally parked vehicle.

[0060] It can be understood that after determining the possibility of illegal parking of the target vehicle, then judge by the parking position of the target vehicle. According to whether the parking position of the target vehicle is in the non-parking area of the road, if it is in the no-parking road area, the target vehicle is an illegally parked vehicle; otherwise, it is not an illegally parked vehicle. That is, by further excluding non-illegal parking factors, the detection result is made more accurate.

[0061] Further in the embodiment: Obtain the position information of the vehicle marked as suspiciously parked, and determine whether it is in a non-parking area according to the position information. The steps include: Obtain the parking position of the vehicle, where the parking position is the position of the vehicle analyzed from the image information; Judge whether the parking position of the vehicle is on the motor vehicle driving road. If so, the vehicle is an illegally parked vehicle.

[0062] It can be understood that obtain the parking position of the target vehicle through the image information, and then judge the position of this position relative to the road according to the parking position in the image information. If this position is on the motor vehicle lane, it is an illegally parked vehicle. For example, if the target vehicle is not on the motor vehicle lane but on the curb, it is not an illegally parked vehicle. Thus, while reducing the calculation amount, the accuracy of the detection result can be ensured.

[0063] The step of judging whether the parking position of the vehicle is on the motor vehicle driving road includes: judging whether there is a height difference between the parking position and the motor vehicle road. If so, it is considered that the vehicle is not an illegally parked vehicle; if not, it is considered that the vehicle is an illegally parked vehicle.

[0064] Specifically, compare whether the location of the vehicle and the road where the detection device is located are on the same plane. If they are on the same plane, the vehicle is an illegally parked vehicle; if not, the vehicle is not an illegally parked vehicle.

[0065] Here, different heights usually mean that the vehicle is parked outside the motor vehicle, such as on the sidewalk. For example, by identifying the height characteristics of the curb in the image, it is possible to quickly identify whether the vehicle is parked outside the road.

[0066] Generally, the height of the curb of a road is about 10 - 20 cm, but this may vary due to factors such as road type and design purpose. During the process of identifying the curb in the image, this height range can be used as an important reference standard.

[0067] When identifying the curb from the image information of the illegally parked area, steps such as obtaining camera - related information, establishing a height estimation model, and identifying the curb from the image information are required. Specifically: Camera calibration: If it is known that the picture is taken by a certain camera, first calibrate the camera to obtain parameters such as the focal length and sensor size of the camera.

[0068] Height estimation model construction: According to the monocular vision geometric model, establish the relationship between the pixel height in the image and the actual object height. For example, assume that the focal length of the camera obtained through calibration is f, the physical size of the pixel on the image sensor is p, and the distance from the camera to the possible curb area is known or estimated as D. For the pixel height h in a certain vertical direction in the image pixel , the actual height h of this area can be estimated according to the formula, and the formula is as follows:

[0069] Identifying the curb: By sliding a window in the image or using the region of interest (ROI) detection method, estimate the height of each region. If the estimated height is within the common height range of the curb and other visual features (such as shape, color, position, etc.) of this region also conform to the characteristics of the curb, then it can be determined that this region is the curb.

[0070] In an embodiment, by identifying the characteristic that there is a height difference between the curb and the road from the image information, the difference between the road and the sidewalk can be quickly identified, which can effectively reduce the recognition of other features, thereby reducing the usage cost, improving the accuracy, and improving the efficiency.

[0071] In an embodiment, by identifying whether the parking position of the vehicle is within the parking frame. The parking frame of the actual road is usually a white rectangular frame. By identifying whether the parking position of the vehicle is within the parking frame, if it is, then the vehicle is not an illegally parked vehicle.

