Parking lot, parking lot management system, and parking lot management method

Abstract

To suppress erroneous determination of a use situation of a parking frame when a plurality of parking frames of a parking lot are monitored by one camera.SOLUTION: A parking lot comprises: a plurality of parking frames continuously arranged in a first direction; a camera for photographing the plurality of parking frames; and recognition objects provided in each of the plurality of parking frames. A use situation of each of the plurality of parking frames is determined on the basis of a recognition result of the recognition object by the camera. Each parking frame has a first parking frame line and a second parking frame line. The first parking frame line is located on a camera side than the second parking frame line in the first direction. The recognition object is arranged by being deviated to an area on a side of the second parking frame line than a center line between the first parking frame line and the second parking frame line.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a technology for managing the usage status of parking spaces in a parking lot. [Background technology]

[0002] Automated valet parking (AVP) is known in parking lots. In automated valet parking, a parking frame is assigned to a vehicle entering the parking lot. The vehicle automatically drives to the assigned parking frame and parks there without the driver's driving operation.

[0003] More specifically, the parking lot management system grasps the usage status (vacant / occupied) of each parking space by using a camera installed in the parking lot. For example, a marker is installed in each parking space. The parking lot management system grasps the usage status (vacant / occupied) of the parking space based on whether or not the marker is included in the image of the parking space acquired by the camera. Then, the parking lot management system assigns the vacant parking space to the entering vehicle.

[0004] Patent Document 1 discloses a parking lot status detection device. The status detection device includes a means for photographing the parking lot floor from above, a means for detecting the presence or absence of vehicles in each parking position by comparing the photographed image with an empty state, and a means for detecting a full parking state by detecting the presence of vehicles in all parking positions and detecting an empty parking state by detecting the absence of vehicles in at least one of the parking positions. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2001-344697 A Summary of the Invention [Problem to be solved by the invention]

[0006] Consider a case where a parking space in a parking lot is monitored using a camera. For example, the usage status (vacant, occupied) of the parking space is determined based on an image of the parking space captured by the camera.

[0007] There is also a need to monitor multiple parking spaces with one camera in order to reduce the cost of parking lot management. However, when multiple parking spaces are monitored using one camera in a parking lot, there is a high possibility that a part of a parking space is hidden by a vehicle parked in an adjacent parking space. In other words, the impact of occlusion on the visibility of the parking space increases. When the visibility of the parking space decreases, the monitoring accuracy of the parking space decreases. For example, when a marker provided on a vacant parking space becomes invisible to one camera due to occlusion, it may be erroneously determined that a vehicle is parked in the vacant parking space.

[0008] One object of the present disclosure is to provide a technology capable of suppressing erroneous determination of the utilization status of parking spaces when multiple parking spaces in a parking lot are monitored by one camera. [Means for solving the problem]

[0009] The first aspect relates to parking. Parking is available at A plurality of parking spaces arranged consecutively in a first direction; A camera that captures multiple parking spaces; A recognition target provided in each of a plurality of parking spaces; Equipped with. The utilization status of each of the multiple parking spaces is determined based on the recognition results of the recognition target by the camera. Each of the plurality of parking frames has a first parking frame line and a second parking frame line. The first parking frame line is located closer to the camera than the second parking frame line in the first direction. The recognition target is arranged biased toward the area on the second parking frame line side from the center line between the first parking frame line and the second parking frame line.

[0010] The second aspect relates to a parking lot management system that manages parking lots. The parking management system comprises one or more processors. Parking is available at A plurality of parking spaces arranged consecutively in a first direction; A camera that captures multiple parking spaces; A recognition target provided in each of a plurality of parking spaces; Equipped with. Each of the plurality of parking frames has a first parking frame line and a second parking frame line. The first parking frame line is located closer to the camera than the second parking frame line in the first direction. The recognition target is arranged biased toward the area on the second parking frame line side from the center line between the first parking frame line and the second parking frame line. The one or more processors determine the utilization status of each of the plurality of parking spaces based on the recognition result of the recognition target by the camera.

