A storage and retrieval vehicle control method, device, storage medium and computer program product

Abstract

This application discloses a vehicle storage and retrieval control method, device, storage medium, and computer program product. In this application, if it is detected that a target vehicle has been retrieved to a temporary parking space, it can be determined whether the target vehicle meets the re-storage conditions. If the re-storage conditions are met, a re-storage instruction is obtained, and the vehicle storage and retrieval system is controlled to perform a parking operation on the target vehicle according to the re-storage instruction. Through this method, when the target vehicle cannot be retrieved in time, it can be automatically re-stored in the garage, eliminating the need for prolonged occupation of the temporary parking space and the need for the user to drive the vehicle away from the temporary parking space and then re-store it, thus improving parking efficiency and user experience.

Description

Technical Field

[0001] This application relates to the field of vehicle access control technology, and in particular to a vehicle access control method, device, storage medium and computer program product. Background Technology

[0002] With the acceleration of urbanization and the continuous growth of car ownership, multi-level parking systems have been widely used in various commercial areas, residential communities, and public parking lots due to their advantages such as small footprint and high space utilization. Existing multi-level parking systems typically adopt fully automatic or semi-automatic control modes. After the user issues a vehicle retrieval command through the operating terminal, the control system executes the transporter to remove the target vehicle from the storage space and move it to the temporary parking area on the ground.

[0003] Currently, the control logic of existing automated parking systems generally follows a single process: retrieval completes the exit from the parking space in one go. That is, once the system executes the retrieval command and removes the vehicle to the temporary parking area, the retrieval cycle ends. After the vehicle is retrieved, the temporary parking area is occupied by that vehicle, and the system requires the user to immediately drive the vehicle away to free up the space for other users. However, in real-world applications, when a vehicle is retrieved and placed in the temporary parking area, various reasons often prevent the vehicle from leaving. This results in the temporary parking area being occupied for an extended period, preventing subsequent users from retrieving their vehicles. Furthermore, it forces users to drive their vehicles out of the automated parking system and then queue again, repeating the cumbersome process.

[0004] Therefore, how to efficiently store a vehicle after it has been moved to a temporary parking area is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] This application provides a vehicle storage and retrieval control method, device, storage medium, and computer program product to improve vehicle storage efficiency.

[0006] Firstly, this application provides a vehicle access control method for controlling a vehicle access system to access a target vehicle, comprising: Check whether the target vehicle has been removed and moved to the temporary parking space; If the vehicle has been retrieved to the temporary parking space, determine whether the target vehicle meets the conditions for re-storage. If the conditions for re-storage are met, a re-storage instruction is obtained; According to the storage instruction, the vehicle storage and retrieval system is controlled to perform a storage operation on the target vehicle.

[0007] Optionally, determining whether the target vehicle meets the conditions for re-storage includes: Obtain the parking duration of the target vehicle in the temporary parking space; Determine whether the parking duration exceeds the duration threshold; If so, the target vehicle is determined to meet the conditions for reuse.

[0008] Optionally, before controlling the vehicle storage and retrieval system to perform the parking operation on the target vehicle, the system further includes: Perform a re-examination of the target vehicle; If the target vehicle passes the re-entry check, the vehicle storage and retrieval system is controlled to perform a vehicle storage operation on the target vehicle.

[0009] Optionally, a re-entry check is performed on the target vehicle, including: Determine whether the target vehicle has moved after being retrieved and placed in the temporary parking space; If a move occurs, the re-storage check is deemed unsuccessful; If no movement occurs, determine whether there is a detection target within the temporary parking space; If there is no target in the temporary parking space, the status of the target vehicle's doors and the folding status of its rearview mirrors will be used to determine whether the target vehicle passes the re-entry inspection.

[0010] Optionally, determining whether the target vehicle has moved after being retrieved to the temporary parking space includes: Detect the target vehicle's rear-end proportion and the target edge distance of each tire; Calculate the difference between the baseline distance and the target distance for each tire, and determine whether the difference between the baseline distances for all tires exceeds the baseline threshold. If all exceed the edge line threshold, it is determined that the target vehicle has moved; if none exceed the edge line threshold, it is determined that the target vehicle has not moved; if the edge line difference of some tires exceeds the edge line threshold, it is determined whether the difference between the ratio of the reference rear end ratio and the ratio of the target rear end ratio exceeds the ratio threshold; the reference edge line distance and the reference rear end ratio are obtained before the target vehicle moves. If the percentage threshold is exceeded, it is determined that the target vehicle has moved; if the percentage threshold is not exceeded, it is determined that the target vehicle has not moved. Among them, the rear-end ratio is the ratio of the distance from the rear of the target vehicle to the total length of the rear-end ratio in the rear-end ratio detection area; the edge distance is the distance between the wheel contact point and the boundary line of the tire detection area in the tire detection area.

[0011] Optionally, the detection process for the edge distance of each tire of the target vehicle includes: Obtain a vehicle image of the target vehicle; The tire detection area for each tire is determined based on the vehicle image; Calculate the distance between the tire contact point and the boundary line of the tire inspection area in each tire inspection area; the distance is either the reference distance or the target distance, and includes the front distance and the rear distance.