[0072] Based on the same inventive concept, with reference to the attached Figure 6 As shown, a detection device for illegally parked vehicles is also disclosed. The device includes: Area acquisition module: acquires illegally parked area information, where the illegally parked area information is the road where parking is prohibited and the prohibited parking time; Image acquisition module: determines whether the detection terminal is in an illegally parked area. If so, acquires vehicle information on the right side of the forward direction of the detection terminal; Speed judgment module: determines whether the vehicle is in a parked state according to the vehicle information and the real-time speed of the detection terminal. If so, marks it as a suspicious vehicle; Position judgment module: acquires the position information where the suspicious vehicle is parked, and determines whether it is in an illegally parked area according to the position information. If so, determines that the suspicious vehicle is an illegally parked vehicle; otherwise, it is not an illegally parked vehicle.

[0073] The device provided in the above embodiments can execute the method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method. For technical details not described in detail in the above embodiments, reference can be made to a method for detecting illegally parked vehicles provided in any embodiment of the present invention.

[0074] This embodiment also provides a computer-readable storage medium, in which computer-executable instructions are stored, and the computer-executable instructions are loaded and executed by a processor to execute the above-mentioned method for detecting illegally parked vehicles in this embodiment.

[0075] Optionally, in this embodiment, the above storage medium can be located in at least one of multiple network servers in a computer network. Optionally, in this embodiment, the above storage medium may include, but is not limited to: USB flash drive, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disc and other various media that can store program codes.

[0076] This embodiment also provides an intelligent bookshelf device, the device includes a processor and a memory, wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to execute the above-mentioned method for detecting illegally parked vehicles in this embodiment.

[0077] The device can be a detection device, a client or a server, and the device can also participate in constituting the device or system provided in the embodiments of the present invention. Such as Figure 7As shown, the intelligent bookshelf 11 may include one or more processors 1102 (illustrated as 1102a, 1102b, …… 1102n in the figure) (the processor 1102 may include, but is not limited to, processing devices such as a microprocessor MCU or a field-programmable gate array FPGA), a memory 1104 for storing data, and a transmission device 1106 for communication functions. In addition, it may further include: a display, an input / output interface (I / O interface), a network interface, a power supply, and / or a camera. Those of ordinary skill in the art can understand that Figure 7 The structure shown is only schematic and does not limit the structure of the above electronic device. For example, the detection device 11 may further include more or fewer components than Figure 7 shown herein, or have a different configuration from Figure 7 shown.

[0078] The memory 1104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the method described in the embodiments of the present invention. The processor 1102 executes various functional applications and data processing by running the software programs and modules stored in the memory 1104, that is, implements the above-mentioned method for information pushing. The memory 1104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory 1104 may further include a memory remotely disposed relative to the processor 1102, and these remote memories can be connected to the detection device 11 through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0079] The transmission device is used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by a communication provider of a mobile terminal. In one instance, the transmission device includes a network interface controller (NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the transmission device may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0080] This specification provides method operation steps as described in the embodiments or flowcharts, but may include more or fewer operation steps based on routine or non-creative labor. The steps and sequences listed in the embodiments are only one way among the execution sequences of numerous steps and do not represent the only execution sequence. In actual execution of a system or interrupt product, it can be executed in the order shown in the embodiments or the drawings, or executed in parallel (such as in an environment of parallel processors or multi-threaded processing).

[0081] The structure shown in this embodiment is only a part of the structure related to the solution of this application, and does not constitute a limitation on the device to which the solution of this application is applied. The specific device may include more or fewer components than those shown, or combine certain components, or have a different arrangement of components. It should be understood that the methods, devices, etc. disclosed in this embodiment can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the modules is only a division of logical functions. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, indirect coupling or communication connection of devices or unit modules.

[0082] Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0083] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this specification can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0084] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. This disclosure is not limited to the exact structure described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is only limited by the appended claims. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these changes and modifications.

Claims

1. A method for detecting illegally parked vehicles, characterized in that, The steps include; Obtain illegal parking area information, where the illegal parking area information is the road where parking is prohibited and the prohibited parking time; Judge whether the detection terminal is in the illegal parking area. If so, obtain the vehicle information on the right side of the forward direction of the detection terminal; Judge whether the vehicle is in a parked state according to the vehicle information and the real-time speed of the detection terminal. If so, mark it as a suspicious vehicle; Obtain the position information where the suspicious vehicle is parked, and judge whether it is in the illegal parking area according to the position information. If so, determine that the suspicious vehicle is an illegally parked vehicle; otherwise, it is not an illegally parked vehicle.

