Parking space state monitoring method and device, and terminal equipment

Abstract

The invention provides a parking space state monitoring method and device, and terminal equipment, and the method comprises the steps: collecting a real-time monitoring video of parking spaces in a monitoring region, each parking space being pre-configured with a target occupied region obtained through the statistics of a thermodynamic diagram of vehicle bounding box distribution when a vehicle is parked in the parking space; detecting whether a target vehicle exists in the real-time monitoring video; when the existence of the target vehicle is detected, performing overlapping degree matching on the target occupied area of each parking space and the target vehicle to obtain a parking space matching result, updating the successfully matched parking space matching result to the parking space state tracker, and not updating the unsuccessfully matched parking space matching result to the parking space state tracker; and according to the parking space state tracker, judging whether the state of the parking space successfully matched with the target vehicle and the vehicle position of the target vehicle are stable or not, obtaining a detection result of the parking space state, and reporting the detection result. According to the invention, automatic and refined management of parking space use conditions of parking lots such as a charging station is realized.

Description

Technical Field

[0001] This invention relates to the field of parking space management technology, and more specifically, to a parking space status monitoring method, device, and terminal equipment. Background Technology

[0002] With the continuous growth of electric vehicle ownership, the construction of charging infrastructure is becoming increasingly sophisticated. Charging stations provide parking spaces for electric vehicles to park and charge, while parking areas (such as parking lots and on-street parking spaces) provide parking spaces for electric vehicles. Correspondingly, the parking space status at charging stations or parking areas includes two states: occupied by a vehicle and vacant by no vehicle, also known as the parking space occupancy status and the parking space availability status.

[0003] Currently, parking space status can be determined using cameras combined with image recognition technology. However, in actual operation, due to the angle of the camera's shooting and the projection from three-dimensional to two-dimensional, the actual parking space boundaries are prone to mismatch during matching, i.e., incorrectly matching adjacent parking spaces. Furthermore, irregular parking behaviors such as angled parking and parking over lines affect the determination of parking space ownership, making it difficult to identify complex parking behaviors. Moreover, environmental changes and vehicle obstruction can easily cause recognition errors, resulting in serious misjudgment interference and affecting system stability. In addition, due to aging camera equipment, insufficient equipment accuracy, and delays or instability in parking space data transmission leading to lag in dynamic status updates, it is difficult to grasp the vacancy or occupancy status of parking spaces in real time, resulting in low management efficiency and difficulties in resource allocation. Summary of the Invention

[0004] The main objective of this invention is to provide a parking space status monitoring method, device, and terminal equipment, which aims to solve the technical problems in existing parking scenarios, such as mismatch between vehicles and parking spaces, difficulty in recognizing complex parking behaviors, serious misjudgment interference, and inability to accurately grasp the vacancy or occupancy status of parking spaces in real time.

[0005] In a first aspect, the present invention provides a parking space status monitoring method, comprising: Real-time monitoring video of parking spaces within the monitoring area is collected by cameras; wherein, in the real-time monitoring video, each parking space is pre-configured with a target occupancy area, and the target occupancy area is obtained by statistically analyzing the heat map of the boundary box distribution of vehicles when they are parked in the parking space. Detect whether the target vehicle exists in the real-time monitoring video; When the target vehicle is detected, the overlap of the target occupancy area of ​​each parking space with the target vehicle is matched to obtain a parking space matching result. The parking space matching result of a successful match is updated to the parking space status tracker, while the parking space matching result of a failed match is not updated to the parking space status tracker. The parking space status tracker is used to continuously record the parking space status of all parking spaces in the monitoring area, as well as the vehicle identity information and location information of the target vehicle that is successfully matched with the parking space. Based on the parking space status tracker, determine the status of the parking space that has successfully matched the target vehicle and whether the vehicle positions of the target vehicle have all stabilized, obtain the detection result of the parking space status, and report the detection result.

[0006] Furthermore, the target occupancy area includes a strong occupancy area and a weak occupancy area; the method for obtaining the strong occupancy area and the weak occupancy area of ​​each parking space specifically includes: For any one of the parking spaces, the camera collects images of multiple vehicles parked in the parking space; The position of each vehicle in the image is detected by a vehicle detection algorithm, the position coordinates of the vehicles matched to the parking spaces are obtained, and a heat map of the vehicle position distribution is calculated. Based on the intensity of the heatmap, a first statistical threshold and a second statistical threshold are set; wherein, the first statistical threshold is greater than the second statistical threshold; Based on the first statistical threshold, the strong occupancy area of ​​the parking space is obtained, and the bounding box of the strong occupancy area is used as the initial matching boundary of the parking space. Based on the second statistical threshold, the weakly occupied area of ​​the parking space is obtained, and the bounding box of the weakly occupied area is used as the secondary matching boundary of the parking space.

[0007] Further, the step of matching the overlap between the target occupancy area of ​​each parking space and the target vehicle to obtain a parking space matching result, and updating the parking space status tracker with successfully matched parking space matching results, while not updating the parking space status tracker with unsuccessful matching results, includes: Calculate the first proportion of the overlap area between the bounding box of the target vehicle and the strongly occupied area of ​​the parking space in the real-time monitoring video to the area of ​​the strongly occupied area. Determine whether the first proportion exceeds the first matching threshold; If so, it is determined that the parking space and the target vehicle have been successfully matched for the first time. Vehicle identity information is configured for the target vehicle that has been successfully matched with the parking space for the first time, and the parking space status, vehicle identity information and location information of the target vehicle are updated to the parking space status tracker. If not, it is determined that the parking space and the target vehicle failed to match for the first time, the parking space status is not updated to the parking space status tracker, and the vehicle information of the target vehicle that failed to match the parking space for the first time is discarded.

