A method, device and system for detecting a parking space using a combination of magnetic field and microwaves

Abstract

The application discloses a kind of combined magnetic field and microwave parking space detection method, equipment and system, it is related to intelligent sensor technical field.The method comprises: real-time acquisition candidate parking space in each magnetic field sensor's magnetic field intensity signal and each microwave sensor's echo intensity signal;Based on the magnetic field intensity signal of each magnetic field sensor, respectively assess the magnetic field signal availability of each side in candidate parking space;Based on the magnetic field signal availability of each side in candidate parking space and the echo intensity signal of corresponding microwave sensor, respectively assess the first sensor availability of each side in candidate parking space;Based on the first sensor availability of each side in candidate parking space, first magnetic field sensor and first microwave sensor for detecting candidate parking space are screened out;Based on the first magnetic field intensity signal of first magnetic field sensor and the first echo intensity signal of first microwave sensor, determine the parking space detection result of candidate parking space.The application can improve the accuracy of parking space detection.

Description

Technical Field

[0001] This invention relates to the field of intelligent sensor technology, specifically to a parking space detection method, device, and system that combines magnetic fields and microwaves. Background Technology

[0002] To improve parking lot management efficiency, optimize parking resource allocation, and shorten parking space search time to enhance user experience, the application of intelligent parking space detection technology is crucial. Among these technologies, the combined magnetic field and microwave detection solution demonstrates significant advantages.

[0003] Currently, intelligent sensors collect and process data from magnetic field sensors and microwave sensors in real time. By comparing the dynamic differences between the magnetic field strength signal of the magnetic field sensor and the echo strength signal of the microwave sensor, the occupancy status of parking spaces can be accurately determined.

[0004] However, when large, moving metal objects are present around a parking space, their movement disrupts the magnetic field distribution, interfering with the accuracy of the magnetic field sensor readings. Simultaneously, the scattering, reflection, or absorption of microwave signals by the metal object significantly alters the microwave propagation characteristics, leading to signal attenuation or waveform distortion in the microwave sensor. This dual interference makes it impossible to accurately identify the parking space status, resulting in poor accuracy in parking space detection. Summary of the Invention

[0005] This invention provides a parking space detection method, device, and system that combines magnetic fields and microwaves, which can improve the accuracy of parking space detection.

[0006] A first aspect of the present invention provides a parking space detection method combining a magnetic field and microwaves, the method comprising:

[0007] Real-time acquisition of magnetic field strength signals from each magnetic field sensor and echo intensity signals from each microwave sensor in the candidate parking spaces;

[0008] Based on the magnetic field strength signals from each magnetic field sensor, the availability of magnetic field signals on each side of the candidate parking space is evaluated.

[0009] Based on the availability of the magnetic field signal on each side of the candidate parking space and the echo intensity signal of the corresponding microwave sensor, the availability of the first sensor on each side of the candidate parking space is evaluated respectively.

[0010] Based on the availability of the first sensor on each side of the candidate parking space, the first magnetic field sensor and the first microwave sensor are selected for detecting the candidate parking space.

[0011] The parking space detection result of the candidate parking space is determined based on the first magnetic field strength signal of the first magnetic field sensor and the first echo strength signal of the first microwave sensor.

[0012] Furthermore, the present invention also proposes to evaluate the availability of magnetic field signals on each side of the candidate parking space based on the magnetic field strength signals of each magnetic field sensor, including:

[0013] From all the magnetic field sensors, select the second magnetic field sensor located on the target side of the candidate parking space, where the target side is any side of the candidate parking space;

[0014] The availability of the local magnetic field signal of the second magnetic field sensor is determined by using the difference between the second magnetic field strength signals of the second magnetic field sensor at adjacent times.

[0015] Based on the availability of local magnetic field signals from each second magnetic field sensor, the availability of magnetic field signals on the target side of the candidate parking space is determined.

[0016] Furthermore, the present invention also proposes that the target side of the candidate parking space includes two second magnetic field sensors;

[0017] Based on the availability of local magnetic field signals from each second magnetic field sensor, the availability of magnetic field signals on the target side of the candidate parking space is determined, including:

[0018] The availability of the local magnetic field signals of each of the second magnetic field sensors is accumulated to obtain the first availability assessment value;

[0019] The second availability assessment value is determined by using the difference between the second magnetic field strength signals of the two second magnetic field sensors at various times;

[0020] The availability of the magnetic field signal on the target side of the candidate parking space is determined using the first availability assessment value and the second availability assessment value.

[0021] Furthermore, the present invention also proposes to evaluate the availability of a first sensor on each side of a candidate parking space based on the availability of the magnetic field signal on each side and the echo intensity signal of the corresponding microwave sensor, including:

[0022] Acquire the second magnetic field strength signal of the second magnetic field sensor on the target side of the candidate parking space, and the second echo intensity signal of the second microwave sensor on the target side of the candidate parking space, wherein the target side is any side of the candidate parking space;

[0023] Based on the second magnetic field strength signal and the second echo strength signal, the signal matching degree between the second magnetic field sensor and the second microwave sensor at each time moment is determined respectively;

[0024] Based on the matching degree of each signal and the availability of the magnetic field signal on the target side of the candidate parking space, the availability of the first sensor on the target side of the candidate parking space is determined.

[0025] Furthermore, the present invention also proposes determining the signal matching degree between the second magnetic field sensor and the second microwave sensor at various times based on the second magnetic field strength signal and the second echo strength signal, including:

[0026] Divide the second magnetic field strength signal at the first moment by the second echo strength signal to obtain the first signal ratio at the first moment, and divide the second magnetic field strength signal at the second moment by the second echo strength signal to obtain the second signal ratio at the second moment. The second moment is the moment before the first moment, and the first moment is any moment before the current moment.

[0027] The signal matching degree between the second magnetic field sensor and the second microwave sensor at the first moment is determined by using the first signal ratio and the second signal ratio.

[0028] Furthermore, the present invention also proposes determining the availability of a first sensor on the target side of a candidate parking space based on each signal matching degree and the availability of the magnetic field signal on the target side of the candidate parking space, including:

[0029] The availability of microwave signals on the target side of the candidate parking spaces is determined by using the matching degree of each signal.

[0030] The availability of the first sensor on the target side of the candidate parking space is determined by utilizing the availability of the microwave signal and the availability of the magnetic field signal on the target side of the candidate parking space.

[0031] Furthermore, the present invention also proposes that, after evaluating the availability of the first sensor on each side of the candidate parking space based on the availability of the magnetic field signal on each side and the echo intensity signal of the corresponding microwave sensor, the method further includes:

[0032] Obtain the availability of the second sensor on the opposite side of the target side among the candidate parking spaces; the target side is any side of the candidate parking space.

[0033] By utilizing the availability of the second sensor on the opposite side of the target, the availability of the first sensor on the target side in the candidate parking space is corrected to obtain the corrected sensor availability on the target side in the candidate parking space.

[0034] Based on the availability of the first sensor on each side of the candidate parking spaces, a first magnetic field sensor and a first microwave sensor are selected for detecting the candidate parking spaces, including:

[0035] Based on the availability of modified sensors on each side of the candidate parking spaces, a first magnetic field sensor and a first microwave sensor are selected for detecting the candidate parking spaces.

[0036] Furthermore, the present invention also proposes determining the parking space detection result of a candidate parking space based on the first magnetic field strength signal of the first magnetic field sensor and the first echo intensity signal of the first microwave sensor, including:

[0037] Align the timestamps of the first magnetic field strength signal of the first magnetic field sensor and the first echo strength signal of the first microwave sensor to obtain the aligned magnetic field strength signal and the aligned echo strength signal.

