Parking lot navigation system and method, equipment and medium

Abstract

The invention relates to the technical field of parking lot navigation, and provides a parking lot navigation system and method, equipment and a medium, according to the scheme, cameras are arranged at the entrance and the interior of a parking lot respectively to collect video streams containing target vehicles, LED lamps are arranged in the parking lot, and the video streams collected by the cameras are transmitted to a control device; and enabling the control device to generate an optimal guide route for the target vehicle to run to the target parking space in the parking lot based on the video stream acquired by the camera, generating a control scheme of the LED lamp in the parking lot according to the optimal guide route, and displaying the optimal guide route by the LED lamp according to the control scheme. According to the parking lot navigation system, the camera, the control device and the LED lamp are adopted to design the parking lot navigation system, so that the parking lot navigation system does not need to be networked with other external equipment, and accurate parking navigation in a parking lot can be completed by matching the simple camera with other equipment in the system; the parking experience of the user is improved, and the cost of intelligent parking is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of parking lot navigation, and in particular to a parking lot navigation system and method, equipment and medium. BACKGROUND

[0002] With the continuous growth of the number of vehicles in China and the increasing size of parking lots, the problems of difficulty in parking and difficulty in finding a car are particularly prominent. When a car owner drives into a busy parking lot, it is difficult to find an empty parking space. Usually, the car is driven around. The existing intelligent parking system relies on structured light, radar, RFID or APP navigation. However, this kind of parking relying on external devices (such as mobile phone App) networking needs high-cost hardware deployment such as radar, geomagnetic, ultrasonic wave, etc., and the user experience is complex and unstable.

[0003] Therefore, there is an urgent need for a low-cost parking lot navigation solution that does not rely on external devices for intelligent parking. SUMMARY

[0004] The present application provides a parking lot navigation system and method, equipment and medium to solve the problem that the existing intelligent parking system needs to rely on external devices (such as mobile phone App) networking for parking, which has complex and unstable user experience and needs high-cost hardware deployment.

[0005] The first aspect of the present application provides a parking lot navigation system, which comprises a plurality of cameras, a control device and a plurality of LED lamps, wherein: Some of the cameras are installed at the entrance of the parking lot to obtain video streams at the entrance of the parking lot, and the other cameras are installed inside the parking lot to obtain video streams inside the parking lot, wherein the video streams include target vehicles; The control device is configured to generate an optimal guidance route for the target vehicle to drive to a target parking space inside the parking lot based on the video streams obtained by the plurality of cameras, and generate a control scheme for the LED lamps inside the parking lot according to the optimal guidance route; The plurality of LED lamps are installed inside the parking lot and are configured to display the optimal guidance route according to the control scheme to guide the target vehicle to the target parking space.

[0006] In some embodiments of the present application, the control device comprises: a parking lot map generation module configured to construct global map position information of the parking lot based on the video streams obtained by the plurality of cameras, and construct a route topology map inside the parking lot based on the global map position information; a target recognition module configured to recognize the target vehicle in the video stream to obtain license plate information, and find a target parking space for the target vehicle according to the license plate information; The location awareness module is used to calculate the global location coordinates of the target vehicle within the parking lot based on one or more video streams containing the target vehicle. The route planning module is used to calculate one or more guiding routes for the target vehicle to travel to the target parking space based on the global location coordinates of the target vehicle in the parking lot, and to calculate the travel cost of each guiding route based on the route topology map, and to select the guiding route with the lowest travel cost as the optimal guiding route for the target vehicle to travel to the target parking space. The LED guidance control module is used to generate a control scheme for the LED lights in the parking lot based on the optimal guidance route.

[0007] In some embodiments of this application, the global map location information includes route intersections, entrances, exits, and passable routes, and: The parking lot map generation module is configured to construct a route topology map with route intersections, entrances, and exits as nodes and passable routes as edges, and preset route attributes for the edges, including route distance, congestion level, turning angle penalty, slope, width, and driving direction. The route planning module is configured to calculate the travel cost of each guiding route in the following manner:

[0008] in, Indicates the first The cost of navigating the designated route. , , , , , , All are preset weight hyperparameters. Indicates the first The distance of the guide route, Indicates the first The congestion level of the guide route. Indicates the first Penalty for turning angles on the guide route. No. The slope of the guide route, Indicates the first The width of the guide route, Indicates the first The direction of travel for the guide route. Indicates the first The preset driving priority of the guide route.

[0009] In some embodiments of the present application, the path planning module is further configured to: during the driving of the target vehicle, acquire position coordinates of a plurality of discrete points on the route currently driven by the target vehicle, and based on the position coordinates of the plurality of discrete points and the global position coordinates of the target vehicle in the parking lot, determine whether the target vehicle deviates from the optimal guiding route, and when deviating, re-generate the optimal guiding route for the target vehicle to drive to the target parking space.