[0008] Further, the step of matching the overlap between the target occupancy area of ​​each parking space and the target vehicle to obtain a parking space matching result, and updating the parking space status tracker with successfully matched parking space matching results, while not updating the parking space status tracker with unsuccessful matching results, also includes: Filter the target vehicles and parking spaces that failed to match on the first attempt; Calculate the second ratio of the overlap area between the bounding box of the target vehicle that failed the initial match and the weakly occupied area of ​​the parking space that failed the initial match to the area of ​​the weakly occupied area. Determine whether the second proportion exceeds the second matching threshold; wherein the second matching threshold is less than the first matching threshold; If so, it is determined that the parking space and the target vehicle have been successfully matched for the second time. Vehicle identity information is configured for the target vehicle that has been successfully matched with the parking space for the second time, and the parking space status, vehicle identity information and location information of the target vehicle are updated to the parking space status tracker. If not, it is determined that the parking space and the target vehicle have failed to match for the second time. The parking space status is not updated to the parking space status tracker, and the vehicle information of the target vehicle that failed to match for the second time with the parking space is discarded.

[0009] Further, the step of matching the target occupancy area of ​​each parking space with the target vehicle to obtain a parking space matching result includes: Based on the relative distance of each parking space to the camera, the target occupancy area of ​​each parking space is matched with the target vehicle according to the rule from near to far to obtain the parking space matching result.

[0010] Further, the step of determining the status of the parking space successfully matched with the target vehicle and whether the vehicle positions of the target vehicle have all stabilized based on the parking space status tracker, and obtaining the detection result of the parking space status, includes: Based on the parking space status tracker, determine the status of the parking space that has successfully matched the target vehicle and whether the vehicle positions of the target vehicle have all stabilized. If so, it is determined to be a stable occupancy event, and the detection result that the parking space is occupied by a car is obtained; If not, it is determined as a parking space occupancy failure event, and the detection result is that the parking space status is unoccupied.

[0011] Furthermore, before detecting whether a target vehicle exists in the real-time monitoring video, the monitoring method further includes: Based on pixel change detection, the monitoring area in the real-time monitoring video is monitored to determine whether target vehicle detection is required. When a change in the pixels of the monitored area in the real-time monitoring video is detected, the presence of a target vehicle in the real-time monitoring video is detected based on the vehicle detection model. If no change in the pixels of the monitored area in the real-time monitoring video is detected, then target vehicle detection will not be performed.

[0012] Furthermore, the monitoring method also includes: Multiple real-time monitoring videos are obtained by collecting real-time monitoring videos of all parking spaces within the monitoring area using multiple cameras. By combining the detection results of parking space status from multiple real-time monitoring videos, the occupancy status of all parking spaces within the monitoring area is obtained.

[0013] Secondly, the present invention provides a parking space status monitoring device, comprising: A real-time monitoring video acquisition module is used to acquire real-time monitoring videos of parking spaces within a monitoring area via a camera; wherein, in the real-time monitoring video, each parking space is pre-configured with a target occupancy area, and the target occupancy area is obtained by statistically analyzing the heat map of the boundary box distribution of vehicles when they are parked in the parking space. The vehicle detection module is used to detect whether a target vehicle exists in the real-time monitoring video; The overlap matching module is used to perform overlap matching between the target occupancy area of ​​each parking space and the target vehicle when the presence of the target vehicle is detected, to obtain a parking space matching result, and to update the parking space status tracker with the matching result of the successful match, while not updating the parking space status tracker with the matching result of the unsuccessful match; wherein, the parking space status tracker is used to continuously record the parking space status of all parking spaces in the monitoring area, as well as the vehicle identity information and location information of the target vehicle that is successfully matched with the parking space; The parking space status detection module is used to determine the status of the parking space that has been successfully matched with the target vehicle and whether the vehicle positions of the target vehicle have been stabilized based on the parking space status tracker, obtain the detection result of the parking space status, and report the detection result.

[0014] Thirdly, the present invention provides a terminal device, comprising: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement a parking space status monitoring method as described in the first aspect.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: Because each parking space in this invention is pre-configured with a target occupancy area, which is obtained by statistically analyzing the heatmap of the vehicle bounding box distribution when a vehicle is parked in each parking space, the bounding box of the target occupancy area is used as the parking space boundary. When a target vehicle is detected, the overlap between the target vehicle in the real-time monitoring video and the target occupancy area of ​​the parking space is matched to obtain the parking space matching result. The matching result of the successfully matched parking space is updated to the parking space status tracker, while the matching result of the unmatched parking space is not updated to the parking space status tracker. The focus is on the parking space status and the successfully matched target vehicle, while the unmatched target vehicle is not recorded. This solves the problems of vehicle parking space mismatch, difficulty in identifying complex parking behaviors, and serious misjudgment interference, and improves the matching accuracy, especially in dealing with complex parking behaviors caused by vehicles parking at an angle, crossing the line, or being obstructed by vehicles. Furthermore, this invention uses a parking space status tracker to determine the status of the parking space successfully matched with the target vehicle and whether the vehicle positions of the target vehicle are stable. By obtaining the detection results of the parking space status and reporting the detection results, a stable and accurate parking space occupancy status can be obtained in real time. This solves the problem of not being able to accurately grasp the vacancy or occupancy status of parking spaces in real time, improves management efficiency and enables full allocation of resources, and realizes automated and refined management of parking space usage in parking scenarios such as charging stations. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating a parking space status monitoring method according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating a parking space status monitoring method according to another embodiment of the present invention; Figure 3 This is a schematic diagram of the actual boundary of a parking space, the strong occupancy area, and the weak occupancy area of ​​a parking space, provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of a process for matching the overlap between a target vehicle in a real-time monitoring video and the strong and weak occupancy areas of a parking space, according to an embodiment of the present invention. Figure 5 This is a schematic diagram of the structure of a parking space status monitoring device provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a terminal device provided in an embodiment of the present invention.

[0017] in: The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] Please see Figure 1 , Figure 1 This is a flowchart illustrating a parking space status monitoring method according to an embodiment of the present invention. The parking space status monitoring method of the present invention is used to automatically identify the vehicle occupancy status of parking spaces in a parking scenario.