[0012] Optionally, the detection process for the rear-end proportion of the target vehicle includes: Obtain a vehicle image of the target vehicle; The rear-end proportion detection area is determined based on the vehicle image; Calculate the ratio of the distance from the rear of the target vehicle to the total length of the rear proportion within the vehicle rear proportion detection area, and use the ratio as the rear proportion; wherein, the rear proportion is either the baseline rear proportion or the target rear proportion.

[0013] Secondly, this application provides an electronic device, comprising: Memory, used to store computer programs; A processor is used to implement the steps of the above-described vehicle access control method when executing the computer program.

[0014] Thirdly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described vehicle access control method.

[0015] Fourthly, this application also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the above-described vehicle access control method.

[0016] Compared with the prior art, the technical solutions provided in this application have the following advantages: This application provides a vehicle storage and retrieval control method, device, storage medium, and computer program product. In this application, if it is detected that the target vehicle has been retrieved to the temporary parking space, it can be determined whether the target vehicle meets the re-storage conditions; if the re-storage conditions are met, a re-storage instruction is obtained, so as to control the vehicle storage and retrieval system to perform the parking operation on the target vehicle according to the re-storage instruction. Through this method, when the target vehicle cannot be retrieved in time, the target vehicle can be automatically re-stored in the garage, without occupying the temporary parking space for a long time, and without requiring the user to drive the vehicle away from the temporary parking space and then re-store it, thus improving parking efficiency and parking experience. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0018] To more clearly illustrate the technical solutions 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, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0020] Figure 1 This application provides a schematic flowchart of a vehicle access control method. Figure 2 A specific flowchart for triggering a data storage action is provided in this application embodiment; Figure 3 A specific flowchart of the re-entry check is provided for embodiments of this application; Figure 4 This is a schematic diagram of parking space area division provided in an embodiment of this application; Figure 5 A schematic diagram of the edge distance provided for an embodiment of this application; Figure 6 This is a schematic diagram of the vehicle rear occupancy detection area provided in an embodiment of this application; Figure 7 This is a schematic diagram of the overall process of vehicle movement detection provided in the embodiments of this application; Figure 8 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0021] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of this application.

[0022] It should be noted that, in the optional embodiments of this application, the data related to object information, when applied to specific products or technologies, requires the permission or consent of the object. Furthermore, the collection, use, and processing of this data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. In other words, if the embodiments of this application involve data related to an object, it must be obtained with the object's authorization and consent, the authorization and consent of relevant departments, and in accordance with the relevant laws, regulations, and standards of the country and region. If the embodiments involve personal information, the acquisition of all personal information requires the individual's consent. If sensitive information is involved, the separate consent of the information subject is required. The embodiments also need to be implemented with the object's authorization and consent.

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0025] Currently, automated parking systems typically employ fully automatic or semi-automatic control modes. After a user issues a vehicle retrieval command via a terminal, the control system executes a transporter to remove the target vehicle from its storage space and move it to a temporary parking area on the ground. The user is then required to immediately move the vehicle to free up the space for other users. However, in practical applications, the existing control logic suffers from the following technical shortcomings: The system fails to meet the needs of users in scenarios requiring temporary item retrieval: After retrieving their vehicles, users often leave items behind and need to return to retrieve them; or they may change their travel plans after retrieving their vehicles and no longer need them. In these situations, users must drive their vehicles out of the parking garage, queue again, and repeat the parking process. This process not only increases the complexity and waiting time for users but also increases unnecessary energy consumption and traffic congestion due to the need for vehicles to enter and exit twice, resulting in a poor user experience.

[0026] The existing system lacks a mechanism to handle accidental operation or unauthorized occupation of temporary parking areas, leading to a decrease in overall equipment operating efficiency. In actual operation, it frequently occurs that non-owners accidentally touch the operating interface or enter incorrect license plate information, retrieving other people's vehicles, or that vehicle owners are unable to immediately drive their vehicles away from the retrieval bay due to unforeseen circumstances after retrieving them. Because the retrieval bays are occupied for extended periods, subsequent users' retrieval instructions cannot be executed, causing the entire automated parking system to come to a standstill. This not only severely reduces the operational efficiency and turnover rate of the automated parking system but may also cause conflicts between users, increasing the management burden on the operator.

[0027] Therefore, this application provides a vehicle storage and retrieval control method, device, storage medium, and computer program product. After detecting that the target vehicle has been retrieved to the temporary parking space, this application determines whether the target vehicle meets the re-storage conditions. If the re-storage conditions are met, a re-storage instruction is obtained so that the vehicle storage and retrieval system can be controlled to perform the parking operation on the target vehicle according to the re-storage instruction. Through this method, when the target vehicle cannot be retrieved in time, this application can automatically re-store the target vehicle in the garage without occupying the temporary parking space for a long time, and without requiring the user to drive the vehicle away from the temporary parking space and then re-store it, thereby improving parking efficiency and parking experience.

[0028] See Figure 1 This is a schematic flowchart of a vehicle access control method provided in an embodiment of this application. The vehicle access control method is used to control the vehicle access system to access a target vehicle, and the vehicle access control method may include the following steps: S101. Check whether the target vehicle has been removed and placed in the temporary parking space.

[0029] If yes, then execute S102; otherwise, continue executing S101.

[0030] In this application, the target vehicle is the controlled vehicle in the vehicle storage and retrieval control method. The user first needs to operate the terminal to retrieve the target vehicle to the temporary parking space. The operation of the terminal can be done by the user swiping a card on the on-site terminal, or entering the license plate number on the on-site terminal screen, or clicking on the on-site terminal screen, or controlling the retrieval of the vehicle on the APP (Application), etc., and is not specifically limited here.

