CN107274716A - The shutdown system and method for a kind of indoor and outdoor fusion navigation - Google Patents
The shutdown system and method for a kind of indoor and outdoor fusion navigation Download PDFInfo
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- CN107274716A CN107274716A CN201710670287.2A CN201710670287A CN107274716A CN 107274716 A CN107274716 A CN 107274716A CN 201710670287 A CN201710670287 A CN 201710670287A CN 107274716 A CN107274716 A CN 107274716A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The shutdown system and method for a kind of indoor and outdoor fusion navigation is claimed in the present invention.Customer mobile terminal of the system on central server, one group of parking lot server and vehicle is constituted.Central server includes communication and Service Processing Module.Each parking lot server includes vehicle location, data management and communication module.Customer mobile terminal includes outdoor navigation, indoor navigation, decision-making and communication module.Central server gathers each real-time parking space information in parking lot, and the available parking lot information near destination is provided for vehicle；Vehicle is according to the outdoor available Entrance navigate to up to selection, it is switched to indoor navigation pattern, this truck position of parking lot server transmission and the parking lot real-time map comprising idle parking space information are received, planning vehicle running path is navigated, and reaches parking stall.The present invention associates " navigation " with " STOP ", improves the efficiency and convenience of shutdown system.
Description
Technical field
The invention belongs to computer and automatic technology, particularly car networking and technical field of vehicle navigation, and in particular to
The shutdown system and method for a kind of indoor and outdoor fusion navigation.
Background technology
As car ownership is increasing, the problem of parking is difficult is also more protruded.Current automobile navigation technology solution
Determined the problem of how arriving at nearby, but arrive at and nearby find the parking stall that can stop afterwards into a difficulty
Problem.Vehicle takes a significant amount of time searching parking stall, effect after city navigation is completed, often in last hundreds of meters of docking process
Rate is low and extremely inconvenient.
Chinese patent application：City intelligent reservation shutdown system and method (application number based on car networking：
A kind of city intelligent reservation shutdown system based on car networking and method 201610322447.X) are disclosed, this is
System realizes the function of predetermined parking stall by car networking, the status information of parking stall is gathered, counted by parking resource administrative unit, concurrently
Cloth residue parking space information, just sets parking stall in advance before setting out, and vehicle information collection unit gathers the license board information for driving into vehicle, according to
This judgement drives into whether vehicle is preset vehicle.The system is predetermined mainly for parking management and parking stall, is not related to parking lot
Inside navigation.Chinese patent application：A kind of dynamic shutdown system (application number based on cloud computing：201410585607.0) open
A kind of dynamic shutdown system based on cloud computing, the patent is based on cloud computing, collects a large amount of parking lot informations, including type,
The details such as charging policy, vehicle flow, vehicle average down time, the distance in parking lot to user, it is preferred that emphasis is parking
Path between the management of field and parking lot and user, inner part of parking lot navigation is not related to.Chinese patent application：Indoor and outdoor is led
The computational methods of bit path and device (application number：201310208066.5) disclose a kind of calculating side of indoor and outdoor guidance path
Method and device, this method obtain the optimal path in indoor and outdoor mixing computing environment, are provided for the navigation under the hybird environment of region
Optimum results, relate generally to paths planning method, and the fusion and parking service of the two kinds of navigation modes in indoor and outdoor are not related to.In
State's patent application：A kind of indoor and outdoor parallel navigation system (application number suitable for intelligent mobile terminal：201510105837.7)
Disclose fixed using the Big Dipper/GPS dual-mode outside a kind of indoor and outdoor parallel navigation system suitable for intelligent mobile terminal, the system room
Position, indoors use the location technology based on 2G/3G wireless signal combination indoor maps, but be not related to indoor and outdoor fusion navigation and
Parking.Chinese patent application：Parking ground navigation system and method (application number based on machine vision：201710419848.1) public
Opened a kind of parking ground navigation system and method based on machine vision, using machine vision method detect parking stall idle condition and
Vehicle location, provides navigation information for vehicle by cooperateing with for parking lot and vehicle, realizes the intelligence of automobile navigation in parking lot
Energyization, but the navigation being only limitted in single parking lot, many parking lots and indoor and outdoor fusion navigation are not related to.