[0023] A parking space status monitoring method according to an embodiment of the present invention includes the following steps: S100: Collects real-time monitoring video of parking spaces within the monitoring area via cameras.

[0024] In the real-time monitoring video, each parking space is pre-configured with a target occupancy area, which is obtained by statistically analyzing the heat map of the vehicle bounding box distribution when the vehicle is parked in the parking space.

[0025] In this embodiment, cameras are installed at charging stations or parking areas to collect real-time video data covering the parking spaces. The number of cameras can be one or more, and the real-time monitoring video collected by each camera is processed using the method described in this embodiment of the invention.

[0026] In one specific embodiment, before step S100, the monitoring method further includes pre-delineating the area where vehicles enter and exit, as the monitoring area. In the charging station scenario, this is generally the road surface area in front of the charging station parking space.

[0027] Because of the angle of the camera's view and the 3D-to-2D projection, the actual parking space boundaries are prone to mismatch during the matching process, meaning incorrect matching to adjacent parking spaces. Therefore, by statistically analyzing the heatmap of the vehicle bounding boxes when vehicles are parked in each space, we can visually show which areas are more important for determining a match for that parking space. This allows us to obtain the target occupancy area for each parking space, and using the bounding box of the target occupancy area as the parking space boundary can solve the aforementioned problem.

[0028] In one specific embodiment, the target occupancy area includes a strong occupancy area and a weak occupancy area; the method for obtaining the strong occupancy area and the weak occupancy area of ​​each parking space specifically includes the following steps: For any one of the parking spaces, the camera collects images of multiple vehicles parked in the parking space; The position of each vehicle in the image is detected by a vehicle detection algorithm, the position coordinates of the vehicles matched to the parking spaces are obtained, and a heat map of the vehicle position distribution is calculated. Based on the intensity of the heatmap, a first statistical threshold and a second statistical threshold are set; wherein, the first statistical threshold is greater than the second statistical threshold; Based on the first statistical threshold, the strong occupancy area of ​​the parking space is obtained, and the bounding box of the strong occupancy area is used as the initial matching boundary of the parking space. Based on the second statistical threshold, the weakly occupied area of ​​the parking space is obtained, and the bounding box of the weakly occupied area is used as the secondary matching boundary of the parking space.

[0029] In this embodiment, before step S100, a strong occupancy area and a weak occupancy area are pre-defined for each parking space in the fixed camera view. The method for obtaining the strong occupancy area and the weak occupancy area is as follows: For each parking space, a large number of images of vehicles occupying the space are collected. Vehicle detection algorithms are used to detect vehicle positions, obtain the position coordinates of the vehicles matched to the current parking space, calculate a heat map of vehicle position distribution, and then, based on the intensity of the heat map, a larger first statistical threshold is set to determine the strong occupancy area; a smaller second statistical threshold is set to determine the weak occupancy area; and the bounding boxes of the strong and weak occupancy areas are obtained respectively as the parking space boundaries when matching vehicles to parking spaces.

[0030] In this embodiment, the strong and weak occupancy regions are used to address the problem of mismatched matching during the matching process, which is easily caused by the angular projection of the camera from 3D to 2D, resulting in incorrect matching of adjacent parking spaces. Furthermore, when using actual parking space boundaries for matching, occupancy issues or improper parking (such as parking between two spaces or parking with only half the vehicle inside the space) can also easily lead to mismatches and missed matches. Therefore, this embodiment uses a heatmap of vehicle parking distribution to obtain strong and weak occupancy regions, and uses the bounding boxes of the strong and weak occupancy regions from the statistical data as the adjusted parking space boundaries, thus solving the aforementioned problems of mismatched matching, incorrect matching, and missed matching. For details, please refer to... Figure 3 For each parking space, the bounding box distribution of a certain number of vehicles parked in that space was statistically analyzed. Then, by converting the data into a heatmap, the distribution was visually displayed as follows: which areas were more important for determining whether a vehicle was matched to that parking space (called strong occupancy areas) and which areas were less important (called weak occupancy areas, which contain strong occupancy areas). Strong and weak occupancy areas can be obtained by setting two thresholds (a first statistical threshold and a second statistical threshold) on the heatmap.

[0031] For example, based on the intensity of the heatmap, a relatively large first statistical threshold, such as 0.9, is set to determine the strong occupancy region; a relatively small second statistical threshold, such as 0.5, is set to determine the weak occupancy region; the bounding boxes of the strong occupancy region and the weak occupancy region of the parking space are obtained respectively, and the bounding boxes of the two are used as the parking space boundaries when matching the overlap of vehicle parking spaces, such as... Figure 3 As shown, Figure 3 The gray, non-quadrilateral solid area represents the strong / weak positioning area, on the left. Figure 3 (a) is a strongly occupied area (marked as bounding box A), on the right. Figure 3(b) represents the weakly occupied area (marked as bounding box B), with the two white quadrilaterals being adjacent parking spaces. It can be understood that (0.9, 0.5) is the statistical threshold of the heatmap, used to obtain both strong and weakly occupied areas as the boundaries of the two matched parking spaces, without calculating the overlap ratio. In other embodiments, the first and second statistical thresholds can also be other values, which are not specifically limited here.

[0032] S200. Detect whether the target vehicle exists in the real-time monitoring video.

[0033] In this embodiment, the target vehicle refers to a vehicle that needs to enter a parking space, such as a vehicle entering a charging station parking space or a parking lot parking space. There can be one or more target vehicles, and each target vehicle is processed using the method described in the following embodiments of the present invention.

[0034] In one specific embodiment, before step S200 detects whether a target vehicle exists in the real-time monitoring video, the monitoring method further includes the following steps: Based on pixel change detection, the monitoring area in the real-time monitoring video is monitored to determine whether target vehicle detection is required. When a change in the pixels of the monitored area in the real-time monitoring video is detected, the target vehicle in the real-time monitoring video is detected based on the vehicle detection model. If no change in the pixels of the monitored area in the real-time monitoring video is detected, then target vehicle detection will not be performed.