[0038] The alignment magnetic field strength signal is compared with the alignment echo strength signal to obtain the signal comparison result;

[0039] If the signal comparison results indicate that both the alignment magnetic field strength signal and the alignment echo strength signal are abnormal, it is determined that the candidate parking space has been occupied.

[0040] If the signal comparison results indicate that both the alignment magnetic field strength signal and the alignment echo strength signal are normal, the candidate parking space is determined to be an empty space.

[0041] If the signal comparison results indicate that the alignment magnetic field strength signal or the alignment echo strength signal is abnormal, the parking space detection result of the candidate parking space is determined based on the alignment echo strength signal.

[0042] A second aspect of the present invention provides a parking space detection system combining a magnetic field and microwaves, the system comprising:

[0043] The signal acquisition module is used to acquire the magnetic field strength signal of each magnetic field sensor and the echo intensity signal of each microwave sensor in the candidate parking space in real time.

[0044] The first availability assessment module is used to assess the availability of magnetic field signals on each side of the candidate parking space based on the magnetic field strength signals of each magnetic field sensor.

[0045] The second availability assessment module is used to assess the availability of the first sensor on each side of the candidate parking space based on the availability of the magnetic field signal on each side of the candidate parking space and the echo intensity signal of the corresponding microwave sensor.

[0046] A sensor screening module is used to screen out a first magnetic field sensor and a first microwave sensor for detecting candidate parking spaces based on the availability of a first sensor on each side of the candidate parking spaces.

[0047] The parking space detection module is used to determine the parking space detection result of the candidate parking space based on the first magnetic field strength signal of the first magnetic field sensor and the first echo intensity signal of the first microwave sensor.

[0048] A third aspect of the present invention provides a parking space detection device that combines a magnetic field and microwaves, the device comprising: a processor and a memory storing computer program instructions;

[0049] The processor executes computer program instructions to implement the above-mentioned parking space detection method using a combination of magnetic field and microwave.

[0050] The present invention has the following beneficial effects:

[0051] In the parking space detection method combining magnetic field and microwave provided in this invention, signals from each magnetic field sensor and microwave sensor in candidate parking spaces are first acquired in real time. Then, the availability of the magnetic field signal on each side of the candidate parking space is evaluated based on the magnetic field strength signal, which helps identify magnetic field signal areas with varying degrees of interference. Next, the availability of the magnetic field signal and the echo intensity signal of the corresponding microwave sensor are combined to evaluate the availability of the first sensor on each side, further comprehensively considering the interference of both sensor signals. Then, based on the availability of the first sensor, the first magnetic field sensor and the first microwave sensor for detection are selected, excluding sensors with severe interference to ensure the use of relatively reliable sensor data. Finally, the parking space detection result is determined based on the first magnetic field strength signal of the selected first magnetic field sensor and the first echo intensity signal of the first microwave sensor. Thus, because the selected sensors are less susceptible to interference, their signals more accurately reflect the actual occupancy status of the parking space, effectively reducing misjudgments caused by interference from metal objects and improving the accuracy of parking space detection. Attached Figure Description

[0052] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a flowchart illustrating a parking space detection method combining a magnetic field and microwave, provided in one embodiment of the present invention.

[0054] Figure 2 This is a schematic diagram of a magnetic field strength signal provided in one embodiment of the present invention;

[0055] Figure 3 This is a schematic diagram of the echo intensity signal provided in one embodiment of the present invention;

[0056] Figure 4 This is a schematic flowchart of S102 provided in one embodiment of the present invention;

[0057] Figure 5 This is a schematic flowchart of S103 provided in one embodiment of the present invention;

[0058] Figure 6This is a schematic diagram of the structure of a parking space detection system combining a magnetic field and microwaves according to an embodiment of the present invention;

[0059] Figure 7 This is a schematic diagram of the structure of a parking space detection device combining a magnetic field and microwave, provided in one embodiment of the present invention. Detailed Implementation

[0060] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a parking space detection method, device, and system combining a magnetic field and microwave according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0062] It should be noted that the acquisition, storage, use, and processing of data in the technical solution of this invention all comply with the relevant provisions of laws and regulations.

[0063] It should be noted that in the embodiments of the present invention, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of the present invention. However, they do not mean that the applicant has used or necessarily used the solution.

[0064] In traditional parking space detection systems, the combined application of magnetic field sensors and microwave sensors improves detection accuracy by fusing multi-source signals. However, in practical deployments, this approach faces signal reliability issues under dynamic interference environments. Specifically, magnetic field distortion caused by large moving metal objects and microwave signal attenuation create a composite interference pattern, leading to a decrease in sensor data confidence. When a metal object enters the sensing area around a parking space, its ferromagnetic properties cause abnormal fluctuations in the magnetic field strength signal. Simultaneously, the scattering effect of the metal surface on the microwave signal causes phase shifts and amplitude anomalies in the echo intensity signal. The spatiotemporal coupling effect of these two interference sources makes it difficult for traditional detection mechanisms based on fixed thresholds or single sensors to accurately distinguish between real parking events and environmental noise, resulting in misjudgments of parking space status.

[0065] Faced with the aforementioned problems, this invention first recognizes that assessing the reliability of sensor signals under dynamic interference environments is crucial for improving detection accuracy. Traditional solutions employ static fusion strategies for processing sensor data, neglecting the local signal distortion characteristics caused by the movement of metallic objects. To address this, this invention attempts to establish a dynamic sensor availability assessment mechanism, filtering reliable data sources by analyzing the spatiotemporal correlation between magnetic fields and microwave signals. Specifically, considering the susceptibility of magnetic field sensors to interference from metallic objects, a method is proposed to assess the availability of magnetic field signals from different sides, avoiding the impact of global signal fluctuations on the detection logic. Simultaneously, microwave sensor echo intensity is introduced as an auxiliary verification dimension, constructing a collaborative verification system for dual-modal signals. By comparing the matching degree of the two signals in the time series, sensor combinations less susceptible to interference are identified, ultimately forming a dynamically optimized data acquisition strategy.

[0066] In this regard, such as Figure 1 As shown, a flowchart of a parking space detection method combining magnetic field and microwave is provided. This parking space detection method combining magnetic field and microwave can be applied to the server side and may include the following steps S101 to S105.

[0067] S101, real-time acquisition of magnetic field strength signals from each magnetic field sensor and echo intensity signals from each microwave sensor in the candidate parking space;

[0068] S102, based on the magnetic field strength signals of each magnetic field sensor, evaluate the availability of magnetic field signals on each side of the candidate parking space;

[0069] S103, based on the availability of the magnetic field signal on each side of the candidate parking space and the echo intensity signal of the corresponding microwave sensor, evaluate the availability of the first sensor on each side of the candidate parking space respectively.

[0070] S104, based on the availability of the first sensor on each side of the candidate parking space, select the first magnetic field sensor and the first microwave sensor for detecting the candidate parking space.

[0071] S105, based on the first magnetic field strength signal of the first magnetic field sensor and the first echo intensity signal of the first microwave sensor, determine the parking space detection result of the candidate parking space.