The present invention takes a significant amount of time searching parking stall in last hundreds of meters of docking process after terminating for automobile navigation
Difficulty, propose the shutdown system and method for a kind of indoor and outdoor fusion navigation, vehicle is navigate to up to available parking lot according to outdoor,
Parking stall is reached further according to indoor navigation, " navigation " is associated with " STOP ", the efficiency and convenience of shutdown system is improved.
The content of the invention
Present invention seek to address that above problem of the prior art.Propose a kind of efficiency and convenience for improving shutdown system
Indoor and outdoor fusion navigation shutdown system and method.Technical scheme is as follows：
A kind of shutdown system of indoor and outdoor fusion navigation, including on central server, multiple parking lot servers and vehicle
Three parts of customer mobile terminal,
The central server includes Service Processing Module and center to center communications module, and the Service Processing Module is by respectively stopping
Parking lot server obtains the real-time parking space state and each parking location information in each parking lot, screens with obtaining customer objective attached
Nearly available parking lot, the center to center communications module is used for the parking request for receiving customer mobile terminal transmission, and is moved to user
Dynamic terminal sends position and parking space information that can be with parking lot；
The parking lot server includes vehicle localization module, data management module and parking lot communication module, wherein
The vehicle localization module is used to detect the position of the vehicle target of traffic areas and parking stall seizure condition letter in parking lot in real time
Breath, constructs parking lot real-time map；The data management module is used to parking stall data are inquired about and updated, and stores parking
Field real-time map, the position of moving vehicle target；The parking lot communication module is used to receive sailing from customer mobile terminal
Enter/roll away from request, and parking lot real-time map and vehicle real time position are sent to customer mobile terminal；
The customer mobile terminal includes terminal communication module, decision-making module, indoor navigation module and outdoor navigation module,
The terminal communication module is used to send parking request to central server and send to parking lot server to drive into request, and
Receive position and parking space information and the parking lot reality from parking lot server in the available parking lot from central server
When map and vehicle real time position；The decision-making module is used for the navigation mode for determining currently use；The outdoor navigation mould
Block is navigated using satellite positioning information and outdoor map using the Entrance that user selects as terminal；Lead the interior
Model plane root tuber is according to parking lot real-time map and vehicle location from parking lot server, the parking stall or outlet selected with user
Navigated for terminal.
Further, the docking process of the vehicle is divided into outdoor navigation and two stages of indoor navigation, and the first stage is
Outdoor navigation module reaches the Entrance of user's selection using satellite positioning information with outdoor digital map navigation, and second stage is
Indoor navigation module navigates to what is selected up to user using the parking lot real-time map from parking lot server and vehicle location
Parking stall.
Further, the decision-making module of the user terminal determines that the navigation mode that should currently use is specifically included：1) root
Judge whether to send parking request to central server according to the distance between vehicle and destination；2) according to vehicle and parking lot
The distance between entrance judges whether to be switched to indoor navigation pattern.
Further, the vehicle localization module be additionally operable to detect in real time position of each moving vehicle in parking lot and
Each parking space state, and it is sent to customer mobile terminal progress indoor navigation.