[0035] Specifically, please refer to Figure 2 After reading the real-time video frame, the pixel change detector performs pixel change detection on the defined entry and exit area to determine whether the next step of target vehicle detection is needed: when a pixel change is detected, the vehicle detection model (also known as the vehicle detector) is used to detect the target vehicle; when no pixel change is detected, the target vehicle is not detected, and the system returns to read the next real-time video frame.

[0036] Based on the layout characteristics of actual scenarios (such as charging stations), this embodiment performs pixel change detection on pre-defined vehicle entry and exit areas, optimizes the detection logic, and saves computing resources.

[0037] In one specific embodiment, the vehicle detection model employs the YOLO real-time target detection algorithm.

[0038] YOLO (You Only Look Once) is a real-time object detection algorithm based on deep learning, such as YOLOv11. Its core idea is to transform the object detection task into a single global inference problem, directly predicting the bounding box and category of objects on the image. This embodiment uses a vehicle detection model based on the YOLO real-time object detection algorithm to detect target vehicles, achieving faster detection speed and higher detection accuracy.

[0039] S300. When the presence of the target vehicle is detected, the overlap of the target occupancy area of ​​each parking space with the target vehicle is matched to obtain a parking space matching result. The matching result of a successfully matched parking space is updated to the parking space status tracker, while the matching result of a failed parking space is not updated to the parking space status tracker. The parking space status tracker is used to continuously record the parking space status of all parking spaces in the monitoring area, as well as the vehicle identity information and location information of the target vehicle that is successfully matched with the parking space.

[0040] In this embodiment, the parking space matching result includes successful matching and failed matching. The focus is on the parking space status and the target vehicle in a successful match, while unsuccessful matches are not recorded. The vehicle identity and location information of successfully matched parking spaces and target vehicles are updated to the parking space status tracker. Vehicle information for unsuccessful matches is discarded, and the parking space status tracker remains unchanged. Specifically, after detecting a target vehicle, parking space matching begins. Successful matches update the parking space status tracker, while unsuccessful matches discard their information. During the update process, the location of successfully matched target vehicles is recorded. Whether to report a occupied parking space is determined by assessing the stability of the vehicle's location and the parking space status.

[0041] Specifically, each parking space in the real-time monitoring video has a unique identity information (ID). The parking space status tracker is used to continuously record the parking space status of all parking spaces in the monitoring scene. The parking space status includes occupied status and vacant status, which can also be called occupied status and vacant status. The parking space status tracker is updated when a matching parking space is found, and the parking space status tracker is not updated when a matching parking space is not found.

[0042] For a matched target vehicle, a unique vehicle identification information (ID) is set for it. For a target vehicle that does not match, the vehicle information is discarded and there is no need to set a unique vehicle identification information (ID) for it. Therefore, it is not necessary to set a unique vehicle identification information (ID) for each target vehicle.

[0043] Furthermore, the parking space status tracker of this invention can detect vehicle position changes; that is, the function of vehicle position change detection can be implemented on the parking space status tracker. For a target vehicle that has matched a parking space, its position is recorded in the parking space status tracker. For a target vehicle that has not matched a parking space (e.g., a passing vehicle, or a vehicle that is about to enter a parking space but has not yet matched), no record is made, and its vehicle information is directly discarded. Specifically, the parking space status tracker triggers vehicle position change detection by matching the target vehicle with the target parking space's occupied area detected in each frame of real-time monitoring video. Therefore, the vehicle position of the target vehicle is output by the parking space status tracker, rather than by matching the positions of target vehicles detected in adjacent frames. For example, when a parking space is vacant, if a target vehicle matches the parking space, the parking space status tracker will reset the parking space status and record the position information of the matched vehicle, while unmatched target vehicles are not recorded. Subsequently, when target vehicles continue to match the parking space and the target vehicle's position is stable, it is determined that the occupancy is stable, and the status is reported.

[0044] In one specific embodiment, each parking space status tracker creates a vehicle location tracker during initialization. There are as many vehicle location trackers as there are parking spaces. A vehicle location tracker is not created for every target vehicle detected. Therefore, the parking space status tracker detects changes in the vehicle location of target vehicles in each parking space through the vehicle location trackers.

[0045] Please see Figure 2 In one specific embodiment, before step S100, which involves acquiring real-time monitoring video of parking spaces within the monitoring area via a camera, the monitoring method further includes the following steps: Initialize the parking space status tracker.

[0046] In this embodiment, the parking space status tracker is initialized before step S100. The core purpose of initialization is to establish a predictable and stable initial state for the program or system, so as to ensure that subsequent operations are correctly executed based on known conditions.

[0047] In one specific embodiment, step S300 involves performing overlap matching between the target occupancy area of ​​each parking space and the target vehicle to obtain a parking space matching result. Successfully matched parking space matching results are updated to the parking space status tracker, while unsuccessfully matched parking space matching results are not updated to the parking space status tracker. This includes the following steps: S301. Calculate the first proportion of the overlap area between the bounding box of the target vehicle and the strongly occupied area of ​​the parking space in the real-time monitoring video to the area of ​​the strongly occupied area. S302. Determine whether the first proportion exceeds the first matching threshold; S303. If so, it is determined that the parking space and the target vehicle have been successfully matched for the first time. Vehicle identity information is configured for the target vehicle that has been successfully matched with the parking space for the first time, and the parking space status, vehicle identity information and location information of the target vehicle are updated to the parking space status tracker. S304. If not, it is determined that the parking space and the target vehicle failed to match for the first time. The parking space status is not updated to the parking space status tracker, and the vehicle information of the target vehicle that failed to match the parking space for the first time is discarded.

