CN104751635B - A kind of intelligent parking monitoring system - Google Patents
A kind of intelligent parking monitoring system Download PDFInfo
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- CN104751635B CN104751635B CN201510195117.4A CN201510195117A CN104751635B CN 104751635 B CN104751635 B CN 104751635B CN 201510195117 A CN201510195117 A CN 201510195117A CN 104751635 B CN104751635 B CN 104751635B
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Abstract
The invention discloses a kind of intelligent parking monitoring system, this system includes parking lot central control system, vehicle-mounted terminal system, video monitoring system and the system of road condition information.Garage parking central control system includes scheduler module, it is achieved the configuration management of whole system；Scheduler module includes schedule information submodule, when receiving the schedule information request from vehicle-mounted terminal system, according to the various information acquired in acquisition of information submodule, generates schedule information；This schedule information submodule includes that candidate parking stall determines unit, candidate parking stall evaluation of estimate computing unit, determines that with reference to parking stall unit, alternative route determine unit, determine that unit, schedule information signal generating unit, parking stall determine that strategy setting unit and route determine strategy setting unit with reference to route.According to the present invention it is possible to arrange parking stall flexibly according to practical situation and route determines strategy, thus the intelligent parking realizing large parking lot monitors management.
Description
Technical field
The present invention relates to parking management technical field, particularly to a kind of intelligent parking monitoring system.
Background technology
Along with being skyrocketed through of urban automobile quantity, traffic loading and the parking demand of road also increase rapidly, and one
Individual disturbing problem annoyings private car owner and urban planning administration person, and from a past, we thought in this puzzlement
Soluble minor matter of assuming as a matter of course is stopped.In order to meet parking demand, take up an area that space is big and distributed large parking lot
Gradually increase, but parking information deficiency causes driver's searching of losing time owing to not knowing about situation in docking process to stop
Parking stall, for large-scale distributed parking lot, parking information deficiency can increase the traffic of urban road further and bear
Lotus, reduces road passage capability, easily causes traffic congestion and vehicle accident, also add energy resource consumption simultaneously and environment is dirty
Dye.
Based on this, in order to realize monitoring management for the intelligent parking of large parking lot, it is badly in need of one and realizes above-mentioned functions
System.
Summary of the invention
The technical problem to be solved is: the intelligent parking how realizing large-scale park monitors management.To this end,
The present invention proposes a kind of intelligent parking monitoring system, can solve caused due to the restriction of prior art and defect fully
Or multiple problem.
Additional advantages of the present invention, purpose and characteristic, a part will be elucidated in the following description, and another portion
Divide for those of ordinary skill in the art by the investigation of description below be will be apparent from or from the enforcement of the present invention
Acquire.Can realize by the structure particularly pointed out in the specification and claims of word and accompanying drawing and obtain the present invention
Purpose and advantage.
The invention provides a kind of intelligent parking monitoring system, this system includes parking lot central control system, car-mounted terminal system
System, video monitoring system and the system of road condition information, wherein, garage parking central control system include scheduler module, scheduler module be for
Family provides intelligent parking to monitor the hard core control platform controlled, it is achieved the configuration management of whole system, scheduler module includes information
Receive submodule, sub module stored, schedule information submodule, parking stall management submodule and parking stall reservation charge submodule；
Acquisition of information submodule, receives car-mounted terminal information from vehicle-mounted terminal system, receives video monitor information from video monitoring system,
Obtain traffic information from the system of road condition information, obtain parking lot information from sub module stored；Sub module stored, is used for storing parking
Field information, including geographical location information, the parking stall distributed intelligence in parking lot in parking lot；Parking stall management submodule, is used for
Obtain the behaviour in service on parking stall, immediate updating and issue up-to-date parking space number according to this and parking stall behaviour in service information；Stop
Parking stall reservation charge submodule, for receiving the parking stall reserve requests of user, and according to the confirmation of parking fee pay status be
No preengage successfully；Schedule information submodule, the schedule information received from vehicle-mounted terminal system when acquisition of information submodule please
When asking, according to the various information acquired in acquisition of information submodule, generate schedule information, and schedule information is beamed back vehicle-mounted end
End, carries out parking stall selection for user according to schedule information；Schedule information submodule includes that candidate parking stall determines unit, time
Select parking stall evaluation of estimate computing unit, determine that with reference to parking stall unit, alternative route determine unit, determine unit, scheduling with reference to route
Information generating unit, parking stall determine that strategy setting unit, route determine strategy setting unit.