A kind of parking method of the indoor and outdoor fusion navigation based on the system, its vehicle drives into navigation side during parking lot
Method comprises the following steps：
(1) navigation module is using satellite positioning information and outdoor map outside customer mobile terminal room, the mesh selected with user
Ground navigated for terminal；
(2) customer mobile terminal decision-making module judges whether to meet condition：The distance between vehicle and destination<Given door
L1 is limited, if condition is met, customer mobile terminal sends parking request to central server, goes to step (3)；Otherwise, continue to walk
Suddenly (2)；
(3) communication module of central server receives the parking request that customer mobile terminal is sent, by current vehicle position
And destination information is transmitted to Service Processing Module；Service Processing Module is sieved according to current vehicle position and destination information
Suitable parking lot is selected, and is sent to the information including the position in parking lot and idle parking stall by center to center communications module
Customer mobile terminal；
(4) the parking location information that customer mobile terminal communication module receiving step (3) central server is sent, will stop
Parking lot position is navigate to up to Entrance as the destination of outdoor navigation module by outdoor navigation module；
(5) customer mobile terminal decision-making module judges whether to meet condition：The distance between vehicle and Entrance<Give
Determine thresholding L2, if condition is met, customer mobile terminal communication module sends to parking lot server and drives into request, is switched to room
Interior navigation pattern, goes to step (6)；Otherwise, step (5) is continued；
(6) vehicle that customer mobile terminal is sent in parking lot server com-munication module receiving step (5) drives into request, will
Testing vehicle register, current location information and drive into request and be transmitted to data management module, and by parking lot real-time map and system
Parking stall is recommended to be sent to customer mobile terminal；
(7) server vehicle localization module in parking lot detects the current location of each moving vehicle in parking lot in real time, and
Each parking stall seizure condition, constructs parking lot real-time map；
(8) current location of vehicle is sent to user's movement eventually by parking lot server com-munication module according to testing vehicle register
End；
(9) customer mobile terminal communication module receives this car current location and parking lot real-time map；
(10) this parking stall that customer mobile terminal indoor navigation module is sent with parking lot server is set to starting point, with user
The idle parking stall position of selection is terminal, plans vehicle running path, and Way guidance is provided with voice and image mode；
(11) repeat step (7)~(10), until vehicle reaches home parking stall or user terminates navigation；
(12) customer mobile terminal communication module sends " navigation terminates " mark to parking lot server；
(13) parking lot server com-munication module receives " navigation terminates " mark, and registration of vehicle parking spot drives into process
Terminate.
Further, air navigation aid when vehicle rolls parking lot away from comprises the following steps：
(1) customer mobile terminal communication module sends testing vehicle register to parking lot server and rolls request away from；
(2) in parking lot server com-munication module receiving step (1) customer mobile terminal send roll request away from, progress body
After part checking, by testing vehicle register and roll request away from and be transmitted to data management module and search storing cycle position, and by storing cycle
The outlet of position, parking lot real-time map and recommendation is sent to customer mobile terminal；
(3) server vehicle localization module in parking lot detects the current location of each moving vehicle in parking lot in real time；
(4) current location of vehicle is sent to user's movement eventually by parking lot server com-munication module according to testing vehicle register
End；
(5) customer mobile terminal communication module receives the current location of this car；
(6) customer mobile terminal indoor navigation module is using current vehicle position as starting point, with user's selection or system recommendation
Outlet port be terminal planning automobile navigation path, provide Way guidance with voice and image mode；
(7) customer mobile terminal decision-making module judges whether to meet condition：The distance between vehicle and EXIT<Give
Determine thresholding L2, if condition is met, customer mobile terminal is switched to outdoor navigation pattern, gone to step (8)；Otherwise, go to step (3)
Continue indoor navigation；
(8) navigation module is using satellite positioning information and outdoor map outside customer mobile terminal room, the mesh selected with user
Ground navigated for terminal.
Advantages of the present invention and have the beneficial effect that：
The present invention takes a significant amount of time searching parking stall in last hundreds of meters of docking process after terminating for automobile navigation
Difficulty, propose the shutdown system and method for a kind of indoor and outdoor fusion navigation.Vehicle is navigate to up to available parking lot according to outdoor,
Parking stall is reached further according to indoor navigation, " navigation " is associated with " STOP ", " last 500 meters " for solving automobile navigation are asked
Topic, i.e., be transformed into " navigating to the position that can be stopped near destination ", so as to improve the effect of shutdown system from " navigating to place "
Rate and convenience.