[0072] In this embodiment, real-time acquisition of the magnetic field strength signals from each magnetic field sensor and the echo intensity signals from each microwave sensor in the candidate parking space refers to simultaneously acquiring the signal data generated by the magnetic field sensors and microwave sensors deployed on each side of the candidate parking space. This can be achieved using a multi-channel synchronous sampling circuit or a distributed data acquisition unit, processing the output signals of different sensors in parallel to achieve real-time data acquisition. This feature ensures the simultaneous capture of the dynamic changes of both magnetic field and microwave physical quantities, providing fundamental data support for subsequent joint analysis.

[0073] For example, such as Figure 2 The diagram illustrates a magnetic field strength signal. Under normal circumstances, the magnetic field strength signal displays a relatively stable baseline value when the parking space is empty; when a vehicle enters or leaves the parking space, the magnetic field strength signal exhibits rapid and brief fluctuations; and when the vehicle is stationary, the magnetic field strength signal shows an overall offset value.

[0074] like Figure 3 The diagram illustrates an echo intensity signal. The ratio of the magnetic field intensity signal to the echo intensity signal at the same parking space is relatively stable, meaning the ratio at each moment is similar to the ratio at the previous moment.

[0075] Assessing the availability of magnetic field signals on each side of candidate parking spaces involves quantitatively evaluating the stability and reliability of data from single-sided magnetic field sensors. This can be achieved by calculating the variance of the rate of change of magnetic field intensity signals within adjacent time windows or by volatility analysis based on moving averages. The validity of the signal is determined by whether it is interfered with by metallic objects. This feature can identify magnetic field signal distortion caused by environmental interference and eliminate unreliable data sources.

[0076] Assessing the availability of the first sensor on each side of the candidate parking space involves a joint evaluation of the correlation between the availability of the integrated magnetic field signal and the microwave echo intensity signal. This can be achieved using a signal matching degree weighted fusion algorithm or multimodal data correlation analysis based on the covariance matrix. Effective detection nodes are selected by quantifying the coordinated change patterns of the two types of sensor data. This feature assesses the reliability of the sensor combination through cross-modal data complementarity, avoiding misjudgments caused by the failure of a single sensor.

[0077] Selecting the first magnetic field sensor and the first microwave sensor for detecting candidate parking spaces involves choosing the combination with the highest reliability from the sensors deployed on each side of the candidate parking space. This can be achieved using a maximum availability scoring ranking method or a dynamic selection strategy based on threshold determination. The robustness of the detection is improved by updating the optimal sensor combination in real time. This feature enables dynamic optimization of sensor resource allocation, ensuring that the detection system always uses the data source with the strongest anti-interference capability.

[0078] Determining the parking space detection results for candidate parking spaces involves classifying the status based on fused data from selected sensors. This can be achieved using a dual-threshold joint decision mechanism or a time-series matching-based pattern recognition algorithm. The occupancy status of the parking space is determined by simultaneously analyzing abrupt changes in magnetic field strength and microwave echo attenuation characteristics. This feature leverages the spatiotemporal correlation of multi-source data to improve detection accuracy and effectively suppress the influence of environmental interference.

[0079] The core innovation of this invention lies in its dynamic collaborative screening mechanism using magnetic field and microwave sensors. Sensor arrays are independently deployed on each side of a candidate parking space, and the availability of sensors on each side is evaluated in real time. Based on a multimodal data fusion strategy, the optimal sensor combination is selected to determine the parking space status. This method effectively solves the signal distortion problem caused by interference from moving metal objects through a triple approach of side-by-side deployment, side-by-side evaluation, and dynamic screening, significantly improving the accuracy and reliability of parking space detection in complex environments.

[0080] As an example, multiple magnetic field sensors and microwave sensors are installed around candidate parking spaces in an underground parking garage. The magnetic field sensors can be high-sensitivity triaxial magnetometers, and the microwave sensors can be 24GHz Doppler radar. The magnetic field strength signals from each magnetic field sensor and the echo intensity signals from each microwave sensor in the candidate parking space are acquired in real time.

[0081] Next, based on the magnetic field strength signals from each magnetic field sensor, the availability of the magnetic field signal on each side of the candidate parking space is evaluated. Specifically, this step analyzes the signal variation characteristics of each side's magnetic field sensor to determine whether it has been interfered with and lost its reliability. For example, the standard deviation of the magnetic field strength signal within a certain time window is calculated; the smaller the standard deviation, the higher the availability of the magnetic field signal on that side is considered.

[0082] Then, based on the availability of the magnetic field signal on each side of the candidate parking space and the echo intensity signal from the corresponding microwave sensor, the availability of the first sensor on each side of the candidate parking space is evaluated. Specifically, this step involves a comprehensive analysis of the magnetic field intensity signal and the echo intensity signal, and the reliability of the sensor data is further confirmed by comparing the consistency of the two signals. For example, the correlation coefficient between the change in magnetic field intensity and the change in microwave echo intensity is calculated; the higher the correlation coefficient, the better the availability of the first sensor.

[0083] Based on the availability of the first sensor on each side of the candidate parking spaces, the first magnetic field sensor and the first microwave sensor are selected for detecting the candidate parking spaces. Specifically, this step selects the sensor combination with the highest availability of the first sensor to ensure the accuracy of subsequent detection results.

[0084] Finally, based on the first magnetic field strength signal from the first magnetic field sensor and the first echo intensity signal from the first microwave sensor, the parking space detection result of the candidate parking space is determined. Specifically, this step determines whether the parking space is occupied by analyzing the most reliable sensor data selected. For example, using the selected most reliable sensor data, a machine learning algorithm (such as support vector machine) is used to train a parking space status classification model. The model takes the time-series characteristics of the magnetic field strength signal and the echo intensity signal as input and outputs the probability of parking space occupancy. Thus, based on the output of the parking space status classification model, it is determined whether the candidate parking space is occupied. If the occupancy probability exceeds a set threshold (historical data such as occupancy probability and specific parking space occupancy status can be obtained in advance through experiments, and the specific value of the set threshold can be determined by statistical analysis of the historical data. For example, the minimum occupancy probability corresponding to the parking space being occupied in the historical data can be determined; if the minimum occupancy probability is set to 0.8, then the minimum occupancy probability of 0.8 is used as the specific value of the set threshold), it is determined to be occupied; otherwise, it is determined to be vacant.

[0085] As another example, if magnetic field sensors are installed at the four diagonal positions of a candidate parking space, each sensor corresponds to one side of the candidate parking space. Comparisons are made between every two magnetic field sensors, and the sensor with the highest average availability is selected as the first magnetic field sensor. For microwave sensors, the same method can be used to select the first microwave sensor.

[0086] Specifically, if magnetic field sensor A corresponds to the a-th and b-th sides of the candidate parking space, and magnetic field sensor B corresponds to the c-th and d-th sides of the candidate parking space, then the magnetic field sensor with the higher average availability value among magnetic field sensor A and magnetic field sensor B can be selected using the following formula 1:

[0087] Formula 1

[0088] In Formula 1, max is used to represent selecting the maximum value. The availability of the first sensor on the a-th side of the candidate parking space is used to characterize the availability of the first sensor. The availability of the first sensor on the b-th side of the candidate parking space is used to characterize the availability of the first sensor. The availability of the first sensor on the c-th side of the candidate parking space is used to characterize the availability of the first sensor. The availability of the first sensor is used to characterize the d-th side of the candidate parking space.

[0089] The higher the average availability of the first sensor, the less susceptible the sensor is to external interference, the more stable and reliable the data is, and the more suitable it is for detecting the parking status of candidate parking spaces.

