CN112907767A - Parking charging system capable of judging vehicle parking effectiveness - Google Patents
Parking charging system capable of judging vehicle parking effectiveness Download PDFInfo
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- CN112907767A CN112907767A CN202110222998.XA CN202110222998A CN112907767A CN 112907767 A CN112907767 A CN 112907767A CN 202110222998 A CN202110222998 A CN 202110222998A CN 112907767 A CN112907767 A CN 112907767A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
- G06V30/10—Character recognition
- G06V30/14—Image acquisition
- G06V30/148—Segmentation of character regions
- G06V30/153—Segmentation of character regions using recognition of characters or words
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Abstract
The disclosed parking charging system capable of judging vehicle parking effectiveness is applied to judging whether the position of a vehicle parked in a parking space is correct or not, the parking space is set to be in a straight-in or oblique-in mode, a binocular stereo camera is arranged in the middle of the bottom of the parking space, the binocular stereo camera is over against an access passage of the parking space, and the vehicle parking effectiveness judging method comprises the following steps: stereo camera acquires image pair f of parking spaceL(x, y) and fR(x, y) in image fRForming depth information Z (x, y) by taking (x, y) as a reference; in the image fRExtracting a license plate area A from (x, y); extracting a central line and a central point M in the horizontal direction of the license plate area A, and calculating the position of the central point M of the license plate: zM，XM(ii) a Calculating an XZ coordinate of a point on a license plate central LINE LINE; calculating the slope k of the license plate center LINE LINE on an XZ-plane by adopting a least square method; when the center point M satisfies:|x0/2+x1/2‑M/2|<TX；ZM<TZ；|k|<Tkand judging that the vehicle is effectively parked.
Description
Technical Field
The invention relates to a parking charging system capable of judging vehicle parking effectiveness, and belongs to the technical field of intelligent parking charging.
Background
Parking spaces scattered at roadside and public places are difficult to be managed centrally because of no uniform entrance and exit, and only special toll collectors can be arranged. Due to the nature of the work and the work place, the toll collector is very hard to work, and needs to be managed in an unmanned mode. In the practice of solving the problem, it is found that the vehicle often parks in a region not defined by the parking space, such as the parking space is not centered, or the vehicle is inclined, the use of the adjacent parking space is affected, and the vehicle does not completely park, so that the safe driving of the outer lane is affected. The detection of the effectiveness of the parking position of the vehicle is assisted by the need for assault, and the driver is prompted to readjust the position, otherwise, additional punitive charging is carried out.
Disclosure of Invention
In view of the above problems, the present invention provides a parking fee system capable of determining the validity of parking a vehicle, which can determine the validity of the position of the vehicle in a parking space in an unmanned automatic parking fee system.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the parking charging system capable of judging the effectiveness of vehicle parking is applied to judge whether the position of a vehicle parking into a parking space is correct or not, the parking space is set to be in a straight-advancing or oblique-advancing mode, a binocular stereo camera is arranged in the middle of the bottom of the parking space, the binocular stereo camera is over against an access channel of the parking space, images of the vehicle after the vehicle parking into the parking space can be shot, the distance between the image and the vehicle can be measured, the focal length of the binocular stereo camera is f, the base line width is b, and the method for judging the effectiveness of vehicle parking comprises the following steps:
(1) every fixed time T, the stereo camera acquires the image pair f of the parking spaceL(x, y) and fR(x, y), wherein x and y are image plane coordinates, the maximum value of x is M, a camera coordinate system XYZ is established at the origin of the image plane coordinate system, the positive direction of the Z axis points to the front of the binocular stereo camera, and an image f is obtainedRForming depth information Z (x, y) by taking (x, y) as a reference;
(2) in the image fRExtracting a license plate area A from (x, y), wherein the coordinate of the upper left corner is (x)0,y0) The coordinate of the lower right corner is (x)1,y1) From which the license plate number can be identified;
(3) extracting a horizontal center line (x, y) = y of the license plate region A0/2+y1/2，x0≤x≤x1The midpoint is m (x)0/2+x1/2,y0/2+y1/2) calculating the projection point of the midpoint mI.e. the position of the centre point M of the license plate in the camera coordinate system: zM=Z(x0/2+x1/2,y0/2+y1/2)，XM=(x0/2+x1/2)·ZM/f=(x0/2+x1/2)·Z(x0/2+x1/2,y0/2+y1/2)/f；
(4) Calculating the projection point of the central LINE (x, y), namely the XZ coordinate of the point on the license plate central LINE under the camera coordinate system: (x)0·Z(x0,y0/2+y1/2)/f,Z(x0,y0/2+y1/2)),((x0+1)·Z(x0+1,y0/2+y1/2)/f,Z(x0+1,y0/2+y1/2)),......,(x1·Z(x1,y0/2+y1/2)/f,Z(x1,y0/2+y1/2))；
(5) Calculating the slope k of the license plate center LINE LINE on an XZ-plane by adopting a least square method;
(6) when the position of the center point M satisfies: | x0/2+x1/2-M/2|<TX；ZM<TZI.e. Z (x)0/2+x1/2,y0/2+y1/2)<Tz(ii) a And meanwhile, the slope k satisfies: | k | mu<TkJudging that the vehicle is parked effectively, wherein TXTo shift the threshold, TZAs depth threshold, TkIs a slope threshold.