Candidate parking stall determines unit, for current location information based on the user sending schedule information request, according in advance
The distance range first arranged, determine with user current location certain distance in the range of parking stall as candidate parking stall；Candidate parking stall
Evaluation of estimate computing unit, for based on the parking lot information in sub module stored, from the parking space information of video monitoring system
And the current location information of user, utilize weighting algorithm to calculate the candidate parking stall evaluation of estimate corresponding to multiple candidate parking stalls；Ginseng
Examine parking stall and determine unit, the evaluation of estimate corresponding to each candidate parking stall calculated based on candidate parking stall evaluation of estimate computing unit, really
Fixed with reference to parking stall；Alternative route determines unit, based on determining determined by unit current with reference to parking stall and user with reference to parking stall
Positional information, determine and travel from user current location to the described a plurality of alternative route with reference to parking stall；List is determined with reference to route
Unit, based on a plurality of alternative route and the current traffic information from system of road condition information acquisition, determines strategy according to projected route, really
Determine optimal route as with reference to route；Schedule information signal generating unit, determines determined by unit with reference to parking stall based on reference to parking stall
And determine determined by unit with reference to route with reference to route, generate schedule information, described schedule information include with reference to parking stall and
With reference to route information；Parking stall determines strategy setting unit, for arrange determine distance range parameter that candidate parking stall used with
And the weight coefficient that candidate parking stall evaluation of estimate computing unit is used；Route determines strategy setting unit, is used for arranging reference arm
Line determines that the route that unit is used determines strategy.
Vehicle-mounted terminal system is for obtaining real-time position information and the real-time routes information of vehicle, and can carry to car owner
For parking stall subscription services.
Video monitoring system includes multiple supervision front terminal system, and the monitor area in parking lot is divided into some Ge Zi districts
Territory, every sub regions is monitored front end subsystem responsible video monitoring by one；Monitor front terminal system include filming apparatus and
Monitor server；Monitor that front terminal system carries out image acquisition, after collection by filming apparatus to each supervision point in garage parking
Signal send supervision server to by video line, monitor server be responsible for signal and be digitized converting and coding pressure
Contracting, then utilizes the Internet to be transferred to garage parking central control system；Monitor that server includes parking stall detection module, for base
In received video signal, the parking stall in region is detected, in determining described region, whether have parking stall.
The system of road condition information, for obtaining the map data information of relevant range.
Preferably, calculate the candidate parking stall evaluation of estimate corresponding to multiple candidate parking stalls, specifically include: Vi=aDi+bfi+
cNi, wherein, Vi is the candidate parking stall evaluation of estimate of i-th candidate parking stall, DiFor the distance between user and i-th candidate parking stall,
fiThe expense in the parking lot corresponding to i-th candidate parking stall, NiFor the residue parking stall in the parking lot at place, i-th candidate parking stall,
A, b, c are the weight coefficient that parking stall determines that strategy setting unit pre-sets；
Preferably, the evaluation of estimate corresponding to each candidate parking stall calculated based on candidate parking stall evaluation of estimate computing unit, really
Fixed with reference to parking stall, specifically include: select the candidate parking stall of evaluation of estimate minimum as with reference to parking stall.
Preferably, described route determines that strategy can be pure strategy, it is also possible to be combined strategy.
Preferably, described vehicle-mounted terminal system includes schedule information request module, for inquiring about the reference parking stall of recommendation
And with reference to route, send schedule information by schedule information request module to parking lot central control system and ask, and by stopping
Management module further receives schedule information from parking lot central control system.
Accompanying drawing explanation
Fig. 1 is the structural representation of the intelligent parking monitoring system according to the embodiment of the present invention.
Fig. 2 is the structural representation of the schedule information submodule according to the embodiment of the present invention.
Detailed description of the invention
With reference to the accompanying drawings the present invention is described more fully, the exemplary embodiment of the present invention is wherein described.
As it is shown in figure 1, this intelligent parking monitoring system includes vehicle-mounted terminal system, video monitoring system, traffic information system
System and parking lot central control system.
Described vehicle-mounted terminal system, for obtaining real-time position information and the real-time routes information of vehicle, and can be to
Car owner provides parking stall subscription services, and it may be mounted on vehicle, it is also possible to be arranged on the mobile electronic device of car owner, example
Such as mobile phone etc..Described vehicle-mounted terminal system includes that GPS module, input module, parking stall enquiry module, schedule information ask modulus
Block, parking fee payment module, parking stall reservation module, display module and communication module.