[0090] This embodiment first acquires the signals from each magnetic field sensor and microwave sensor in the candidate parking spaces in real time. Then, based on the magnetic field strength signal, the availability of the magnetic field signal on each side of the candidate parking space is evaluated, which helps identify magnetic field signal areas with varying degrees of interference. Next, combining the availability of the magnetic field signal and the echo intensity signal of the corresponding microwave sensor, the availability of the first sensor on each side is evaluated, further comprehensively considering the interference levels of both sensor signals. Then, based on the availability of the first sensor, the first magnetic field sensor and the first microwave sensor for detection are selected, excluding sensors with severe interference to ensure the use of relatively reliable sensor data. Finally, based on the first magnetic field strength signal of the selected first magnetic field sensor and the first echo intensity signal of the first microwave sensor, the parking space detection result is determined. Thus, because the selected sensors are less susceptible to interference, their signals more accurately reflect the actual occupancy status of the parking space, effectively reducing misjudgments caused by interference from metal objects and improving the accuracy of parking space detection.

[0091] In some of the above-mentioned solutions of the present invention, when evaluating the availability of the magnetic field signal on each side of the candidate parking space, the judgment is based solely on the magnetic field strength signal at a single moment. This makes it difficult to effectively identify instantaneous signal fluctuations caused by dynamic changes in the environment. For example, a sudden change in the magnetic field caused by the passing of a large moving metal object may be misjudged as a valid signal change, resulting in a deviation between the availability assessment results and the actual scenario.

[0092] In this regard, such as Figure 4 As shown, the present invention further proposes that S102 may specifically include the following S401 to S403:

[0093] S401, Select the second magnetic field sensor located on the target side of the candidate parking space from among the magnetic field sensors. The target side is any side of the candidate parking space.

[0094] S402, using the difference between the second magnetic field strength signals of the second magnetic field sensor at adjacent times, determine the availability of the local magnetic field signal of the second magnetic field sensor;

[0095] S403, based on the availability of local magnetic field signals of each second magnetic field sensor, determine the availability of magnetic field signals on the target side of the candidate parking space.

[0096] In this embodiment, the selection of the second magnetic field sensor is achieved through position coordinate matching or a preset installation layout, ensuring that the selected second magnetic field sensor covers the target detection area. The difference between the second magnetic field strength signals at adjacent time points is calculated using a sliding time window method, with the window width set to 100-500 milliseconds to capture the dynamic trend of magnetic field strength changes. The availability of the magnetic field signal on the target side can be obtained by fusing the local magnetic field signal availability of each second magnetic field sensor using a weighted average algorithm, with the weights dynamically adjusted according to the distance between the second magnetic field sensor and the parking space boundary.

[0097] As an example, first, select the second magnetic field sensor from among the various magnetic field sensors, choosing one located on the target side of the candidate parking space. The target side can be any side of the candidate parking space. For example, in a rectangular parking space, either the left or right side of the space can be selected as the target side. Assuming the left side is selected as the target side, the two magnetic field sensors on the left side are selected as the second magnetic field sensors.

[0098] The availability of the local magnetic field signal from the second magnetic field sensor is then determined by using the difference between the second magnetic field intensity signals at adjacent times. Specifically, the availability of the local magnetic field signal from the second magnetic field sensor can be determined using the following formula 2:

[0099] Formula 2

[0100] In formula 2, The availability of the local magnetic field signal of the first second magnetic field sensor on the a-th side of the candidate parking space. The second magnetic field strength signal of the first second magnetic field sensor on the a-th side of the candidate parking space at time i. The second magnetic field strength signal of the first second magnetic field sensor on the a-th side of the candidate parking space at time i-1. The function is used to characterize the exponential function with base e, N is used to characterize the second magnetic field strength signal collected by the second magnetic field sensor on the a-th side of the candidate parking space for N time moments before the current time, and i is used to characterize the i-th time moment.

[0101] By comparing the differences in magnetic field strength fluctuations between each time point closest to the current moment and the previous moment, it can be determined whether the second magnetic field sensor is functioning normally. The greater the difference in magnetic field strength fluctuations, the lower the availability of the local magnetic field signal.

[0102] Finally, based on the local magnetic field signal availability of each second magnetic field sensor, the magnetic field signal availability on the target side of the candidate parking space is determined. For example, the local magnetic field signal availability of each second magnetic field sensor on the target side of the candidate parking space can be averaged to obtain the magnetic field signal availability on the target side.

[0103] This embodiment effectively assesses the availability of magnetic field signals on each side of a candidate parking space, providing a reliable data foundation for subsequent parking space detection. This reduces the interference of large moving metal objects on the accuracy of magnetic field sensor readings, improving the accuracy and stability of parking space detection. Furthermore, by separately assessing the availability of magnetic field signals on each side of the parking space, interference sources can be located more precisely, providing more detailed reference for subsequent signal processing and parking space status assessment.

[0104] In some of the above-described solutions of the present invention, when there are two magnetic field sensors on the target side in the candidate parking space, the availability of the magnetic field signal on the target side is evaluated by only calculating the average value of the local magnetic field signal availability of each sensor. This may result in the signal differences between the sensors not being effectively captured. For example, when the movement of a metal object causes the signal fluctuations of the two sensors to be out of sync, the evaluation result cannot accurately reflect the real interference state.

[0105] In response, the present invention further proposes that the target side of the candidate parking space includes two second magnetic field sensors;

[0106] S403 may specifically include:

[0107] The availability of the local magnetic field signals of each of the second magnetic field sensors is accumulated to obtain the first availability assessment value;

[0108] The second availability assessment value is determined by using the difference between the second magnetic field strength signals of the two second magnetic field sensors at various times;

[0109] The availability of the magnetic field signal on the target side of the candidate parking space is determined using the first availability assessment value and the second availability assessment value.

[0110] In this embodiment, when a large metal object drives into the parking space, its impact on the magnetic field sensor is localized and directional. Typically, when a large metal object enters from a certain direction, it has a greater impact on the magnetic field sensor on one side and a smaller impact on the magnetic field sensor on the other side. In this case, the change in the second magnetic field strength signal of the second magnetic field sensor on the less affected side will tend to be consistent because the magnetic field changes sensed by the second magnetic field sensor on the same side are similar. In this situation, if the two magnetic field sensors on one side can maintain a consistent and similar change at every moment, based on the availability of the local magnetic field signal, then the availability of the magnetic field signal of the magnetic field sensor on that side is high.

[0111] As an example, the availability of the magnetic field signal on the target side of a candidate parking space can be determined using the following formula 3:

[0112] Formula 3

[0113] In formula 3, Used to characterize the availability of magnetic field signals on the a-th side of the candidate parking space. The availability of the local magnetic field signal of the first second magnetic field sensor on the a-th side of the candidate parking space. The availability of the local magnetic field signal of the second second magnetic field sensor on the a-th side of the candidate parking space. The second magnetic field strength signal of the first second magnetic field sensor on the a-th side of the candidate parking space at time i. The second magnetic field strength signal of the second second magnetic field sensor on the a-th side of the candidate parking space at time i. The function is used to characterize the exponential function with base e, N is used to characterize the second magnetic field strength signal collected by the second magnetic field sensor on the a-th side of the candidate parking space for N time moments before the current time, and i is used to characterize the i-th time moment.

[0114] Among them, the first availability assessment value The larger the value, the greater the availability of the local magnetic field signal from the first and second second magnetic field sensors on side a, and the greater the availability of the magnetic field signal on side a; the greater the availability of the magnetic field signal on side a. The larger the value, the more similar the magnetic field changes sensed by the first and second magnetic field sensors on side a are, and the greater the availability of the magnetic field signal on side a.