[0048] In this embodiment, please refer to Figure 3 and Figure 4 The bounding box A corresponding to the strongly occupied area is selected as the initial matching boundary of the parking space. For a target vehicle detected by the vehicle detection model, the first proportion S1 of the overlap area between its bounding box and the strongly occupied area of ​​the parking space is calculated. If the first proportion S1 exceeds the first matching threshold, it is determined that the target vehicle has matched the parking space, indicating that the initial matching is successful; if the first proportion S1 does not exceed the first matching threshold, it is determined that the target vehicle has not matched the parking space, indicating that the initial matching has failed.

[0049] For all parking spaces that are successfully matched on the first attempt, update their parking space status and the ID and location of the matched vehicle. For all parking spaces that fail to be matched on the first attempt, do not update their parking space status to the parking space status tracker, and discard the vehicle information of the target vehicle with which they failed to be matched on the first attempt.

[0050] In one specific embodiment, during the initial matching process, the first matching threshold is set to 0.7.

[0051] 0.7 is the threshold for the initial matching of vehicles and parking spaces, used to determine the overlap ratio. If the first proportion S1 of the area of ​​the target vehicle's bounding box overlapping with the strongly occupied area of ​​the parking space is greater than 0.7 (e.g., S1 is 0.71, 0.8, or 0.9), the initial matching is successful. If the first proportion S1 of the area of ​​the target vehicle's bounding box overlapping with the strongly occupied area of ​​the parking space is less than or equal to 0.7 (e.g., S1 is 0.7, 0.59, 0.4, or 0.2), the initial matching fails.

[0052] It is understandable that the first matching threshold can be determined according to the actual situation, and no specific limit is made here.

[0053] In one specific embodiment, step S300 involves performing overlap matching between the target occupancy area of ​​each parking space and the target vehicle to obtain a parking space matching result, and updating the parking space status tracker with the successfully matched parking space matching result, while not updating the parking space status tracker with the unsuccessful matching result. The step also includes the following steps: S305. Filter the target vehicles and parking spaces that failed the initial match; S306. Calculate the second ratio of the overlap area between the bounding box of the target vehicle that failed the initial match and the weakly occupied area of ​​the parking space that failed the initial match to the area of ​​the weakly occupied area. S307. Determine whether the second proportion exceeds the second matching threshold; wherein the second matching threshold is less than the first matching threshold; S308. If so, it is determined that the parking space and the target vehicle have been successfully matched for the second time. Vehicle identity information is configured for the target vehicle that has been successfully matched with the parking space for the second time, and the parking space status, vehicle identity information and location information of the parking space and the target vehicle are updated to the parking space status tracker. S309. If not, it is determined that the parking space and the target vehicle have failed to match for the second time. The parking space status is not updated to the parking space status tracker, and the vehicle information of the target vehicle that failed to match for the second time with the parking space is discarded.

[0054] In this embodiment, vehicles and parking spaces that failed to be matched on the first attempt are matched a second time.

[0055] Please see Figure 3 and Figure 4 For vehicles and parking spaces that fail to match initially, the bounding box B corresponding to the weakly occupied area is selected as the secondary matching boundary for the parking space. The second proportion S2 of the overlap area between the bounding box of the target vehicle and the weakly occupied area of ​​the parking space is calculated. If the second proportion S2 exceeds the second matching threshold, the target vehicle is determined to be matched with the parking space, indicating that the secondary matching is successful; if the second proportion S2 does not exceed the second matching threshold, the target vehicle is determined to be unmatched with the parking space, indicating that the secondary matching fails.

[0056] For all parking spaces that successfully complete a secondary match, update their parking space status and the ID and location of the matched vehicle. For all parking spaces that fail to complete a secondary match, do not update their parking space status to the parking space status tracker, and discard the vehicle information of the target vehicle with which they failed to complete a secondary match.

[0057] Update the parking space matching results for all parking spaces to the parking space status tracker and end the matching process.

[0058] In one specific embodiment, during the secondary matching process, the second matching threshold is set to 0.3.

[0059] 0.3 is the threshold for secondary matching of vehicles and parking spaces, used to determine the overlap ratio. For vehicles and parking spaces that failed the initial matching, if the overlap area between the target vehicle's bounding box and the weakly occupied area of ​​the parking space is greater than the second weight S2 of the weakly occupied area of ​​the parking space, where 0.7 ≥ S2 > 0.3, such as S2 being 0.31, 0.4, or 0.6, it indicates that the secondary matching was successful. If the overlap area between the target vehicle's bounding box and the weakly occupied area of ​​the parking space is less than or equal to the second weight S2 of the weakly occupied area of ​​the parking space, such as S2 being 0.3, 0.19, 0.1, or 0.05, it indicates that the secondary matching failed.

[0060] It is understandable that the second matching threshold can be determined according to the actual situation, and no specific limit is made here.

[0061] This embodiment obtains two occupancy areas, strong and weak, by statistically analyzing the heat map of vehicle parking distribution. The boundary boxes A of the strong occupancy area and B of the weak occupancy area in the statistical data are used as the adjusted parking space boundaries. This not only solves the problem of mismatched vehicle parking spaces, but also solves the problem of mismatch and missed match caused by obstruction or irregular parking when using actual parking space boundaries.

[0062] Furthermore, after selecting the bounding boxes of the strong and weak parking space occupancy areas as the parking space matching boundaries, two overlap matching processes are performed, with a matching threshold set for each matching. The first matching threshold for the initial matching is set relatively high to ensure accuracy, ensuring that almost all properly parked vehicles will be matched with corresponding parking spaces in this first matching. The second matching threshold for the second matching is set relatively low to account for situations such as occlusion or improper parking, expanding the effective boundary of the parking space. Simultaneously, by selecting a smaller second matching threshold, a parking space is matched as often as possible as long as the vehicle body enters the effective boundary of the parking space. Combining these two matching processes improves matching accuracy and reduces missed matches.

[0063] Therefore, this invention predefines the boundary boxes of strong and weak parking space occupancy areas derived from actual data statistics. At the same time, it adopts a two-stage cascaded matching of target vehicles and parking spaces, focusing on the parking space status and successfully matched target vehicles, while unmatched target vehicles are not recorded. This solves the problems of mismatch, incorrect matching, and missed matching of vehicles and parking spaces, and improves matching accuracy, especially in dealing with complex parking behaviors caused by vehicles parked at an angle, crossing the line, or obstructing the view.