[0031] This application offers various methods for detecting whether a target vehicle has been removed from a temporary parking space, and these methods are not specifically limited here. For example: using an image acquisition device installed at the temporary parking space to capture an image of the vehicle, and using this image to detect whether the target vehicle is stationary in the temporary parking space; if it is stationary, then the target vehicle is determined to have been removed from the temporary parking space. Alternatively, using an image acquisition device to capture an image of the vehicle in the temporary parking space, and detecting whether the four wheels of the target vehicle are accurately positioned in the four wheel detection areas of the temporary parking area; if so, then the target vehicle is determined to have been removed from the temporary parking space. Alternatively, the user's operating terminal actively triggers a trigger command indicating that the vehicle has been removed from the temporary parking space; if this trigger command is detected, then the target vehicle is determined to have been removed from the temporary parking space. Alternatively, after the user's operating terminal issues a vehicle retrieval command, the control system executes the transporter's actions and returns a response command; if this response command is detected, then the target vehicle is determined to have been removed from the temporary parking space.

[0032] If a user-triggered vehicle retrieval command is received, but the target vehicle has not yet been detected to have been retrieved and placed in the temporary parking space, the process continues to execute the step of detecting whether the target vehicle has been retrieved and placed in the temporary parking space until the target vehicle is detected to have been retrieved and placed in the temporary parking space, or the process ends after receiving a user-triggered command to cancel vehicle retrieval.

[0033] S102. Determine whether the target vehicle meets the conditions for re-storage.

[0034] If yes, then execute S103; otherwise, continue executing S102.

[0035] In this embodiment, since the temporary parking space only allows the target vehicle to stop briefly, this application addresses the situation where the vehicle cannot be retrieved in time for any reason. After detecting that the target vehicle has been moved to the temporary parking space, it automatically determines whether the target vehicle meets the conditions for re-storage. If the conditions are met, a re-storage instruction is obtained. If the conditions are not met, the process continues to determine whether the target vehicle meets the re-storage conditions until the target vehicle is detected to have left the temporary parking space, or the re-storage process is stopped, at which point the process ends.

[0036] In this application, "re-storage" refers to reversing the storage of the target vehicle back into the garage. The re-storage condition is used to determine whether a re-storage command needs to be generated for the target vehicle. This condition can be: the user actively triggering the re-storage button on the app, the user actively triggering the re-storage button through the on-site terminal screen, the user issuing a re-storage message via voice on-site, etc., and is not specifically limited here. Correspondingly, determining whether the target vehicle meets the re-storage condition can specifically be: determining whether the user actively triggered the re-storage button on the app; if so, the re-storage condition is met; or, determining whether the user actively triggered the re-storage button through the on-site terminal screen; if so, the re-storage condition is met; or, determining whether the user issued a re-storage message via voice on-site; if so, the re-storage condition is met.

[0037] S103, Obtain the reset instruction.

[0038] S104. According to the storage instruction, control the vehicle storage and retrieval system to perform the storage operation on the target vehicle.

[0039] In this application, after determining that the target vehicle meets the re-storage conditions through the above steps, a re-storage instruction is obtained. This re-storage instruction is used to control the vehicle storage and retrieval system to perform a vehicle storage operation on the target vehicle, thereby realizing the re-storage of the target vehicle.

[0040] In summary, this application allows users to retrieve their vehicles and then store them back in the garage by clicking the on-site terminal screen or the APP's vehicle storage button. This method automatically re-stores the target vehicle in the garage when it cannot be retrieved in time, eliminating the need to occupy the temporary parking space for an extended period or for the user to drive the vehicle away from the temporary parking space and then re-store it, thus improving parking efficiency and user experience.

[0041] In another embodiment of this application, determining whether the target vehicle meets the conditions for data replication includes: Obtain the parking duration of the target vehicle in the temporary parking space; determine whether the parking duration exceeds the duration threshold; if so, determine that the target vehicle meets the conditions for repeated storage.

[0042] In this embodiment, when determining whether a target vehicle meets the conditions for re-storage, the parking duration of the target vehicle in the temporary parking space can also be used as a reference. This parking duration refers to the total time from when the target vehicle is detected being removed from the temporary parking space to the current time; it reflects the length of time the temporary parking space has been occupied. If the parking duration is too long, it will prevent subsequent users from executing their vehicle retrieval commands, causing the entire automated parking system to stagnate.

[0043] Therefore, in this application, the parking duration of the target vehicle in the temporary parking space can be automatically obtained, and it can be determined whether the parking duration exceeds a time threshold. If it exceeds the time threshold, the target vehicle is determined to meet the re-storage condition, and a re-storage instruction is obtained so as to automatically control the vehicle storage and retrieval system to perform the vehicle storage operation. The time threshold can be set according to the actual situation. In this embodiment, the time threshold can be set to 5 minutes, that is: if it is detected that the user's vehicle has been parked in the temporary parking space for more than 5 minutes after being retrieved, the vehicle will be automatically stored back in the garage. Understandably, after determining that the re-parking conditions are met based on the parking duration, this application can also remind the user. If the user leaves the temporary parking space within the predetermined time after the reminder, automatic parking is not required. If the user still does not leave the temporary parking space within the predetermined time after the reminder, a re-parking instruction is received and the parking operation is performed. In summary, this application can automatically return the vehicle to the garage after the user retrieves the target vehicle and the parking time of the target vehicle in the temporary parking space exceeds the time threshold. In this way, the automatic re-storage of the vehicle is achieved, ensuring the smoothness of subsequent queuing for vehicle retrieval.