[0010] In some embodiments of the present application, the target identification module is configured to find the target parking space for the target vehicle in the following way: determine whether the target vehicle has a fixed parking space in the parking lot according to the license plate information, and if so, take the fixed parking space as the target parking space; otherwise, find the target parking space for the target vehicle according to preset parking space attributes, wherein the parking space attributes at least include the area where the parking space is located, the distance between the parking space and the elevator, and the distance between the parking space and the exit, and the target parking space can be adjusted in real time according to the driving condition of the vehicles in the parking lot.

[0011] In some embodiments of the present application, the LED guiding control module is configured to, when the optimal guiding routes of multiple vehicles in the parking lot simultaneously use the same LED light, control the display color of the LED light according to the distance between the vehicle and the LED light, or control the LED light to display different colors in turn at preset time intervals.

[0012] In some embodiments of the present application, the target person is also included in the video stream, and the system further comprises a reverse car searching interactive screen and a face recognition camera, and The control device is further configured to: identify the target person in the video stream to obtain face information, assign an identification ID to the face information and the license plate information, and based on the license plate information input by the target person on the reverse car searching interactive screen, generate a reverse car searching optimal guiding route and feed it back to the reverse car searching interactive screen, or based on the video stream containing the target person and the identification ID at the difference place of the reverse car searching interactive screen obtained by the face recognition camera, generate a reverse car searching optimal guiding route and feed it back to the reverse car searching interactive screen. The camera installed at the target parking space is configured to, after identifying that the target vehicle is parked at the target parking space, transmit the license plate information, the parking space number of the target parking space, and the face information to the control device. The face recognition camera is installed at the reverse car searching interactive screen and is used to acquire the video stream containing the target person at the difference place of the reverse car searching interactive screen and transmit it to the control device. The reverse car searching interactive screen is configured to transmit the license plate information input by the target person to the control device, and display the reverse car searching optimal guiding route fed back by the control device.

[0013] The second aspect of the present application provides a parking lot navigation method, the method is executed by the system of any one of the above embodiments, and the method comprises the following steps: obtaining a video stream at a parking lot entrance and a video stream in the parking lot, wherein the video stream is obtained by a camera; generating an optimal guidance route of the target vehicle driving to a target parking space in the parking lot based on all the video streams, and generating a control scheme of the LED lights in the parking lot according to the optimal guidance route; displaying the optimal guidance route according to the control scheme to guide the target vehicle to the target parking space.

[0014] The third aspect of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the method of the second aspect in the above embodiments.

[0015] The fourth aspect of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method of the second aspect in the above embodiments.

[0016] The present application has the following beneficial effects: The present application collects the video stream containing the target vehicle by deploying the camera at the entrance and inside the parking lot, and deploys the LED lights in the parking lot, and transmits the video stream collected by the camera to the control device, so that the control device generates the optimal guidance route of the target vehicle driving to the target parking space in the parking lot based on the video stream collected by the camera, and generates the control scheme of the LED lights in the parking lot according to the optimal guidance route, and the LED lights display the optimal guidance route according to the control scheme to guide the target vehicle to the target parking space. The present application designs the parking lot navigation system by using the camera, the control device and the LED lights, so that the parking lot navigation system of the present application does not need to be connected with other external devices, and the precise parking navigation in the parking lot can be completed by the simple camera cooperating with other devices in the system, which improves the parking experience of the user and reduces the cost of intelligent parking. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings incorporated into the specification and forming part of the specification, show the embodiments consistent with the present application, and together with the specification, serve to explain the technical solutions of the present application.

[0018] Figure 1 is the first embodiment framework schematic diagram of the parking lot navigation system provided by the present application; Figure 2 is the second embodiment framework schematic diagram of the parking lot navigation system provided by the present application; Figure 3is a third embodiment framework schematic diagram of a parking lot navigation system provided by the present application; Figure 4 is a fourth embodiment framework schematic diagram of a parking lot navigation system provided by the present application; Figure 5 is a first embodiment flow schematic diagram of a parking lot navigation method provided by the present application; Figure 6 is a first embodiment framework schematic diagram of an electronic device provided by the present application; Figure 7 is a first embodiment framework schematic diagram of a computer readable storage medium provided by the present application. DETAILED DESCRIPTION

[0019] The scheme of the embodiments of the present application will be described in detail below with reference to the accompanying drawings of the specification.

[0020] In the following description, specific details are set forth in order to provide a thorough understanding of the present application, but the present application can be practiced without these details. In other instances, well-known methods, structures and techniques have not been described in detail in order to avoid obscuring the present application.

[0021] The term "and / or" herein merely describes an associated relationship between associated objects, and means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " herein generally means that the front and rear associated objects are in an "or" relationship. In addition, "multiple" herein means two or more than two. In addition, the term "at least one" herein means any one of multiple or any combination of at least two of multiple, for example, including at least one of A, B and C can mean including any one or more elements selected from the set consisting of A, B and C.

[0022] As described in the background, existing intelligent parking systems mostly rely on structured light, radar, RFID or APP navigation, but this kind of dependence on external devices (such as mobile phone App) networking to realize parking is complex and unstable for user experience, and requires high-cost hardware deployment such as radar, geomagnetic, ultrasonic wave, etc. Therefore, there is an urgent need for a low-cost parking lot navigation scheme that can realize intelligent parking without relying on external devices.