Described GPS module, obtains real-time vehicle status information in real time, and described vehicle real time status information includes vehicle
Position, speed and direction.Described display module, it is for showing much information in real time, such as navigation information, parking stall Query Result
Information, schedule information, parking stall payment information, subscription information etc..
Described input module, inputs original route information in real time for user, original route information is set to real-time road
Line information, or, select a certain kind to replace with real-time routes information in real time from multiple navigation information for user.Further,
By input module, user can input its relevant information, such as parking stall numbering, license plate number etc..
Described parking stall enquiry module, is used for checking parking stall, target area present situation, by parking stall enquiry module to stopping
Parking lot central control system sends inquiry request, and receives Query Result by parking stall enquiry module from parking lot central control system.
Schedule information request module, for inquiring about parking stall and the parking route of recommendation, asks modulus by schedule information
Block sends schedule information request to parking lot central control system, and is received from parking lot central control system by parking stall enquiry module
Schedule information, schedule information includes parking stall and the parking route recommended.
Parking fee payment module, is used for paying parking fee, and user is behind parking stall of stopping, defeated by input module in registration
Entering this parking stall numbering and user's license plate number, the remaining sum that can access to your account pay down parking fee, user can also pass through it
Its on-line payment platform, pay down Parking Fee.
Parking stall reservation module, is used for specifying a certain parking stall, and is preengage by immediate payment parking fee, send out simultaneously
Send parking stall reserve requests；
Communication module, with GPS module, parking stall enquiry module, schedule information request module, parking stall payment module, stop
Parking stall reservation module, display module connect, and, communication module also with and parking lot central control system be connected, to realize vehicle-mounted end
Information between end system and parking lot central control system is mutual.
Described video monitoring system includes multiple supervision front terminal system, and the monitor area of this system can be very big, can
So that its monitor area to be divided into several subregions, every sub regions is monitored front end subsystem responsible video monitoring by one.
Monitor that front terminal system includes filming apparatus and monitors server.Monitor that front terminal system is by each to garage parking of filming apparatus
Individual supervision point carries out image acquisition, and the signal after collection sends supervision server to by video line, monitors that server is responsible for
It is digitized signal converting and compression coding, then utilizes the Internet to be transferred to garage parking central control system.
Monitor that server also includes parking stall detection module, be used for based on received video signal the parking in region
Position is detected.Parking stall detection module includes background gray average calculating sub module, background average deviation's calculating sub module, in real time
Gradation of image mean value computation submodule, real time imaging average deviation's calculating sub module and parking stall determine submodule.Wherein, background
Gray average, the gray average of the background image in calculating sub module calculating monitor areaBackground average deviation calculates son
Module, for calculating the average deviation of this background image, described average deviationIts
In, M is the row pixel count of this background image, and N is the row pixel count of this background image, g0(i is j) at pixel (i, j) place
Gray value；Real time imaging gray average calculating sub module, the ash of the real time imaging in calculating sub module calculating monitor area
Degree averageReal time imaging average deviation's calculating sub module, for calculating the average deviation of this real time imaging, described average deviationWherein, M is the row pixel count of this real time imaging, and N is the row picture of this real time imaging
Prime number, gr(i is j) at pixel (i, j) gray value at place；Parking stall determines submodule, and based on background, average deviation calculates son
Module and the result of calculation of real time imaging average deviation's calculating sub module, it is determined whether whether have parking stall in described region, specifically
, calculate the ad that real time imaging average deviation's calculating sub module calculatesrCalculate with background average deviation's calculating sub module
The ad arrived0Difference, this difference is compared with predetermined threshold, if more than this predetermined threshold, it is determined that do not have in this region
Parking stall, if less than this predetermined threshold, it is determined that Nei You parking stall, this region.
According to the difference of garage parking monitor area, each supervision front network access way is the most different.
Owing to the upstream bandwidth of adsl line is 512K to the maximum, it is ensured that during with resolution for CIF form, 12 frames per second
Speed rates, therefore less small-sized garage parking, some scattered parking stalls can use adsl line, so arranges net conveniently, warp
Ji, can shorten networking cycle and cost-effective.
Other supervision places such as large-scale park hall and gateway, owing to concentrating region, can utilize its internal existing office
Territory net, directly accesses front network equipment in garage parking Intranet.