[0044] In another embodiment of this application, before controlling the vehicle storage and retrieval system to perform a parking operation on the target vehicle, the system further includes: performing a re-parking check on the target vehicle; if the target vehicle passes the re-parking check, the system is then controlled to perform a parking operation on the target vehicle.

[0045] In this application, considering that when re-parking a vehicle automatically or manually, after the user retrieves the target vehicle to the temporary parking space, the target vehicle may be manually operated with the rearview mirrors not folded, the doors not closed, or even moved by someone getting into the vehicle, re-parking at this time may cause damage to people and vehicles, this application can automatically perform a re-parking check on the target vehicle before parking; if the target vehicle passes the re-parking check, the parking system is controlled to perform the parking operation on the target vehicle; if the re-parking check fails, the parking operation cannot be performed, or the parking operation is performed only after the target vehicle passes the re-parking check.

[0046] The re-entry inspection performed on the target vehicle in this application includes at least the following: checking whether the target vehicle has moved after being taken out to the temporary parking space, and checking whether there is a detection target in the temporary parking space; checking whether each inspection item of the target vehicle meets the parking requirements; if the target vehicle has not moved after being taken out to the temporary parking space, and there is no detection target in the temporary parking space, and all inspection items of the target vehicle meet the parking requirements, then the target vehicle is determined to have passed the re-entry inspection.

[0047] If the target vehicle moves after being removed from the temporary parking space, it is likely to be damaged during parking. Therefore, this application determines that the re-parking inspection fails after the target vehicle has been moved. The detection targets include people, pets, and other objects that need to be detected. If no detection targets are detected in the temporary parking space, it means that there are no detection targets inside or outside the target vehicle in the temporary parking space. If there are detection targets, it means that there are still people or other targets in the temporary parking space. Parking the vehicle at this time may cause harm to people or other targets. Therefore, if it is determined that there are detection targets in the temporary parking space, the re-parking inspection fails. The inspection items of the target vehicle include vehicle parts such as doors and rearview mirrors. Parking requirements include: doors closed, rearview mirrors folded, etc. Therefore, whether the inspection items in this application meet the parking requirements means: checking whether the door is closed and checking whether the rearview mirror is folded. Only when the door is closed and the rearview mirror is folded is it determined that all inspection items of the target vehicle meet the parking requirements.

[0048] Furthermore, in this embodiment, the execution order of the above-mentioned re-storage checks is not limited. The re-storage checks can be executed in a specific order or at the same time. Both are acceptable. However, it can be determined that the target vehicle has passed the re-storage check only if it is determined that the target vehicle has not moved after being taken out to the temporary parking space, there is no target to be detected in the temporary parking space, and all the check items of the target vehicle meet the parking requirements.

[0049] See Figure 2 The following is a flowchart illustrating a specific re-storage action triggering process provided in this application embodiment. As shown in the figure, after the process begins, it is necessary to determine whether the target vehicle has been retrieved to the temporary parking space. If so, it is necessary to determine whether the user has clicked the vehicle reset button via the screen or the APP. If the reset button is clicked, it is necessary to determine whether the re-storage check has passed. If the check has passed, the robot is notified to re-storage the vehicle, that is, to store it back in the garage. Similarly, after the target vehicle has been retrieved to the temporary parking space, it is necessary to determine whether the parking time has exceeded 5 minutes. If so, it is necessary to determine whether the re-storage check has passed. If the check has passed, the robot is notified to re-storage the vehicle.

[0050] In summary, this embodiment introduces a re-storage check before performing the parking operation, and uses the result of the re-storage check as the trigger condition for the parking operation. Only after passing the re-storage check will the parking system be controlled to perform the parking operation on the target vehicle. In this way, the risk of accidents caused by erroneous parking can be significantly reduced during the parking control process of the multi-level parking equipment, ensuring the safety and reliability of vehicles and personnel.

[0051] In another embodiment of this application, performing a re-examination on the target vehicle includes: Determine whether the target vehicle has moved after being retrieved to the temporary parking space; if it has moved, the vehicle fails the re-entry check; if it has not moved, determine whether there is a target in the temporary parking space; if there is no target in the temporary parking space, determine whether the target vehicle passes the re-entry check based on the status of the vehicle door and the folding status of the rearview mirror.

[0052] In this embodiment, when performing various re-save checks on the target vehicle to determine whether the target vehicle passes the re-save check, vehicle movement detection can be prioritized. This is because if the user has already moved the vehicle, it means that the user is driving the vehicle out of the parking space, which means that the user may not need to park the vehicle, and the process can be ended directly. Alternatively, if the user moves the vehicle and the current position of the vehicle no longer meets the parking requirements, the user still needs to move the vehicle. In this case, the previous target detection results, rearview mirror inspection results, and door inspection results will all become invalid and need to be re-checked. Therefore, this method of checking whether the vehicle has moved first can effectively save computing resources.