[0023] To this end, the present application proposes a new navigation system, which comprises a camera, a control device and an LED lamp, wherein the camera is deployed at the entrance and inside the parking lot to collect video streams containing target vehicles to the control device, and the optimal guiding route of the target vehicle driving to the target parking space inside the parking lot is obtained, so that the parking lot navigation system of the present application does not need to be connected with other external devices, and the precise parking navigation inside the parking lot can be completed by the cooperation of the simple camera and other devices in the system, which improves the user's parking experience and reduces the cost of intelligent parking.

[0024] To better understand this application, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments.

[0025] I. Parking Plan According to one embodiment of this application, a parking lot navigation system is proposed, such as... Figure 1 As shown, the system includes: multiple cameras, a control device, and multiple LED lights. Some cameras are installed at the entrance of the parking lot to acquire video streams from the entrance, while others are installed inside the parking lot to acquire video streams from within the parking lot. The video streams include the target vehicle. The control device generates an optimal guidance route for the target vehicle to reach the target parking space based on the video streams acquired by the multiple cameras, and generates a control scheme for the LED lights within the parking lot based on the optimal guidance route. Multiple LED lights are installed inside the parking lot to display the optimal guidance route according to the control scheme, thereby guiding the target vehicle to the target parking space.

[0026] The camera and LED lights are respectively connected to the control device for communication.

[0027] As described above, the embodiments of this application deploy cameras at the entrance and inside the parking lot to capture video streams containing the target vehicle, and deploy LED lights within the parking lot. The video streams captured by the cameras are transmitted to a control device, which generates an optimal guidance route for the target vehicle to reach the target parking space based on the video streams. The control device then generates a control scheme for the LED lights within the parking lot based on the optimal guidance route. The LED lights display the optimal guidance route according to the control scheme, guiding the target vehicle to the target parking space. This application's parking lot navigation system design using cameras, a control device, and LED lights eliminates the need for networking with other external devices. Furthermore, it achieves accurate parking navigation within the parking lot using only a simple camera in conjunction with other devices in the system, improving the user's parking experience and reducing the cost of smart parking.

[0028] The control device and LED lights will be described in detail below.

[0029] (a) Control device According to one embodiment of this application, such as Figure 2As shown, the control device comprises: a parking lot map generation module, configured to construct global map position information of the parking lot based on video streams obtained by the plurality of cameras, and construct a route topology map in the parking lot based on the global map position information; a target recognition module, configured to recognize a target vehicle in the video stream to obtain license plate information, and search for a target parking space for the target vehicle according to the license plate information; a position perception module, configured to calculate global position coordinates of the target vehicle in the parking lot according to one or more video streams in which the target vehicle exists; a path planning module, configured to calculate one or more guide routes for the target vehicle to travel to the target parking space according to the global position coordinates of the target vehicle in the parking lot, calculate a travel cost of each guide route according to the route topology map, and take the guide route corresponding to the lowest travel cost as the optimal guide route for the target vehicle to travel to the target parking space; and an LED guide control module, configured to generate a control scheme of the LED lights in the parking lot according to the optimal guide route.

[0030] As can be known from the above embodiments, the target recognition module is configured to perform non-aware recognition on the target vehicle in the video stream, the position perception module is configured to obtain the global position coordinates of the target vehicle in the parking lot in real time (the global position coordinates correspond to the real-time position of the target vehicle in the parking lot), and the path planning module is configured to dynamically generate the optimal guide route for the target vehicle to travel to the target parking space according to the global position coordinates of the target vehicle in the parking lot. This scheme of updating the optimal guide route for the target vehicle to travel to the target parking space in real time according to the real-time position of the target vehicle during the travel of the target vehicle to the target parking space realizes real-time path planning and guidance, and improves the accuracy of navigation.

[0031] The functions performed by each module in the control system will be described below.

[0032] 1. Parking lot map generation module According to an embodiment of the present application, the video stream comprises images, and the parking lot map generation module is configured to extract local coordinates of feature points of the images in the video stream obtained by the plurality of cameras in a local coordinate system, establish a global coordinate system based on the scene of the parking lot, and map the local coordinates of the feature points in the images to the global coordinate system to construct the global map position information of the parking lot.

[0033] According to an embodiment of the present application, the global map position information comprises route intersection points, entrances, exits, and passable routes, and the parking lot map generation module is further configured to construct the route topology map with the route intersection points, the entrances, and the exits as nodes and the passable routes as edges, and preset route attributes for the edges, the route attributes comprising distance, congestion degree, turning angle penalty, slope, width, and driving direction of the route.

[0034] From the above embodiments, the embodiments of the present application can efficiently and accurately construct the global map position information of the parking lot by extracting the feature points of the images in the video stream and mapping the local coordinates of the feature points to the global coordinate system, and can construct the route topology graph by taking the route intersection points, entrances and exits as nodes and the passable routes as edges, and preset the route attributes such as distance, congestion degree, turning angle penalty, slope, width and driving direction for the edges, thereby significantly improving the intelligent level of parking lot management, optimizing the vehicle navigation efficiency, reducing congestion, and providing more accurate and convenient parking guidance services for users.