[0011] The third aspect relates to a parking lot management method for managing a parking lot. Parking is available at A plurality of parking spaces arranged consecutively in a first direction; A camera that captures multiple parking spaces; Recognition targets provided on a plurality of parking spaces; Equipped with. Each of the plurality of parking frames has a first parking frame line and a second parking frame line. The first parking frame line is located closer to the camera than the second parking frame line in the first direction. The recognition target is arranged biased toward the area on the second parking frame line side from the center line between the first parking frame line and the second parking frame line. A parking lot management method for managing a parking lot includes determining the utilization status of each of a plurality of parking spaces based on the recognition results of a recognition target by a camera. Effect of the Invention

[0012] According to the present disclosure, even when multiple parking spaces in a parking lot are monitored using one camera, erroneous determination of the utilization status of parking spaces can be suppressed. [Brief description of the drawings]

[0013] [Figure 1] 1 is a conceptual diagram for explaining an overview of a parking lot according to an embodiment of the present disclosure. FIG. [Diagram 2] 11 is a conceptual diagram for explaining an example of a method for determining the utilization status of each parking space. FIG. [Diagram 3] FIG. 1 is a conceptual diagram for explaining a state in which the utilization status of multiple parking spaces can be determined by one camera. [Figure 4] FIG. 13 is a conceptual diagram for explaining a state in which the utilization status of multiple parking spaces cannot be accurately determined by one camera. [Diagram 5] FIG. 2 is a conceptual diagram for explaining a first embodiment of an arrangement of recognition targets in a parking space. [Figure 6] 1 is a block diagram showing a configuration example of a parking lot management system according to an embodiment of the present disclosure. [Figure 7] 1 is a flowchart showing a parking lot management method according to an embodiment of the present disclosure. [Figure 8] FIG. 11 is a conceptual diagram for explaining a second embodiment of the arrangement of recognition targets in a parking space. [Figure 9] FIG. 11 is a conceptual diagram for explaining a third embodiment of the arrangement of recognition targets in a parking space. [Figure 10] FIG. 11 is a conceptual diagram for explaining a fourth embodiment of the arrangement of recognition targets in a parking space. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In each drawing, the same or corresponding parts are designated by the same reference numerals, and the description thereof will be simplified or omitted.

[0015] 1. Overview of the parking lot 1 is a conceptual diagram for explaining an overview of a parking lot 1 according to an embodiment of the present disclosure. The parking lot 1 may be compatible with automatic valet parking.

[0016] A parking lot 1 includes a plurality of parking spaces 2. A plurality of parking spaces 2a to 2d are shown in FIG. 1. The parking lot 1 is equipped with a camera 6 for grasping the usage status (vacant, occupied) of the parking spaces 2a to 2d. In the example shown in FIG. 1, the parking spaces 2a to 2d are arranged consecutively in a first direction.

[0017] Each of the multiple parking frames 2a to 2d is defined by a parking frame line 4. In the example shown in FIG. 1, the parking frame lines 4a to 4e extend in a direction intersecting the first direction. The parking frame lines 4a to 4e may extend in a direction perpendicular to the first direction. The parking frame 2a is an area sandwiched between two parking frame lines 4a and 4b. The parking frame 2b is an area sandwiched between two parking frame lines 4b and 4c. The parking frame 2c is an area sandwiched between two parking frame lines 4c and 4d. The parking frame 2d is an area sandwiched between two parking frame lines 4d and 4e.

[0018] In the example shown in FIG. 1, the camera 6 is disposed above the parking space 2c. The parking space 2b is adjacent to the parking space 2c and is disposed at a position farther from the camera 6 than the parking space 2c. The parking space 2d is adjacent to the parking space 2c and is disposed at a position farther from the camera 6 than the parking space 2c. The parking space 2a is adjacent to the parking space 2b and is disposed at a position farther from the camera 6 than the parking space 2b.