[0053] In this application, if the vehicle is moved, the user can be reminded to move the vehicle again, or the process can be terminated directly. If the user needs to park the vehicle after the process is terminated, the vehicle must be parked in a predetermined location that meets the parking requirements before parking can be triggered again. At this time, the system can directly check whether the parking location of the target vehicle meets the parking requirements. If the parking requirements are met, the system will then check the target vehicle, doors, and rearview mirrors. If the requirements are not met, a reminder will be given, and the system will wait for a predetermined time before re-checking. If the target vehicle leaves, the doors are closed, and the rearview mirrors are folded, the parking operation will proceed. The reminder method can be: APP reminder, on-site terminal screen reminder, on-site voice reminder, etc., and is not specifically limited here.

[0054] If the target vehicle is not detected to have moved, the system continues to check if there is a target in the temporary parking space. If there is a target, the user is prompted to leave the parking space. After the target leaves the temporary parking space, the system continues to check the vehicle's door status and side mirror folding status to determine if the vehicle passes the re-entry check. The re-entry check will only pass if all doors are closed and all side mirrors are folded. Door status includes the driver's door, passenger's door, rear doors, and trunk door; all doors must be closed for the re-entry check to pass. Similarly, side mirror folding status includes the left and right side mirrors; both side mirrors must be folded for the re-entry check to pass.

[0055] When performing the aforementioned re-parking inspection, this application utilizes image acquisition equipment installed in the temporary parking space to acquire the current image of the parking space. Then, AI (Artificial Intelligence) is used to recognize the image, identifying targets such as vehicle position, rearview mirrors, doors, wheel positions, and personnel. The re-parking inspection result is determined based on the recognition results. For example, by detecting vehicle and wheel positions through images, it can be determined whether the target vehicle has moved; by detecting personnel or other targets through images, it can be determined whether there are any targets within the temporary parking space; by detecting vehicle rearview mirrors, doors, etc., it can be determined whether these components meet the parking requirements. This image acquisition equipment can be a camera. Through image recognition, effective security checks can be performed on vehicles and personnel during vehicle re-parking, achieving security protection for these targets.

[0056] It should be noted that this application is not limited to image recognition for verification, but can also be combined with other methods, such as: when determining whether a vehicle has moved, the vehicle's operating data can be obtained, and the vehicle speed in the operating data can be determined to be zero; if it is zero, it means that the vehicle has not moved; or, when determining whether there is a target in a temporary parking space, thermal imaging technology can be used to detect whether there is a target in the parking space; or, when detecting the door status and rearview mirror folding status of a target vehicle, the vehicle status data of the target vehicle can be obtained, and the door status and rearview mirror folding status can be directly determined based on the vehicle status data.

[0057] See Figure 3 The following is a flowchart of a specific re-entry check provided in this application embodiment. As shown in the figure, after receiving the re-entry check instruction, this application needs to perform a re-entry check on the target vehicle. The re-entry check includes the following process: determining whether the vehicle has been moved after being taken out; if so, the re-entry check is determined to have failed; if not, determining whether there is anyone in the parking space; if there is someone, waiting for the person to leave before repeating the check; if there is no one, determining whether the car door is closed; if not, waiting for the car door to close; if closed, determining whether the rearview mirror is folded; if not folded, waiting for the rearview mirror to fold; if folded, the re-entry check is determined to have passed.

[0058] In summary, this application ensures the safety of vehicles and personnel during parking by performing vehicle movement checks, personnel and other target checks, door checks, and rearview mirror checks when determining whether a target vehicle has passed the re-entry inspection. Furthermore, this sequential inspection order, compared to performing each inspection simultaneously, avoids instantaneous processing pressure on the system, reduces system load, and provides timely feedback on inspection results, thereby reducing user waiting time.

[0059] In another embodiment of this application, determining whether the target vehicle has moved after being retrieved to the temporary parking space includes: Detect the target vehicle's rear-end proportion and the target edge distance of each tire; Calculate the difference between the baseline distance and the target distance for each tire, and determine whether the difference between the baseline distances for all tires exceeds the baseline threshold. If all exceed the edge line threshold, it is determined that the target vehicle has moved; if none exceed the edge line threshold, it is determined that the target vehicle has not moved; if the edge line difference of some tires exceeds the edge line threshold, it is determined whether the difference between the ratio of the reference rear end ratio and the ratio of the target rear end ratio exceeds the ratio threshold; the reference edge line distance and the reference rear end ratio are obtained before the target vehicle moves. If the percentage threshold is exceeded, it is determined that the target vehicle has moved; if the percentage threshold is not exceeded, it is determined that the target vehicle has not moved. Among them, the rear-end ratio is the ratio of the distance from the rear of the target vehicle to the total length of the rear-end ratio in the rear-end ratio detection area; the edge distance is the distance between the wheel contact point and the boundary line of the tire detection area in the tire detection area.

[0060] In this embodiment, vehicle movement detection is used to detect whether the vehicle in the temporary parking area has moved after the vehicle is retrieved. Considering factors such as obstacles in the parking space, different vehicle sizes, and people in the parking space, traditional radar or sensor identification may lead to many false detections. Therefore, in this embodiment, the relative position detection of the rear of the vehicle and the wheel position detection can be used to determine whether the vehicle has moved by measuring the distance between the edges of each tire and / or the proportion of the rear of the vehicle. Specifically, in order to accurately determine whether the vehicle has moved, this application can divide the parking area of ​​the temporary parking space into multiple detection zones and install image acquisition equipment to collect images.