[0035] 2. Target identification module According to an embodiment of the present application, the target identification module is configured to find the target parking space for the target vehicle in the following manner: judging whether the target vehicle has a fixed parking space in the parking lot according to the license plate information, and if so, taking the fixed parking space as the target parking space; otherwise, finding the target parking space for the target vehicle according to preset parking space attributes, wherein the parking space attributes at least include the area where the parking space is located, the distance between the parking space and the elevator, and the distance between the parking space and the exit, and the target parking space can be adjusted in real time according to the vehicle driving conditions in the parking lot.

[0036] For example, the target person selects the target parking space for the target vehicle by presetting the area where the parking space is located, so that the target vehicle wants to park in the A area, or the B area, or the C area, etc. of the parking lot, and presets the distance between the parking space and the elevator, the distance between the parking space and the exit, etc.

[0037] From the above description, the embodiments of the present application can intelligently find the target parking space based on the attributes such as the area where the parking space is located, the distance to the elevator or the exit, etc. if the target vehicle does not have a fixed parking space, and can adjust the target parking space in real time according to the vehicle driving conditions in the parking lot, which not only improves the flexibility and efficiency of parking space allocation, but also optimizes the user parking experience, reduces the time for finding parking spaces, reasonably utilizes parking resources, and improves the intelligent level of parking lot management and service quality.

[0038] According to an embodiment of the present application, the target identification module is further configured to identify the target vehicle in the video stream by using a target detection method to obtain the license plate information.

[0039] 3. Position perception module According to an embodiment of the present application, the position perception module is configured to calculate the global position coordinates of the target vehicle in the parking lot by using a multi-view Figure Three According to an embodiment of the present application, the multi-view Figure ThreeThe angle measurement method is: calibrating multiple cameras to obtain their intrinsic parameters (such as focal length, principal point coordinates, etc.) and extrinsic parameters (the position and attitude of the camera in the world coordinate system), and aligning the coordinate systems of all cameras to the global coordinate system of the parking lot; in the video stream obtained by each camera, a target detection algorithm (such as YOLO, SSD, etc.) is used to detect the target vehicle, and feature points (such as car lights, license plate corners, etc.) of the target vehicle are extracted; in the images of different cameras, the extracted feature points are matched, so that each feature point corresponds to the same physical point in the images of different cameras; for the matched feature points, the global position coordinates of the feature points in the global coordinate system are calculated by using the principle of triangulation combined with the intrinsic and extrinsic parameters of the cameras; the global position coordinates of the multiple feature points calculated are fused to obtain the global position coordinates of the target vehicle in the parking lot.

[0040] As can be known from the above description, the above embodiments of the application can make full use of the multi-view information provided by multiple cameras to accurately calculate the real-time position of the target vehicle in the parking lot, and provide reliable data support for path planning and parking management.

[0041] 4. Path planning module According to an embodiment of the application, when the camera at the entrance of the parking lot obtains a video stream containing the target vehicle, the global position coordinates of the target vehicle in the parking lot are calculated to obtain one or more guide routes for the target vehicle to drive to the target parking space, the driving cost of each guide route is calculated according to the route topology map, and the guide route corresponding to the lowest driving cost is taken as the optimal guide route for the target vehicle to drive to the target parking space, wherein the global position coordinates of the target vehicle in the parking lot refer to the position coordinates at the entrance of the parking lot; when the camera in the parking lot obtains a video stream containing the target vehicle, the global position coordinates of the target vehicle in the parking lot are calculated to obtain one or more guide routes for the target vehicle to drive to the target parking space, the driving cost of each guide route is calculated according to the route topology map, and the guide route corresponding to the lowest driving cost is taken as the optimal guide route for the target vehicle to drive to the target parking space, wherein the global position coordinates of the target vehicle in the parking lot refer to the real-time position coordinates of the target vehicle driving into the parking lot.

[0042] As can be known from the above description, the embodiments of the application can obtain the global position coordinates of the target vehicle in real time through the path planning module, calculate the driving cost of multiple guide routes in combination with the route topology map, and select the route with the lowest driving cost as the optimal guide route, which can significantly improve the accuracy and efficiency of vehicle navigation, reduce the driving time and congestion of vehicles in the parking lot, and at the same time provide dynamic and real-time optimal path guidance for users, thereby improving the parking experience and the intelligent level of parking lot management.

[0043] In one embodiment of this application, the route planning module is configured to calculate the travel cost of each guiding route in the following manner:

[0044] in, Indicates the first The cost of navigating the designated route. , , , , , , All are preset weight hyperparameters. Indicates the first The distance of the guide route, Indicates the first The congestion level of the guide route. Indicates the first Penalty for turning angles on the guide route. No. The slope of the guide route, Indicates the first The width of the guide route, Indicates the first The direction of travel for the guide route. Indicates the first The preset driving priority of the guide route.