Brief description of the drawings
Fig. 1 is the shutdown system general frame for the indoor and outdoor fusion navigation that the present invention provides preferred embodiment；
Fig. 2 is that the present invention provides preferred embodiment and realizes that vehicle drives into the flow chart of parking ground navigation；
Fig. 3 is that the present invention provides preferred embodiment and realizes that vehicle rolls the flow chart of parking ground navigation away from.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, detailed
Carefully describe.Described embodiment is only a part of embodiment of the present invention.
The present invention solve above-mentioned technical problem technical scheme be：
The shutdown system and method for a kind of indoor and outdoor fusion navigation, vehicle are navigate to up to available Entrance according to outdoor
Afterwards, indoor navigation pattern is switched to, the vehicle location information and parking lot real-time map provided according to parking lot server, planning
Vehicle running path is navigated, and reaches parking stall.
The embodiment of the present invention is described below in conjunction with accompanying drawing and instantiation.
The shutdown system general frame of navigation is merged for indoor and outdoor proposed by the present invention as shown in Figure 1.The system is by center
Customer mobile terminal composition on server, parking lot server and vehicle.
The central server includes Service Processing Module and center to center communications module.
The Service Processing Module obtains the real-time parking space state in each parking lot by each parking lot server and respectively stopped
Available parking lot near parking lot positional information, screening customer objective ground.
The center to center communications module is used for the parking request for receiving customer mobile terminal transmission, and is sent out to customer mobile terminal
Send position and the parking space information in available parking lot.
The parking lot server includes vehicle localization module, data management module and parking lot communication module.
The vehicle localization module is used for vehicle location and parking space state detection in parking lot, and construction parking lot is in real time
Figure.
The data management module is used to parking stall data are inquired about and updated, and stores parking lot real-time map, fortune
The position of dynamic vehicle target.
The parking lot communication module is used to receive drives into/rolls away from request from customer mobile terminal, and by parking lot
Real-time map and vehicle real time position are sent to customer mobile terminal.
The customer mobile terminal includes terminal communication module, decision-making module, indoor navigation module and outdoor navigation module.
The terminal communication module is used to send parking request to central server and send to parking lot server to sail
Enter request, and receive position and the parking space information and from parking lot server in the available parking lot from central server
Parking lot real-time map and vehicle real time position.
The decision-making module is used for the navigation mode for determining currently use.
The Entrance that the outdoor navigation module is selected using satellite positioning information and outdoor map, using user is end
Point is navigated.
The indoor navigation module is according to parking lot real-time map and vehicle location from parking lot server, with user
The parking stall or outlet of selection are navigated for terminal.
It is illustrated in figure 2 the present invention and realizes that vehicle drives into the flow of parking ground navigation, comprises the following steps：
(1) navigation module is using satellite positioning information and outdoor map outside customer mobile terminal room, the mesh selected with user
Ground navigated for terminal；
(2) customer mobile terminal decision-making module judges whether to meet condition：The distance between vehicle and destination<Given door
Limit L1.If condition is met, customer mobile terminal sends parking request to central server, goes to step (3)；Otherwise, continue to walk
Suddenly (2)；
(3) communication module of central server receives the parking request that customer mobile terminal is sent, by current vehicle position
And destination information is transmitted to Service Processing Module；Service Processing Module is sieved according to current vehicle position and destination information
Suitable parking lot is selected, and the information such as the position in parking lot and idle parking stall is sent to by user by center to center communications module and is moved
Terminal；
(4) the parking location information that customer mobile terminal communication module receiving step (3) central server is sent, will stop
Parking lot position is navigate to up to Entrance as the destination of outdoor navigation module by outdoor navigation module；
(5) customer mobile terminal decision-making module judges whether to meet condition：The distance between vehicle and Entrance<Give
Determine thresholding L2.If condition is met, customer mobile terminal communication module sends to parking lot server and drives into request, is switched to room
Interior navigation pattern, goes to step (6)；Otherwise, step (5) is continued；
(6) vehicle that customer mobile terminal is sent in parking lot server com-munication module receiving step (5) drives into request, will
Testing vehicle register, current location information and drive into request and be transmitted to data management module, and by parking lot real-time map and system
Parking stall is recommended to be sent to customer mobile terminal；
(7) server vehicle localization module in parking lot detects the current location of each moving vehicle in parking lot in real time, and
Each parking stall seizure condition, constructs parking lot real-time map；
(8) current location of vehicle is sent to user's movement eventually by parking lot server com-munication module according to testing vehicle register
End；
(9) customer mobile terminal communication module receives this car current location and parking lot real-time map；
(10) this parking stall that customer mobile terminal indoor navigation module is sent with parking lot server is set to starting point, with user
The idle parking stall position of selection is terminal, plans vehicle running path, and Way guidance is provided with voice and image mode；
(11) repeat step (7)~(10), until vehicle reaches home parking stall or user terminates navigation；
(12) customer mobile terminal communication module sends " navigation terminates " mark to parking lot server；
(13) parking lot server com-munication module receives " navigation terminates " mark, and registration of vehicle parking spot drives into process
Terminate.