[0061] See Figure 4 This is a schematic diagram of parking space area division provided in an embodiment of this application. As shown in the figure, this application can pre-mark different rectangular areas in the image coordinate system and define them as different detection areas. The detection areas divided in this application include: a rear-end proportion detection area, and detection areas 1 to 4. The image acquisition equipment set for the temporary parking space includes: a front camera, a left front camera, a right front camera, a left rear camera, and a right rear camera. Among them, the rear-end proportion detection area is used to detect the rear range of a vehicle entering this area; detection areas 1 to 4 are tire detection areas, used to detect targets such as people in the parking space, vehicle tires, and the status of car doors within each detection area. The front camera is installed directly above the front of the parking space to identify whether there are people in the parking space and the range of the vehicle body entering the rear-end proportion detection area. The left front camera, right front camera, left rear camera, and right rear camera are installed at four angles above the sides of the vehicle, mainly used to detect the position of each tire of the vehicle in the tire detection area, the open state of the car doors, and the folded state of the rearview mirrors.

[0062] In another embodiment of this application, the detection process of the edge distance of each tire of the target vehicle includes: acquiring a vehicle image of the target vehicle; determining the tire detection area of ​​each tire based on the vehicle image; calculating the edge distance between the tire contact point and the boundary line of the tire detection area in each tire detection area; the edge distance is a reference edge distance or a target edge distance, and the edge distance includes the front edge distance and the rear edge distance.

[0063] In this embodiment, a baseline edge distance needs to be obtained before the target vehicle moves, and then the target edge distance is obtained when detecting whether the target vehicle has moved. The movement of the target vehicle is determined by comparing the baseline edge distance and the target edge distance. The baseline edge distance can be obtained immediately after detecting that the target vehicle has been removed from the temporary parking space. Since the baseline edge distance and the target edge distance are obtained in the same way, only the timing differs, this application refers to both the baseline edge distance and the target edge distance collectively as edge distance, and the process of obtaining the edge distance will be described below.

[0064] After obtaining a vehicle image of the target vehicle, this application determines the tire detection area for each tire from the vehicle image. See [link to application]. Figure 5 The figure shows a schematic diagram of the edge distance provided in an embodiment of this application. Figure 5 To pass Figure 4 The image shows a portion of the vehicle captured by the front left camera. This portion of the vehicle image only shows the content of detection area 1 in the vehicle image. Here, we will take the tire detection area as detection area 1 as an example to explain the process of obtaining the edge distance: First, the real-time target detection algorithm of CNN (Convolutional Neural Network) is used to identify the tire contact point in the tire detection area. Then, the pixel distance from the tire contact point to the boundary line of the tire detection area is calculated. After coordinate transformation, the actual physical distance can be obtained.

[0065] It should be noted that each tire detection area has four boundary lines: the front boundary line, the rear boundary line, the right boundary line, and the left boundary line. When calculating the edge line distance, the distance between the tire contact point and all or part of the boundary lines can be calculated as needed. This application can use various methods to convert pixel distance to actual physical distance via coordinate transformation. For example, since the ratio of the pixel distance from the tire contact point to the boundary line to the pixel distance of the parking space width is the same as the ratio of the actual physical distance from the tire contact point to the boundary line to the actual physical distance of the parking space width, and both the pixel distance of the parking space width and the actual physical distance of the parking space width are fixed values, the actual physical distance from the tire contact point to the boundary line, i.e., the edge line distance, can be calculated based on the above proportional relationship. See also... Figure 5The blue line in the diagram is an indicator line parallel to the horizontal parking space line, extending from the tire contact point. In the diagram, d1 is the distance from the tire contact point to the front boundary line of the tire inspection area, d2 is the distance from the tire contact point to the rear boundary line of the tire inspection area, and d3 is the distance from the tire contact point to the right boundary line.

[0066] In other words, when calculating the distance to the side lines, for the two tires on the right, only the distance to the front side line, the distance to the rear side line, and the distance to the right side line need to be calculated, while for the two tires on the left, only the distance to the front side line, the distance to the rear side line, and the distance to the left side line need to be calculated. If the calculation process is simplified, only the distance to the front side line and the distance to the rear side line of each wheel need to be calculated, because when moving within a parking space, most of the time the vehicle only moves forward and backward, and the left and right positions generally do not change.

[0067] Through the above process, the baseline distance before movement can be calculated after the vehicle is parked in the parking area, and the target distance can be calculated during detection. To determine whether the vehicle has moved, the difference between the baseline distance and the target distance can be used. For example, if the difference between the baseline distance and the target distance for a predetermined number of tires exceeds a threshold, the vehicle is considered to have moved; otherwise, it is considered not to have moved. This predetermined number can be determined based on the total number of tires. If the vehicle has 4 tires, the predetermined number can be 4 or 3; if the vehicle has 6 tires, the predetermined number can be 6 or 5. There is no limitation on the predetermined number. The threshold can also be set according to actual conditions. In this application, the threshold can be set to ±5 cm.

[0068] In another embodiment of this application, the detection process of the rear-end ratio of the target vehicle includes: acquiring a vehicle image of the target vehicle; determining a rear-end ratio detection area based on the vehicle image; calculating the ratio of the rear distance of the target vehicle to the total length of the rear-end ratio in the rear-end ratio detection area, and using the ratio as the rear-end ratio; the rear-end ratio is either a baseline rear-end ratio or a target rear-end ratio.