[0045] As described above, the embodiments of this application comprehensively consider multiple factors such as route distance, congestion, turning angle penalty, slope, width and driving direction to calculate the driving cost of the target vehicle to the target parking space. This can plan the optimal route for the vehicle, significantly improve navigation efficiency, reduce driving time and energy consumption, and optimize the utilization rate of parking lot resources.

[0046] In one embodiment of this application, the route planning module is further configured to determine whether the target person is a VIP customer based on license plate information or facial information. If so, the driving priority value is set to be greater than that of other ordinary users; otherwise, the driving priority value is set to be less than that of other VIP users.

[0047] As described above, this application embodiment identifies whether a target person is a VIP customer by using license plate information or facial information, and dynamically adjusts the driving priority according to their identity, so that VIP customers can drive on designated routes first, thereby reducing traffic flow on designated routes, optimizing traffic resource allocation, improving the travel experience and efficiency of VIP customers, while taking into account the fairness of ordinary users, and further enhancing the intelligent and humanized service level of parking lot management.

[0048] According to an embodiment of the present application, the path planning module is further configured to obtain position coordinates of a plurality of discrete points on a route currently traveled by the target vehicle during travel of the target vehicle, and determine whether the target vehicle deviates from the optimal guiding route based on the position coordinates of the plurality of discrete points and the global position coordinates of the target vehicle in the parking lot, and re-generate the optimal guiding route for the target vehicle to travel to the target parking space when deviation occurs. Meanwhile, according to an embodiment of the present application, the path planning module is further configured to determine whether the target vehicle deviates from the optimal guiding route in the following manner: subtract the position coordinates of the plurality of discrete points from the global position coordinates of the target vehicle in the parking lot respectively and take absolute values to obtain a plurality of difference values, compare a minimum value in the plurality of difference values with a preset difference value, and determine that the target vehicle deviates from the optimal guiding route when the minimum value is greater than the preset difference value and a duration for which the minimum value is greater than the preset difference value is greater than a preset time period, and otherwise, determine that the target vehicle does not deviate from the optimal guiding route.

[0049] As can be seen from the above description, the embodiments of the present application can re-generate the optimal guiding route in time when the vehicle deviates, ensure the accuracy and real-time performance of navigation, and effectively avoid reduction of travel efficiency or waste of resources caused by deviation of the route, by obtaining the position coordinates of the plurality of discrete points in real time during travel of the target vehicle, and dynamically determining whether the vehicle deviates from the optimal guiding route in combination with the global position coordinates.

[0050] 5. LED guiding control module According to an embodiment of the present application, the LED guiding control module is configured to control display colors of the LED lights according to distances between the vehicles and the LED lights, or control the LED lights to display different colors in turn according to preset time intervals when the optimal guiding routes of a plurality of vehicles in the parking lot need to use the same LED lights.

[0051] For example, the optimal guiding routes of different vehicles specify different colors displayed by the LED lights, and when a certain section in a guiding route simultaneously exists a plurality of vehicles to travel, display colors of the LED lights can be specified according to distances between the vehicles and the LED lights, wherein, display colors specified by the optimal guiding routes of the vehicles with smaller distances to the LED lights are preferentially displayed; or the LED lights of the certain section in the guiding route are controlled to display display colors specified by the optimal guiding routes in turn.

[0052] According to an embodiment of the present application, the control scheme of the LED lights includes that the LED lights are always on when the target vehicle reaches the target parking space, and the LED lights are turned off after the camera of the target parking space recognizes that the target vehicle is parked in the target parking space.

[0053] As can be known from the above description, the embodiments of the present application can effectively avoid conflicts, preferentially provide guidance for vehicles with a closer distance, or fairly allocate resources by taking turns to display different colors, thereby optimizing vehicle traffic efficiency, reducing congestion and confusion, and improving the intelligent management level and user experience of the parking lot, by dynamically controlling the display color of the LED lamp according to the distance between the vehicle and the LED lamp or the preset time interval when multiple vehicles exist in the parking lot at the same time and the optimal guidance route needs to share the same LED lamp.

[0054] According to an embodiment of the present application, the control scheme of the LED lamp includes that the LED lamp is always on when the target vehicle reaches the target parking space, and the LED lamp is turned off after the camera of the target parking space identifies that the target vehicle is parked in the target parking space.

[0055] (ii) Multiple LED lamps According to an embodiment of the present application, the multiple LED lamps are installed on the ground, and / or the wall, and / or the ceiling in the parking lot.

[0056] As can be known from the above description, the embodiments of the present application can provide intuitive visual guidance for vehicles in all directions and multiple angles by installing multiple LED lamps on the ground, the wall and / or the ceiling in the parking lot, cover all areas of the parking lot, and ensure that the guidance information is clear and visible. At the same time, this three-dimensional installation method not only improves the space utilization rate, but also enhances the flexibility and adaptability of the guidance system, can effectively cope with complex parking lot layout and dynamic vehicle traffic demand, and significantly improve the parking efficiency and user experience.