[0019] In each parking frame 2, the parking frame line 4 closer to the camera 6 is hereinafter referred to as the "first parking frame line 4-1", and the parking frame line 4 farther from the camera 6 is hereinafter referred to as the "second parking frame line 4-2". That is, the first parking frame line 4-1 is located closer to the camera 6 than the second parking frame line 4-2 in the first direction. For example, for the parking frame 2a, the parking frame line 4b is the first parking frame line 4-1, and the parking frame line 4a is the second parking frame line 4-2.

[0020] Each parking frame line may be both the first parking frame line 4-1 and the second parking frame line 4-2. For example, the parking frame line 4b is the first parking frame line 4-1 when viewed from the parking frame 2a, and is the second parking frame line 4-2 when viewed from the parking frame 2b.

[0021] Each parking frame line may also serve as the first parking frame line 4-1 of a plurality of parking frames 2. For example, the parking frame line 4c is the first parking frame line 4-1 when viewed from the parking frame 2b, and is also the first parking frame line 4-1 when viewed from the parking frame 2c.

[0022] The parking lot management system 100 manages the parking lot 1. For example, the parking lot management system 100 grasps the usage status (vacant, in use) of each parking space 2 by using a camera 6. The parking lot management system 100 is communicatively connected to the camera 6. The camera 6 photographs the parking spaces 2a-2d and transmits the images of the parking spaces 2a-2d to the parking lot management system 100. The parking lot management system 100 determines the usage status of each of the parking spaces 2a-2d based on the images obtained by the camera 6.

[0023] 2 is a conceptual diagram for explaining an example of a method for determining the usage status of each parking space 2. Each parking space 2 is provided with a recognition target 3. Examples of the recognition target 3 include a marker, a white line, a parking frame line 4, a road surface, and the like.

[0024] In FIG. 2, the parking space 2a is in use, and the parking spaces 2b to 2d are vacant. When a vehicle 10 is not parked in the parking space 2 (=vacant), the recognition target 3 provided in that parking space 2 is visible from the camera 6. On the other hand, when a vehicle 10 is parked in the parking space 2 (in use), the recognition target 3 provided in that parking space 2 is hidden by the vehicle 10 and cannot be seen from the camera 6. Therefore, the parking lot management system 100 can determine the usage status of each parking space 2 based on whether the recognition target 3 is visible from the camera 6. In other words, the parking lot management system 100 can determine the usage status of each parking space 2 based on the recognition result of the recognition target 3 by the camera 6.

[0025] 2. Description of the assignment When determining the usage status of each parking space 2, if one camera 6 is installed for each parking space 2, costs will increase. From the viewpoint of cost, it is desirable to be able to determine the usage status of a plurality of parking spaces 2 using one camera 6. However, when determining the usage status of a plurality of parking spaces 2 using one camera 6, the following problems arise.

[0026] 3 and 4, the parking spaces 2a and 2b are adjacent to each other. The parking space 2a is relatively far from the camera 6, and the parking space 2b is relatively close to the camera 6. The parking space 2a is vacant, and a vehicle 10 is parked in the parking space 2b.

[0027] In the example shown in FIG. 3, a relatively low first vehicle 11 is parked in the parking space 2b. When viewed from the camera 6, the recognition target 3a of the parking space 2a is not hidden by the first vehicle 11 parked in the parking space 2b. In this case, the recognition target 3a of the parking space 2a is visually recognized by the camera 6. Therefore, the vacant parking space 2a is correctly determined as "vacant".

[0028] On the other hand, in the example shown in FIG. 4, a relatively high second vehicle 12 is parked in the parking space 2b. When viewed from the camera 6, the recognition target 3b of the parking space 2a is hidden by the second vehicle 12 parked in the parking space 2b. That is, the recognition target 3b of the adjacent parking space 2a is hidden by the occlusion caused by the second vehicle 12 in the parking space 2b. In this case, the recognition target 3b of the parking space 2a is not visible to the camera 6. Therefore, the vacant parking space 2a is erroneously determined to be "occupied".