[0069] In this embodiment, a baseline rear-end ratio needs to be obtained before the target vehicle moves, and then the target rear-end ratio needs to be obtained when detecting whether the target vehicle has moved. The movement of the target vehicle is determined by comparing the baseline rear-end ratio and the target rear-end ratio. The baseline rear-end ratio can be obtained immediately after detecting that the target vehicle has been moved to the temporary parking space. Since the baseline and target rear-end ratios are obtained in the same way, only the timing differs, this application refers to both the baseline and target rear-end ratios collectively as "rear-end ratios," and the process for obtaining the rear-end ratios will be described below.

[0070] After obtaining a vehicle image of the target vehicle, this application determines the rear-end proportion detection area from the vehicle image. See [link to relevant documentation]. Figure 6 Figure 1 is a schematic diagram of the rear-end proportion detection area provided in the embodiment of this application. As shown in the figure, the vehicle image can be a vehicle image captured by the front camera. In the rear-end proportion detection area of ​​the vehicle, the total length of the rear-end proportion is d1 in the figure. Then, the real-time object detection algorithm of CNN is used to calculate the foremost point of the rear-end detection area and identify the range of the vehicle rear entering the rear-end proportion area in the front-rear direction as the rear-end distance, which is d2 in the figure. Then, the ratio of the rear-end distance to the total length of the rear-end proportion is calculated and the ratio is used as the rear-end proportion.

[0071] Through the above process, the baseline rear-end ratio before movement can be calculated after the vehicle is parked in the parking area, and the target rear-end ratio can be calculated during detection. To determine whether the vehicle has moved, the difference between the baseline and target rear-end ratios can be used. For example, if the difference exceeds a threshold, the vehicle is considered to have moved; otherwise, it is considered not to have moved. This threshold can be set according to actual conditions; in this embodiment, it can be set to ±3%.

[0072] In this embodiment, to improve the accuracy of detection, the edge distance of each tire and the proportion of the vehicle's rear end can be combined to comprehensively determine whether the vehicle has moved. That is: if it is determined that the edge difference of all tires exceeds the edge threshold, the target vehicle is determined to have moved; if it is determined that the edge difference of all tires does not exceed the edge threshold, the target vehicle is determined not to have moved; if only some tires have edge differences exceeding the edge threshold, such as only 1 to 3 tires out of 4 tires having edge differences exceeding the edge threshold, then it is possible to continue to determine whether the difference between the proportion of the base vehicle's rear end and the proportion of the target vehicle's rear end exceeds the proportion threshold. If it exceeds the proportion threshold, the target vehicle is determined to have moved; if it does not exceed the proportion threshold, the target vehicle is determined not to have moved.

[0073] See Figure 7 The figure shows a schematic diagram of the overall process of vehicle movement detection provided in the embodiment of this application. First, it is determined whether the vehicle retrieval is completed. If not, the detection is repeated. If it is completed, it is determined whether the current moment is the moment when the vehicle retrieval is completed. The moment when the vehicle retrieval is completed is the moment when the target vehicle is parked in the temporary parking space. If the vehicle retrieval is completed, it is necessary to detect the distance from the four tires to the front and rear edge lines of each detection area and record it as the baseline edge line distance. Then, the rear proportion of the vehicle is detected and recorded as the baseline rear proportion. At this point, all the baseline data has been collected.

[0074] If the current time is not the instant the vehicle retrieval is completed, the tire position and rear-end proportion are monitored in real time. The system checks if the difference between the distances to the edges of tires 1-3 and the distances detected after retrieval exceeds ±5cm. If not, it checks if the differences between the distances to the edges of all four tires and the distances detected after retrieval all exceed ±5cm. If the differences between the distances to the edges of all four tires and the distances detected after retrieval all exceed ±5cm, the vehicle is considered to have moved. If the differences between the distances to the edges of all four tires and the distances detected after retrieval all do not exceed ±5cm, the vehicle is considered not to have moved. If the difference between the distances to the edges of tires 1-3 and the distances detected after retrieval exceeds ±5cm, the system checks if the difference between the rear-end proportion and the value detected after retrieval exceeds ±3%. If so, the vehicle is considered to have moved; otherwise, the vehicle is considered not to have moved, and the process ends.

[0075] It should be noted that this application detects targets, door status, and rearview mirror folding status by using images captured by cameras on the side of the vehicle. An algorithm model is then used to detect whether there are people or other targets in the parking space, whether the vehicle doors are closed, and whether the rearview mirrors are folded. These side cameras include a right rear camera, a left rear camera, a right front camera, a left front camera, etc. In this way, the vehicle status can be monitored from all angles without blind spots, ensuring the security of data storage.

[0076] In summary, this application supports users in restoring vehicles with one click or automatically restoring vehicles after a timeout, improving system smoothness and user experience. Furthermore, before restoring a vehicle, the status of the vehicle and the personnel must be checked throughout the process to ensure the safety of the restoring. When determining whether a vehicle has moved, the position of the wheels and the position of the rear of the vehicle can be used to determine whether the vehicle has moved, thereby reducing false detections, improving the accuracy of the restoring check, and ensuring the safety of vehicle storage.

[0077] Figure 8 A structural diagram of an electronic device provided in an embodiment of the present invention, such as... Figure 8 As shown, it includes: Memory 10 is used to store computer programs; The processor 11 is configured to execute a computer program to implement the steps of the vehicle access control method as described in the above embodiments.