[0115] This embodiment of the invention fully utilizes information from multiple magnetic field sensors, considering not only the local availability of individual sensors but also the relative changes between sensors. This improves the accuracy and reliability of magnetic field signal availability assessment, providing a more reliable data foundation for subsequent parking space detection.

[0116] In some of the above-mentioned solutions of the present invention, when evaluating the availability of the sensor based on the availability of the magnetic field signal on each side of the candidate parking space and the echo intensity signal of the microwave sensor, the changing trends of the magnetic field signal and the microwave signal are analyzed independently without considering the cooperative response relationship of the two sensors in a dynamic environment, which leads to a deviation in the sensor availability evaluation results.

[0117] In this regard, such as Figure 5 As shown, the present invention further proposes that S103 may specifically include the following S501 to S503:

[0118] S501, acquire the second magnetic field strength signal of the second magnetic field sensor on the target side of the candidate parking space, and the second echo strength signal of the second microwave sensor on the target side of the candidate parking space, wherein the target side is any side of the candidate parking space;

[0119] S502, based on the second magnetic field strength signal and the second echo strength signal, determine the signal matching degree between the second magnetic field sensor and the second microwave sensor at each time;

[0120] S503, based on the matching degree of each signal and the availability of the magnetic field signal on the target side of the candidate parking space, determines the availability of the first sensor on the target side of the candidate parking space.

[0121] In this embodiment, the signal matching degree can be calculated by comparing the magnetic field strength signal and the echo strength signal at the same time. For example, when a magnetic field strength of 45 μT and an echo strength of -62 dBm are collected at time t1, the calculated signal ratio is 45 / -62≈-0.726; when a magnetic field strength of 48 μT and an echo strength of -65 dBm are collected at time t2, the ratio is 48 / -65≈-0.738. The signal matching degree evaluation process further includes establishing a time series window and statistically analyzing the proportion of qualified signal matching degrees within the time series window to the total number of samples. The higher this proportion, the greater the availability of the first sensor on the target side in the candidate parking space.

[0122] As an example, first, acquire the second magnetic field strength signal from the second magnetic field sensor on the target side of the candidate parking space, and the second echo strength signal from the second microwave sensor on the target side of the candidate parking space. The target side can be any side of the candidate parking space. Specifically, the left side of the candidate parking space can be selected as the target side, and the second magnetic field strength signal and the second echo strength signal can be acquired from the magnetic field sensor and microwave sensor on that side, respectively.

[0123] Then, based on the second magnetic field strength signal and the second echo strength signal, the signal matching degree between the second magnetic field sensor and the second microwave sensor at each time point is determined. For example, the signal matching degree can be determined by calculating the correlation coefficient between the second magnetic field strength signal and the second echo strength signal at the same time point.

[0124] Finally, based on the signal matching degree and the availability of the magnetic field signal on the target side of the candidate parking space, the availability of the first sensor on the target side of the candidate parking space is determined. Further, a signal matching degree threshold can be set (the specific value of the signal matching degree threshold can be obtained through experimentation; that is, under the condition that no metal object enters the parking space to interfere with the sensor measurement, a large number of signal matching degrees are obtained in advance, and the minimum value among all signal matching degrees is determined; let the minimum value be 0.9, and use this minimum value of 0.9 as the signal matching degree threshold). Based on the signal matching degree threshold, the proportion of the number of qualified signal matching degrees to the total number of samples is calculated, and multiplied by the availability of the magnetic field signal on the target side of the candidate parking space to obtain the availability of the first sensor on the target side of the candidate parking space.

[0125] This embodiment comprehensively considers the signal characteristics of both magnetic field sensors and microwave sensors, improving the accuracy of parking space detection. This effectively reduces misjudgments caused by anomalies in a single sensor signal, enhancing the stability and reliability of parking space detection. Specifically, by evaluating signal matching and magnetic field signal availability, the most suitable sensor combination for parking space detection can be selected, thereby improving the accuracy of the detection results.

[0126] In some of the solutions described above in this invention, when evaluating the signal matching degree between the magnetic field sensor and the microwave sensor, if only the signal ratio at a single moment is relied upon, it is impossible to effectively capture the dynamic changes of the signal, resulting in insufficient accuracy in judging the signal matching degree.

[0127] In this regard, the present invention further proposes that S502 may specifically include:

[0128] Divide the second magnetic field strength signal at the first moment by the second echo strength signal to obtain the first signal ratio at the first moment, and divide the second magnetic field strength signal at the second moment by the second echo strength signal to obtain the second signal ratio at the second moment. The second moment is the moment before the first moment, and the first moment is any moment before the current moment.

[0129] The signal matching degree between the second magnetic field sensor and the second microwave sensor at the first moment is determined by using the first signal ratio and the second signal ratio.

[0130] In this embodiment, the first time point is any time before the current time point, and the second time point is the time point preceding the first time point. The signal ratio is generated by dividing the magnetic field strength signal by the echo strength signal, and the difference in the ratio between two consecutive time points is used to characterize the dynamic changes of the signal. The signal matching degree is calculated by comparing the magnitude of the ratio change between adjacent time points, for example, using the difference between the two ratios or the rate of change of the ratio as an evaluation index.

[0131] Specifically, during the data acquisition process of the magnetic field sensor and microwave sensor on the target side, the magnetic field strength signal and echo intensity signal of each sensor are recorded in real time at various moments. A first signal ratio is generated by dividing the current magnetic field strength signal by the corresponding echo intensity signal; a second signal ratio is generated by dividing the previous magnetic field strength signal by the previous echo intensity signal. The difference between the ratios at two consecutive moments is quantified as a matching degree parameter; for example, the smaller the difference between the two ratios, the greater the signal matching degree. This dual-moment ratio comparison mechanism can effectively identify instantaneous signal disturbances caused by the movement of metal objects, avoiding misjudgments caused by single-moment data anomalies. Through continuous time-dimensional signal relationship analysis, the stability of collaborative detection between sensors is improved.

[0132] As an example, the signal matching degree between the second magnetic field sensor and the second microwave sensor at various times can be determined by the following formula 4:

[0133] Formula 4

[0134] In formula 4, This is used to characterize the signal matching degree between the second magnetic field sensor and the second microwave sensor on the a-th side of the candidate parking space at time i. Used to characterize exponential functions with base e. The second magnetic field strength signal of the second magnetic field sensor on the a-th side of the candidate parking space at time i. The second echo intensity signal of the second microwave sensor on the a-th side of the candidate parking space at time i. The second magnetic field strength signal of the second magnetic field sensor on the a-th side of the candidate parking space at time i-1. The second echo intensity signal of the second microwave sensor on the a-th side of the candidate parking space at time i-1.

[0135] Under normal circumstances, the signal ratio of the magnetic field sensor and microwave sensor for the same parking space should be relatively stable, meaning the signal ratio at each moment is very similar to that of the previous moment. This is because the magnetic field sensor and microwave sensor are mainly used to detect the occupancy of parking spaces, and in the absence of external interference, the environmental changes they sense are relatively consistent, so their signal ratio should maintain a fixed proportion. However, if a large metal object enters the parking space, it will interfere with the sensor measurements. For example, the metal part will affect the reading of the magnetic field sensor and may reflect or shield the microwave signal, causing changes in the reading of the microwave sensor. Since the magnetic field sensor and microwave sensor operate on different principles, they are affected in different ways, resulting in significant changes in their signal ratios. Therefore, when a large metal object is present, this inconsistency in the ratio will increase significantly, indicating that the sensor measurement has been interfered with. In other words, the larger the difference between the first signal ratio and the second signal ratio, the smaller the signal matching degree.