[0029] Furthermore, consider allocating a vacant parking space to vehicle 10 capable of automatic valet parking in FIG. 4. Due to the second vehicle 12 in parking space 2b hiding part of parking space 2a (=occlusion), parking lot management system 100 erroneously determines parking space 2a as "in use." As a result, parking lot management system 100 is unable to allocate parking space 2a to vehicle 10 capable of automatic valet parking. Therefore, parking space 2a, which should be "vacant," cannot be effectively utilized.

[0030] Hereinafter, a technique will be described that can suppress erroneous determination of the utilization status of the parking space 2 when a plurality of parking spaces 2 in a parking lot 1 are monitored by one camera 6. As described below, according to this embodiment, the arrangement of the recognition target 3 in the parking space 2 is characterized.

[0031] 3. Arrangement of recognition targets in embodiment 1 Fig. 5 is a conceptual diagram for explaining the first embodiment of the arrangement of the recognition target 3 in the parking space 2. As in the case of Fig. 4, a second vehicle 12 with a relatively high height is parked in the parking space 2b in the parking lot 1 as disclosed in Fig. 1. The second vehicle 12 covers a part of the parking space 2a with respect to the camera 6.

[0032] The center line 5a of the parking frame 2a is a line located at the center between the first parking frame line 4-1 (parking frame line 4b) and the second parking frame line 4-2 (parking frame line 4a). Typically, the center line 5a is parallel to the first parking frame line 4-1 (parking frame line 4b) and the second parking frame line 4-2 (parking frame line 4a) and passes through the center of the parking frame 2a. The distance between the center line 5a and the first parking frame line 4-1 (parking frame line 4b) may be equal to the distance between the center line 5a and the second parking frame line 4-2 (parking frame line 4a). The center line 5a may be a virtual line.

[0033] According to this embodiment, the recognition target 3c in the parking space 2a is biased toward the second parking space line 4-2 (parking space line 4a) side from the center line 5a. More specifically, the first area is the area between the center line 5a and the first parking space line 4-1 (parking space line 4b), and the second area is the area between the center line 5a and the second parking space line 4-2 (parking space line 4a). The recognition target 3c in the parking space 2a is biased toward the second area rather than the first area. In the example shown in FIG. 5, the recognition target 3c in the parking space 2a does not exist in the first area, but exists in the second area.

[0034] As a result, the recognition target 3c in the parking space 2a is not hidden by the second vehicle 12 parked in the adjacent parking space 2b, and is easily visible to the camera 6. In other words, the probability that the recognition target 3c in the parking space 2a is hidden by the occlusion caused by the second vehicle 12 parked in the adjacent parking space 2b is reduced. Therefore, the probability that the parking space 2a is accurately determined to be "vacant" is increased. In this way, even when multiple parking spaces 2 are monitored by one camera 6, it is possible to suppress erroneous determination of the utilization status of the parking space 2.

[0035] 4. Example of the configuration of the parking lot management system 100 FIG. 6 is a block diagram showing an example of the configuration of the parking lot management system 100 according to an embodiment of the present disclosure.

[0036] The parking lot management system 100 manages a parking lot 1. For example, the parking lot management system 100 monitors the parking lot 1 using a camera 6 installed in the parking lot 1. As another example, the parking lot management system 100 may use the camera 6 to grasp the usage status (vacant / occupied) of multiple parking spaces 2. As yet another example, the parking lot management system 100 may assign an "vacant" parking space 2 to a vehicle 10 entering the parking lot 1. As yet another example, the parking lot 1 may externally display that parking is possible when there is at least one "vacant" parking space 2.

[0037] The parking lot management system 100 includes a communication device 110, one or more processors 120 (hereinafter simply referred to as processors 120), and one or more storage devices 130 (hereinafter simply referred to as storage devices 130).

[0038] The communication device 110 communicates with a camera 6 installed in the parking lot 1. The communication device 110 may also communicate with a vehicle 10 in the parking lot 1.