It is illustrated in figure 3 the present invention and realizes that vehicle rolls the flow of parking ground navigation away from, comprises the following steps：
(1) customer mobile terminal communication module sends testing vehicle register to parking lot server and rolls request away from；
(2) in parking lot server com-munication module receiving step (1) customer mobile terminal send roll request away from, progress body
After part checking, by testing vehicle register and roll request away from and be transmitted to data management module and search storing cycle position, and by storing cycle
The outlet of position, parking lot real-time map and recommendation is sent to customer mobile terminal；
(3) server vehicle localization module in parking lot detects the current location of each moving vehicle in parking lot in real time；
(4) current location of vehicle is sent to user's movement eventually by parking lot server com-munication module according to testing vehicle register
End；
(5) customer mobile terminal communication module receives the current location of this car；
(6) customer mobile terminal indoor navigation module is using current vehicle position as starting point, with user's selection or system recommendation
Outlet port be terminal planning automobile navigation path, provide Way guidance with voice and image mode；
(7) customer mobile terminal decision-making module judges whether to meet condition：The distance between vehicle and EXIT<Give
Determine thresholding L2.If condition is met, customer mobile terminal is switched to outdoor navigation pattern, gone to step (8)；Otherwise, go to step (3)
Continue indoor navigation；
(8) navigation module is using satellite positioning information and outdoor map outside customer mobile terminal room, the mesh selected with user
Ground navigated for terminal.
The above embodiment is interpreted as being merely to illustrate the present invention rather than limited the scope of the invention.
After the content for the record for having read the present invention, technical staff can make various changes or modifications to the present invention, these equivalent changes
Change and modification equally falls into the scope of the claims in the present invention.
Claims (6)
1. a kind of shutdown system of indoor and outdoor fusion navigation, including on central server, multiple parking lot servers and vehicle
Three parts of customer mobile terminal, it is characterised in that：
The central server includes Service Processing Module and center to center communications module, and the Service Processing Module passes through each parking lot
Server obtains the real-time parking space state and each parking location information in each parking lot, and screening is obtained can near customer objective ground
Parking lot, the center to center communications module is used for the parking request for receiving customer mobile terminal transmission, and is moved eventually to user
End sends position and parking space information that can be with parking lot；
The parking lot server includes vehicle localization module, data management module and parking lot communication module, wherein, it is described
Vehicle localization module is used to detect the position of the vehicle target of traffic areas and parking stall seizure condition information, structure in parking lot in real time
Make parking lot real-time map；The data management module is used to parking stall data are inquired about and updated, and it is real to store parking lot
When map, the position of moving vehicle target；The parking lot communication module is used to receive driving into/sailing from customer mobile terminal
Go out request, and parking lot real-time map and vehicle real time position are sent to customer mobile terminal；
The customer mobile terminal includes terminal communication module, decision-making module, indoor navigation module and outdoor navigation module, described
Terminal communication module is used to send parking request to central server and send to parking lot server to drive into request, and receives
The position in the available parking lot from central server and parking space information and parking lot from parking lot server are in real time
Figure and vehicle real time position；The decision-making module is used for the navigation mode for determining currently use；The outdoor navigation module profit
With satellite positioning information and outdoor map, navigated using the Entrance that user selects as terminal；The indoor navigation mould
Root tuber is according to parking lot real-time map and vehicle location from parking lot server, and the parking stall selected with user or outlet is eventually
Point is navigated.