The system of road condition information, for obtaining the map data information of relevant range, such as from GIS-Geographic Information System service provider
Place obtains Map Services data.Described relevant range can set according to the expectation of system designer, such as can be only
Obtain the map data information in region between all subregion in parking lot, it is also possible to obtain all subregion certain limit in parking lot
Interior map data information, possibly even obtains the map data information in whole city.Described map data information is permissible
Including: the Fundamental Geographic Information System in city, such as road network dispatch, the division of function community, the layout of crossing, the traffic of basis, city
Facilities information etc.)；Urban road network's Back ground Information (road industrial grade, length, charge, grade separation connected mode etc.)；Vehicle is protected
The amount of having information (includes subregion, time, different car type vehicle population information etc.)；Traffic transfer information (website distribution, transfer
Time etc.)；Traffic management information, as unidirectional enforcement, no left turn, restriction enter, (point time restriction enters control and space limit
System enters control)；Traffic emergency episode information (time of casualty, place, the order of severity etc.).
All of access device is managed collectively by garage parking central control system.It realizes the configuration management of whole system:
The video image gathered is received, deposits and manages.All video datas are forwarded by this central control system, and it is to band
Wide requirement is higher, therefore this central control system is connected on the backbone network of garage parking internal private network by optical fiber.
Native system uses Client/Server pattern, and the garage parking central control system being in Server end is whole system
Core.
Garage parking central control system includes that scheduler module, scheduler module are to provide the user intelligent parking to monitor the core controlled
Management platform, it realizes the configuration management of whole system.Sharing to realize staggering the time of parking lot, this scheduler module includes information
Receive submodule, sub module stored, schedule information submodule, parking stall management submodule and parking stall reservation charge submodule.
Acquisition of information submodule, receives car-mounted terminal information from vehicle-mounted terminal system, fixed including end-user request, GPS
Position information etc.；Video monitor information is received, including video monitor picture, parking space information etc. from video monitoring system；From road conditions
Information system obtains traffic information, including the Fundamental Geographic Information System in city, urban road network's Back ground Information, vehicle population letter
Breath, traffic transfer information, traffic management information, traffic emergency episode information etc.；Parking lot information, bag is obtained from sub module stored
Include the parking stall distributed intelligence etc. in the geographical location information in parking lot, parking lot.
Sub module stored, for storing the geographical location information in parking lot, the parking stall distributed intelligence in parking lot, respectively stopping
The expense standard information etc. of field.
Schedule information submodule, the schedule information received from vehicle-mounted terminal system when acquisition of information submodule is asked
Time, according to the various information acquired in acquisition of information submodule, generating schedule information, described schedule information can include vehicle
With reference to route information, with reference to parking space information etc.；Schedule information is beamed back car-mounted terminal, stops according to schedule information for user
Parking stall selects.Wherein, described schedule information submodule includes that candidate parking stall determines that unit, candidate parking stall evaluation of estimate calculate list
Unit, determine that with reference to parking stall unit, alternative route determine unit, determine that with reference to route unit, schedule information signal generating unit, parking stall are true
Determine strategy setting unit, route determines strategy setting unit.
Candidate parking stall determines unit, for current location information based on the user sending schedule information request, according in advance
The distance range first arranged, determine with user current location certain distance in the range of parking stall as candidate parking stall；
Candidate parking stall evaluation of estimate computing unit, for based on the parking lot information in sub module stored, from video monitor
The parking space information of system and the current location information of user, calculate the candidate parking stall evaluation of estimate corresponding to multiple candidate parking stalls
Vi, concrete, Vi=aDi+bfi+cNi, DiFor the distance between user and i-th candidate parking stall, fiFor i-th candidate parking stall institute
The expense in corresponding parking lot, NiFor the residue parking stall in the parking lot at place, i-th candidate parking stall, a, b, c are that parking stall determines plan
The weight coefficient that unit pre-sets slightly is set；
Determine unit with reference to parking stall, based on candidate parking stall evaluation of estimate computing unit calculated corresponding to each candidate parking stall
Evaluation of estimate, determines with reference to parking stall, such as, selects the candidate parking stall of evaluation of estimate minimum as with reference to parking stall.
Alternative route determines unit, determines position current with reference to parking stall and user determined by unit based on reference to parking stall
Confidence ceases, and determines and travels from user current location to the described a plurality of alternative route with reference to parking stall；
Unit is determined with reference to route, based on a plurality of alternative route and the current traffic information from system of road condition information acquisition,
Determine strategy according to projected route, determine that optimal route is as with reference to route；
Schedule information signal generating unit, determines with reference to parking stall and reference route determined by unit based on determining with reference to parking stall
With reference to route determined by unit, generate schedule information；
Parking stall determines strategy setting unit, for arranging the distance range parameter and candidate determining that candidate parking stall is used
Weight coefficient a, b, c that parking stall evaluation of estimate computing unit is used；
Route determines strategy setting unit, determines that the route that unit is used determines strategy for arranging with reference to route, institute
The route stated determines that strategy can be pure strategy, it is also possible to be combined strategy；Described pure strategy e.g. distance priority
Strategy, the preference strategy that blocks up, traffic lights preference strategy etc., described combined strategy e.g. zero defects preferentially takes into account distance plan
Slightly, distance priority takes into account the strategy etc. that blocks up.