[0057] (iii) Display screen According to an embodiment of the present application, the control scheme of the LED lamp includes the display color of the LED lamp specified when the target vehicle travels the optimal guidance route, and as shown in Figure 3 According to an embodiment of the present application, the control scheme of the LED lamp includes the display color of the LED lamp specified when the target vehicle travels the optimal guidance route, and as shown in

[0058] As can be known from the above description, the embodiments of the present application can intuitively display the license plate information of the target vehicle and the corresponding LED lamp color information when the traffic is heavy, help the target person to quickly identify and follow the exclusive guidance route, and effectively reduce the congestion and misbehavior of vehicles in complex sections by adding a display screen at the complex route and combining the display color control scheme of the LED lamp.

[0059] II. Car search scheme In addition, the inventor found through research that when the car owner needs to find the parking space of his / her vehicle, it is also difficult to find the parking space of his / her vehicle in a large parking lot.

[0060] According to one embodiment of the present application, the video stream further includes a target person, and as shown, the parking lot navigation system further includes a reverse car searching interactive screen, a face recognition camera, and the control device of the present application is further configured to: identify the target person in the video stream to obtain face information, and assign an identification ID to the face information and the license plate information, and generate a reverse car searching optimal guide route based on the license plate information input by the target person on the reverse car searching interactive screen, or the video stream containing the target person at the difference place of the reverse car searching interactive screen and the identification ID obtained by the face recognition camera, and feed back the reverse car searching optimal guide route to the reverse car searching interactive screen; the camera installed at the target parking space is configured to: after identifying that the target vehicle is parked at the target parking space, transmit the license plate information, the parking space number of the target parking space, and the face information to the control device; the face recognition camera is installed at the reverse car searching interactive screen, and is used to obtain the video stream containing the target person at the difference place of the reverse car searching interactive screen and transmit it to the control device; the reverse car searching interactive screen is configured to transmit the license plate information input by the target person to the control device, and display the reverse car searching optimal guide route fed back by the control device. Figure 4

[0061] It should be noted that the reverse car searching optimal guide route generation scheme is consistent with the execution method in the parking scheme, which is not repeated here.

[0062] As can be seen from the above description, the embodiments of the present application realize the double reverse car searching function based on license plate information or face information by combining the face recognition camera, the reverse car searching interactive screen and the parking space camera, can generate an optimal guide route for the target person, and significantly improves the car searching efficiency; at the same time, by associating the license plate information, the parking space number and the face information and assigning an identification ID, the accuracy and reliability of the car searching process are ensured, the problem of car searching difficulty caused by memory confusion or information loss in the traditional car searching method is solved, and a more intelligent and personalized car searching experience is provided for the users of the parking lot.

[0063] In addition, according to one embodiment of the present application, as shown in Figure 5 The present application proposes a parking lot navigation method, which is executed by the system of any of the above embodiments, and the method includes steps S1-S3: S1, obtaining a video stream at the entrance of the parking lot and a video stream in the parking lot, wherein the video stream is obtained by a camera; S2, based on all the video streams, generating an optimal guide route for the target vehicle to drive to the target parking space in the parking lot, and generating a control scheme of the LED lamp in the parking lot according to the optimal guide route; S3, displaying the optimal guide route according to the control scheme to guide the target vehicle to the target parking space.

[0064] ​In summary, compared with the existing intelligent parking system which needs to rely on external equipment (such as a mobile phone App) to realize parking through networking, and needs high-cost hardware deployment to realize intelligent navigation, the navigation system proposed in the application includes a camera, a control device and an LED lamp, wherein the camera is deployed at the entrance and inside the parking lot to collect a video stream containing a target vehicle to the control device to guide the target vehicle to travel to the optimal guide route of the target parking space inside the parking lot, so that the parking lot navigation system of the application does not need to be connected with other external equipment, and through the cooperation of the simple camera with other devices in the system, the precise parking navigation in the parking lot can be completed, the user's parking experience is improved, and the cost of intelligent parking is reduced. This simple hardware device realizes the parking guidance and reverse vehicle search in the parking lot without sensing, and does not need to check the mobile phone during the process. The navigation scheme is safe and intuitive. At the same time, the guide route can be modified in real time according to the traffic congestion in the parking lot, and the efficient operation of the parking lot is maintained.

[0065] Based on the inventive concept of the above-mentioned embodiments, the application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to realize the steps of the method described in the above-mentioned embodiments. The following will be described in detail in combination with Figure 6 .

[0066] As Figure 6 shown, it shows the electronic device 100 of the application, which can specifically include a processor 110 and a memory 120. The memory 120 is coupled to the processor 110.

[0067] The processor 110 is used to control the operation of the electronic device, and the processor 110 can also be called a CPU (Central Processing Unit, central processing unit). The processor 110 can be an integrated circuit chip with signal processing capability. The processor 110 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general-purpose processor can be a microprocessor or the processor 110 can also be any conventional processor or the like.

[0068] The memory 120 is configured to store a computer program, and can be a RAM, a ROM, or other types of storage terminals. Specifically, the memory 120 can include one or more computer-readable storage media, which can be non-transitory or transitory. The memory 120 can further include a high-speed random access memory, and a nonvolatile memory such as one or more disk storage terminals, flash storage terminals. In some embodiments, the non-transitory computer-readable storage medium in the memory 120 is configured to store at least one program code.