2. the shutdown system of indoor and outdoor fusion navigation according to claim 1, it is characterised in that：The parking of the vehicle
Journey is divided into outdoor navigation and two stages of indoor navigation, and the first stage is that outdoor navigation module utilizes satellite positioning information and outdoor
Digital map navigation reaches the Entrance of user's selection, and second stage is that indoor navigation module is utilized from parking lot server
Parking lot real-time map navigates to the parking stall selected up to user with vehicle location.
3. the shutdown system of indoor and outdoor fusion navigation according to claim 1 or 2, it is characterised in that：The user terminal
Decision-making module determine that the navigation mode that should currently use is specifically included：1) judged according to the distance between vehicle and destination
Whether parking request is sent to central server；2) judge whether to be switched to according to the distance between vehicle and Entrance
Indoor navigation pattern.
4. the shutdown system of indoor and outdoor fusion navigation according to claim 1 or 2, it is characterised in that：The vehicle location
Module is additionally operable to detect position and each parking space state of each moving vehicle in parking lot in real time, and is sent to user's movement eventually
End carries out indoor navigation.
5. a kind of parking method of the indoor and outdoor fusion navigation based on system described in claim 1, it is characterised in that vehicle drives into
Air navigation aid during parking lot comprises the following steps：
(1) navigation module is using satellite positioning information and outdoor map outside customer mobile terminal room, the destination selected with user
Navigated for terminal；
(2) customer mobile terminal decision-making module judges whether to meet condition：The distance between vehicle and destination<Given thresholding
L1, if condition is met, customer mobile terminal sends parking request to central server, goes to step (3)；Otherwise, step is continued
(2)；
(3) communication module of central server receives the parking request that customer mobile terminal is sent, by current vehicle position and
Destination information is transmitted to Service Processing Module；Service Processing Module is closed according to current vehicle position and destination information screening
Suitable parking lot, and the information including the position in parking lot and idle parking stall is sent to by user by center to center communications module
Mobile terminal；
(4) the parking location information that customer mobile terminal communication module receiving step (3) central server is sent, by parking lot
Position is navigate to up to Entrance as the destination of outdoor navigation module by outdoor navigation module；
(5) customer mobile terminal decision-making module judges whether to meet condition：The distance between vehicle and Entrance<Given door
L2 is limited, if condition is met, customer mobile terminal communication module sends to parking lot server and drives into request, is switched to interior and leads
Model plane formula, goes to step (6)；Otherwise, step (5) is continued；
(6) vehicle that customer mobile terminal is sent in parking lot server com-munication module receiving step (5) drives into request, by vehicle
Identity, current location information and drive into request and be transmitted to data management module, and by parking lot real-time map and system recommendation
Parking stall is sent to customer mobile terminal；
(7) server vehicle localization module in parking lot detects the current location of each moving vehicle in parking lot, and each car in real time
Bit occupancy state, constructs parking lot real-time map；
(8) current location of vehicle is sent to customer mobile terminal by parking lot server com-munication module according to testing vehicle register；
(9) customer mobile terminal communication module receives this car current location and parking lot real-time map；
(10) this parking stall that customer mobile terminal indoor navigation module is sent with parking lot server is set to starting point, is selected with user
Idle parking stall position be terminal, plan vehicle running path, Way guidance provided with voice and image mode；
(11) repeat step (7)~(10), until vehicle reaches home parking stall or user terminates navigation；
(12) customer mobile terminal communication module sends " navigation terminates " mark to parking lot server；
(13) parking lot server com-munication module receives " navigation terminates " mark, and registration of vehicle parking spot, the process of driving into terminates.