[0078] The electronic devices provided in this embodiment may include, but are not limited to, smartphones, tablets, laptops, or desktop computers.

[0079] The processor 11 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 11 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 11 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 11 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 11 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0080] The memory 10 may include one or more computer-readable storage media, which may be non-transitory. The memory 10 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 10 is used to store at least the following computer program 101, which, after being loaded and executed by the processor 11, is capable of implementing the relevant steps of the vehicle access control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 10 may also include an operating system 102 and data 103, etc., and the storage method may be temporary storage or permanent storage. The operating system 102 may include Windows, Unix, Linux, etc.

[0081] In some embodiments, the electronic device may further include a display screen 12, an input / output interface 13, a communication interface 14, a power supply 15, and a communication bus 16.

[0082] Those skilled in the art will understand that Figure 8 The structures shown do not constitute a limitation on electronic devices and may include more or fewer components than those shown.

[0083] In another exemplary embodiment, a computer storage medium is also provided, wherein the program instructions, when executed by a processor, implement the steps of the vehicle access control method described in any of the above method embodiments.

[0084] In another exemplary embodiment, a computer program product is also provided, including a computer program / instructions that, when executed by a processor, implement the steps of the vehicle access control method described in any of the above method embodiments.

[0085] It is understood that if the vehicle access control method in the above embodiments 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 current technology, 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 executes all or part of the steps of the methods in the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drive, mobile hard disk, read-only memory (ROM), random access memory (RAM), electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, magnetic disk or optical disk, and other media capable of storing program code.

[0086] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” used herein may also mean the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a specific order described or illustrated, unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0087] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0088] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An access vehicle control method for controlling an access vehicle system to access a target vehicle, characterized by, include: Check whether the target vehicle has been removed and moved to the temporary parking space; If the vehicle has been retrieved to the temporary parking space, determine whether the target vehicle meets the conditions for re-storage. If the conditions for re-storage are met, a re-storage instruction is obtained; According to the storage instruction, the vehicle storage and retrieval system is controlled to perform a storage operation on the target vehicle.

2. The vehicle access control method according to claim 1, characterized in that, Determining whether the target vehicle meets the conditions for re-storage includes: Obtain the parking duration of the target vehicle in the temporary parking space; Determine whether the parking duration exceeds the duration threshold; If so, the target vehicle is determined to meet the conditions for reuse.

3. The vehicle access control method according to claim 1 or 2, characterized in that, Before the vehicle storage and retrieval system performs the parking operation on the target vehicle, it also includes: Perform a re-examination of the target vehicle; If the target vehicle passes the re-entry check, the vehicle storage and retrieval system is controlled to perform a vehicle storage operation on the target vehicle.

4. The vehicle access control method according to claim 3, characterized in that, The target vehicle is subjected to a re-entry check, including: Determine whether the target vehicle has moved after being retrieved and placed in the temporary parking space; If a move occurs, the re-storage check is deemed unsuccessful; If no movement occurs, determine whether there is a detection target within the temporary parking space; If there is no target in the temporary parking space, the status of the target vehicle's doors and the folding status of its rearview mirrors will be used to determine whether the target vehicle passes the re-entry inspection.

5. The vehicle access control method according to claim 4, characterized in that, Determining whether the target vehicle has moved after being retrieved to the temporary parking space includes: Detect the target vehicle's rear-end proportion and the target edge distance of each tire; Calculate the difference between the baseline distance and the target distance for each tire, and determine whether the difference between the baseline distances for all tires exceeds the baseline threshold. If all exceed the edge line threshold, it is determined that the target vehicle has moved; if none exceed the edge line threshold, it is determined that the target vehicle has not moved; if the edge line difference of some tires exceeds the edge line threshold, it is determined whether the difference between the ratio of the reference rear end ratio and the ratio of the target rear end ratio exceeds the ratio threshold; the reference edge line distance and the reference rear end ratio are obtained before the target vehicle moves. If the percentage threshold is exceeded, the target vehicle is determined to have moved; if the percentage threshold is not exceeded, the target vehicle is determined not to have moved. Among them, the rear-end percentage is the ratio of the distance of the target vehicle's rear end to the total length of the rear-end percentage in the rear-end percentage detection area; the edge distance is the distance between the wheel contact point and the boundary line of the tire detection area in the tire detection area.

6. The vehicle access control method according to claim 5, characterized in that, The process of detecting the edge distance of each tire of the target vehicle includes: Obtain a vehicle image of the target vehicle; The tire detection area for each tire is determined based on the vehicle image; Calculate the distance between the tire contact point and the boundary line of the tire inspection area in each tire inspection area; the distance is either the reference distance or the target distance, and includes the front distance and the rear distance.

7. The vehicle access control method according to claim 5, characterized in that, The process of detecting the rear-end proportion of the target vehicle includes: Obtain a vehicle image of the target vehicle; The rear-end proportion detection area is determined based on the vehicle image; Calculate the ratio of the distance from the rear of the target vehicle to the total length of the rear proportion within the vehicle rear proportion detection area, and use the ratio as the rear proportion; wherein, the rear proportion is either the baseline rear proportion or the target rear proportion.

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the vehicle access control method as described in any one of claims 1 to 7 when executing the computer program.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the vehicle access control method as described in any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the vehicle access control method according to any one of claims 1 to 7.

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