[0064] In one specific embodiment, step S300, which involves matching the overlap between the target occupancy area of ​​each parking space and the target vehicle to obtain a parking space matching result, further includes the following steps: S310. Based on the relative distance of each parking space to the camera, and following the rule from near to far, the target occupancy area of ​​each parking space is sequentially matched with the target vehicle to obtain the parking space matching result.

[0065] Because the camera captures parking spaces from an angle, vehicles closer to each other in adjacent spaces may obscure vehicles further away, potentially leading to mismatches. This embodiment matches parking spaces from closest to furthest, greatly reducing such mismatches between adjacent spaces.

[0066] Specifically, the relative distance between a parking space and a camera can be determined by the proportion of the parking space in the real-time monitoring video. The larger the proportion of the parking space in the video, the closer it is to the camera; conversely, the smaller the proportion, the farther away it is. Following this rule of relative distance from parking space to camera, the overlap between the target occupancy areas of multiple parking spaces in the real-time monitoring video and the target vehicles is matched to obtain the matching result for each parking space. This updates the parking space status tracker, ensuring no parking space is missed.

[0067] In one specific embodiment, if the first proportion S1 of the target vehicle and multiple parking space strong occupancy areas all exceed the first matching threshold, the parking space with the largest first proportion S1 is selected for binding. If the second proportion S2 of the target vehicle and multiple parking space weak occupancy areas all exceed the second matching threshold, such as if the target vehicle spans two parking spaces, the parking space with the largest second proportion S2 is selected for binding.

[0068] S400. Based on the parking space status tracker, determine the status of the parking space that has successfully matched the target vehicle and whether the vehicle positions of the target vehicle have all stabilized, obtain the detection result of the parking space status, and report the detection result.

[0069] When a target vehicle is detected, the overlap between the target vehicle and the target parking space's occupancy area is matched to obtain a parking space matching result. Since the target vehicle may undergo adjustments upon entering the parking space, causing its position to change, this could lead to changes in the parking space's status and invalid identification. To accurately determine the target vehicle's entry completion status and ensure accurate parking space occupancy information, this embodiment further determines the status of the parking space successfully matched with the target vehicle and whether the target vehicle's position is stable. Specifically, a parking space status tracker detects vehicle position changes, determines whether the target vehicle's position is stable, and outputs the result indicating whether the target vehicle's position is stable. The parking space status tracker also determines whether the parking space status is stable and outputs the result indicating whether the target vehicle's position is stable.

[0070] If both are stable, it indicates that the target vehicle has completed its entry into the parking space and the parking space is in a stable state of being occupied by a vehicle. At this time, the detection result that the parking space status is occupied by a vehicle is obtained, and the parking space occupancy information is reported.

[0071] If the parking space status is unstable and / or the location of the vehicle matched to the parking space is unstable, it indicates that the target vehicle has not yet completed the parking process. At this time, the detection result of the parking space status being unoccupied is temporarily obtained. The parking space status can be continuously monitored by executing the next round of monitoring steps S100 to S400.

[0072] The parking space status tracker continuously records the matching and detection results for each parking space. The detection results include the latest parking space status and the vehicle identity and location information of the matched target vehicle. Therefore, based on the parking space status tracker, the parking space entry completion status of the target vehicle can be accurately determined, avoiding invalid identification.

[0073] In one specific embodiment, step S400, based on the parking space status tracker, determines the status of the parking space successfully matched with the target vehicle and whether the vehicle positions of the target vehicle are all stable, and obtains the detection result of the parking space status, including the following steps: S401. Based on the parking space status tracker, determine the status of the parking space that has successfully matched the target vehicle and whether the vehicle positions of the target vehicle have all stabilized. S402. If so, it is determined to be a stable occupancy event, and the detection result that the parking space is occupied by a car is obtained; S403. If not, it is determined to be a parking space occupancy failure event, and the detection result of the parking space status being unoccupied is obtained.

[0074] Please see Figure 2 In this embodiment, the status of the parking space that has been successfully matched with the target vehicle and whether the position of the target vehicle has been stable are determined. If yes, that is, the parking space is continuously matched with the target vehicle and the position of the target vehicle is stable, it is determined to be a stable occupancy event. At this time, the parking space is in an occupied state and the parking space occupancy information is reported. If no, that is, the parking space has not been matched with the target vehicle and / or the position of the target vehicle is unstable, it is determined to be an unoccupancy event. At this time, the parking space is in an unoccupancy state.

[0075] In one specific embodiment, such as Figure 2 As shown, after completing this round of parking space status monitoring and identification process, the process can return to step S100, which involves collecting real-time monitoring video of parking spaces within the monitoring area via a camera. This means re-executing steps S100 to S400 to proceed with the next round of parking space status monitoring and identification process, thereby continuously monitoring the subsequent parking space status of all parking spaces.

[0076] This invention uses a two-step process of parking space overlap matching and parking space status detection to accurately and automatically identify the parking space status of each parking space. Finally, it uses a parking space status tracker to obtain the occupancy status of all parking spaces and reports the parking space occupancy information to the charging station management system or other parking management systems. This can improve management efficiency, enable full allocation of resources, and achieve automated and refined management of parking space usage in parking scenarios such as charging stations.

[0077] In one specific embodiment, the monitoring method further includes the following steps: Multiple real-time monitoring videos are obtained by collecting real-time monitoring videos of all parking spaces within the monitoring area using multiple cameras. By combining the detection results of parking space status from multiple real-time monitoring videos, the occupancy status of all parking spaces within the monitoring area is obtained.