[0136] This embodiment effectively evaluates the signal matching degree between the magnetic field sensor and the microwave sensor. By comparing the signal ratio at different times, the influence of environmental factors on a single sensor can be eliminated, improving the accuracy of parking space detection. This method can adapt to complex parking lot environments, effectively reducing misjudgments caused by interference factors such as large moving metal objects, thereby improving the reliability and stability of parking space detection.

[0137] In some of the solutions described above in this invention, when evaluating the reliability of a microwave sensor solely based on signal matching degree, dynamic interference environments may cause fluctuations in signal matching degree, resulting in insufficient accuracy in assessing microwave signal availability and affecting the overall judgment of the availability of the first sensor.

[0138] In this regard, the present invention further proposes that S503 may specifically include:

[0139] The availability of microwave signals on the target side of the candidate parking spaces is determined by using the matching degree of each signal.

[0140] The availability of the first sensor on the target side of the candidate parking space is determined by utilizing the availability of the microwave signal and the availability of the magnetic field signal on the target side of the candidate parking space.

[0141] In this embodiment, the availability of the first sensor can be obtained by weighted summation of the availability of microwave signal and the availability of magnetic field signal. The weights are dynamically adjusted according to the sensor type or environmental conditions. For example, the weight of microwave signal availability is 0.6 and the weight of magnetic field signal availability is 0.4.

[0142] As an example, the availability of the first sensor on the target side of a candidate parking space can be determined using the following formula 5:

[0143] Formula 5

[0144] In formula 5, The availability of the first sensor on the a-th side of the candidate parking space is used to characterize the availability of the first sensor. Used to characterize the availability of magnetic field signals on the a-th side of the candidate parking space. The signal matching degree between the second magnetic field sensor and the second microwave sensor on the a-th side of the candidate parking space at time i is used to characterize the signal matching degree between them at time i. N is used to characterize that the second magnetic field sensor on the a-th side of the candidate parking space has collected the second magnetic field strength signal for N times before the current time. i is used to characterize the i-th time.

[0145] in, The availability of microwave signals on side a of the candidate parking space is used to characterize the availability of microwave signals on side a. The greater the availability of microwave signals or magnetic field signals on side a, the greater the availability of the first sensor on side a of the candidate parking space.

[0146] This embodiment comprehensively considers the availability of both microwave and magnetic field signals, improving the accuracy and reliability of parking space detection. Furthermore, by introducing a weighting mechanism, the importance of different signal sources can be flexibly adjusted to adapt to various application scenarios and environmental conditions.

[0147] In some of the above-mentioned solutions of the present invention, when using a candidate parking space single-side sensor availability screening and detection device, the correlation between the status of the opposing side sensor and the current side environmental interference is not considered, which leads to a deviation in the single-side sensor availability assessment under dynamic interference scenarios and affects the accuracy of the final sensor screening.

[0148] In response, this invention further proposes that, following step S103, the parking space detection method combining magnetic field and microwave may further include:

[0149] Obtain the availability of the second sensor on the opposite side of the target side among the candidate parking spaces; the target side is any side of the candidate parking space.

[0150] By utilizing the availability of the second sensor on the opposite side of the target, the availability of the first sensor on the target side in the candidate parking space is corrected to obtain the corrected sensor availability on the target side in the candidate parking space.

[0151] S104 may specifically include:

[0152] Based on the availability of modified sensors on each side of the candidate parking spaces, a first magnetic field sensor and a first microwave sensor are selected for detecting the candidate parking spaces.

[0153] In this embodiment, the availability of the second sensor on the opposite side is obtained through the same evaluation process, including a comprehensive evaluation value of the availability of the magnetic field signal and the availability of the microwave signal. The correction process can employ a weighted fusion algorithm to superimpose the original availability of the first sensor on the target side and the availability of the second sensor on the opposite side according to a preset ratio to form the corrected sensor availability.

[0154] As an example, the availability of corrected sensors on the target side of a candidate parking space can be determined using the following formula 6:

[0155] Formula 6

[0156] In formula 6, The availability of the corrected sensor is used to characterize the a-th side of the candidate parking space. The availability of the first sensor on the a-th side of the candidate parking space is used to characterize the availability of the first sensor. The availability of the second sensor on the opposite side of the a-th side in the candidate parking space. Used to characterize exponential functions with base e.

[0157] When a large moving metal object approaches a parking space, its impact is localized and directional. Typically, a large moving metal object approaches from one direction, thus significantly affecting the sensors on the side facing that direction, while having a smaller impact on the sensors on the other side. In other words, if the sensors on one side of the parking space have higher availability, while the sensors on the opposite side are more affected by the large moving metal object, resulting in lower availability, then it can be concluded that the sensors on the parking space side have higher availability. Specifically, the higher the availability of the first sensor on side 'a', the lower the availability of the second sensor on the opposite side, and therefore the higher the availability of the correction sensor on side 'a'.

[0158] This embodiment fully utilizes sensor information from both sides of the parking space, improving the accuracy and reliability of parking space detection. Therefore, even if a sensor on one side is interfered with or malfunctions, compensation can still be made using sensor information from the opposite side, ensuring the continued effectiveness of parking space detection. Specifically, this solution can effectively address magnetic field disturbances and microwave signal interference caused by large moving metal objects around the parking space, improving the robustness of parking space status recognition.

[0159] In some of the solutions described above in this invention, there is a problem of misjudgment of parking space status due to the asynchronous acquisition time of the signals from the magnetic field sensor and the microwave sensor. When the timestamps of the sensor signals are not aligned, the dynamic difference between the magnetic field strength signal and the echo strength signal cannot accurately reflect the real-time status of the parking space, and false detections may occur due to signal time deviation.

[0160] In this regard, the present invention further proposes S105 including:

[0161] Align the timestamps of the first magnetic field strength signal of the first magnetic field sensor and the first echo strength signal of the first microwave sensor to obtain the aligned magnetic field strength signal and the aligned echo strength signal.

[0162] The alignment magnetic field strength signal is compared with the alignment echo strength signal to obtain the signal comparison result;

[0163] If the signal comparison results indicate that both the alignment magnetic field strength signal and the alignment echo strength signal are abnormal, it is determined that the candidate parking space has been occupied.

[0164] If the signal comparison results indicate that both the alignment magnetic field strength signal and the alignment echo strength signal are normal, the candidate parking space is determined to be an empty space.

[0165] If the signal comparison results indicate that the alignment magnetic field strength signal or the alignment echo strength signal is abnormal, the parking space detection result of the candidate parking space is determined based on the alignment echo strength signal.