2. The detection method of illegally parked vehicles according to claim 1, wherein The specific steps for judging whether the detection terminal is in the illegal parking area are as follows: Mark the determined prohibited parking area on the electronic map to obtain the electronic version of the prohibited parking road; According to the real-time position of the detection terminal, judge by matching the real-time position with the electronic version of the prohibited parking road. When the real-time position is within the prohibited parking road, the detection terminal is in the illegal parking area.

3. The detection method of illegally parked vehicles according to claim 2, wherein After obtaining the vehicle information, it is also necessary to judge whether the vehicle information meets the requirements. The specific steps include: Through the detection device, obtain at least two image information respectively in the same prohibited parking area; Obtain the interval between the two image information, and judge whether the two image information meets the requirements according to the interval. If so, the vehicle is an illegally parked vehicle.

4. The detection method of illegally parked vehicles according to claim 1, characterized in that, The specific steps for judging whether the detection terminal is in the illegal parking area. If so, obtain the vehicle information on the right side of the forward direction of the detection terminal are as follows: Obtain the trigger information, where the trigger information is the information sent by the switch device; Determine the illegal parking area according to the trigger information, obtain the trigger time of the trigger information, and obtain the vehicle information on the right side of the forward direction of the detection terminal according to the trigger time.

5. The detection method of the illegally parked vehicle according to claim 1, wherein, The steps for judging whether the vehicle is in a parked state according to the vehicle information and the real-time speed of the detection terminal include: Obtain the real-time speed of the detection device and compare the real-time speed with the speed threshold; Obtain multiple consecutive images of the vehicle, where the multiple consecutive images are multiple images of the vehicle within a certain period of time; Identify the vehicle according to the multiple consecutive images, and obtain the distance of the vehicle relative to the detection device in the image, and calculate the speed of the vehicle according to the distance; Judge whether the vehicle is in a stopped state by judging the speed difference between the real-time speed and the vehicle according to the speed difference.

6. The detection method of the illegally parked vehicle according to claim 5, characterized in that, The threshold speed is controlled at 25 km / h.

7. The detection method of illegally parked vehicles according to claim 1, characterized in that, The steps for obtaining the position information where the suspicious vehicle is parked and judging whether it is in the illegal parking area according to the position information include: Obtain the parking position of the vehicle, where the parking position is the position where the vehicle is located analyzed from the image information; Judge whether the parking position of the vehicle is on the motor vehicle driving road. If so, the vehicle is an illegally parked vehicle.

8. A detection device for illegally parked vehicles, characterized in that, The device includes: Area acquisition module: Obtain illegal parking area information, where the illegal parking area information is the road where parking is prohibited and the prohibited parking time; Image acquisition module: Judge whether the detection terminal is in the illegal parking area. If so, obtain the vehicle information on the right side of the forward direction of the detection terminal; Speed judgment module: Judge whether the vehicle is in a parked state according to the vehicle information and the real-time speed of the detection terminal. If so, mark it as a suspicious vehicle; Location judgment module: Obtain the location information of the suspected vehicle's parking. Determine whether it is in a non-compliant parking area based on the location information. If so, determine the suspected vehicle as a non-compliant parking vehicle; otherwise, it is not a non-compliant parking vehicle.

9. A detection device, characterized in that, The device includes a processor and a memory. At least one instruction, at least one program, a code set or an instruction set is stored in the memory. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement a method for detecting a non-compliant parking vehicle according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, Computer-executable instructions are stored in the storage medium. The computer-executable instructions are loaded and executed by the processor to implement a method for detecting a non-compliant parking vehicle according to any one of claims 1-7.

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