[0069] The processor 110 is configured to execute the computer program stored in the memory 120 to implement the methods described in the method embodiments of the present application.

[0070] In some embodiments, the electronic device can further include a peripheral terminal interface 130 and at least one peripheral terminal. The processor 110, the memory 120, and the peripheral terminal interface 130 can be connected through a bus or a signal line. Each peripheral terminal can be connected to the peripheral terminal interface 130 through a bus, a signal line, or a circuit board. Specifically, the peripheral terminal includes at least one of a radio frequency circuit 140, a display screen 150, an audio circuit 160, and a power supply 170.

[0071] The peripheral terminal interface 130 can be used to connect at least one peripheral terminal related to I / O (Input / output) to the processor 110 and the memory 120. In some embodiments, the processor 110, the memory 120, and the peripheral terminal interface 130 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 110, the memory 120, and the peripheral terminal interface 130 can be implemented on a separate chip or circuit board, and the present embodiment is not limited in this regard.

[0072] The radio frequency circuit 140 is configured to receive and send RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 140 communicates with communication networks and other wireless devices through electromagnetic signals. The radio frequency circuit 140 is the communication circuit of the electronic device. The radio frequency circuit 140 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 140 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, an operating personnel identity module, and the like. The radio frequency circuit 140 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G, and 5G), a wireless local area network, and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 140 can also include NFC (Near Field Communication) related circuitry, which is not limited in the present application.

[0073] The display screen 150 is configured to display a UI (User Interface). The UI can include graphics, text, icons, video, and any combination thereof. When the display screen 150 is a touch display screen, the display screen 150 also has the ability to collect touch signals on or above the surface of the display screen 150. The touch signals can be input as control signals to the processor 110 for processing. At this time, the display screen 150 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 150 can be one, arranged on the front panel of the electronic device; in other embodiments, the display screen 150 can be at least two, arranged on different surfaces of the electronic device or in a folding design; in other embodiments, the display screen 150 can be a flexible display screen, arranged on a curved surface or a folding surface of the electronic device. Even, the display screen 150 can also be arranged in an irregular shape, that is, a special-shaped screen. The display screen 150 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and the like.

[0074] The audio circuit 160 can include a microphone and a speaker. The microphone is used to collect sound waves of the operator and the environment, and convert the sound waves into an electrical signal input to the processor 110 for processing, or input to the radio frequency circuit 140 to realize voice communication. For the purpose of stereo sound collection or noise reduction, the microphone can be multiple, respectively arranged at different parts of the electronic device. The microphone can also be an array microphone or an omnidirectional collection type microphone. The speaker is used to convert the electrical signal from the processor 110 or the radio frequency circuit 140 into sound waves. The speaker can be a traditional diaphragm speaker, or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only can the electrical signal be converted into a sound wave that humans can hear, but also can be converted into a sound wave that humans cannot hear for ranging purposes. In some embodiments, the audio circuit 160 can also include a headphone jack.

[0075] The power supply 170 is used to supply power to each component in the electronic device. The power supply 170 can be alternating current, direct current, disposable battery or rechargeable battery. When the power supply 170 includes a rechargeable battery, the rechargeable battery can be a wired charging battery or a wireless charging battery. The wired charging battery is a battery charged through a wired line, and the wireless charging battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0076] For the detailed description of the functions and execution processes of each functional module or component in the electronic device embodiments of the present application, reference can be made to the description of each method embodiment of the present application above, which will not be repeated here.

[0077] In several embodiments provided in the present application, it should be understood that the disclosed electronic device and method can be implemented in other ways. For example, each embodiment of the electronic device described above is only schematic, for example, the division of the module or unit is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some data can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0078] The unit described as a separate component can be or can not be physically separated, and the component displayed as a unit can be or can not be a physical unit, that is, it can be located in one place, or can be distributed on a plurality of network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the present embodiment scheme.

[0079] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0080] Based on the inventive concept of the above embodiments, this application also provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, performs the steps of the method described in any of the above embodiments. The following is in conjunction with... Figure 7 This describes the execution process of the above embodiments on a computer-readable storage medium.

[0081] like Figure 7 As shown, it illustrates the computer-readable storage medium of this application. The integrated units described above, if implemented as software functional units and sold or used as independent products, can be stored in the computer-readable storage medium 200. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the 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 / computer programs to cause an Internet of Things device (which may be a personal computer, server, or network terminal, etc.) or processor to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes various media such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, as well as electronic terminals such as computers, mobile phones, laptops, tablets, and cameras that have the aforementioned storage media.

[0082] The execution process of program data in a computer-readable storage medium can be described with reference to the above-described method embodiments of this application, and will not be repeated here.

[0083] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

[0084] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

Claims

1. A parking lot navigation system characterized by comprising: The system comprises: a plurality of cameras, a control device, a plurality of LED lights, wherein: Part of the cameras are installed at the entrance of the parking lot to obtain video streams at the entrance of the parking lot, and the other part of the cameras are installed in the parking lot to obtain video streams in the parking lot, wherein the video streams include target vehicles; The control device is configured to generate an optimal guiding route for the target vehicle to drive to a target parking space in the parking lot based on the video streams obtained by the plurality of cameras, and generate a control scheme of the LED lights in the parking lot according to the optimal guiding route; A plurality of LED lights are installed in the parking lot to display the optimal guiding route according to the control scheme to guide the target vehicle to the target parking space.