[0039] The processor 120 executes various processes. For example, the processor 120 includes a CPU (Central Processing Unit). The processor 120 executes various processes related to the management of the parking lot 1.

[0040] The storage device 130 stores various information necessary for processing by the processor 120. Examples of the storage device 130 include a volatile memory, a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), etc. The processor 120 reads out various information from the storage device 130 and also stores various information in the storage device 130.

[0041] The management program 140 is a computer program for managing the parking lot 1. The processor 120 executes the management program 140 to realize various functions of the parking lot management system 100 (processor 120). The management program 140 is stored in the storage device 130. The management program 140 may be recorded in a computer-readable recording medium.

[0042] The storage device 130 further stores parking lot map information 150 and parking lot usage information 160. The parking lot map information 150 shows the arrangement of parking spaces 2 in the parking lot 1. The parking lot map information 150 may include an image of each parking space 2 in an "empty" state. The parking lot usage information 160 shows the usage status (empty / occupied) of each parking space 2. The parking lot usage information 160 may include information on the vehicles 10 that have entered the parking lot 1.

[0043] The processor 120 receives images captured by the camera 6 via the communication device 110. The processor 120 stores the received images in the storage device 130. The processor 120 determines the usage status of each parking space 2 based on the images captured by the camera 6. Then, the processor 120 updates the parking lot usage information 160 based on the determination result. Hereinafter, a method for determining the usage status of the parking space 2 by the processor 120 will be described.

[0044] 5. Determining parking space usage status 7 is a flowchart showing a parking lot management method according to an embodiment of the present disclosure. In particular, FIG. 7 shows a process in which the parking lot management system 100 (processor 120) determines the usage status of the parking space 2.

[0045] In step S110, the camera 6 installed in the parking lot 1 captures an image of a plurality of parking spaces 2 provided in the parking lot 1. The processor 120 acquires the image captured by the camera 6 via the communication device 110. The process proceeds to step S120.

[0046] In step S120, the processor 120 determines whether the recognition target 3 exists in the image of each parking space 2 acquired in step S110. For example, the processor 120 performs pattern matching to determine whether the recognition target 3 exists in the image of each parking space 2. If the recognition target 3 exists in the image of the parking space 2 (step S120; Yes), the processor 120 determines the parking space 2 as "vacant" (step S130). On the other hand, if the recognition target 3 does not exist in the image of the parking space 2 (step S120; No), the processor 120 determines the parking space 2 as "occupied" (step S140).

[0047] As a modified example, step S120 may be performed in the following manner. The parking lot map information 150 includes an image of each parking space 2 in an "empty" state as a reference image. The reference image shows the recognition target 3. The processor 120 acquires the reference image from the parking lot map information 150. Then, the processor 120 compares the image of the parking space 2 captured by the camera 6 with the reference image. This allows the processor 120 to determine whether the recognition target 3 exists in the image of the parking space 2 captured by the camera 6.

[0048] In this manner, according to the present embodiment, the processor 120 determines the utilization status of each parking space 2 based on the recognition result of the recognition target 3 by the camera 6.

[0049] 6. Other embodiments FIG. 8 shows the embodiment 2 of the recognition target 3. The recognition target 3d related to the parking space 2a is adjacent to the second parking frame line 4-2 (parking frame line 4a) and is the road surface in the parking space 2a located near the center line 5a. For example, the recognition target 3d has a width and a length (length extending in a direction perpendicular to the first direction) that are approximately the same as the second parking frame line 4-2. The storage device 130 stores the range of the recognition target 3d.

[0050] The camera 6 is installed so that the entire recognition target 3d is included within the image when the parking space 2a is in the "vacant" state.

[0051] The parking lot map information 150 includes an image of each parking space 2 in an "empty" state as a reference image. The processor 120 compares the image of the recognition target 3d in the "empty" state with the current image, and checks the state of the range in the current image in which the recognition target 3d should appear. For example, if there is a color change of a predetermined amount or more in that range, and the number of pixels in which the color has changed is a predetermined number or more (e.g., 80% or more of the pixels), the processor 120 determines that the parking space 2 is "in use."