[0166] In this embodiment, timestamp alignment can be achieved through signal interpolation or nearest neighbor matching within a preset time window to ensure the time synchronization of the magnetic field signal and the microwave signal. Signal comparison employs a dynamic threshold method. A trigger threshold is set for the magnetic field strength signal (the threshold value can be determined empirically; since the magnetic field sensor itself is affected by some noise, such as electromagnetic interference in the environment or small metal objects (such as bicycles, motorcycles, etc.), a range of ±5μT can filter out these small-range offsets, retaining only significant magnetic field changes to ensure the system's sensitivity and stability. Therefore, a trigger threshold is set if the signal deviates from the baseline by ±5μT) to determine the presence of a metal object. For the echo intensity signal, the presence of an obstacle is determined by the reflection intensity (e.g., reflection intensity > intensity threshold, where the intensity threshold value can be determined empirically; an intensity threshold of -50dBm is suitable for most parking space scenarios, so an intensity threshold value of -50dBm is set). In the event of a single signal anomaly, the anti-interference characteristics of the microwave sensor are prioritized, and the parking space status is analyzed by aligning the echo intensity signals through a multi-frame moving average.

[0167] Specifically, the timestamp alignment process uses millisecond-level timestamp matching, for example, using a 10ms time window for signal synchronization to eliminate differences in sensor hardware acquisition delays. During signal comparison, if both the aligned magnetic field strength signal and the aligned echo strength signal are abnormal within five consecutive time windows, the parking space is determined to be occupied; if neither is abnormal within five consecutive time windows, the space is directly determined to be vacant. If either the aligned magnetic field strength signal or the aligned echo strength signal is abnormal within five consecutive time windows, the parking space is determined to be occupied based on the result of the aligned echo strength signal. Through time synchronization and multi-condition hierarchical judgment, it effectively distinguishes between metallic interference, actual occupancy, and environmental noise, improving detection robustness in complex scenarios.

[0168] This embodiment effectively solves the problem of false alarms caused by the movement of metal objects in dual sensors. By employing time series alignment and a multi-condition joint judgment mechanism, the coupling effect of transient magnetic field interference and microwave signal distortion is eliminated. In scenarios where a single sensor is interfered with, secondary verification is performed using the spatial propagation characteristics of microwave signals, significantly reducing the false alarm rate caused by environmental factors and ensuring the robustness and accuracy of parking space status determination.

[0169] A parking space detection method based on combined magnetic field and microwave. Accordingly, the present invention also provides a specific embodiment of a parking space detection system based on combined magnetic field and microwave.

[0170] Figure 6 A schematic diagram of a parking space detection system combining magnetic field and microwave is provided. The parking space detection system 600 includes a signal acquisition module 610, a first availability assessment module 620, a second availability assessment module 630, a sensor screening module 640, and a parking space detection module 650.

[0171] The signal acquisition module 610 is used to acquire the magnetic field strength signal of each magnetic field sensor and the echo strength signal of each microwave sensor in the candidate parking space in real time.

[0172] The first availability assessment module 620 is used to assess the availability of the magnetic field signal on each side of the candidate parking space based on the magnetic field strength signal of each magnetic field sensor.

[0173] The second availability assessment module 630 is used to assess the availability of the first sensor on each side of the candidate parking space based on the availability of the magnetic field signal on each side of the candidate parking space and the echo intensity signal of the corresponding microwave sensor.

[0174] Sensor screening module 640 is used to screen out a first magnetic field sensor and a first microwave sensor for detecting candidate parking spaces based on the availability of a first sensor on each side of the candidate parking spaces.

[0175] The parking space detection module 650 is used to determine the parking space detection result of the candidate parking space based on the first magnetic field strength signal of the first magnetic field sensor and the first echo intensity signal of the first microwave sensor.

[0176] In the parking space detection system combining magnetic field and microwave sensors provided in this invention, signals from each magnetic field sensor and microwave sensor in candidate parking spaces are first acquired in real time. Then, the availability of the magnetic field signal on each side of the candidate parking space is evaluated based on the magnetic field strength signal, which helps identify magnetic field signal areas with varying degrees of interference. Next, the availability of the magnetic field signal and the echo intensity signal of the corresponding microwave sensor are combined to evaluate the availability of the first sensor on each side, further comprehensively considering the interference levels of both sensor signals. Based on the availability of the first sensor, the first magnetic field sensor and the first microwave sensor for detection are selected, excluding sensors with severe interference to ensure the use of relatively reliable sensor data. Finally, the parking space detection result is determined based on the first magnetic field strength signal of the selected first magnetic field sensor and the first echo intensity signal of the first microwave sensor. Thus, because the selected sensors are less susceptible to interference, their signals more accurately reflect the actual occupancy status of the parking space, effectively reducing misjudgments caused by interference from metal objects and improving the accuracy of parking space detection.

[0177] A parking space detection method based on combined magnetic field and microwave. Accordingly, the present invention also provides a specific embodiment of a parking space detection device based on combined magnetic field and microwave.

[0178] Figure 7 A schematic diagram of the hardware structure of the parking space detection device combining magnetic field and microwave provided in an embodiment of the present invention is shown.

[0179] The parking space detection device combining magnetic field and microwave may include a processor 701 and a memory 702 storing computer program instructions.

[0180] Specifically, the processor 701 may include a central processing unit, a specific integrated circuit, or one or more integrated circuits that can be configured to implement embodiments of the present invention.

[0181] Memory 702 may include mass storage for data or instructions. For example, and not limitingly, memory 702 may include hard disk drives, floppy disk drives, flash memory, optical disk drives, magneto-optical disk drives, magnetic tape drives, or Universal Serial Bus drives, or combinations of two or more of these. Where appropriate, memory 702 may include removable or non-removable (or fixed) media. Where appropriate, memory 702 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 702 is non-volatile solid-state memory.

[0182] Memory 702 may include read-only memory, random access memory, disk storage media device, optical storage media device, flash memory device, electrical, optical or other physical / tangible memory storage device. Therefore, generally, memory 702 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.

[0183] The processor 701 reads and executes computer program instructions stored in the memory 702 to implement any of the combined magnetic field and microwave parking space detection methods in the above embodiments.

[0184] In one example, the parking space detection device combining magnetic field and microwave may also include a communication interface 703 and a bus 710. For example, Figure 7 As shown, the processor 701, memory 702, and communication interface 703 are connected through bus 710 and complete communication with each other.

[0185] The communication interface 703 is mainly used to realize communication between each module, device, unit and / or equipment in the embodiments of the present invention.

[0186] Bus 710 includes hardware, software, or both, that couples components of a parking space detection device that uses a combined magnetic field and microwave to each other. For example, and not limitingly, the bus may include an accelerated graphics port or other graphics bus, an enhanced industry standard architecture bus, a front-end bus, an HyperTransport interconnect, an industry standard architecture bus, an unlimited bandwidth interconnect, a low pin count bus, a memory bus, a WeChat architecture bus, a peripheral component interconnect bus, a serial advanced technology accessory bus, a Video Electronics Standards Association local bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 710 may include one or more buses. Although specific buses are described and illustrated in embodiments of the invention, the invention contemplates any suitable bus or interconnect.

[0187] It should be clarified that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of the present invention.