Parking stall management submodule, for obtaining the behaviour in service on parking stall, the parking stall that immediate updating is up-to-date with issue
Data and parking stall behaviour in service information.
Parking stall reservation charge submodule, for receiving the parking stall reserve requests of user, and pays according to parking fee
Whether state confirmation is preengage successfully.
The present invention, by a kind of intelligent parking monitoring system, can not only improve the utilization rate of parking stall resource, Er Qieneng
Enough enhancings, for the management of urban road, reduce park-ing cost, provide a great convenience for car owner, for parking lot management person
Provide the basis of orderly management.
Above content is only presently preferred embodiments of the present invention, for those of ordinary skill in the art, according to the present invention's
Thought, the most all will change, and this specification content should not be construed as the present invention
Restriction.
Claims (5)
1. an intelligent parking monitoring system, it is characterised in that: this system include parking lot central control system, vehicle-mounted terminal system,
Video monitoring system and the system of road condition information, wherein, garage parking central control system includes that scheduler module, scheduler module are to carry for user
The hard core control platform controlled is monitored, it is achieved the configuration management of whole system, scheduler module includes acquisition of information for intelligent parking
Submodule, sub module stored, schedule information submodule, parking stall management submodule and parking stall reservation charge submodule；Information
Obtain submodule, receive car-mounted terminal information from vehicle-mounted terminal system, receive video monitor information from video monitoring system, from road
Condition information system obtains traffic information, obtains parking lot information from sub module stored；Sub module stored, is used for storing parking lot letter
Breath, including geographical location information, the parking stall distributed intelligence in parking lot in parking lot；Parking stall management submodule, is used for obtaining
The behaviour in service on parking stall, immediate updating and issue up-to-date parking space number according to this and parking stall behaviour in service information；Parking stall
Reservation charge submodule, for receiving the parking stall reserve requests of user, and is confirmed whether pre-according to parking fee pay status
The most successful；Schedule information submodule, when acquisition of information submodule receives the schedule information request from vehicle-mounted terminal system,
According to the various information acquired in acquisition of information submodule, generate schedule information, and schedule information is beamed back car-mounted terminal, for
User carries out parking stall selection according to schedule information；Schedule information submodule includes that candidate parking stall determines unit, candidate parking stall
Evaluation of estimate computing unit, reference parking stall determine that unit, alternative route determine unit, determine that with reference to route unit, schedule information are raw
Unit, parking stall is become to determine that strategy setting unit, route determine strategy setting unit；
Candidate parking stall determines unit, for current location information based on the user sending schedule information request, according to setting in advance
The distance range put, determine with user current location certain distance in the range of parking stall as candidate parking stall；
Candidate parking stall evaluation of estimate computing unit, for based on the parking lot information in sub module stored, from video monitoring system
Parking space information and the current location information of user, utilize weighting algorithm to calculate corresponding to candidate's car of multiple candidate parking stalls
Position evaluation of estimate；
Unit is determined, the evaluation corresponding to each candidate parking stall calculated based on candidate parking stall evaluation of estimate computing unit with reference to parking stall
Value, determines with reference to parking stall；
Alternative route determines unit, determines position letter current with reference to parking stall and user determined by unit based on reference to parking stall
Breath, determines and travels from user current location to the described a plurality of alternative route with reference to parking stall；
Determine unit with reference to route, based on a plurality of alternative route and the current traffic information that obtains from the system of road condition information, according to
Projected route determines strategy, determines that optimal route is as with reference to route；
Schedule information signal generating unit, determines unit with reference to parking stall and reference route based on determining with reference to parking stall determined by unit
Determined by with reference to route, generate schedule information, described schedule information includes with reference to parking stall with reference to route information；
Parking stall determines strategy setting unit, for arranging the distance range parameter and candidate parking stall determining that candidate parking stall is used
The weight coefficient that evaluation of estimate computing unit is used；
Route determines strategy setting unit, determines that the route that unit is used determines strategy for arranging with reference to route；
Vehicle-mounted terminal system is for obtaining real-time position information and the real-time routes information of vehicle, and can stop to car owner's offer
Parking stall subscription services；Video monitoring system includes multiple supervision front terminal system, and the monitor area in parking lot is divided into several
Subregion, every sub regions is monitored front end subsystem responsible video monitoring by one；Monitor that front terminal system includes shooting dress
Put and monitor server；Monitor that front terminal system carries out image acquisition by filming apparatus to each supervision point in garage parking, adopt
Signal after collection sends supervision server to by video line, monitors server be responsible for signal and is digitized converting and compiling
Code compression, then utilizes the Internet to be transferred to garage parking central control system；Monitor that server includes parking stall detection module, use
In the parking stall in region being detected based on received video signal, in determining described region, whether there is parking stall；
The system of road condition information, for obtaining the map data information of relevant range.