6. the parking method that the indoor and outdoor fusion of system is navigated according to claim 1, it is characterised in that vehicle rolls parking away from
Air navigation aid during field comprises the following steps：
(1) customer mobile terminal communication module sends testing vehicle register to parking lot server and rolls request away from；
(2) in parking lot server com-munication module receiving step (1) customer mobile terminal send roll request away from, progress identity is tested
After card, by testing vehicle register and roll request away from and be transmitted to data management module and search storing cycle position, and by storing cycle position,
The outlet of parking lot real-time map and recommendation is sent to customer mobile terminal；
(3) server vehicle localization module in parking lot detects the current location of each moving vehicle in parking lot in real time；
(4) current location of vehicle is sent to customer mobile terminal by parking lot server com-munication module according to testing vehicle register；
(5) customer mobile terminal communication module receives the current location of this car；
(6) customer mobile terminal indoor navigation module is using current vehicle position as starting point, is selected with user or system recommendation goes out
Mouth position is terminal planning automobile navigation path, and Way guidance is provided with voice and image mode；
(7) customer mobile terminal decision-making module judges whether to meet condition：The distance between vehicle and EXIT<Given door
L2 is limited, if condition is met, customer mobile terminal is switched to outdoor navigation pattern, gone to step (8)；Otherwise, (3) continuation is gone to step
Indoor navigation；
(8) navigation module is using satellite positioning information and outdoor map outside customer mobile terminal room, the destination selected with user
Navigated for terminal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710670287.2A CN107274716A (en) | 2017-08-08 | 2017-08-08 | The shutdown system and method for a kind of indoor and outdoor fusion navigation |
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|---|---|---|---|
| CN201710670287.2A CN107274716A (en) | 2017-08-08 | 2017-08-08 | The shutdown system and method for a kind of indoor and outdoor fusion navigation |
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| CN114842675A (en) * | 2022-07-01 | 2022-08-02 | 成都宜泊信息科技有限公司 | Parking space confirmation method, system, computer device and readable storage medium |
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| CN115862370A (en) * | 2022-11-30 | 2023-03-28 | 西部科学城智能网联汽车创新中心(重庆)有限公司 | Visual guiding method and system for available parking spaces of underground parking lot based on ground destination |
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| CN116878521A (en) * | 2023-09-07 | 2023-10-13 | 武汉华测卫星技术有限公司 | Navigation guidance diagram generation method and device based on positioning |
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| CN107784858A (en) * | 2017-08-25 | 2018-03-09 | 武汉米风通信技术有限公司 | Intelligent parking management system and method based on the enhancing of Big Dipper ground and Internet of Things fusion |
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| CN108120999A (en) * | 2017-12-19 | 2018-06-05 | 大陆汽车投资（上海）有限公司 | In-vehicle navigation apparatus and parking lot guide method |
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| CN114267127A (en) * | 2018-01-12 | 2022-04-01 | 丰田自动车株式会社 | Information system, information processing method, and storage medium |
| CN114267127B (en) * | 2018-01-12 | 2022-11-29 | 丰田自动车株式会社 | Information system, information processing method, and storage medium |
| CN110243365A (en) * | 2018-03-08 | 2019-09-17 | 上海博泰悦臻网络技术服务有限公司 | Navigation switching method/system, readable storage medium storing program for executing and mobile terminal outside car |