[0078] In this embodiment, multiple fixed cameras are used to collect real-time video data covering all parking spaces within the monitored area, resulting in multiple real-time monitoring videos. Finally, the occupancy status of all parking spaces is determined by combining the detection results from these multiple videos, thus improving recognition accuracy. This embodiment constructs a comprehensive monitoring network using multiple cameras, minimizing blind spots and enhancing monitoring completeness.

[0079] In summary, the parking space status monitoring method provided by the embodiments of the present invention has the following beneficial effects: Because each parking space in this invention is pre-configured with a target occupancy area, which is obtained by statistically analyzing the heatmap of the vehicle bounding box distribution when a vehicle is parked in each parking space, the bounding box of the target occupancy area is used as the parking space boundary. When a target vehicle is detected, the overlap between the target vehicle in the real-time monitoring video and the target occupancy area of ​​the parking space is matched to obtain the parking space matching result. The matching result of the successfully matched parking space is updated to the parking space status tracker, while the matching result of the unmatched parking space is not updated to the parking space status tracker. The focus is on the parking space status and the successfully matched target vehicle, while the unmatched target vehicle is not recorded. This solves the problems of vehicle parking space mismatch, difficulty in identifying complex parking behaviors, and serious misjudgment interference, and improves the matching accuracy, especially in dealing with complex parking behaviors caused by vehicles parking at an angle, crossing the line, or being obstructed by vehicles. Furthermore, this invention uses a parking space status tracker to determine the status of the parking space successfully matched with the target vehicle and whether the vehicle positions of the target vehicle are stable. By obtaining the detection results of the parking space status and reporting the detection results, a stable and accurate parking space occupancy status can be obtained in real time. This solves the problem of not being able to accurately grasp the vacancy or occupancy status of parking spaces in real time, improves management efficiency and enables full allocation of resources, and realizes automated and refined management of parking space usage in parking scenarios such as charging stations.

[0080] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a parking space status monitoring device provided in an embodiment of the present invention.

[0081] A parking space status monitoring device according to an embodiment of the present invention includes: A real-time monitoring video acquisition module is used to acquire real-time monitoring videos of parking spaces within a monitoring area via a camera; wherein, in the real-time monitoring video, each parking space is pre-configured with a target occupancy area, and the target occupancy area is obtained by statistically analyzing the heat map of the boundary box distribution of vehicles when they are parked in the parking space. The vehicle detection module is used to detect whether a target vehicle exists in the real-time monitoring video; The overlap matching module is used to perform overlap matching between the target occupancy area of ​​each parking space and the target vehicle when the presence of the target vehicle is detected, to obtain a parking space matching result, and to update the parking space status tracker with the matching result of the successful match, while not updating the parking space status tracker with the matching result of the unsuccessful match; wherein, the parking space status tracker is used to continuously record the parking space status of all parking spaces in the monitoring area, as well as the vehicle identity information and location information of the target vehicle that is successfully matched with the parking space; The parking space status detection module is used to determine the status of the parking space that has been successfully matched with the target vehicle and whether the vehicle positions of the target vehicle have been stabilized based on the parking space status tracker, obtain the detection result of the parking space status, and report the detection result.

[0082] The parking space status monitoring device provided in this embodiment of the invention can perform all the steps and functions of the parking space status monitoring method provided in any of the above embodiments. The specific functions of the device will not be described in detail here.

[0083] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of a terminal device according to an embodiment of the present invention. The terminal device includes: The processor 100, the memory 200, and the computer program stored in the memory 200 and configured to be executed by the processor 100, wherein the processor 100 executes the computer program to implement a parking space status monitoring method as described in the above embodiments.

[0084] The processor 100 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present invention. The memory 200 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 200 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 200 and called by the processor 100 to execute a parking space status monitoring method according to an embodiment of the present invention. Input / output interface 300 is used to realize information input and output; The communication interface 400 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 500 transmits information between various components of the device (e.g., processor 100, memory 200, input / output interface 300, and communication interface 400); The processor 100, memory 200, input / output interface 300 and communication interface 400 are connected to each other within the device via bus 500.

[0085] This invention also provides a computer-readable storage medium storing a computer program, wherein the computer program, when running, controls the device where the computer-readable storage medium is located to execute a parking space status monitoring method according to the above embodiments.

[0086] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0087] The embodiments described in this invention are for the purpose of more clearly illustrating the technical solutions of the embodiments of this invention, and do not constitute a limitation on the technical solutions provided by the embodiments of this invention. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this invention are also applicable to similar technical problems.

[0088] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present invention, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0089] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0090] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0091] The terms "first," "second," "third," "fourth," etc. (if present) in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0092] It should be understood that in this invention, "at least one (item)" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0093] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0094] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0095] Furthermore, the functional units in the various embodiments of the present invention 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.

[0096] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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 multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0097] The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and spirit of the present invention should be within the scope of the claims of the present invention.

Claims

1. A method for monitoring the status of a parking space, characterized in that, include: Real-time monitoring video of parking spaces within the monitoring area is collected by cameras; wherein, in the real-time monitoring video, each parking space is pre-configured with a target occupancy area, and the target occupancy area is obtained by statistically analyzing the heat map of the boundary box distribution of vehicles when they are parked in the parking space. Detect whether the target vehicle exists in the real-time monitoring video; When the target vehicle is detected, the overlap of the target occupancy area of ​​each parking space with the target vehicle is matched to obtain a parking space matching result. The parking space matching result of a successful match is updated to the parking space status tracker, while the parking space matching result of a failed match is not updated to the parking space status tracker. The parking space status tracker is used to continuously record the parking space status of all parking spaces in the monitoring area, as well as the vehicle identity information and location information of the target vehicle that is successfully matched with the parking space. Based on the parking space status tracker, determine the status of the parking space that has successfully matched the target vehicle and whether the vehicle positions of the target vehicle have all stabilized, obtain the detection result of the parking space status, and report the detection result.