[0052] The determination using the recognition target 3d can be particularly effective for the parking space 2 far from the camera 6, such as the parking space 2a or the parking space 2d, which has been significantly affected by the reduced visibility due to occlusion in the past.

[0053] 9 shows the third embodiment. A recognition target 3e in the third embodiment is disposed within a parking space 2a so as to straddle a center line 5a.

[0054] In detail, the recognition target 3e is arranged in a biased manner in the area between the second parking frame line 4-2 and the center line 5a. More specifically, as shown in Fig. 9, the recognition target 3e includes an area 3e1 arranged between the second parking frame line 4-2 and the center line 5a, and an area 3e2 arranged between the first parking frame line 4-1 and the center line 5a. The area of ​​the area 3e1 is larger than the area of ​​the area 3e2.

[0055] In the third embodiment, the processor 120 determines the usage status of the parking space 2 in a manner similar to that of the first embodiment.

[0056] 10 shows an embodiment 4 of the recognition target 3. In the embodiment 4, the second parking frame line 4-2, which is far from the camera 6, is used as the recognition target 3f. For example, for the parking frame 2a, the parking frame line 4a (the second parking frame line 4-2) is used as the recognition target 3f.

[0057] In the fourth embodiment, for example, the same judgment method as that in the second embodiment is used. In the fourth embodiment, the distance between the parking space 2b and the recognition target 3f is the longest, and the distance between the camera 6 and the recognition target 3f is also the longest. Therefore, the recognition target 3f can be seen unless the parking space 2a is completely hidden by the vehicle 10 parked in the parking space 2b. Therefore, the influence of the decrease in visibility due to occlusion is the least likely among all the embodiments, and the highest effect can be obtained.

[0058] In all embodiments, the recognition target 3 is biased toward the second parking frame line 4-2 side from the center line 5a between the first parking frame line 4-1 and the second parking frame line 4-2. Also, the biased arrangement can provide an effect. [Explanation of symbols]

[0059] 1 Parking lot 2 Parking spaces 3. Recognition target 4 Parking lines 5 center line 6. Camera 10 Vehicles 11 First car 12 Second car 13 Parked vehicles 100 Parking Management System 110 Communication equipment 120 processors 130 Storage device 140 Management Program 150 Parking Map Information 160 Parking Information

Claims

1. A first parking space and a second parking space adjacent to each other in a first direction; A camera that photographs both the first parking space and the second parking space; A recognition target provided in each of the first parking frame and the second parking frame; Equipped with The utilization status of each of the first parking space and the second parking space is determined based on the recognition result of the recognition target by the camera, The first parking frame is located closer to the camera than the second parking frame in the first direction, Each of the first parking frame and the second parking frame has a first parking frame line and a second parking frame line, The first parking frame line is located closer to the camera than the second parking frame line in the first direction, The second parking frame line of the first parking frame also serves as the first parking frame line of the second parking frame, The recognition target is not the second parking frame line, In each of the first parking frame and the second parking frame, the recognition target does not exist in an area between a center line between the first parking frame line and the second parking frame line and the first parking frame line, but exists in an area between the center line and the second parking frame line. parking.

2. A first parking space and a second parking space adjacent to each other in a first direction; A camera that photographs both the first parking space and the second parking space; A recognition target provided in each of the first parking frame and the second parking frame; Equipped with The utilization status of each of the first parking space and the second parking space is determined based on the recognition result of the recognition target by the camera, The first parking frame is located closer to the camera than the second parking frame in the first direction, Each of the first parking frame and the second parking frame has a first parking frame line and a second parking frame line, The first parking frame line is located closer to the camera than the second parking frame line in the first direction, The second parking frame line of the first parking frame also serves as the first parking frame line of the second parking frame, The recognition target is arranged so as to straddle a center line between the first parking frame line and the second parking frame line, The recognition target includes a first area between the first parking frame line and the center line and a second area between the second parking frame line and the center line, The area of ​​the second region is larger than the area of ​​the first region. parking.