| CN110276974A (en) * | 2018-03-14 | 2019-09-24 | 通用汽车环球科技运作有限责任公司 | Remote endpoint is got off navigation guide |
| CN110361025A (en) * | 2018-04-11 | 2019-10-22 | 丰田自动车株式会社 | Route Generation, offer and selection are provided |
| CN110631602A (en) * | 2018-06-21 | 2019-12-31 | 丰田自动车株式会社 | Information providing apparatus, system, method, and non-transitory computer-readable medium |
| CN108961818A (en) * | 2018-07-26 | 2018-12-07 | 于和涌 | Intelligent parking navigation system based on range delineation |
| CN108831187A (en) * | 2018-08-03 | 2018-11-16 | 湖南科技大学 | A kind of intelligent parking lot Sharing Management method and system based on Internet of Things |
| CN109087520A (en) * | 2018-08-31 | 2018-12-25 | 丽水睿博科技有限公司 | A kind of noninductive intelligent parking management system and method |
| CN110232826A (en) * | 2018-10-23 | 2019-09-13 | 蔚来汽车有限公司 | Entrance finding method and device and controller and medium |
| CN109559553B (en) * | 2018-12-12 | 2021-09-10 | 重庆邮电大学 | Intelligent parking system and parking management method thereof |
| CN109559553A (en) * | 2018-12-12 | 2019-04-02 | 重庆邮电大学 | A kind of wisdom shutdown system and its parking management method |
| CN111352142A (en) * | 2018-12-24 | 2020-06-30 | 沈阳美行科技有限公司 | Indoor parking positioning method and device, electronic equipment and medium |
| CN109443375A (en) * | 2018-12-29 | 2019-03-08 | 深圳大学 | Navigation system |
| CN109767645A (en) * | 2019-02-01 | 2019-05-17 | 谷东科技有限公司 | A kind of parking planning householder method and system based on AR glasses |
| CN109785662A (en) * | 2019-02-22 | 2019-05-21 | 桂林电子科技大学 | A kind of shutdown system and method for indoor and outdoor integrated navigation |
| CN109920269A (en) * | 2019-03-07 | 2019-06-21 | 珠海银邮光电信息工程有限公司 | A kind of virtual parking space management system in parking lot and device |
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| CN110795643A (en) * | 2019-11-04 | 2020-02-14 | 上海磁网科技有限公司 | Map design system and method for refining perception scene from parking lot to parking space |
| CN111028536A (en) * | 2019-11-22 | 2020-04-17 | 安徽中运智能科技有限公司 | Intelligent guiding method and system for garage parking |
| CN110930753A (en) * | 2019-11-27 | 2020-03-27 | 江苏集萃智能传感技术研究所有限公司 | Parking space searching navigation system and parking space searching navigation method |
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| CN111311944A (en) * | 2020-02-19 | 2020-06-19 | 江苏大学 | Parking lot management system and method under autonomous passenger-riding parking environment |
| CN112289068A (en) * | 2020-09-27 | 2021-01-29 | 北京百度网讯科技有限公司 | Automatic parking method, device, equipment and storage medium for automatically driving vehicle |
| CN112289068B (en) * | 2020-09-27 | 2022-07-19 | 阿波罗智联(北京)科技有限公司 | Automatic parking method, device, equipment and storage medium for automatically driving vehicle |
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| CN112562398A (en) * | 2020-12-11 | 2021-03-26 | 西安兆格电子信息技术有限公司 | Method for automatically searching parking space with route planning function for parking |
| CN112700659A (en) * | 2020-12-29 | 2021-04-23 | 珠海大横琴科技发展有限公司 | Parking scheduling method and device |
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| CN113204609B (en) * | 2021-05-28 | 2023-09-19 | 成都欧珀通信科技有限公司 | Navigation information processing method and related device |
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| CN113362481A (en) * | 2021-06-01 | 2021-09-07 | 长春大学 | Unattended parking charging system based on electronic map |
| CN113362642B (en) * | 2021-06-25 | 2022-06-03 | 厦门市政智慧城市科技有限公司 | Intelligent intersection method, system and equipment for parking lot information |
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| DE102021119025A1 (en) | 2021-07-22 | 2023-01-26 | Cariad Se | Method and system for determining a position within a parking garage |
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