[0188] It should also be noted that the exemplary embodiments mentioned in this invention describe methods or systems based on a series of steps or apparatus. However, this invention is not limited to the order of the steps described above; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0189] The above description is merely a specific embodiment of the present invention. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A parking space detection method combining magnetic field and microwave, characterized in that, The method includes: Real-time acquisition of magnetic field strength signals from each magnetic field sensor and echo intensity signals from each microwave sensor in the candidate parking spaces; Based on the magnetic field strength signals of each of the magnetic field sensors, the availability of magnetic field signals on each side of the candidate parking space is evaluated. Based on the availability of the magnetic field signal on each side of the candidate parking space and the corresponding echo intensity signal of the microwave sensor, the availability of the first sensor on each side of the candidate parking space is evaluated respectively. Based on the availability of the first sensor on each side of the candidate parking spaces, a first magnetic field sensor and a first microwave sensor are selected for detecting the candidate parking spaces. The parking space detection result of the candidate parking space is determined based on the first magnetic field strength signal of the first magnetic field sensor and the first echo strength signal of the first microwave sensor. The evaluation of the availability of the first sensor on each side of the candidate parking space based on the availability of the magnetic field signal on each side and the corresponding echo intensity signal of the microwave sensor includes: Acquire the second magnetic field strength signal of the second magnetic field sensor on the target side of the candidate parking space, and the second echo strength signal of the second microwave sensor on the target side of the candidate parking space, wherein the target side is any side of the candidate parking space; Based on the second magnetic field strength signal and the second echo strength signal, the signal matching degree between the second magnetic field sensor and the second microwave sensor at each time is determined respectively; Based on the matching degree of each signal and the availability of the magnetic field signal on the target side of the candidate parking space, the availability of the first sensor on the target side of the candidate parking space is determined; The determination of the availability of the first sensor on the target side of the candidate parking space based on the matching degree of each signal and the availability of the magnetic field signal on the target side of the candidate parking space includes: The availability of microwave signals on the target side of the candidate parking spaces is determined using the signal matching degree of each of the aforementioned signals. The availability of a first sensor on the target side of the candidate parking space is determined by utilizing the availability of microwave signals and magnetic field signals on the target side of the candidate parking space.

2. The parking space detection method combining magnetic field and microwave according to claim 1, characterized in that, The evaluation of the availability of magnetic field signals on each side of the candidate parking space based on the magnetic field strength signals of each of the magnetic field sensors includes: From all the magnetic field sensors, a second magnetic field sensor located on the target side of the candidate parking space is selected, where the target side is any side of the candidate parking space; The availability of the local magnetic field signal of the second magnetic field sensor is determined by using the difference between the second magnetic field strength signals of the second magnetic field sensor at adjacent times; The availability of the magnetic field signal on the target side of the candidate parking space is determined based on the availability of the local magnetic field signal of each of the second magnetic field sensors.

3. The parking space detection method combining magnetic field and microwave according to claim 2, characterized in that, The target side of the candidate parking space includes two second magnetic field sensors; The determination of the magnetic field signal availability on the target side of the candidate parking space based on the local magnetic field signal availability of each of the second magnetic field sensors includes: The availability of the local magnetic field signals of each of the second magnetic field sensors is accumulated to obtain a first availability assessment value; The second availability assessment value is determined by using the difference between the second magnetic field strength signals of the two second magnetic field sensors at various times; The availability of the magnetic field signal on the target side of the candidate parking space is determined using the first availability assessment value and the second availability assessment value.

4. The parking space detection method combining magnetic field and microwave according to claim 1, characterized in that, The step of determining the signal matching degree between the second magnetic field sensor and the second microwave sensor at various times based on the second magnetic field strength signal and the second echo strength signal includes: Divide the second magnetic field strength signal at the first moment by the second echo strength signal to obtain the first signal ratio at the first moment, and divide the second magnetic field strength signal at the second moment by the second echo strength signal to obtain the second signal ratio at the second moment. The second moment is the moment before the first moment, and the first moment is any moment before the current moment. Using the first signal ratio and the second signal ratio, the signal matching degree between the second magnetic field sensor and the second microwave sensor at the first moment is determined.

5. The parking space detection method using a combined magnetic field and microwave according to any one of claims 1-4, characterized in that, After evaluating the availability of the first sensor on each side of the candidate parking space based on the availability of the magnetic field signal on each side and the corresponding echo intensity signal of the microwave sensor, the method further includes: The availability of a second sensor on the opposite side of the target side of the candidate parking space is obtained, wherein the target side is any side of the candidate parking space; The availability of the second sensor on the opposite side of the target side is used to correct the availability of the first sensor on the target side of the candidate parking space, so as to obtain the corrected sensor availability on the target side of the candidate parking space. The step of selecting a first magnetic field sensor and a first microwave sensor for detecting the candidate parking spaces based on the availability of the first sensor on each side of the candidate parking spaces includes: Based on the availability of modified sensors on each side of the candidate parking spaces, a first magnetic field sensor and a first microwave sensor are selected for detecting the candidate parking spaces.

6. The parking space detection method using a combined magnetic field and microwave according to any one of claims 1-4, characterized in that, The determination of the parking space detection result of the candidate parking space based on the first magnetic field strength signal of the first magnetic field sensor and the first echo intensity signal of the first microwave sensor includes: Align the timestamps of the first magnetic field strength signal of the first magnetic field sensor and the first echo strength signal of the first microwave sensor to obtain the aligned magnetic field strength signal and the aligned echo strength signal. The alignment magnetic field strength signal is compared with the alignment echo strength signal to obtain the signal comparison result; If the signal comparison result indicates that both the alignment magnetic field strength signal and the alignment echo strength signal are abnormal, it is determined that the candidate parking space has been occupied. If the signal comparison result indicates that both the alignment magnetic field strength signal and the alignment echo strength signal are normal, the candidate parking space is determined to be an empty space. If the signal comparison result indicates that the alignment magnetic field strength signal or the alignment echo strength signal is abnormal, the parking space detection result of the candidate parking space is determined based on the alignment echo strength signal.

7. A parking space detection system combining magnetic field and microwave, characterized in that, The system includes: The signal acquisition module is used to acquire the magnetic field strength signal of each magnetic field sensor and the echo intensity signal of each microwave sensor in the candidate parking space in real time. The first availability assessment module is used to assess the availability of the magnetic field signal on each side of the candidate parking space based on the magnetic field strength signal of each of the magnetic field sensors. The second availability assessment module is used to assess the availability of the first sensor on each side of the candidate parking space based on the availability of the magnetic field signal on each side of the candidate parking space and the echo intensity signal of the corresponding microwave sensor. A sensor screening module is used to screen out a first magnetic field sensor and a first microwave sensor for detecting the candidate parking space based on the availability of a first sensor on each side of the candidate parking space. The parking space detection module is used to determine the parking space detection result of the candidate parking space based on the first magnetic field strength signal of the first magnetic field sensor and the first echo strength signal of the first microwave sensor. The evaluation of the availability of the first sensor on each side of the candidate parking space based on the availability of the magnetic field signal on each side and the corresponding echo intensity signal of the microwave sensor includes: Acquire the second magnetic field strength signal of the second magnetic field sensor on the target side of the candidate parking space, and the second echo strength signal of the second microwave sensor on the target side of the candidate parking space, wherein the target side is any side of the candidate parking space; Based on the second magnetic field strength signal and the second echo strength signal, the signal matching degree between the second magnetic field sensor and the second microwave sensor at each time is determined respectively; Based on the matching degree of each signal and the availability of the magnetic field signal on the target side of the candidate parking space, the availability of the first sensor on the target side of the candidate parking space is determined; The determination of the availability of the first sensor on the target side of the candidate parking space based on the matching degree of each signal and the availability of the magnetic field signal on the target side of the candidate parking space includes: The availability of microwave signals on the target side of the candidate parking spaces is determined using the signal matching degree of each of the aforementioned signals. The availability of a first sensor on the target side of the candidate parking space is determined by utilizing the availability of microwave signals and magnetic field signals on the target side of the candidate parking space.

8. A parking space detection device combining magnetic field and microwave, characterized in that, The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the parking space detection method using a combination of magnetic field and microwave as described in any one of claims 1-6.

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