2. The parking facility navigation system of claim 1, wherein, The control device comprises: A parking lot map generation module configured to construct global map position information of the parking lot based on the video streams obtained by the plurality of cameras, and construct a route topology map in the parking lot based on the global map position information; A target recognition module configured to identify the target vehicle in the video streams to obtain license plate information, and find the target parking space for the target vehicle according to the license plate information; A position perception module configured to calculate global position coordinates of the target vehicle in the parking lot according to one or more video streams in which the target vehicle exists; A path planning module configured to calculate one or more guiding routes for the target vehicle to drive to the target parking space according to the global position coordinates of the target vehicle in the parking lot, calculate a driving cost of each guiding route according to the route topology map, and take the guiding route corresponding to the lowest driving cost as the optimal guiding route for the target vehicle to drive to the target parking space; An LED guiding control module configured to generate a control scheme of the LED lights in the parking lot according to the optimal guiding route.

3. The parking facility navigation system of claim 2, wherein, The global map position information includes route intersections, entrances, exits, and passable routes, and: The parking lot map generation module is configured to construct the route topology map with the route intersections, the entrances, and the exits as nodes and the passable routes as edges, and preset route attributes for the edges, the route attributes including distance, congestion degree, turning angle penalty, slope, width, and driving direction of the route; The path planning module is configured to calculate the driving cost of each guiding route in the following manner: in, Indicates the first The cost of navigating the designated route. , , , , , , All are preset weight hyperparameters. Indicates the first The distance of the guide route, Indicates the first The congestion level of the guide route. Indicates the first Penalty for turning angles on the guide route. No. The slope of the guide route, Indicates the first The width of the guide route, Indicates the first The direction of travel for the guide route. Indicates the first The preset driving priority of the guide route.

4. The parking facility navigation system of claim 3, wherein, The path planning module is further configured to, during driving of the target vehicle, obtain position coordinates of a plurality of discrete points on the route currently driven by the target vehicle, and judge whether the target vehicle deviates from the optimal guiding route based on the position coordinates of the plurality of discrete points and the global position coordinates of the target vehicle in the parking lot, and regenerate the optimal guiding route for the target vehicle to drive to the target parking space when deviation occurs.

5. The parking facility navigation system of claim 2, wherein, The target recognition module is configured to find the target parking space for the target vehicle in the following manner: determining whether the target vehicle has a fixed parking space in the parking lot according to the license plate information, and if so, taking the fixed parking space as the target parking space; otherwise, searching for the target parking space for the target vehicle according to preset parking space attributes, wherein the parking space attributes at least include a parking space area, a distance between a parking space and an elevator, and a distance between a parking space and an exit, and the target parking space can be adjusted in real time according to a vehicle driving condition in the parking lot.

6. The parking facility navigation system of claim 2, wherein, The LED guiding control module is configured to, when the optimal guiding route of multiple vehicles in the parking lot at the same time uses the same LED light, control the display color of the LED light according to the distance between the vehicle and the LED light, or control the LED light to display different colors in turn at a preset time interval.

7. The parking facility navigation system of claim 2, wherein, The video stream further includes a target person, and the system further includes a reverse car searching interactive screen and a face recognition camera, and The control device is further configured to: identify the target person in the video stream to obtain face information, assign an identification ID to the face information and the license plate information, and generate a reverse car searching optimal guiding route and feed it back to the reverse car searching interactive screen based on the license plate information input by the target person on the reverse car searching interactive screen, or the video stream containing the target person and the identification ID obtained by the face recognition camera at the reverse car searching interactive screen, and generate a reverse car searching optimal guiding route and feed it back to the reverse car searching interactive screen; The camera installed at the target parking space is configured to, after identifying that the target vehicle is parked at the target parking space, transmit the license plate information, the parking space number of the target parking space, and the face information to the control device; The face recognition camera is installed at the reverse car searching interactive screen and is used to obtain the video stream containing the target person at the reverse car searching interactive screen and transmit it to the control device; The reverse car searching interactive screen is configured to transmit the license plate information input by the target person to the control device, and display the reverse car searching optimal guiding route fed back by the control device.

8. A parking lot navigation method characterized by, The method is performed by using the system of claim 1, and the method comprises the following steps: obtaining a video stream at a parking lot entrance and a video stream in the parking lot, wherein the video stream is obtained by a camera; generating an optimal guiding route for the target vehicle to drive to a target parking space in the parking lot based on all the video streams, and generating a control scheme of the LED light in the parking lot according to the optimal guiding route; displaying the optimal guiding route according to the control scheme to guide the target vehicle to the target parking space.

9. An electronic device, comprising: The computer program is executed by the processor to implement the steps of the method of claim 8.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to implement the steps of the method of claim 8.

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