The invention has the following beneficial effects: three constraints can be relied upon: the offset, the parking depth and the inclination are used for judging the effectiveness of the parking position of the vehicle, so that a driver can be reminded to readjust the position of the vehicle, and a basis can be provided for parking charging.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
fig. 2 is a flowchart of a vehicle parking validity determination method of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1-2, a parking fee system for determining validity of parking a vehicle is applied to determine whether a position of the vehicle parking into a parking space is correct, and prevent the situation that the position of the vehicle parking into the parking space is not centered or the vehicle is inclined in unmanned parking space management, which affects use of a nearby parking space, and the situation that the vehicle is not completely parked, which affects safe driving of an outside lane. The parking spaces are arranged in a straight-advancing or inclined-advancing mode and distributed on the roadside or in public places.
The method for judging the effectiveness of the vehicle parking is characterized in that a binocular stereo camera is arranged in the middle of the bottom of the parking space, the binocular stereo camera is over against an access passage of the parking space and is used for shooting images of the vehicle after the vehicle is parked in the parking space, the distance between the binocular stereo camera and the vehicle can be measured according to a binocular stereo vision principle, the focal length of the binocular stereo camera is f, the width of a base line is b, and the method for judging the effectiveness of the vehicle parking comprises the following steps:
(1) every fixed time T, the stereo camera acquires the image pair f of the parking spaceL(x, y) and fR(x, y), wherein x and y are image plane coordinates, the maximum value of x is M, a camera coordinate system XYZ is established at the origin of the image plane coordinate system, the positive direction of the Z axis points to the front of the binocular stereo camera, and an image f is obtainedRForming depth information Z (x, y) by taking (x, y) as a reference;
calculating depth information according to the parallax principle, and combining the parameters of the binocular stereo camera to obtain Z (x, y) = f × b/d, wherein d is obtained according to the image pair fL(x, y) and fR(x, y) calculating the parallax of the obtained position (x, y).
(2) In the image fRExtracting a license plate area A from (x, y), wherein the coordinate of the upper left corner is (x)0,y0) The coordinate of the lower right corner is (x)1,y1) From which the license plate number can be identified;
adopting the mature license plate positioning and license plate number recognition technology, firstly obtaining a license plate area A, and obtaining position parameters: coordinate of upper left corner is (x)0,y0) The coordinate of the lower right corner is (x)1,y1) And then recognizing the license plate number as a subsequent charging object.
(3) Extracting a horizontal center line (x, y) = y of the license plate region A0/2+y1/2，x0≤x≤x1The midpoint is m (x)0/2+x1/2,y0/2+y1And/2), calculating a projection point of the middle point M, namely the position of the central point M of the license plate in the camera coordinate system: zM=Z(x0/2+x1/2,y0/2+y1/2)，XM=(x0/2+x1/2)·ZM/f=(x0/2+x1/2)·Z(x0/2+x1/2,y0/2+y1/2)/f；
The license plate of the vehicle can reflect the position and the angle of the vehicle, so that the parking effectiveness of the vehicle can be judged according to the position of the central point M of the license plate and the slope of the license plate. Firstly, according to the position parameters of a license plate area A: coordinate of upper left corner is (x)0,y0) The coordinate of the lower right corner is (x)1,y1) Obtaining the position data of the central line (x, y) and the middle point M, and then obtaining the depth value Z of the central point M of the license plate according to the xy coordinate value of the middle point MMFinally, according to the projection relation, calculating X coordinate value XM。
(4) Calculating the projection point of the central LINE (x, y), namely the XZ coordinate of the point on the license plate central LINE under the camera coordinate system: (x)0·Z(x0,y0/2+y1/2)/f,Z(x0,y0/2+y1/2))，((x0+1)·Z(x0+1,y0/2+y1/2)/f,Z(x0+1,y0/2+y1/2))，......，(x1·Z(x1,y0/2+y1/2)/f,Z(x1,y0/2+y1/2))；
And (3) obtaining the X coordinate value and the depth value Z of the point on the license plate center LINE by using the xy coordinate value of the point of the center LINE (X, y) to obtain the discrete point under the coordinate system of the serial camera. These discrete points are distributed in the XZ-plane.