2. The parking space status monitoring method according to claim 1, characterized in that, The target occupancy area includes a strong occupancy area and a weak occupancy area; the method for obtaining the strong occupancy area and the weak occupancy area of ​​each parking space specifically includes: For any one of the parking spaces, the camera collects images of multiple vehicles parked in the parking space; The position of each vehicle in the image is detected by a vehicle detection algorithm, the position coordinates of the vehicles matched to the parking spaces are obtained, and a heat map of the vehicle position distribution is calculated. Based on the intensity of the heatmap, a first statistical threshold and a second statistical threshold are set; wherein, the first statistical threshold is greater than the second statistical threshold; Based on the first statistical threshold, the strong occupancy area of ​​the parking space is obtained, and the bounding box of the strong occupancy area is used as the initial matching boundary of the parking space. Based on the second statistical threshold, the weakly occupied area of ​​the parking space is obtained, and the bounding box of the weakly occupied area is used as the secondary matching boundary of the parking space.

3. The parking space status monitoring method according to claim 2, characterized in that, The step of matching the target occupancy area of ​​each parking space with the target vehicle to obtain a parking space matching result, and updating the parking space status tracker with successfully matched parking space matching results, while not updating the parking space status tracker with unsuccessful matching results, includes: Calculate the first proportion of the overlap area between the bounding box of the target vehicle and the strongly occupied area of ​​the parking space in the real-time monitoring video to the area of ​​the strongly occupied area. Determine whether the first proportion exceeds the first matching threshold; If so, it is determined that the parking space and the target vehicle have been successfully matched for the first time. Vehicle identity information is configured for the target vehicle that has been successfully matched with the parking space for the first time, and the parking space status, vehicle identity information and location information of the target vehicle are updated to the parking space status tracker. If not, it is determined that the parking space and the target vehicle failed to match for the first time, the parking space status is not updated to the parking space status tracker, and the vehicle information of the target vehicle that failed to match the parking space for the first time is discarded.

4. The parking space status monitoring method according to claim 3, characterized in that, The step of matching the target occupancy area of ​​each parking space with the target vehicle to obtain a parking space matching result, and updating the parking space status tracker with successfully matched parking space matching results, while not updating the parking space status tracker with unsuccessful matching results, further includes: Filter the target vehicles and parking spaces that failed to match on the first attempt; Calculate the second ratio of the overlap area between the bounding box of the target vehicle that failed the initial match and the weakly occupied area of ​​the parking space that failed the initial match to the area of ​​the weakly occupied area. Determine whether the second proportion exceeds the second matching threshold; wherein the second matching threshold is less than the first matching threshold; If so, it is determined that the parking space and the target vehicle have been successfully matched for the second time. Vehicle identity information is configured for the target vehicle that has been successfully matched with the parking space for the second time, and the parking space status, vehicle identity information and location information of the target vehicle are updated to the parking space status tracker. If not, it is determined that the parking space and the target vehicle have failed to match for the second time. The parking space status is not updated to the parking space status tracker, and the vehicle information of the target vehicle that failed to match for the second time with the parking space is discarded.

5. The parking space status monitoring method according to claim 1, characterized in that, The step of matching the target occupancy area of ​​each parking space with the target vehicle to obtain a parking space matching result includes: Based on the relative distance of each parking space to the camera, the target occupancy area of ​​each parking space is matched with the target vehicle according to the rule from near to far to obtain the parking space matching result.

6. The parking space status monitoring method according to claim 1, characterized in that, The step of determining the status of the parking space successfully matched with the target vehicle and whether the vehicle positions of the target vehicle are all stable, based on the parking space status tracker, to obtain the detection result of the parking space status includes: Based on the parking space status tracker, determine the status of the parking space that has successfully matched the target vehicle and whether the vehicle positions of the target vehicle have all stabilized. If so, it is determined to be a stable occupancy event, and the detection result that the parking space is occupied by a car is obtained; If not, it is determined as a parking space occupancy failure event, and the detection result is that the parking space status is unoccupied.

7. A parking space status monitoring method according to any one of claims 1 to 6, characterized in that, Before detecting whether a target vehicle exists in the real-time monitoring video, the monitoring method further includes: Based on pixel change detection, the monitoring area in the real-time monitoring video is monitored to determine whether target vehicle detection is required. When a change in the pixels of the monitored area in the real-time monitoring video is detected, the presence of a target vehicle in the real-time monitoring video is detected based on the vehicle detection model. If no change in the pixels of the monitored area in the real-time monitoring video is detected, then target vehicle detection will not be performed.

8. A parking space status monitoring method according to any one of claims 1 to 6, characterized in that, The monitoring method also includes: Multiple real-time monitoring videos are obtained by collecting real-time monitoring videos of all parking spaces within the monitoring area using multiple cameras. By combining the detection results of parking space status from multiple real-time monitoring videos, the occupancy status of all parking spaces within the monitoring area is obtained.

9. A parking space status monitoring device, characterized in that, include: A real-time monitoring video acquisition module is used to acquire real-time monitoring videos of parking spaces within a monitoring area via a camera; wherein, in the real-time monitoring video, each parking space is pre-configured with a target occupancy area, and the target occupancy area is obtained by statistically analyzing the heat map of the boundary box distribution of vehicles when they are parked in the parking space. The vehicle detection module is used to detect whether a target vehicle exists in the real-time monitoring video; The overlap matching module is used to perform overlap matching between the target occupancy area of ​​each parking space and the target vehicle when the presence of the target vehicle is detected, to obtain a parking space matching result, and to update the parking space status tracker with the matching result of the successful match, while not updating the parking space status tracker with the matching result of the unsuccessful match; wherein, the parking space status tracker is used to continuously record the parking space status of all parking spaces in the monitoring area, as well as the vehicle identity information and location information of the target vehicle that is successfully matched with the parking space; The parking space status detection module is used to determine the status of the parking space that has been successfully matched with the target vehicle and whether the vehicle positions of the target vehicle have been stabilized based on the parking space status tracker, obtain the detection result of the parking space status, and report the detection result.

10. A terminal device, characterized in that, include: A processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements a parking space status monitoring method as described in any one of claims 1 to 8.

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