3. A parking management system for managing a parking lot, One or more processors; The parking lot is: A first parking space and a second parking space adjacent to each other in a first direction; A camera that photographs both the first parking space and the second parking space; A recognition target provided in each of the first parking frame and the second parking frame; Equipped with The first parking frame is located closer to the camera than the second parking frame in the first direction, Each of the first parking frame and the second parking frame has a first parking frame line and a second parking frame line, The first parking frame line is located closer to the camera than the second parking frame line in the first direction, The second parking frame line of the first parking frame also serves as the first parking frame line of the second parking frame, The recognition target is not the second parking frame line, In each of the first parking frame and the second parking frame, the recognition target does not exist in an area between a center line between the first parking frame line and the second parking frame line and the first parking frame line, but exists in an area between the center line and the second parking frame line; The one or more processors determine the utilization status of each of the first parking space and the second parking space based on the recognition result of the recognition target by the camera. Parking management system.

4. A parking management system for managing a parking lot, One or more processors; The parking lot is: A first parking space and a second parking space adjacent to each other in a first direction; A camera that photographs both the first parking space and the second parking space; A recognition target provided in each of the first parking frame and the second parking frame; Equipped with The first parking frame is located closer to the camera than the second parking frame in the first direction, Each of the first parking frame and the second parking frame has a first parking frame line and a second parking frame line, The first parking frame line is located closer to the camera than the second parking frame line in the first direction, The second parking frame line of the first parking frame also serves as the first parking frame line of the second parking frame, The recognition target is arranged so as to straddle a center line between the first parking frame line and the second parking frame line, The recognition target includes a first area between the first parking frame line and the center line and a second area between the second parking frame line and the center line, The area of ​​the second region is larger than the area of ​​the first region, The one or more processors determine the utilization status of each of the first parking space and the second parking space based on the recognition result of the recognition target by the camera. Parking management system.

5. A parking lot management method executed by a computer to manage a parking lot, comprising: The parking lot is: A first parking space and a second parking space adjacent to each other in a first direction; A camera that photographs both the first parking space and the second parking space; A recognition target provided in each of the first parking frame and the second parking frame; Equipped with The first parking frame is located closer to the camera than the second parking frame in the first direction, Each of the first parking frame and the second parking frame has a first parking frame line and a second parking frame line, The first parking frame line is located closer to the camera than the second parking frame line in the first direction, The second parking frame line of the first parking frame also serves as the first parking frame line of the second parking frame, The recognition target is not the second parking frame line, In each of the first parking frame and the second parking frame, the recognition target does not exist in an area between a center line between the first parking frame line and the second parking frame line and the first parking frame line, but exists in an area between the center line and the second parking frame line; The parking lot management method includes determining a usage status of each of the first parking space and the second parking space based on a recognition result of the recognition object by the camera. Parking lot management methods.

6. A parking lot management method executed by a computer for managing a parking lot, comprising: The parking lot is: A first parking space and a second parking space adjacent to each other in a first direction; A camera that photographs both the first parking space and the second parking space; A recognition target provided in each of the first parking frame and the second parking frame; Equipped with The first parking frame is located closer to the camera than the second parking frame in the first direction, Each of the first parking frame and the second parking frame has a first parking frame line and a second parking frame line, The first parking frame line is located closer to the camera than the second parking frame line in the first direction, The second parking frame line of the first parking frame also serves as the first parking frame line of the second parking frame, The recognition target is arranged so as to straddle a center line between the first parking frame line and the second parking frame line, The recognition target includes a first area between the first parking frame line and the center line and a second area between the second parking frame line and the center line, The area of ​​the second region is larger than the area of ​​the first region, The parking lot management method includes determining a usage status of each of the first parking space and the second parking space based on a recognition result of the recognition object by the camera. Parking lot management methods.

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