(5) Calculating the slope k of the license plate center LINE LINE on an XZ-plane by adopting a least square method;
the method specifically comprises the following steps: calculating the average value of X coordinates of points on a LINE of a license plate center LINE:
average value of Z coordinate:
x, Z mean value of coordinate product:
slope k = (d) ((d))
-
·
)/(
-
·
)。
(6) When the position of the center point M satisfies: | x0/2+x1/2-M/2|<TX；ZM<TZI.e. Z (x)0/2+x1/2,y0/2+y1/2)<Tz(ii) a And meanwhile, the slope k satisfies: | k | mu<TkJudging that the vehicle is parked effectively, wherein TXTo shift the threshold, TZAs depth threshold, TkIs a slope threshold.
The vehicle can be ensured to be used by other vehicles when the vehicle is correctly parked into the parking space. Therefore, condition | XM|<TXThe left-right position of the head of the vehicle, condition Z, is definedM<TZDefining the depth of parking of the vehicle, condition | k-<TkDefining the angle at which the vehicle is parked. If the three conditions are met, judging that the vehicle is effectively parked, and normally charging; if the three conditions are not met, the vehicle is judged to be invalid for parking, and punitive charging can be carried out.
Claims (1)
1. Can judge the parking charging system of vehicle parking validity is applied to and judges whether the position that the vehicle parkked in the parking stall is correct, the parking stall set up to the straight forward or the formula of advancing to one side, its characterized in that: the method for judging the parking effectiveness of the vehicle comprises the following steps of setting a binocular stereo camera at the middle position of the bottom of the parking space, wherein the binocular stereo camera is over against an access passage of the parking space, can shoot images of the vehicle after the vehicle is parked in the parking space, and can also measure the distance between the vehicle and the binocular stereo camera, the focal length of the binocular stereo camera is f, and the width of a base line is b:
(1) every fixed time T, the stereo camera acquires the image pair f of the parking spaceL(x, y) and fR(x, y), wherein x and y are image plane coordinates, the maximum value of x is M, a camera coordinate system XYZ is established at the origin of the image plane coordinate system, the positive direction of the Z axis points to the front of the binocular stereo camera, and an image f is obtainedRForming depth information Z (x, y) by taking (x, y) as a reference;
(2) in the image fRExtracting a license plate area A from (x, y), wherein the coordinate of the upper left corner is (x)0,y0) The coordinate of the lower right corner is (x)1,y1) From which the license plate number can be identified;
(3) extracting a horizontal center line (x, y) = y of the license plate region A0/2+y1/2，x0≤x≤x1The midpoint is m (x)0/2+x1/2,y0/2+y1And/2), calculating a projection point of the middle point M, namely the position of the central point M of the license plate in the camera coordinate system: zM=Z(x0/2+x1/2,y0/2+y1/2)，XM=(x0/2+x1/2)·ZM/f=(x0/2+x1/2)·Z(x0/2+x1/2,y0/2+y1/2)/f；
(4) Calculating the projection point of the central LINE (x, y), namely the XZ coordinate of the point on the license plate central LINE under the camera coordinate system: (x)0·Z(x0,y0/2+y1/2)/f,Z(x0,y0/2+y1/2))，((x0+1)·Z(x0+1,y0/2+y1/2)/f,Z(x0+1,y0/2+y1/2))，......，(x1·Z(x1,y0/2+y1/2)/f,Z(x1,y0/2+y1/2))；
(5) Calculating the slope k of the license plate center LINE LINE on an XZ-plane by adopting a least square method;
(6) when the position of the center point M satisfies: | x0/2+x1/2-M/2|<TX；ZM<TZI.e. Z (x)0/2+x1/2,y0/2+y1/2)<Tz(ii) a And meanwhile, the slope k satisfies: | k | mu<TkJudging that the vehicle is parked effectively, wherein TXTo shift the threshold, TZAs depth threshold, TkIs a slope threshold.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110222998.XA CN112907767A (en) | 2021-03-01 | 2021-03-01 | Parking charging system capable of judging vehicle parking effectiveness |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110222998.XA CN112907767A (en) | 2021-03-01 | 2021-03-01 | Parking charging system capable of judging vehicle parking effectiveness |
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| CN112907767A true CN112907767A (en) | 2021-06-04 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113780183A (en) * | 2021-09-13 | 2021-12-10 | 宁波小遛共享信息科技有限公司 | Standard parking determination method and device for shared vehicles and computer equipment |
| CN117690312A (en) * | 2024-01-30 | 2024-03-12 | 北京中科慧居科技有限公司 | Method and system for managing parking of motor vehicle |
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2021
- 2021-03-01 CN CN202110222998.XA patent/CN112907767A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113780183A (en) * | 2021-09-13 | 2021-12-10 | 宁波小遛共享信息科技有限公司 | Standard parking determination method and device for shared vehicles and computer equipment |
| CN117690312A (en) * | 2024-01-30 | 2024-03-12 | 北京中科慧居科技有限公司 | Method and system for managing parking of motor vehicle |
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Application publication date: 20210604 |