Intelligent parking monitoring system the most according to claim 1, it is characterised in that calculate corresponding to multiple candidate parking stalls
Candidate parking stall evaluation of estimate, specifically includes:
Vi=aDi+bfi+cNi, wherein, Vi is the candidate parking stall evaluation of estimate of i-th candidate parking stall, DiFor user and i-th candidate
Distance between parking stall, fiThe expense in the parking lot corresponding to i-th candidate parking stall, NiFor stopping of place, i-th candidate parking stall
The residue parking stall in parking lot, a, b, c are the weight coefficient that parking stall determines that strategy setting unit pre-sets.
Intelligent parking monitoring system the most according to claim 1, it is characterised in that calculate single based on candidate parking stall evaluation of estimate
The evaluation of estimate corresponding to each candidate parking stall that unit is calculated, determines with reference to parking stall, specifically includes: select the candidate that evaluation of estimate is minimum
Parking stall is as with reference to parking stall.
Intelligent parking monitoring system the most according to claim 1, it is characterised in that described route determines that strategy is single
Strategy or combined strategy.
Intelligent parking monitoring system the most according to claim 1, it is characterised in that described vehicle-mounted terminal system includes adjusting
Degree information request module, for inquiring about the reference parking stall of recommendation and with reference to route, by schedule information request module to parking
Field central control system sends schedule information request, and dispatches letter by parking stall enquiry module from the reception of parking lot central control system
Breath.
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| CN105160929A (en) * | 2015-07-30 | 2015-12-16 | 小米科技有限责任公司 | Parking spot query method and parking spot query device |
| CN105427654A (en) * | 2015-10-30 | 2016-03-23 | 天津科技大学 | City parking method |
| CN105809973A (en) * | 2016-05-18 | 2016-07-27 | 常州市武进金阳光电子有限公司 | In-building parking place distributed monitoring management system |
| CN106200577B (en) * | 2016-07-08 | 2018-10-30 | 青岛华通能源投资有限责任公司 | A kind of stereo garage dispatch control method |
| CN112309131B (en) * | 2019-07-30 | 2022-12-27 | 北京京东振世信息技术有限公司 | Parking space state monitoring method and device, storage medium and electronic equipment |
| CN111627246B (en) * | 2020-06-12 | 2022-02-11 | 桂林电子科技大学 | Intelligent parking space recommendation method based on image recognition and user preference |
| CN112590776B (en) * | 2020-12-24 | 2022-08-16 | 广州小鹏自动驾驶科技有限公司 | Automatic parking method and device for vehicle, vehicle and storage medium |
| CN113965907B (en) * | 2021-11-17 | 2024-06-07 | 交控科技股份有限公司 | Service configuration method, core network equipment and storage medium for track traffic application scene |
| CN118248000A (en) * | 2024-05-27 | 2024-06-25 | 成都宜泊信息科技有限公司 | Parking space management method, system and storage medium for parking lot |
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| CN100449579C (en) * | 2006-04-21 | 2009-01-07 | 浙江工业大学 | All-round computer vision-based electronic parking guidance system |
| KR101033984B1 (en) * | 2008-09-09 | 2011-05-11 | 주식회사 하이닉스반도체 | Method for manufacturing semiconductor device |
| KR101408320B1 (en) * | 2012-12-27 | 2014-06-20 | 와이엠디(주) | Parking control system using mobile device |
| CN103488758A (en) * | 2013-09-24 | 2014-01-01 | 大陆汽车投资（上海）有限公司 | Interest point search method and navigation method |
| US8949028B1 (en) * | 2013-12-02 | 2015-02-03 | Ford Global Technologies, Llc | Multi-modal route planning |
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